CN112092804B

CN112092804B - Automatic parking method and system

Info

Publication number: CN112092804B
Application number: CN202011201390.0A
Authority: CN
Inventors: 路达; 田丽鹏; 张瑞琳; 王曦; 王若瑜
Original assignee: Tianjin Tiantong Weishi Electronic Technology Co ltd
Current assignee: Tianjin Tiantong Weishi Electronic Technology Co ltd
Priority date: 2020-11-02
Filing date: 2020-11-02
Publication date: 2021-02-02
Anticipated expiration: 2040-11-02
Also published as: CN112092804A; WO2022089663A1

Abstract

The invention discloses a method and a system for automatic parking.A visual perception module senses a warehousing route planned by target warehouse position information output by a target warehouse position to perform automatic parking; when the target vehicle reaches a specific position, triggering real-time planning warehousing route operation; the real-time planning of the warehousing route comprises the following steps: acquiring tracking library position information obtained by tracking and positioning a target library position by a positioning module in real time; determining a position error between the tracking library position information and the actual target library position information output by the visual perception module in real time; and if the position error is larger than or equal to the preset threshold value, replanning the warehousing route according to the target warehouse location position information and the current position information of the target vehicle. When the error of the positioning module exceeds a preset threshold value, the method corrects the error of the positioning module through the operation of planning the warehousing route in real time, can obviously improve the efficiency of automatic parking, and improves the adaptability of the automatic parking system to different parking scenes and the safety of the automatic parking process.

Description

Automatic parking method and system

Technical Field

The invention relates to the technical field of automatic driving, in particular to an automatic parking method and system.

Background

The automatic parking technology aims to assist a driver to park and put in storage. The most commonly used existing technology for automatic parking based on vision. In the process of realizing automatic parking based on vision, after library position information (namely the relative position and the relative angle between a line-drawing library position and a vehicle) is obtained according to a vision sensor, a path is planned and tracked from the current vehicle position. In the whole parking process, the positioning module updates the vehicle position and the target position tracking information in real time, but certain errors exist in the positioning module, so that the target position tracking information in the parking process is likely to gradually deviate from a line-drawing position on the real ground, and the final parking effect is directly influenced, for example, the head of the vehicle is inclined or the vehicle body deviates to one side in the parking position. In extreme cases, errors of the positioning module may even cause large deviation of the target library position information, and potential safety hazards exist.

Disclosure of Invention

In view of this, embodiments of the present invention provide a method and a system for automatic parking, so as to achieve the purposes of correcting errors of a positioning module in time and improving the efficiency of automatic parking and the safety of a parking process.

In order to achieve the above object, one aspect of the embodiments of the present invention provides the following technical solutions: a method of automatic parking comprising:

the visual perception module perceives the warehousing route planned by the target warehouse location position information output by the target warehouse location to automatically park;

when the target vehicle reaches a specific position, triggering real-time planning warehousing route operation;

the real-time planning warehousing route comprises the following steps:

acquiring tracking library position information obtained by tracking and positioning the target library position by a positioning module in real time;

determining a position error between the tracking bin position information and the target bin position information;

and if the position error is larger than or equal to a preset threshold value, re-planning the warehousing route according to the target warehouse position information and the current position information of the target vehicle.

Optionally, the determining a position error between the tracking library position information and the target library position information includes:

acquiring a first coordinate of a specified point of the target library position in the target library position information;

acquiring a second coordinate of a specified point of the tracking library position in the tracking library position information;

and calculating a difference value between the first coordinate and the second coordinate to obtain a distance error as a position error between the tracking library position information and the target library position information.

determining first angle information according to at least two point coordinates on a specified library bit line of the target library bit in the target library bit position information;

determining second angle information according to at least two point coordinates on a specified library bit line of the tracking library bit in the tracking library bit position information;

and taking an angle difference value between the first angle information and the second angle information as a position error between the tracking library position information and the target library position information.

Optionally, the replanning the warehousing route according to the target depot position information and the current position information of the target vehicle includes:

acquiring target storage position information output by a visual perception module for perceiving a target storage position and current position information of a target vehicle;

determining whether the target vehicle is located in a reversing area or a forward area according to the position relationship between the current position information of the target vehicle and the position information of the target storage position; the reversing area and the advancing area are determined according to the relative position relation between the rear axle center position of the target vehicle and the target storage position central line of the target storage position;

if the target vehicle is located in the reversing area, determining that the driving direction is backward driving, and replanning a driving path of the target vehicle from the current position to the target storage position;

and if the target vehicle is located in a forward area, determining that the driving direction is forward driving and then backward driving, and replanning the driving path of the target vehicle from the current position to the target storage position.

Optionally, the determining, according to the position relationship between the current position information of the target vehicle and the position information of the target storage location, whether the target vehicle is located in a reverse area or a forward area includes:

determining a rear axle center position of the target vehicle based on the current position information of the target vehicle;

comparing the rear axle center position of the target vehicle with a target library position central line of the target library position in the target library position information, and determining the relative position relationship between the rear axle center position of the target vehicle and the target library position central line of the target library position;

if the currently executed warehousing route is a reversing route, the relative position relation indicates that the rear axle center position of the target vehicle deviates from the currently executed warehousing route and the target vehicle is positioned on one side of the currently executed warehousing route after the center line of the target warehouse position is superposed with the center line of the target warehouse position, and the target vehicle is determined to be positioned in an advancing area;

if the currently executed warehousing route is a reversing route, the relative position relation indicates that the rear axle center position of the target vehicle deviates from the currently executed warehousing route and is positioned on one side before the currently executed warehousing route is superposed with the target warehouse position central line of the target warehouse position, and the target vehicle is determined to be positioned in a reversing area;

if the currently executed warehousing route is an advancing route, the relative position relation indicates that the rear axle center position of the target vehicle deviates from the currently executed warehousing route and the target vehicle is positioned in a reversing area when the currently executed warehousing route is positioned on one side of the target warehouse position after the center line of the currently executed warehousing route is superposed with the center line of the target warehouse position;

and if the currently executed warehousing route is an advancing route, the relative position relation indicates that the rear axle center position of the target vehicle deviates from the currently executed warehousing route and is positioned on one side before the currently executed warehousing route is superposed with the target warehouse position central line of the target warehouse position, and the target vehicle is determined to be positioned in an advancing area.

