CN111746518A - Vehicle parking-out control method and device - Google Patents
Vehicle parking-out control method and device Download PDFInfo
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- CN111746518A CN111746518A CN202010458873.2A CN202010458873A CN111746518A CN 111746518 A CN111746518 A CN 111746518A CN 202010458873 A CN202010458873 A CN 202010458873A CN 111746518 A CN111746518 A CN 111746518A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
Abstract
The invention discloses a vehicle parking control method and device. The method comprises the steps that when a parking-out instruction is obtained and it is determined that a vehicle to be parked meets parking-out conditions, a parking-out path is determined according to the current position of the vehicle to be parked and a first preset rule; the parking-out instruction comprises a parking-out direction and a type of a parking place to be parked out; the type of the parking place to be parked is a corresponding parking place when the garage is reversed; the first preset rule is a rule which is configured in advance according to the type of the parking place to be parked and the parking direction; carrying out parking operation according to the parking path, and acquiring a first target distance between an obstacle in the parking direction and the vehicle to be parked; adjusting the pull-out path upon determining that the first target distance is less than or equal to a first threshold; and executing the parking operation according to the adjusted parking path. The invention realizes the dynamic adjustment of the parking-out path based on the barrier, thereby improving the success rate of parking out the vehicle.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle parking-out control method and device.
Background
With the development of the electronics industry, vehicles have more and more automated systems. One of them is an automatic parking system, which solves the problem that a user is difficult to park. Particularly, aiming at a narrow parking space, the automatic parking system can avoid the vehicle from being scratched due to improper control of a driver in the parking process, and reduces the occurrence of traffic accidents.
In the related art, when a vehicle is automatically parked out of a vertical parking space, usually when a parking instruction is obtained, the vehicle is directly controlled to directly drive out of the vertical parking space, and when the vehicle is determined to move out of the vertical parking space, the automatic parking function is exited.
However, in the above technology, when the parking-out instruction is obtained, the vehicle is controlled to directly drive to a vertical parking space, and the parking-out path is single; if an obstacle is encountered during the parking-out process, the parking-out failure can be caused, thereby reducing the success rate of vehicle parking.
Disclosure of Invention
The invention provides a vehicle parking control method and device, aiming at solving the problem that the success rate of vehicle parking is reduced in the prior art.
In a first aspect, an embodiment of the present invention provides a vehicle parking control method, including:
when a parking-out instruction is obtained and it is determined that the vehicle to be parked meets the parking-out condition, determining a parking-out path according to the current position of the vehicle to be parked and a first preset rule; the parking-out instruction comprises a parking-out direction and a type of a parking place to be parked out; the type of the parking place to be parked is a corresponding parking place when the garage is reversed; the first preset rule is a rule which is configured in advance according to the type of the parking place to be parked and the parking direction;
carrying out parking operation according to the parking path, and acquiring a first target distance between an obstacle in the parking direction and the vehicle to be parked;
adjusting the pull-out path upon determining that the first target distance is less than or equal to a first threshold;
and executing the parking operation according to the adjusted parking path.
In a second aspect, an embodiment of the present invention further provides a vehicle parking control apparatus, including:
the determining module is used for determining a parking-out path according to the current position of the vehicle to be parked and a first preset rule when the parking-out instruction is obtained and the vehicle to be parked meets the parking-out condition is determined; the parking-out instruction comprises a parking-out direction and a type of a parking place to be parked out; the type of the parking place to be parked is a corresponding parking place when the garage is reversed; the first preset rule is a rule which is configured in advance according to the type of the parking place to be parked and the parking direction;
the first execution module is used for executing parking operation according to the parking path and acquiring a first target distance between an obstacle in the parking direction and the vehicle to be parked;
an adjustment module to adjust the pull-out path upon determining that the first target distance is less than or equal to a first threshold;
and the second execution module is used for executing the pull-out operation according to the adjusted pull-out path.
The invention provides a vehicle parking-out control method and device, wherein when a parking-out instruction is obtained and it is determined that a vehicle to be parked meets a parking-out condition, a parking-out path is determined according to the current position of the vehicle to be parked and a first preset rule, a parking-out operation is executed according to the parking-out path, meanwhile, a first target distance between an obstacle and the vehicle to be parked in the parking-out direction is obtained, when the first target distance is determined to be smaller than or equal to a first threshold value, the parking-out path is adjusted, and then the parking-out operation is executed according to the adjusted parking-out path, so that the dynamic adjustment of the parking-out path based on the obstacle is realized, and the success rate of vehicle parking-out is improved.