Optionally, the replanning the driving path of the target vehicle from the current position to the target storage location includes:

obtaining the rear axle central position coordinate of the target vehicle as an initial coordinate value and the included angle information of the center line of the target vehicle and the target library position horizontal library bit line according to the current position information of the target vehicle;

determining the coordinates of the position of the center position of the rear axle as the coordinate values of the end point when the target vehicle stops at the center line of the target parking space according to the position information of the current actual parking space and the size of the target vehicle;

calculating to obtain the turning radius and the running distance of the target vehicle according to the included angle information, the initial coordinate value and the end coordinate value;

if the turning radius is larger than or equal to the minimum turning radius of the target vehicle, judging whether the target vehicle runs the running distance in the determined running direction according to the turning radius and has the risk of collision with the surrounding objects or not;

and if the risk of collision with surrounding objects does not exist, taking the turning radius, the determined driving direction and the driving distance as a driving path of the target vehicle from the current position to the center line position of the target storage position in the current actual storage position information.

Another aspect of the embodiments of the present invention provides the following technical solutions: a system for automatic parking, comprising: visual perception module, orientation module and control module:

the visual perception module is used for perceiving the position information of the target library position output by the target library position;

the positioning module is used for tracking and positioning the target library position to obtain tracking library position information;

the control module is used for carrying out automatic parking on the warehouse-in route planned based on the position information of the target warehouse location; when the target vehicle reaches a specific position, triggering real-time planning warehousing route operation;

the control module for planning the warehousing route operation in real time is specifically used for acquiring the position information of the tracking warehouse location in real time; determining a position error between the tracking bin position information and the target bin position information; and if the position error is larger than or equal to a preset threshold value, re-planning the warehousing route according to the target warehouse position information and the current position information of the target vehicle.

Optionally, the control module for determining a position error between the tracking library position information and the target library position information is specifically configured to: acquiring a first coordinate of a specified point of the target library position in the actual library position information; acquiring a second coordinate of a specified point of the tracking library position in the tracking library position information; and calculating the difference value between the first coordinate and the second coordinate to obtain a distance error as a position error.

Optionally, the control module for determining a position error between the tracking library position information and the target library position information is specifically configured to: determining first angle information of the appointed library bit line according to at least two point coordinates on the appointed library bit line of the target library bit in the actual library bit position information; determining second angle information of the appointed library bit line according to at least two point coordinates on the appointed library bit line of the tracking library bit in the tracking library bit position information; and obtaining an angle error of the appointed library bit line on the target library position as a position error according to the first angle information and the second angle information.

Optionally, the control module for replanning the warehousing route according to the target depot position information and the current position information of the target vehicle is specifically configured to:

acquiring target storage position information output by a visual perception module for perceiving a target storage position and current position information of a target vehicle; determining whether the target vehicle is located in a reversing area or a forward area according to the position relationship between the current position information of the target vehicle and the position information of the target storage position; the reversing area and the advancing area are determined according to the relative position relation between the rear axle center position of the target vehicle and the target storage position central line of the target storage position; if the target vehicle is located in the reversing area, determining that the driving direction is backward driving, and replanning a driving path of the target vehicle from the current position to the target storage position; and if the target vehicle is located in a forward area, determining that the driving direction is forward driving and then backward driving, and replanning the driving path of the target vehicle from the current position to the target storage position.

According to the technical scheme, the visual perception module perceives the warehousing route planned by the target warehouse location position information output by the target warehouse location to automatically park; when the target vehicle reaches a specific position, triggering real-time planning warehousing route operation; the real-time planning of the warehousing route comprises the following steps: acquiring tracking library position information obtained by tracking and positioning a target library position by a positioning module in real time; determining a position error between the tracking library position information and the actual target library position information output by the visual perception module in real time; and if the position error is larger than or equal to the preset threshold value, replanning the warehousing route according to the target warehouse location position information and the current position information of the target vehicle. Compared with the prior art, the technical scheme realizes the quantitative calculation of the positioning module error, corrects the positioning module error through the operation of planning the entry route in real time when the error exceeds the preset threshold value, can obviously improve the automatic parking efficiency, and improves the adaptability of the automatic parking system to different parking scenes and the safety of the automatic parking process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic flow chart of an automatic parking method according to an embodiment of the present invention;

FIG. 2 is a flow diagram of one embodiment of an operation for real-time planning of a warehousing route;

FIG. 3 is a flow diagram of one embodiment for determining a position error between tracking bin position information and target bin position information;

FIG. 4 is a schematic plan view of a parking lot;

FIG. 5 is a flow diagram of another embodiment for determining a position error between tracking bin position information and target bin position information;

FIG. 6 is a flow chart for replanning a route to storage based on the target storage location information and the current location information of the target vehicle;

FIG. 7 is a flowchart of one embodiment of determining whether the target vehicle is located in a reverse zone or a forward zone based on the relative position of the center of the rear axle of the target vehicle and the center line of the target depot in the target depot;

FIG. 8 is a schematic diagram illustrating a positional relationship between the target vehicle and the target storage location when performing step S603;

FIG. 9 is a schematic diagram illustrating a positional relationship between the target vehicle and the target storage location during the step S604;

FIG. 10 is a schematic diagram illustrating a positional relationship between the target vehicle and the target storage location during the step S605;

FIG. 11 is a schematic diagram illustrating a positional relationship between the target vehicle and the target storage location during the step S606;

FIG. 12 is a flow chart of another embodiment of determining whether a target vehicle is located in a reverse zone or a forward zone;

FIG. 13 is a schematic plan view of the target vehicle with the rear axle center position Q located in area A;

fig. 14 is a plan view schematically illustrating the rear axle center position Q of the target vehicle in the region B;

FIG. 15 is a schematic plan view of the target vehicle with the rear axle center position Q located in region C;

FIG. 16 is a schematic plan view of the target vehicle with the rear axle center position Q located in region D;

FIG. 17 is a flow chart of one embodiment of re-planning a driving route for warehousing;

FIG. 18 is a top view of a target vehicle and a target depot;

fig. 19 is a schematic structural diagram correspondingly disclosing an automatic parking system according to the embodiment of the invention.

Detailed Description

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

In this application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Fig. 1 is a schematic flow chart illustrating a method for automatic parking according to an embodiment of the present invention. The execution logic of the method may be built in a controller or a processor of an automatic parking system of a vehicle, the method comprising the steps of:

s101, automatic parking is carried out on the warehousing route planned based on the target warehouse location information output by the visual perception module.

In S101, the visual perception module acquires image or video information through a camera device, and obtains location information of a target library location after image processing and analysis.

The camera device in the visual sensing module can adopt a surround-view camera.

The panoramic camera may include four cameras, which may be mounted on the head, tail, and left and right rear-view mirrors of the target vehicle, respectively. The installation position can obtain visual pictures of the target vehicle in four directions of front, back, left and right. The target library bit line in the visual picture can be sensed through image processing and a deep learning model to obtain target library bit position information.

The position information of the target position can be represented by coordinate values of four corner points of the target position in a vehicle coordinate system and the width and the length of the target position.

It should be noted that the target library position information may be represented in a numerical form, for example, the target library position information may be represented by a line segment expression of four library bit lines of the target library position in a vehicle coordinate system, and specific content of the target library position information is not limited herein.

The vehicle coordinate system can be set according to requirements, and is not limited herein, and one setting mode is as follows: the center position of the rear axle of the target vehicle is taken as the origin, the vehicle center line of the target vehicle is the Y axis (the head of the vehicle is the positive direction of the Y axis), and the straight line perpendicular to the vehicle center line is the X axis (the right side is the positive direction of the X axis).

The target vehicle is a vehicle that is performing automatic parking. The target garage position is a garage position into which the target vehicle needs to drive in the automatic parking at this time.

When this step S101 is executed, the target vehicle is in an automatic parking state, that is, the automatic parking system (APA system) takes over the control right of the vehicle speed, steering wheel, gear position, and the like of the target vehicle, and automatically controls the target vehicle to travel. And planning a path according to the position information of the target vehicle and the position information of the target storage position to obtain a storage route, and controlling the target vehicle to run according to the storage route by the automatic parking system. When the target vehicle runs according to the warehousing route, the target warehouse location information used for path planning is tracked through the positioning module to obtain the tracking warehouse location information.

The positioning module tracks the target position in real time according to the driving data of the target vehicle to obtain the position information of the tracked position.

Wherein the driving data of the target vehicle includes but is not limited to at least one of the following: the speed signal, the wheel speed signal, the steering wheel angle signal and the driving direction on the target vehicle's own CAN network. The change of the target vehicle from the initial position can be calculated through the running data, so that the position change of the target storage position is calculated, and the tracking storage position information is updated. And the positioning module updates and tracks the position information of the storage position in real time along with the change of the running route of the target vehicle.

And S102, when the target vehicle reaches a specific position, triggering real-time planning and warehousing route operation.

In S102, the specific location is a preset location for the automatic parking system to trigger the real-time warehousing route planning operation. The position of the specific location is not specifically limited, and may be provided at a position adjacent to the target bank bit, on a bank bit line of the target bank bit, or the like.

The target vehicle reaching the specific position means that a certain part of the target vehicle (the tail of the target vehicle) reaches the specific position.

For example, the target vehicle reaching the particular location may be the target vehicle backing up to a location where its rear overlaps a depot level of the target depot.

Whether the target vehicle reaches the specific position can be judged by analyzing the image of the visual perception module; the coordinate values of the target storage location and the coordinate values of the target vehicle in the same coordinate system may be analyzed for determination, which will not be described in detail herein.

In the embodiment of the invention, the operation of tracking the warehouse location position information and planning the warehouse entry route in real time by combining the positioning module in the step S102 is executed, so that the error of positioning only by using the positioning module can be avoided.

In the process of implementing S102 specifically, after the operation of planning the warehousing route in real time is triggered, the automatic parking system quantizes the tracking error of the positioning module in real time, then determines whether the warehousing path needs to be re-planned at present according to the tracking error, and re-plans the warehousing route according to the determination result, or controls the target vehicle to continue to run according to the current warehousing route.

One implementation of the real-time inbound routing operation is given below.

Referring to fig. 2, a flow chart of an embodiment of the operation of real-time planning of a warehousing route is shown, including the following steps:

s201, acquiring the position information of the tracking library position obtained by tracking and positioning the target library position by the positioning module in real time.

And the tracking storage position information is the tracking storage position information output by the positioning module in real time when the operation of planning the warehousing route in real time is triggered.

S202, determining the position error between the tracking library position information and the target library position information.

Optionally, the target storage location position information may be target storage location position information output by the visual perception module in real time when the real-time warehousing route planning operation is triggered.

Optionally, the target library position information may also be the target library position information last output by the visual perception module.

Optionally, the target storage location position information may also be target storage location position information output by the visual perception module during primary storage route planning.

In S202, the tracking error of the positioning module is quantified by calculating a position error between the tracking bin position information and the target bin position information. The position error includes at least one of: the distance error between the designated point of the target library location and the designated point of the tracking library location, and the angle error between the designated library bit line of the target library location and the designated library bit line of the tracking library location.

And S203, when the position error is larger than or equal to the preset threshold value, re-planning the warehousing route according to the position information of the target warehouse location and the current position information of the target vehicle.

In S203, the preset threshold is an upper limit value of the preset position error. Replanning the warehousing route refers to planning the shortest path from the current position of the target vehicle to the target warehouse location.

For the preset threshold, if the position error is the distance error described in S202, the preset threshold is the distance threshold.

If the position error includes the distance error and the angle error described in S202, the preset threshold includes a distance threshold and an angle threshold.

At this time, the condition for triggering the re-planning of the warehousing route may be set as: the distance error is greater than or equal to a distance threshold and the angle error is greater than or equal to an angle threshold;

the conditions that trigger the re-planning of the warehousing route may also be set as: the distance error is greater than or equal to a distance threshold or the angle error is greater than or equal to an angle threshold. The size and number of the preset threshold values are not limited, and the preset threshold values can be set according to the characteristics of the position error and the requirements of the use scene.

By executing the step S203, the warehousing route can be re-planned according to the target warehouse location position information and the current position information of the target vehicle, and a tracking error which may be generated when only the positioning module is used is avoided.

And S204, if the position error is smaller than a preset threshold value, controlling the target vehicle to continuously run according to the current warehousing route.

In other embodiments, other calculable parameters may be used to represent the position error between the tracking library position information and the target library position information, and are not limited in this respect.

According to the embodiment, the tracking error of the positioning module is calculated quantitatively, and when the tracking error exceeds a preset threshold value, the tracking error of the positioning module is corrected through the operation of planning the warehousing route in real time, so that the target vehicle can adjust the warehousing route in time and can drive into the proper position of the target warehouse position more quickly. The automatic parking efficiency is obviously improved, and the adaptability of the automatic parking system to different parking scenes and the safety of the automatic parking process are improved.

Referring to FIG. 3, a flow diagram of one embodiment of determining a position error between tracking bin position information and target bin position information is shown. In this embodiment, the position error is a distance error between a specified point of the target library position and a specified point of the tracking library position, and the determining process includes the following steps:

s301, acquiring a first coordinate of a specified point of the target library position in the target library position information.

S302, second coordinates of a specified point of the tracking library position in the tracking library position information are obtained.

In S302, the specified point may be one point or a plurality of points at arbitrary positions in the library site. It should be noted that the specified point of the target library location and the specified point of the tracking library location have the same specified rule, that is, the specified point of the target library location and the specified point of the tracking library location are points with corresponding positions; the number of designated points is also the same.

For example, if the designated point of the target library location is the center point of the target library location, the designated point of the tracking library location is the center point of the tracking library location. And if the specified points of the target library position are the four corner points of the target library position, the specified points of the tracking library position are the four corner points of the tracking library position.

In S302, the first coordinate and the second coordinate are coordinate values of the designated point of the target library site and the designated point of the tracking library site in the same coordinate system, respectively.