Drawings
Fig. 1 is a flowchart of a vehicle parking control method according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of a docking coordinate system according to a first embodiment of the present invention;
FIG. 3 is a diagram illustrating a ranging module according to a first embodiment of the present invention;
fig. 4 is a flowchart of a vehicle pull-out control method in the second embodiment of the invention;
FIG. 5 is a schematic illustration of a pull-in path according to a second embodiment of the present invention;
FIG. 6 is a schematic illustration of a pull-in path according to a second embodiment of the present invention;
fig. 7 is a schematic structural diagram of a vehicle-parking control apparatus according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for controlling a vehicle to park out, which is applicable to a situation where a vehicle parks out from a vertical parking space or an inclined parking space according to an embodiment of the present invention, and the method may be executed by a vehicle parking control device, and specifically includes the following steps:
The parking-out instruction comprises a parking-out direction and a type of a parking place to be parked out; the type of the parking place to be parked is a corresponding parking place when the garage is reversed; the first preset rule is a rule which is configured in advance according to the type of the parking place to be parked and the parking direction; the type of parking stall of waiting to berth out can be perpendicular parking stall or slope parking stall, and the direction of berthing out can be forward left side, forward right side, backward left side and backward right side, and forward direction is to referring to the locomotive direction, and backward direction is to referring to the rear of a vehicle direction, and the left side is the left side of vehicle direction of travel, and the right side is the right side of vehicle direction of travel.
For example, when the user needs to execute the automatic parking-out function, the user presses a key of the type of the parking place to be parked and a key of the parking-out direction, so that the vehicle to be parked obtains the parking-out instruction and determines that the vehicle to be parked meets the parking-out condition, obtains the current position of the vehicle to be parked, obtains a corresponding preset rule in the rule base according to the type of the parking place to be parked and the parking-out direction in the parking-out instruction, and the preset rule is a first preset rule, and then draws a parking-out path according to the current position of the vehicle to be parked and the first preset rule. For example, if the type of the parking space to be parked selected by the user is a vertical parking space, the parking direction is a forward left side, the parking instruction obtained by the vehicle to be parked is the parking from the vertical parking space, and the parking direction is a forward left side, at this time, the preset rules corresponding to the vertical parking space and the forward left side are obtained, and the path is drawn according to the preset rules and the current position of the vehicle to be parked.
As shown in fig. 2, the specific method for obtaining the current position of the vehicle to be parked includes: firstly, establishing a parking coordinate system, taking a geometric center point of a vehicle to be parked as the center of the parking coordinate system, taking the axial direction of the vehicle to be parked as an x axis, taking the direction vertical to the axial direction of the vehicle to be parked as a y axis, and acquiring the current position of the vehicle to be parked based on the parking coordinate system, namely the coordinate information of the current position A of the vehicle to be parked is (x is the coordinate information of the current position A of the vehicle to be parked)1,y1,θ1) Wherein x is1As the position of the vehicle to be parked in the x-axis direction, y1For the position of the vehicle to be parked in the direction of the y-axis, theta1Is the current heading angle of the vehicle to be parked.
And 102, executing parking operation according to the parking path, and acquiring a first target distance between an obstacle in the parking direction and the vehicle to be parked.
For example, as shown in fig. 3, a plurality of distance measuring modules, such as a radar module and an infrared distance measuring module, are arranged at predetermined positions of the vehicle to be parked in advance, and at least one distance measuring module may be arranged at each of the left side of the vehicle to be parked, the right side of the vehicle to be parked, the head of the vehicle to be parked, and the tail of the vehicle to be parked, for collecting a distance between an obstacle and the vehicle to be parked. And controlling the vehicle to be parked to start when the parking-out path is determined, carrying out parking-out operation according to the determined parking-out path, and simultaneously controlling the corresponding distance measurement module to obtain the first target distance between the obstacle in the parking-out direction and the vehicle to be parked in real time.