The coordinate system may be the vehicle coordinate system in step S101, and the setting manner of the coordinate system is not specifically limited herein as long as the coordinate values of the specified point of the target library position and the specified point of the tracking library position in the same coordinate system can be obtained.

And S303, calculating a difference value between the first coordinate and the second coordinate to obtain a distance error as a position error between the tracking library position information and the target library position information.

It should be noted that, if the number of specified points is more than one, the first coordinates and the second coordinates are respectively a set of coordinates including coordinate values of a plurality of points. When the distance error is calculated, the coordinate values of the points located at the same position are compared to calculate the distance error.

Taking the appointed point of the target library position as four corner points of the target library position and the appointed point of the tracking library position as four corner points of the tracking library position as examples, the first coordinate comprises coordinate values of the four corner points of the target library position; the second coordinates include coordinate values of four corner points of the tracking bin. When the distance error is calculated, the coordinate values of the upper left corner point of the target library position and the upper left corner point of the tracking library position, the coordinate values of the upper right corner point of the target library position and the upper right corner point of the tracking library position, the coordinate values of the lower left corner point of the target library position and the lower left corner point of the tracking library position, and the coordinate values of the lower right corner point of the target library position and the lower right corner point of the tracking library position are respectively compared, so that the distance errors of the four corner points are obtained. The maximum value or the average value of the distance errors of the four corner points may be used as the position error between the tracking bin position information and the target bin position information.

The following describes a process of calculating the obtained distance error with reference to a specific example. Referring to fig. 4, a schematic plan view of a parking lot is shown. The solid line rectangular boxes with the end points of P0, P1, P2 and P3 are the target library positions sensed by the visual sensing module, and P0, P1, P2 and P3 are the four corner points of the target library positions respectively. Dotted line rectangular boxes with endpoints of T0, T1, T2 and T3 are tracking library positions obtained by tracking the target library positions by the positioning module, and T0, T1, T2 and T3 are four corner points of the tracking library positions respectively.

And after triggering the operation of planning the warehousing route in real time, acquiring the position information of the tracked warehouse location from the positioning module in real time, and acquiring the position information of the target warehouse location from the visual perception module. The tracking bin position information includes coordinates of points T0, T1, T2, and T3 on the coordinate system XOY, and the target bin position information includes coordinates of points P0, P1, P2, and P3 on the coordinate system XOY. The coordinate system XOY is the aforementioned vehicle coordinate system, and the origin of coordinates is the rear axle center position Q of the target vehicle, and the positive direction of the X, Y axes is shown in fig. 4.

The designated point of the target library position is the point M in fig. 4, and the point M is the midpoint of the line segment P0P1 of the target library position. The designated point of the corresponding tracking library location is point N in fig. 4, which is the midpoint of the T0T1 line segment of the tracking library location. The position error is calculated mainly from the coordinates of the M point and the N point.

Let M point coordinate be

Coordinates of N points

. The coordinates of the four corner points of the target library location are respectively expressed as: p0

、P1

P2 and P3

. The coordinates of four corner points of the tracking library are respectively represented as T0

、T1

、T2

And T3

. The coordinates of the corner points are known and can be obtained from the positioning module and the visual perception module, and the coordinates of the two points M and N are calculated according to the coordinates:

，

；

，

。

the distance error of M and N points may include a longitudinal distance deviation and a lateral distance deviation, respectively

And

represents:

，

. It should be noted that the distance error can also be expressed by other calculation formulas, for example

. The calculation formula is not particularly limited as long as the calculation formula can indicate the distance between the two points M and N.

Referring to FIG. 5, a flow diagram of another embodiment for determining a position error between tracking bin position information and target bin position information is shown. In this embodiment, the position error is an angle error between the specified bank bit line of the target bank bit and the specified bank bit line of the tracking bank bit, and the determining process includes the following steps:

s401, determining first angle information according to at least two point coordinates on the appointed library bit line of the target library bit in the position information of the target library bit.

S402, determining second angle information according to the coordinates of at least two points on the specified library bit line of the tracking library bit in the tracking library bit position information.

In S401 and S402, the designated bank bit line may be any one of straight lines or line segments in the bank bit, for example, one of a bank bit line, an edge line, a diagonal line, and the like.

It should be noted that the specified bank bit line of the target bank bit and the specified bank bit line of the tracking bank bit have the same specification rule, that is, the specified bank bit line of the target bank bit and the specified bank bit line of the tracking bank bit are corresponding bank bit lines.

For example, if the designated bank bit line of the target bank bit is the bank bit centerline of the target bank bit, then the designated bank bit line of the tracking bank bit is also the bank bit centerline of the tracking bank bit. If the designated bank bit line of the target bank bit is the left edge line of the target bank bit (e.g., line segment P1P2 in FIG. 4), then the tracking bank bit designated bank bit line is also the left edge line of the tracking bank bit (e.g., line segment T1T2 in FIG. 4).

In order to make the obtained first angle information and the second angle information meaningful for comparison, at least two coordinates on the designated bank bit line of the target bank bit and at least two coordinates on the designated bank bit line of the tracking bank bit are coordinate values in the same coordinate system.

The coordinate system may be the vehicle coordinate system in step S101, and the setting manner of the coordinate system is not specifically limited herein, as long as the coordinate values of at least two points on the designated library bit line of the target library bit and the coordinate values of at least two points on the designated library bit line of the tracking library bit in the same coordinate system can be obtained.

It is further noted that the at least two points on the designated bank bit line of the target bank bit and the at least two points on the designated bank bit line of the tracking bank bit are not necessarily the points to which the locations correspond.

And S403, taking the angle difference value between the first angle information and the second angle information as the position error between the tracking library position information and the target library position information.

The procedure for obtaining the angle error based on the calculation is described below with reference to a specific example. Wherein the angular error is used to indicate an angular deviation between the library-level centerline of the target library level and the library-level centerline of the tracking library level, using

And (4) showing. That is, the designated bank bit line for the target bank bit is the target bank bit centerline (line segment Mm in FIG. 4) and the designated bank bit line for the tracking bank bit is the tracking bank bit centerline (line segment Nn in FIG. 4). In the vehicle coordinate system XOY shown in FIG. 4, the angle of the center line of the target library location is used

And (4) showing. For tracking angles of central lines of stores

And (4) showing.

Obtaining from the localization module and the visual perception module: four corner points P0 of target library position

、P1

、P2

And P3

Four corner points T0 of library position are tracked

、T1

、T2

And T3

. According to the corner points, obtaining the calculation

And

. Firstly, calculating the coordinates of M points and M points on a central line Mm of a target library position:

，

；

，

。

and calculating the coordinates of N points and N points on the central line Nn of the tracking library position:

，

；

，

。

then calculating to obtain the angle of the central line Mm of the target library position

Angle with central line Nn of track library position

：

；

。

According to

And

calculating to obtain the angle error

. It should be noted that the angle error can also be expressed by other calculation formulas, for example

Or

. It is not specifically limited as long as the calculation formula can indicate the angle

And angle

The difference therebetween is sufficient.

The present embodiment presents another implementation of determining a position error. It should be noted that, in other embodiments, the distance error of the specified point and the angle error of the specified library bit line may also be simultaneously calculated as the position error, and the calculation process is similar to the flowcharts shown in fig. 3 and fig. 5, and is not described herein again.

The execution of step S203 in fig. 2 will be described in detail. Referring to fig. 6, a flow chart for replanning a warehousing route according to the target depot position information and the current position information of the target vehicle is shown, which comprises the following steps:

s501, acquiring target storage position information output by a visual perception module for perceiving a target storage position and current position information of a target vehicle.

Before the warehousing route is planned again, the accurate position of the target warehouse location is determined. Therefore, the latest target storage position information output by the visual perception module and the current position information of the target vehicle are obtained in the step and are used as the basis for re-planning the storage route.

S502, determining whether the target vehicle is located in a reversing area or a forward area according to the position relation between the current position information of the target vehicle and the position information of the target storage position.

The re-planned inbound route first determines the subsequent travel direction of the target vehicle. The subsequent driving direction of the target vehicle can be determined according to whether the area in which the target vehicle is located has the possibility of being centered to the center line of the target storage position.

The reversing area and the advancing area can be determined according to the relative position relationship between the rear axle center position of the target vehicle and the target storage position central line of the target storage position:

and determining the position of the central line of the target library position according to the position information of the target library position. The method comprises the steps of obtaining a current driving warehousing route of a target vehicle, determining the current driving direction of the target vehicle, and determining the intersection position of the current driving warehousing route and a central line of a target warehouse location. And determining the central position of the rear axle of the target vehicle according to the position information of the target vehicle. And determining whether the target vehicle is positioned in a reversing area or a forward area according to the position relation of the intersection position of the rear axle center of the target vehicle positioned in the current driving warehousing route and the central line of the target warehousing position. For a detailed process description, refer to the embodiments shown in the following fig. 7-11.

The reversing area and the advancing area can be determined according to the numerical relationship between the coordinates of the position of the target storage position and the coordinates of the position of the target vehicle:

in the same coordinate system, according to the position information of the target library position, determining coordinate values of four corner points of the target library position; and determining the coordinate value of the rear axle center position of the target vehicle according to the position information of the target vehicle position. And determining whether the target vehicle is positioned in a reversing area or a forward area according to the numerical relationship between the coordinate value of the central position of the rear axle and the coordinate values of the four corner points. For a detailed process description, refer to the embodiments shown in subsequent fig. 12-16.

And S503, if the target vehicle is located in the reversing area, determining that the driving direction is backward driving, and replanning the driving path of the target vehicle from the current position to the target storage position.

According to the relative position relation between the target vehicle and the target storage position, the turning radius of the reversing path and potential collision constraint can be calculated. If the turning radius of the reversing path accords with the physical performance of the target vehicle and the risk of collision with the obstacles on the two sides is judged to be absent according to the potential collision constraint, the planned reversing path is adopted; otherwise planning the advancing path.

S504, if the target vehicle is located in the forward area, the determined driving direction is that the target vehicle drives forwards and then backwards, and the driving path of the target vehicle from the current position to the target storage position is planned again.

According to the relative position relation between the target vehicle and the target storage position, the turning radius and the potential collision constraint of the advancing path can be calculated, if the turning radius of the advancing path accords with the physical performance of the target vehicle, and the planned advancing path is adopted when the risk of collision with the obstacles on two sides is judged to be absent according to the potential collision constraint; otherwise, planning a reversing path. If the planned advancing path is adopted, the distance from the position of the target vehicle backing to the middle of the target storage position after the target vehicle runs the advancing path needs to be calculated.

In steps S503 and S504, the potential collision constraint means that, when calculating the path, the planning algorithm determines, by deduction, that the target vehicle will not be too close to the surrounding obstacles if moving along the calculated path, or even collide with the surrounding obstacles. The basic strategy for replanning a driving route for warehousing is to mathematically calculate the shortest route from the current location to the target location. The process of replanning the travel path of the target vehicle from the current position to the target depot position is shown in the following embodiment of fig. 17.

The following describes a process of determining whether the target vehicle is located in the reverse area or the forward area according to the relative positional relationship between the rear axle center position of the target vehicle and the target garage center line of the target garage. Referring to fig. 7, a flowchart of an embodiment of determining whether the target vehicle is located in the reverse driving area or the forward driving area according to a relative position relationship between a rear axle center position of the target vehicle and a target parking center line of the target parking space is shown, including the following steps:

s601, determining the rear axle center position of the target vehicle based on the current position information of the target vehicle.

S602, comparing the rear axle center position of the target vehicle with the target position center line of the target position in the target position information, and determining the relative position relationship between the rear axle center position of the target vehicle and the target position center line of the target position.

In order to stop the target vehicle at the middle of the target garage position and enable the center line of the target vehicle to be coincident with the center line of the target garage position, the target vehicle may need to enter and exit the target garage for multiple times to adjust the vehicle body. Thus, the warehousing route of the target vehicle includes a reverse route and may also include a forward route.

In the embodiment, before determining whether the target vehicle is located in a reversing area or a forward area, the position of a central line of the target parking space is determined according to the position information of the target parking space; and acquiring the current driving and warehousing route of the target vehicle, and determining the current driving direction of the target vehicle.

S603, if the currently executed warehousing route is a reversing route, the relative position relation indicates that the rear axle center position of the target vehicle deviates from the currently executed warehousing route and is located on one side of the currently executed warehousing route, which is coincident with the target warehouse position central line of the target warehouse position, and the target vehicle is determined to be located in an advancing area.

Please refer to fig. 8, which shows a schematic diagram of a position relationship between the target vehicle and the target storage location when step S603 is executed. Wherein the dashed line with an arrow is the reverse route L1 currently performed by the target vehicle. The intersection point of the reversing route L1 and the target garage position central line Mm is K1. The position of the rear axle center position Q of the subject vehicle is shown in fig. 8. When the target vehicle travels to the position shown in fig. 8, the warehousing route needs to be re-planned because the position error is larger than the preset threshold. As can be seen from fig. 8, the rear axle center position Q is located on the side after the reverse route L1 coincides with the target garage center line Mm, that is, the target vehicle has traveled past the intersection point K1, and the rear axle center position Q is located on the right side of the intersection point K1.

At this time, the target vehicle backs a car backwards, the vehicle body is difficult to be righted to the center line of the target storage position, and the target vehicle is required to move forwards to adjust the vehicle body. The target vehicle is located in the forward area in this case.