In an example, when the first target distance between the obstacle in the parking-out direction and the vehicle to be parked is obtained, the first target distance is compared with a first threshold value, and when the first target distance is determined to be smaller than or equal to the first threshold value, it is indicated that the obstacle is touched if the vehicle to be parked is parked out according to the drawn parking-out path, so that the parking-out path needs to be adjusted again; and when the first target distance is determined to be larger than the first threshold value, the situation that no obstacle exists around the vehicle to be parked is indicated, and the parking-out operation is continued according to the initially drawn parking-out path.
And 104, executing the parking operation according to the adjusted parking path.
For example, after the parking path is adjusted, the vehicle to be parked is controlled to perform parking operation according to the adjusted parking path, so as to avoid the vehicle to be parked from colliding with the obstacle during parking.
The invention provides a vehicle parking control method, which comprises the steps of determining a parking path according to the current position of a vehicle to be parked and a first preset rule when a parking instruction is obtained and the vehicle to be parked is determined to meet a parking condition, executing parking operation according to the parking path, meanwhile, obtaining a first target distance between an obstacle in the parking direction and the vehicle to be parked, adjusting the parking path when the first target distance is determined to be smaller than or equal to a first threshold value, and executing the parking operation according to the adjusted parking path, thereby realizing dynamic adjustment of the parking path based on the obstacle, and improving the success rate of parking the vehicle.
Example two
Fig. 4 is a flowchart of a vehicle parking control method according to a second embodiment of the present invention. The technical scheme of the embodiment is further refined on the basis of the technical scheme, and specifically mainly comprises the following steps:
The parking-out instruction comprises a parking-out direction and a type of a parking place to be parked out; the type of the parking place to be parked is a corresponding parking place when the garage is reversed; the first dock-out condition includes at least one of: the distance between the obstacle in the parking-out direction and the vehicle to be parked is greater than or equal to a second threshold value, and the sum of the distance between the obstacle on the first direction side of the vehicle to be parked and the distance between the obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked is greater than or equal to a third threshold value; the first direction side and the second direction side are both perpendicular to the driving direction of the vehicle to be parked.
For example, when a parking-out instruction is obtained, the size of a parking place to be parked where a vehicle to be parked is located needs to be judged, that is, the distance between an obstacle in the parking-out direction and the vehicle to be parked needs to be obtained through a distance measuring module arranged in the same direction as the parking-out direction, the distance between the obstacle in the parking-out direction and the vehicle to be parked needs to be compared with a second threshold value, and when the distance between the obstacle in the parking-out direction and the vehicle to be parked is determined to be greater than or equal to the second threshold value, it is determined that the obstacle in the parking-out direction is far from the vehicle to be parked, and a first parking-out condition is met; when the distance between the obstacle in the parking-out direction and the vehicle to be parked is determined to be smaller than the second threshold value, the obstacle in the parking-out direction is close to the vehicle to be parked, if the parking-out operation is executed, the obstacle may collide with the obstacle, so that the first parking-out condition is not met, and meanwhile, the fault information that the parking-out position is too small is displayed through the instrument, so that a user can know that the parking-out operation cannot be executed at the moment.
The vehicle to be parked can also obtain the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked through a distance measuring module arranged on the first direction side, and the distance is recorded as a first distance; the distance between an obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked is obtained through a distance measuring module arranged on the second direction side and recorded as a second distance, the sum of the first distance and the second distance is compared with a third threshold value, and when the sum of the first distance and the second distance is determined to be larger than or equal to the third threshold value, the fact that the transverse distance of the parking place to be parked is larger is judged, and the first parking condition is met; when the sum of the first distance and the second distance is smaller than the third threshold value, it is determined that the lateral distance of the parking space to be parked is smaller, that is, it is determined that the parking space to be parked is too small, and the first parking condition is not met.
It should be noted that, when the size of the parking space where the vehicle to be parked is located is judged, the distance between the obstacle and the vehicle to be parked in the parking direction and the sum of the first distance and the second distance can be simultaneously judged for the corresponding threshold, and when the distance between the obstacle and the vehicle to be parked in the parking direction is greater than or equal to the second threshold and the sum of the first distance and the second distance is greater than or equal to the third threshold, it is determined that the vehicle to be parked meets the first parking condition; when the distance between the obstacle and the vehicle to be parked in the parking-out direction is smaller than a second threshold value and the sum of the first distance and the second distance is larger than or equal to a third threshold value, determining that the vehicle to be parked does not meet a first parking-out condition; when the distance between the obstacle and the vehicle to be parked in the parking-out direction is greater than or equal to the second threshold value and the sum of the first distance and the second distance is less than the third threshold value, it is also determined that the vehicle to be parked does not meet the first parking-out condition, and the specific determination principle of the first parking-out condition may be set according to the requirements, which is not limited herein.
It should be noted that the first parking-out condition may further include that the distance between the obstacle in the parking-out direction and the vehicle to be parked is smaller than or equal to a seventh threshold, where the seventh threshold is greater than the second threshold, and when it is determined that the distance between the obstacle in the parking-out direction and the vehicle to be parked is smaller than or equal to the seventh threshold and is greater than the second threshold, it is determined that the distance between the vehicle to be parked and the obstacle in the moderate parking-out direction is compared, the parking-out operation of the vehicle to be parked is not affected, and the first parking-out condition is satisfied; when the distance between the obstacle in the parking-out direction and the vehicle to be parked is determined to be larger than the seventh threshold, the fact that the vehicle to be parked is far away from the obstacle in the parking-out direction is indicated, automatic parking-out operation does not need to be executed at the moment, the obstacle is displayed far through an instrument, prompt information of the automatic parking-out operation does not need to be executed, and a user can conveniently know the prompt information.
It should be noted that when it is determined that the vehicle to be parked does not meet the first parking-out condition, no operation is performed, and fault information is displayed through the instrument; upon determining that the vehicle to be parked satisfies the first parking condition, the following steps 402 to 409 are performed.
Wherein the second park out condition comprises: the distance between an obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is greater than or equal to a fourth threshold value; the distance between the obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked is greater than or equal to a fifth threshold value.
For example, when it is determined that the vehicle to be parked meets the first parking-out condition, the vehicle to be parked is controlled to start moving, and obstacles around the vehicle to be parked are judged in real time, that is, the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked needs to be obtained through a distance measurement module arranged on the first direction side of the vehicle to be parked, the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is compared with a fourth threshold value, and when it is determined that the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is greater than or equal to the fourth threshold value, the obstacle on the first direction side is far from the vehicle to be parked; and meanwhile, the distance between the obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked is obtained through a distance measuring module arranged on the second direction side of the vehicle to be parked, the distance between the obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked is compared with a fifth threshold value, when the distance between the obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked is determined to be larger than or equal to the fifth threshold value, the obstacle on the second direction side is further away from the vehicle to be parked, and the vehicle to be parked is determined to meet a second parking-out condition.
When the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is determined to be smaller than a fourth threshold value, the obstacle on the first direction side is close to the vehicle to be parked, and the obstacle is likely to be collided, and the vehicle to be parked is determined not to meet a second parking-out condition; or, when it is determined that the distance between the obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked is smaller than the fifth threshold, it is indicated that the obstacle on the second direction side is closer to the vehicle to be parked and there is a possibility that the obstacle may be collided, and it is also determined that the vehicle to be parked does not satisfy the second parking-out condition.
It should be noted that, when it is determined that the vehicle to be parked satisfies the second parking-out condition, the following steps 403, 405 to 409 are executed; upon determining that the vehicle to be parked does not satisfy the second parking-out condition, step 404 is performed. The method for specifically adjusting the position of the vehicle to be parked comprises the following steps: adjusting the position of the vehicle to be parked according to the parking-out direction, for example, if the parking-out direction is the forward left side, setting the gear of the vehicle to be parked as a forward gear, and driving the vehicle forwards for a certain distance according to the current heading angle of the vehicle to be parked until the vehicle to be parked meets a second parking-out condition; and if the parking direction is backward left, setting the gear of the vehicle to be parked as reverse gear, and driving the vehicle backwards for a certain distance according to the current heading angle of the vehicle to be parked until the vehicle to be parked meets the second parking condition.
When determining whether the vehicle to be parked meets the second parking condition, preferably, when the parking direction is forward left side or forward right side, the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked in the second parking condition is the distance obtained by the distance measuring module which is arranged on the first direction side and close to the vehicle head position, and the distance between the obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked in the second parking condition is the distance obtained by the distance measuring module which is arranged on the second direction side and close to the vehicle head position; when the parking-out direction is backward left side or backward right side, the distance between the obstacle on the first direction side of the vehicle to be parked in the second parking-out condition and the vehicle to be parked is the distance obtained by the ranging module arranged on the first direction side close to the vehicle tail position, and the distance between the obstacle on the second direction side of the vehicle to be parked in the second parking-out condition and the vehicle to be parked is the distance obtained by the ranging module arranged on the second direction side close to the vehicle tail position.