S604, if the currently executed warehousing route is a reversing route, the relative position relation indicates that the rear axle center position of the target vehicle deviates from the currently executed warehousing route and is located on one side before the coincidence of the currently executed warehousing route and the target warehouse position central line of the target warehouse position, and the target vehicle is determined to be located in a reversing area.

Please refer to fig. 9, which shows a schematic diagram of a position relationship between the target vehicle and the target storage location when step S604 is executed. Wherein the dashed line with an arrow is the reverse route L1 currently performed by the target vehicle. The intersection point of the reversing route L1 and the target garage position central line Mm is K1. The position of the rear axle center position Q of the subject vehicle is shown in fig. 9. When the target vehicle travels to the position shown in fig. 9, the warehousing route needs to be re-planned because the position error is larger than the preset threshold.

As can be seen from fig. 9, the rear axle center position Q is located on the side before the reverse route L1 coincides with the target garage center line Mm, that is, the target vehicle does not pass through the intersection point K1, and the rear axle center position Q is located on the left side of the intersection point K1. At this time, the target vehicle backs up backwards to enable the vehicle body to be righted to the center line of the target storage position. The target vehicle is located in the reverse area in this case.

And S605, if the currently executed warehousing route is an advancing route, the relative position relation indicates that the rear axle center position of the target vehicle deviates from the currently executed warehousing route and is positioned on one side of the currently executed warehousing route after the center line of the target warehouse position is superposed, and the target vehicle is determined to be positioned in a reversing area.

Please refer to fig. 10, which shows a schematic diagram of a position relationship between the target vehicle and the target storage location when step S605 is executed. With the broken line with arrows being the current progression line L2 performed by the target vehicle. The intersection of the progression line L2 and the target library-position centerline Mm is K2. The position of the rear axle center position Q of the subject vehicle is shown in fig. 10. When the target vehicle travels to the position shown in fig. 10, the warehousing route needs to be re-planned because the position error is larger than the preset threshold.

As can be seen from fig. 10, the rear axle center position Q is located on the side after the forward route L2 coincides with the target garage center line Mm, that is, the target vehicle has traveled past the intersection point K2, and the rear axle center position Q is located on the right side of the intersection point K2. At this time, the target vehicle backs up backwards to enable the vehicle body to be righted to the center line of the target storage position. The target vehicle is located in the reverse area in this case.

And S606, if the currently executed warehousing route is an advancing route, the relative position relation indicates that the rear axle center position of the target vehicle deviates from the currently executed warehousing route and is positioned on one side before the currently executed warehousing route is overlapped with the target warehouse position center line of the target warehouse position, and the target vehicle is determined to be positioned in an advancing area.

Please refer to fig. 11, which shows a schematic diagram of a position relationship between the target vehicle and the target storage location when step S606 is executed. Wherein the dashed line with an arrow is the reverse route L2 currently performed by the target vehicle. The intersection point of the reversing route L2 and the target garage position central line Mm is K2. The position of the rear axle center position Q of the subject vehicle is shown in fig. 11. When the target vehicle travels to the position shown in fig. 11, the warehousing route needs to be re-planned because the position error is larger than the preset threshold.

As can be seen from fig. 11, the rear axle center position Q is located on the side before the reverse route L2 coincides with the target garage center line Mm, that is, the target vehicle does not pass through the intersection point K2, and the rear axle center position Q is located on the left side of the intersection point K2. At this time, the target vehicle backs a car backwards, the vehicle body is difficult to be righted to the center line of the target storage position, and the target vehicle is required to move forwards to adjust the vehicle body. The target vehicle is located in the forward area in this case.

In the processes of S603 to S606, it may be specifically determined whether the current storage route of the target vehicle is a reverse route or a forward route according to the change of the coordinate value of the rear axle center position Q. And determining whether the rear axle central position Q is positioned on the left side or the right side of the intersection point K1/K2 according to the coordinate values of the rear axle central position Q and the intersection point K1/K2.

The following describes a process of determining whether the target vehicle is located in the reverse area or the forward area based on the numerical relationship between the coordinates of the location of the target garage and the coordinates of the location of the target vehicle. Referring to fig. 12, a flow chart of another embodiment of determining whether a target vehicle is in a reverse zone or a forward zone is shown, comprising the steps of:

s701, establishing a library position coordinate system according to the target library position information.

In S701, the library bit coordinate system may use a corner point of the target library bit as an origin, and the edge library bit lines of the target library bit are an x-axis and a y-axis.

For example, as shown in the coordinate system P3P2P1 in FIG. 13, the corner point P2 at the lower left corner of the target library bit is taken as the origin O, the lower edge library bit line P2P3 of the target library bit is taken as the positive x-axis direction, and the left edge library bit line P2P1 of the target library bit is taken as the positive y-axis direction. Fig. 13 shows only one setting manner of the library site coordinate system, and other embodiments may change the setting manner as needed, and are not limited in detail here.

S702, determining the center line slope of the center line of the target vehicle and the coordinates of the rear axle center position of the target vehicle in the library position coordinate system based on the current position information of the target vehicle.

In S702, if the y-axis of the bin coordinate system is parallel to the target bin center line Mn, only the sign of the center line slope of the target vehicle may be determined, that is, whether the center line slope is positive or negative.

And S703, determining a first coordinate interval of the reversing area of the target vehicle under the garage position coordinate system and a second coordinate interval of the advancing area under the garage position coordinate system according to the slope of the central line.

In S703, a range of an area where the rear axle center position of the target vehicle may be located when the re-planning of the entry route is performed is determined in advance. And a reversing area and a forward area are pre-divided based on the central line of the target storage position. In order to divide the reversing area and the advancing area more accurately, the midline of the target vehicle needs to be considered, and the reversing area and the advancing area are different in position because the slopes of the midlines are different. For the sake of understanding, the following description is made with reference to the accompanying drawings.

Referring to fig. 13, the range of the area where the rear axle center position of the target vehicle may be located when the re-planning of the inbound route is performed is divided into A, B, C and D four areas. In the bin coordinate system P3P2P1, when the center line slope of the target vehicle is a positive number, the region a and the region C are forward regions, and the region B and the region D are reverse regions. When the slope of the center line of the target vehicle is negative, the regions a and C are reverse regions, and the regions B and D are forward regions.

Assume that the width of the target library location is a (i.e., line P1P 0) and the length of the target library location is h (i.e., line P1P 2). When the slope of the center line of the target vehicle is positive, the first coordinate interval of the reversing area may be determined as

(ii) a The second coordinate interval of the advance zone is

. When the slope of the center line of the target vehicle is negative, the first coordinate interval of the reversing area can be determined as

(ii) a The second coordinate interval of the advance zone is

。

S704, if the coordinates of the center position of the rear axle fall into the first coordinate interval, the target vehicle is located in the reversing area.