And step 403, when the vehicle to be parked is determined to meet the second parking-out condition, determining a parking-out path according to the current position of the vehicle to be parked and a first preset rule.
The first preset rule is a rule which is configured in advance according to the type of the parking space to be parked and the parking direction, and the current position of the vehicle to be parked is the position of the vehicle to be parked when the second parking condition is met.
Optionally, determining the current position of the vehicle to be parked as the starting position of the parking route; extending a preset length from the initial position to obtain a straight line section path; determining an end point of the straight-line segment path as a first target center; and determining a first arc segment path according to the first target center and a preset radius. Specifically, determining the first arc segment path according to the first target center and the preset radius includes: determining an arc center according to the first target center and a preset radius, and determining a first arc segment path according to the arc center and the preset radius; and a connecting line of the arc center and the first target center is perpendicular to the straight-line path, and the distance between the arc center and the first target center is a preset radius.
For example, as shown in fig. 5, assuming that the parking-out direction is the forward left side and the type of the parking space to be parked is the vertical parking space, the current position a of the vehicle to be parked may be used as the starting point, the forward planning L1 meters may be reached to the point B by using the heading angle the same as the heading angle of the current position a, and the coordinate information of the point B is (x)2Y1, θ 1), where x2And x1The difference of L1 m is the straight-line path; if the preset radius is the minimum turning radius of the vehicle to be parked, the point B is taken as a starting point, a perpendicular line of the straight line segment path is made along the point B, a distance point from the point B to the preset radius on the perpendicular line is determined as an arc center, a first arc segment path with a preset radian is planned along the left direction by taking the arc center as a circle center and the minimum turning radius of the vehicle to be parked, and finally the straight line segment path and the first arc segment path form a parking path.
It should be noted that the pull-in path may also be a combination of other paths, for example, taking point a as a starting point, planning forward to reach point B at a heading angle L1 m, which is the same as the current heading angle, to obtain a straight-line path; then, with the point B as a starting point, planning forwards by L2 meters by using a preset course angle (the preset course angle is different from the current course angle) to obtain an inclined section path, and planning a first arc section path with a preset radian along the parking-out direction by using the minimum turning radius of the vehicle to be parked by using the terminal point of the inclined section path as the starting point, wherein the parking-out path is a combination of a straight section path, the inclined section path and the first arc section path.
And step 404, when the vehicle to be parked is determined not to meet the second parking-out condition, adjusting the position of the vehicle to be parked until the vehicle to be parked meets the second parking-out condition.
And 405, executing parking operation according to the parking path, and acquiring a first target distance between the obstacle in the parking direction and the vehicle to be parked.
Optionally, the vehicle to be parked is controlled to travel a preset distance in a direction opposite to the parking-out direction; and adjusting the parking path according to the current position of the vehicle to be parked and a second preset rule.
The second preset rule is a rule which is configured in advance according to the type of the parking space to be parked and the parking direction.
The specific method for adjusting the parking route comprises the following steps: determining the current position of the vehicle to be parked as a second target center; and determining a second arc segment path according to the second target center and the preset radius.
For example, assuming that the parking-out direction is forward and left, and the type of the parking-out space is a vertical space, when it is determined that the first target distance is less than or equal to the first threshold, it means that the vehicle to be parked will touch the obstacle if the parking operation is performed according to the drawn parking-out path, it is necessary to readjust the parking path, as shown in fig. 6, to set the gear of the vehicle to be parked to the reverse gear, the vehicle to be parked is backed up by a preset distance, the current position of the vehicle to be parked at the moment is recorded as B', then taking B ' as a starting point, drawing a perpendicular line of the path of the straight line segment along the point B ', determining a distance point from the point B ' to a preset radius on the perpendicular line as a circular arc center, taking the circular arc center as a circle center, and planning a second arc segment path with a preset radian along the left direction by using the minimum turning radius of the vehicle to be parked, wherein the adjusted parking path is the second arc segment path.
It should be noted that when it is determined that the first target distance is greater than the first threshold, it is determined that there is no obstacle around the vehicle to be parked, the parking-out path does not need to be adjusted, and the parking-out operation is continued according to the initial parking-out path.