And S705, if the coordinates of the center position of the rear axle fall into a second coordinate interval, the target vehicle is located in the forward area.

For ease of understanding, the following description, with reference to the drawings, describes a region range in which the rear axle center position of the target vehicle may be located when the re-planning of the inbound route is performed, as determined in advance. And a process of dividing a reversing area and a forward area in advance based on the central line of the target storage position. When the slope of the center line of the target vehicle in the library position coordinate system of fig. 13 is positive, the traveling direction of the target vehicle is selected when the target vehicle is located at regions A, B, C and D, respectively.

Referring to fig. 13, a plan view of the center of the rear axle Q of the subject vehicle in the area a is shown. The relative position relation between the target vehicle and the target storage position is analyzed, so that the situation that the target vehicle cannot be righted to the central line of the target storage position in the backing process can be found. Therefore, when the rear axle center position Q of the target vehicle is located in the area A, the forward planned path is selected by re-planning, and the area A is a forward area.

Referring to fig. 14, a plan view of the target vehicle rear axle center position Q in the region B is shown. The relative position relation between the target vehicle and the target storage position is analyzed, so that the target vehicle can be found to be possible to back to the central line of the target storage position and to be aligned. Therefore, when the central position of the rear axle of the target vehicle is located in the area B, the reversing path is planned again and selected preferentially, and the area B is a reversing area.

Referring to fig. 15, a plan view of the rear axle center position Q of the subject vehicle in the region C is shown. The analysis of the relative position relationship between the target vehicle and the target storage position can find that although the target vehicle has the possibility of backing to the central line of the target storage position and righting, the rear axle central position Q already crosses the central line of the target storage position, the head swinging phenomenon (namely that the head of the target vehicle firstly swings to the left and then swings to the right) inevitably exists during the backing running, and the phenomenon is not attractive. The re-planning preferentially selects the forward planned path when the rear axle center position Q of the target vehicle is located in the region C.

Referring to fig. 16, a plan view of the target vehicle is shown with the rear axle center position Q located in the region D. Analyzing the relative position relationship between the target vehicle and the target storage position can find that the possibility that the target vehicle is righted to the central line of the target storage position through reversing is high. Therefore, when the rear axle center position Q of the target vehicle is located in the area D, the reverse path is planned to be selected preferentially.

It should be noted that, in other embodiments, the area in which the rear axle center position Q of the target vehicle may be located is not limited to the A, B, C and D four areas. The division into more than 4 or less than 4 regions may be performed according to the needs of the scene, but the manner of dividing the regions may also be different.

The following describes a process of replanning a travel path of a target vehicle from a current position to a target depot. Referring to fig. 17, a flow chart of an embodiment of re-planning a driving route for a garage includes the following steps:

s801, obtaining coordinates of a rear axle center position of the target vehicle as initial coordinates according to the current position information of the target vehicle, and obtaining included angle information of a center line of the target vehicle and a target library position horizontal library bit line.

S802, determining the coordinates of the position of the center position of the rear axle as the coordinates of the end point when the target vehicle stops at the center line of the target storage position according to the position information of the current actual storage position and the size of the target vehicle.

And S803, calculating to obtain the turning radius and the running distance of the target vehicle according to the included angle information, the initial coordinate value and the end coordinate value.

If the turning radius is equal to or greater than the minimum turning radius of the target vehicle, S804 is performed.

If the turning radius is smaller than the minimum turning radius of the target vehicle, S807 is performed.

And S804, if the turning radius is larger than or equal to the minimum turning radius of the target vehicle, judging whether the target vehicle runs the running distance in the determined running direction according to the turning radius direction and whether the running distance has the risk of collision with the surrounding objects.

If there is no risk of collision with a surrounding object, S805 is executed.

If there is a risk of collision with a surrounding object, S807 is performed.

And S805, if the risk of collision with the surrounding object does not exist, taking the turning radius, the determined running direction and the running distance as a running path of the target vehicle from the current position to the center line position of the target storage position in the current actual storage position information.

And S806, calculating the driving distance from the target vehicle to the middle of the target storage position along the central line of the target storage position.

And S807, changing the driving direction of the target vehicle, and replanning the driving path of the warehouse.

For convenience of understanding, the process of re-planning the driving path of the warehouse will be described with reference to specific examples. Referring to fig. 18, a top view of a target vehicle and a target depot is shown. The solid line frame in the figure is the current position of the target vehicle, and the dotted line frame is the position where the body center line of the target vehicle (i.e., the target vehicle center line) coincides with the library center line (i.e., the target library center line). The two gray rectangles are adjacent bins or obstacles to the target bin. A coordinate system XOY as shown in fig. 18 is established with the left corner of the target library bit.

S901, obtaining the coordinates of the central position S point of the rear axle when the target vehicle is positioned at the current position

As starting coordinates; and obtaining the included angle between the center line of the vehicle body and the horizontal library bit line of the target library bit, namely the included angle between the center line of the vehicle body and the X axis

。

S902, obtaining the bit width of the target library

And target library bit depth

Determining the coordinates of the central position E point of the rear axle when the target vehicle is positioned at the dotted line frame position

As the end point coordinates. Planning a target vehicle to pass through a turning radius of

Travels from position S to position E.

S903, calculating to obtain the turning radius

。

S904, because

The minimum turning radius of the target vehicle is equal to or larger than the minimum turning radius of the target vehicle, and the target vehicle does not collide with a roadside obstacle when traveling from the position S to the position E, so the route is selectable.

Calculating the travel distance of the target vehicle:

. The travel path of the target vehicle from the point S to the point E may be determined as: distance traveled forward at turning radius R

To point E.

And S905, finally, calculating the distance from the backing of the target vehicle from the point E to the point F in the middle position of the target storage position.

According to the body information of the target vehicle, the coordinates of the point F of the central position of the rear axle when the target vehicle stops at the middle part of the target storage position can be determined

Wherein

。

The distance between the vehicle body length of the target vehicle and the rear axle center position and the tail of the vehicle can be calculated, and the calculation process is not described in detail.

Calculating to obtain the running distance of the target vehicle needing to back from the point E

。

The embodiment provides a specific application process for replanning the driving route for warehousing.

Based on the automatic parking evaluation method disclosed by the embodiment of the invention, the embodiment of the invention also correspondingly discloses an automatic parking system. Referring to fig. 19, a schematic diagram of the automatic parking system is shown, which includes: a visual perception module 10, a positioning module 20, and a control module 30.

And the visual perception module 10 is used for perceiving the position information of the target library position output by the target library position.

And the positioning module 20 is used for tracking and positioning the target library position to obtain the position information of the tracking library position.

Please refer to step S101 in the above embodiment for the working process of the visual perception module 10 and the positioning module 20, which is not described herein again.