And step 408, determining whether the vehicle to be parked meets the parking-out termination condition.
Wherein the dock-out termination condition comprises at least one of: the current course angle of the vehicle to be parked is a preset angle, and the distance between an obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is smaller than or equal to a sixth threshold value; the first direction side is a direction side opposite to the pull-out direction.
For example, when the vehicle to be parked performs the parking-out operation according to the adjusted parking-out path, the current heading angle of the vehicle to be parked needs to be obtained in real time, and if the current heading angle is determined to be the preset angle, the vehicle to be parked is considered to complete the parking-out operation, and the parking-out termination condition is met; if the current heading angle is not determined to be the preset angle, the vehicle to be parked is considered to have not finished the parking-out operation, the parking-out termination condition is not met, and the parking-out operation is continued according to the adjusted parking-out path.
For example, while the vehicle to be parked performs the parking-out operation according to the adjusted parking-out path, only the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked may be obtained, the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is compared with a sixth threshold, and when it is determined that the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is less than or equal to the sixth threshold, the vehicle to be parked is considered to complete the parking-out operation, and the parking-out termination condition is satisfied; and when the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is determined to be larger than a sixth threshold value, the vehicle to be parked is considered to have not finished the parking-out operation, the parking-out termination condition is not met, and the parking-out operation is continued according to the adjusted parking-out path.
For example, when it is determined that the current heading angle is a preset angle and it is determined that the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is less than or equal to the sixth threshold, the vehicle to be parked is considered to complete the parking-out operation, and the parking-out termination condition is satisfied; when the current heading angle is determined not to be the preset angle and the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is determined to be less than or equal to a sixth threshold value, the vehicle to be parked is considered to be not parked out, and the parking-out termination condition is not met; and when the current heading angle is determined to be a preset angle and the distance between the obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is determined to be greater than a sixth threshold value, the vehicle to be parked is considered to have not finished the parking-out operation and the parking-out termination condition is not met. The corresponding parking-out termination condition may be selected according to actual requirements, which is not limited.
And step 409, controlling the vehicle to be parked to exit the parking lot when the vehicle to be parked meets the parking-out termination condition.
For example, when it is determined that the parked vehicle satisfies the parking-out termination condition, the parked vehicle is controlled to exit the parking operation, the steering wheel is returned to the positive position, and the shift position of the parked vehicle is set to the parking position.
It should be noted that, in the whole parking-out operation process, the invention monitors the distance between the vehicle to be parked and the peripheral obstacle in real time, and when the distance between the vehicle to be parked and the peripheral obstacle is determined to be smaller than the safe distance, the vehicle to be parked is about to collide with the obstacle, and the parking-out operation is quitted at the moment, and fault information is displayed on the instrument, so that a user can conveniently master the reason of the parking-out operation.
The invention provides a vehicle parking control method, which comprises the steps of firstly judging whether a vehicle to be parked meets a first parking condition when a parking instruction is obtained, then judging whether the vehicle to be parked meets a second parking condition when the vehicle to be parked meets the first parking condition is determined, determining a parking path according to the current position of the vehicle to be parked and a first preset rule when the vehicle to be parked meets the second parking condition is determined, executing parking operation according to the parking path, meanwhile, obtaining a first target distance between an obstacle in the parking direction and the vehicle to be parked, adjusting the parking path when the first target distance is determined to be smaller than or equal to a first threshold value, and then executing parking operation according to the adjusted parking path. Therefore, the position of the vehicle to be parked is preliminarily judged and further judged, and only when the vehicle to be parked simultaneously meets the first parking-out condition and the second parking-out condition, the subsequent parking-out operation is executed, so that the failure of parking-out of the vehicle due to improper parking space size and the fact that the obstacle is close to the vehicle to be parked is avoided; in addition, the parking-out path is dynamically adjusted based on the obstacles, and the success rate of parking out the vehicle is further improved.
EXAMPLE III
Fig. 7 is a structural diagram of a vehicle parking control device according to a third embodiment of the present invention, where the present embodiment is applicable to a situation where a vehicle is parked from a vertical parking space or an inclined parking space, and the method can be implemented by the vehicle parking control device according to the third embodiment of the present invention, and the device can be implemented in a software and/or hardware manner, and can be generally integrated in a computer device, as shown in fig. 7, the vehicle parking control device specifically includes a first determining module 701, a first executing module 702, a first adjusting module 703, and a second executing module 704.