The control module 30 is used for automatically parking the garage-entering route planned based on the target garage position information output by the visual perception module; and when the target vehicle reaches a specific position, triggering real-time warehousing route planning operation.

The control module 30 for planning the warehousing route operation in real time is specifically used for acquiring the position information of the tracking warehouse position obtained by tracking and positioning the target warehouse position by the positioning module in real time; determining a position error between the tracking library position information and the target library position information; and if the position error is larger than or equal to the preset threshold value, replanning the warehousing route according to the target warehouse location position information and the current position information of the target vehicle.

Please refer to the description of the step S102 in the above embodiment and the embodiment shown in fig. 2 for the working process of the control module 30, which is not described herein again.

Various embodiments of the control module 30 for determining a position error between the tracking library location information and the target library location information are described below.

One embodiment is specifically for: and acquiring a first coordinate of a specified point of the target library position in the actual library position information. And acquiring a second coordinate of the appointed point of the target library position in the position information of the tracking library position. And calculating the difference value between the first coordinate and the second coordinate to obtain the distance error as the position error. For a description of the process of this embodiment, please refer to the embodiment shown in fig. 3 and the description of steps S301 to S303, which are not repeated herein.

Another embodiment is specifically for: and determining first angle information of the specified library according to at least two point coordinates on the specified library bit line of the target library bit in the actual library bit position information. And determining second angle information of the appointed library bit line according to at least two point coordinates on the appointed library bit line of the target library bit in the tracking library bit position information. And obtaining the angle error of the appointed library bit line on the target library position as the position error according to the first angle information and the second angle information. For a description of the process of this embodiment, please refer to the embodiment shown in fig. 5 and the description of steps S401 to S403, which are not repeated herein.

The present embodiment illustrates various embodiments of the control module 30 for determining a position error. It should be noted that, in other embodiments, the distance error of the specified point and the angle error of the specified library bit line may also be simultaneously calculated as the position error, and the calculation process is similar to the flowcharts shown in fig. 3 and fig. 5, and is not described herein again.

The control module 30 for replanning the inbound route based on the target depot location information and the current location information of the target vehicle is described below. The method is specifically used for: and acquiring target storage position information output by a visual perception module for perceiving a target storage position and the current position information of the target vehicle. And determining whether the target vehicle is positioned in a reversing area or a forward area according to the position relationship between the current position information of the target vehicle and the position information of the target storage position. The reversing area and the advancing area are determined according to the relative position relation between the rear axle center position of the target vehicle and the target storage position central line of the target storage position. And if the target vehicle is positioned in the reversing area, determining that the driving direction is backward driving, and replanning the driving path of the target vehicle from the current position to the target storage position. And if the target vehicle is located in the forward area, determining that the driving direction is forward driving and then backward driving, and replanning the driving path of the target vehicle from the current position to the target storage position.

For the working process of the control module 30 for replanning the warehousing route, please refer to the above description of the embodiment shown in fig. 6 and the steps S501 to S504, which is not repeated herein.

The embodiments in the present specification are described in a progressive or combined manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of automatic parking, comprising:

the real-time planning warehousing route comprises the following steps:

if the position error is larger than or equal to a preset threshold value, re-planning a warehousing route according to the target warehouse location position information and the current position information of the target vehicle;

wherein, the replanning the warehousing route according to the target warehouse location position information and the current position information of the target vehicle comprises:

2. The method of claim 1, wherein said determining a position error between said tracking bin position information and said target bin position information comprises:

3. The method of claim 1, wherein said determining a position error between said tracking bin position information and said target bin position information comprises:

4. The method of claim 1, wherein determining whether the target vehicle is located in a reverse area or a forward area according to a positional relationship between the current position information of the target vehicle and the target depot position information comprises:

if the currently executed warehousing route is a reversing route, and the relative position relation indicates that the rear axle center position of the target vehicle is positioned on one side of the currently executed warehousing route after the center line of the target warehouse position is superposed, determining that the target vehicle is positioned in an advancing area;

if the currently executed warehousing route is a reversing route, when the relative position relation indicates that the rear axle center position of the target vehicle is positioned on one side before the coincidence of the currently executed warehousing route and the target warehouse position central line of the target warehouse position, determining that the target vehicle is positioned in a reversing area;

if the currently executed warehousing route is an advancing route, when the relative position relation indicates that the rear axle center position of the target vehicle is located on one side, after the currently executed warehousing route is superposed with the target warehouse position central line of the target warehouse position, the target vehicle is determined to be located in a reversing area;

and if the currently executed warehousing route is an advancing route, determining that the target vehicle is located in an advancing area when the relative position relation indicates that the rear axle center position of the target vehicle is located on one side before the currently executed warehousing route is overlapped with the target warehouse position central line of the target warehouse position.

5. The method of claim 1, wherein said replanning the travel path of the target vehicle from the current location to the target depot comprises: obtaining the coordinates of the center position of the rear axle of the target vehicle as initial coordinates according to the current position information of the target vehicle, and obtaining the information of the included angle between the center line of the target vehicle and the horizontal library bit line of the target library bit;

determining coordinates of the position of the center position of the rear axle as end point coordinates when the target vehicle stops at the center line of the target parking space according to the current actual parking space position information and the size of the target vehicle;

if the risk of collision with surrounding objects does not exist, taking the turning radius, the determined driving direction and the driving distance as a driving path of the target vehicle from the current position to the center line position of the target storage position in the current actual storage position information;

and calculating the driving distance from the target vehicle to the middle of the target storage position along the central line of the target storage position.

6. An automatic parking system, comprising: visual perception module, orientation module and control module:

the control module for planning the warehousing route operation in real time is specifically used for acquiring the position information of the tracking warehouse location in real time; determining a position error between the tracking bin position information and the target bin position information; if the position error is larger than or equal to a preset threshold value, re-planning a warehousing route according to the target warehouse location position information and the current position information of the target vehicle;

the control module for replanning the warehousing route according to the target warehouse location information and the current location information of the target vehicle is specifically configured to:

7. The system of claim 6, wherein the control module that determines the position error between the tracked bin position information and the target bin position information is specifically configured to:

acquiring a first coordinate of a specified point of the target library position in the actual library position information; acquiring a second coordinate of a specified point of the tracking library position in the tracking library position information; and calculating the difference value between the first coordinate and the second coordinate to obtain a distance error as a position error.

8. The system of claim 6, wherein the control module that determines the position error between the tracked bin position information and the target bin position information is specifically configured to:

determining first angle information of the appointed library bit line according to at least two point coordinates on the appointed library bit line of the target library bit in the actual library bit position information; determining second angle information of the appointed library bit line according to at least two point coordinates on the appointed library bit line of the tracking library bit in the tracking library bit position information; and obtaining an angle error of the appointed library bit line on the target library position as a position error according to the first angle information and the second angle information.