The first determining module 701 is configured to determine a parking-out path according to the current position of the vehicle to be parked and a first preset rule when the parking-out instruction is obtained and it is determined that the vehicle to be parked meets the parking-out condition; the parking-out instruction comprises a parking-out direction and a type of a parking place to be parked out; the type of the parking place to be parked is a corresponding parking place when the garage is reversed; the first preset rule is a rule which is configured in advance according to the type of the parking space to be parked and the parking direction.
A first executing module 702, configured to execute a parking operation according to the parking route, and obtain a first target distance between the obstacle in the parking direction and the vehicle to be parked.
A first adjusting module 703, configured to adjust the pull-out path when it is determined that the first target distance is less than or equal to a first threshold.
A second executing module 704, configured to execute the pull-in operation according to the adjusted pull-in path.
The invention provides a vehicle parking-out control device, which is used for determining a parking-out path according to the current position of a vehicle to be parked and a first preset rule when a parking-out instruction is obtained and the vehicle to be parked is determined to meet a parking-out condition, executing parking-out operation according to the parking-out path, simultaneously acquiring a first target distance between an obstacle in the parking-out direction and the vehicle to be parked, adjusting the parking-out path when the first target distance is determined to be smaller than or equal to a first threshold value, and executing the parking-out operation according to the adjusted parking-out path, thereby realizing dynamic adjustment of the parking-out path based on the obstacle and improving the success rate of parking-out the vehicle.
Further, the first determining module 701 includes:
a first determination submodule for determining whether the vehicle to be parked satisfies a first parking-out condition;
a first adjusting submodule, configured to adjust a position of the vehicle to be parked when it is determined that the vehicle to be parked satisfies the first parking-out condition;
the second determining submodule is used for determining whether the adjusted vehicle to be parked meets a second parking-out condition;
and the third determining submodule is used for determining a parking-out path according to the current position of the vehicle to be parked and the first preset rule when the vehicle to be parked meets the second parking-out condition.
Further, the first dock-out condition includes at least one of: the distance between the obstacle in the parking-out direction and the vehicle to be parked is greater than or equal to a second threshold value, and the sum of the distance between the obstacle on the first direction side of the vehicle to be parked and the distance between the obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked is greater than or equal to a third threshold value; the first direction side and the second direction side are both perpendicular to the driving direction of the vehicle to be parked.
Further, the second park out condition includes: the distance between an obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is greater than or equal to a fourth threshold value; the distance between the obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked is greater than or equal to a fifth threshold value.
Further, the device further comprises a second adjusting module.
The second adjusting module is used for adjusting the position of the vehicle to be parked until the vehicle to be parked meets the second parking-out condition when the vehicle to be parked does not meet the second parking-out condition.
Further, the first adjusting module 703 includes a control sub-module and a second adjusting sub-module.
And the control submodule is used for controlling the vehicle to be parked to run for a preset distance in the direction opposite to the parking-out direction.
The second adjusting submodule is used for adjusting the parking path according to the current position of the vehicle to be parked and a second preset rule; the second preset rule is a rule which is configured in advance according to the type of the parking space to be parked and the parking direction.
Further, the device also comprises a second determination module and a control module.
The second determination module is used for determining whether the vehicle to be parked meets the parking-out termination condition.
And the control module is used for controlling the vehicle to be parked to exit the parking operation when the vehicle to be parked meets the parking-out termination condition.
Further, the berthing-out termination condition includes at least one of the following conditions: the current course angle of the vehicle to be parked is a preset angle, and the distance between an obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is smaller than or equal to a sixth threshold value; the first direction side is a direction side opposite to the pull-out direction.
Further, the first determining module 701 further includes:
the fourth determining submodule is used for determining the current position of the vehicle to be parked as the starting position of the parking-out path; extending a preset length from the initial position to obtain a straight line section path;
a fifth determining submodule, configured to determine an end point of the straight-line segment path as a first target center; and determining a first arc segment path according to the first target center and a preset radius.
The vehicle parking-out control device provided by the embodiment of the invention can execute the vehicle parking-out control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the vehicle parking-out control method.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle parking-out control method characterized by comprising:
when a parking-out instruction is obtained and it is determined that the vehicle to be parked meets the parking-out condition, determining a parking-out path according to the current position of the vehicle to be parked and a first preset rule; the parking-out instruction comprises a parking-out direction and a type of a parking place to be parked out; the type of the parking place to be parked is a corresponding parking place when the garage is reversed; the first preset rule is a rule which is configured in advance according to the type of the parking place to be parked and the parking direction;
carrying out parking operation according to the parking path, and acquiring a first target distance between an obstacle in the parking direction and the vehicle to be parked;
adjusting the pull-out path upon determining that the first target distance is less than or equal to a first threshold;
and executing the parking operation according to the adjusted parking path.
2. The method of claim 1, wherein determining a parking-out path according to the current position of the vehicle to be parked and a first preset rule upon determining that the vehicle to be parked satisfies the parking-out condition comprises:
determining whether the vehicle to be parked meets a first parking-out condition;
when the vehicle to be parked is determined to meet the first parking-out condition, adjusting the position of the vehicle to be parked;
determining whether the adjusted vehicle to be parked meets a second parking-out condition;
and when the vehicle to be parked is determined to meet the second parking-out condition, determining a parking-out path according to the current position of the vehicle to be parked and a first preset rule.
3. The method of claim 2, wherein the first dock-out condition comprises at least one of: the distance between the obstacle in the parking-out direction and the vehicle to be parked is greater than or equal to a second threshold value, and the sum of the distance between the obstacle on the first direction side of the vehicle to be parked and the distance between the obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked is greater than or equal to a third threshold value; the first direction side and the second direction side are both perpendicular to the driving direction of the vehicle to be parked.
4. The method of claim 3, wherein the second park out condition comprises: the distance between an obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is greater than or equal to a fourth threshold value; the distance between the obstacle on the second direction side of the vehicle to be parked and the vehicle to be parked is greater than or equal to a fifth threshold value.
5. The method of claim 2, further comprising:
when the vehicle to be parked is determined not to meet the second parking-out condition, adjusting the position of the vehicle to be parked until the vehicle to be parked meets the second parking-out condition.
6. The method of claim 1, wherein the adjusting the pull-in path comprises:
controlling the vehicle to be parked to run for a preset distance in the direction opposite to the parking-out direction;
adjusting the parking path according to the current position of the vehicle to be parked and a second preset rule; the second preset rule is a rule which is configured in advance according to the type of the parking space to be parked and the parking direction.
7. The method of claim 1, further comprising:
determining whether the vehicle to be parked meets a parking-out termination condition;
and controlling the vehicle to be parked to exit the parking operation when the vehicle to be parked is determined to meet the parking-out termination condition.
8. The method of claim 7, wherein the dock-out termination condition comprises at least one of: the current course angle of the vehicle to be parked is a preset angle, and the distance between an obstacle on the first direction side of the vehicle to be parked and the vehicle to be parked is smaller than or equal to a sixth threshold value; the first direction side is a direction side opposite to the pull-out direction.
9. The method according to claim 1, wherein the determining a parking-out path according to the current position of the vehicle to be parked and a first preset rule comprises:
determining the current position of the vehicle to be parked as the initial position of the parking path; extending a preset length from the initial position to obtain a straight line section path;
determining an end point of the straight-line segment path as a first target center; and determining a first arc segment path according to the first target center and a preset radius.
10. A vehicle parking-out control apparatus, characterized by comprising:
the first determining module is used for determining a parking-out path according to the current position of the vehicle to be parked and a first preset rule when the parking-out instruction is obtained and the vehicle to be parked meets the parking-out condition is determined; the parking-out instruction comprises a parking-out direction and a type of a parking place to be parked out; the type of the parking place to be parked is a corresponding parking place when the garage is reversed; the first preset rule is a rule which is configured in advance according to the type of the parking place to be parked and the parking direction;
the first execution module is used for executing parking operation according to the parking path and acquiring a first target distance between an obstacle in the parking direction and the vehicle to be parked;
a first adjustment module to adjust the pull-out path upon determining that the first target distance is less than or equal to a first threshold;
and the second execution module is used for executing the pull-out operation according to the adjusted pull-out path.
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| CN202010458873.2A CN111746518A (en) | 2020-05-25 | 2020-05-25 | Vehicle parking-out control method and device |
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