CN112172793B - Parking path planning method and device, vehicle and storage medium - Google Patents
Parking path planning method and device, vehicle and storage medium Download PDFInfo
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Abstract
The invention discloses a parking path planning method and device, a vehicle and a storage medium, and belongs to the field of intelligent driving. The method can record the first parking path, the parking position and the current position of the moving body in the parking process of the moving body, and simultaneously detect whether the current position of the moving body meets a first preset condition so as to judge whether the moving body can safely park in the parking space by adopting the current parking path; if the current position of the moving body does not accord with the first preset condition, the situation that the vehicle cannot be parked into the parking space by adopting the first parking path is indicated, the moving body can be controlled to move out of the parking space position, and the parking track is re-planned according to the current position and the parking space position of the moving body to generate a second parking path so that the moving body can be safely moved into the parking space position. The invention can plan the parking path again for the vehicles which are already positioned in the parking spaces, so as to ensure that the moving body can safely and quickly park in the parking spaces, and improve the experience effect of users.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a parking path planning method and device, a vehicle and a storage medium.
Background
Vehicles are a means of transportation, and are receiving continuous attention at present when road traffic is more and more developed and urban areas are more and more enlarged. Various technologies are being developed for use in vehicles, and one of them is a driving assistance control technology. The driving auxiliary control technology can assist or replace a driver to operate the vehicle in a specific scene, and improves the comfort of the vehicle.
The automatic parking control technology is one of the driving assistance control technologies which are commonly applied to vehicles at present, and measures the distance and the angle between the vehicle and surrounding obstacles through an ultrasonic probe distributed around the vehicle body, and then calculates the driving track required by the vehicle to park in/out of a parking space through a semi-automatic parking control unit. The automatic parking control technology can assist driving when backing a car, and guides a driver through detecting ultrasonic waves or a camera, so that traffic accidents caused by the fact that the rear of a vehicle is in a sight blind area when backing the car are avoided. The existing automatic parking control method can park the vehicle outside the parking space into the parking space, but for the vehicle partially located in the parking space, the function of automatically parking the vehicle into the parking space cannot be realized due to the fact that the position relation between the vehicle and the parking space cannot be identified, and the user experience effect is poor.
Disclosure of Invention
Aiming at the problem that the existing automatic parking control method cannot realize the automatic parking function for the vehicles which are partially positioned in the parking space, the parking path planning method, the parking path planning device, the vehicles and the storage medium are provided, and the parking path planning method, the parking path planning device, the vehicles and the storage medium aim to plan the paths of the vehicles which are partially positioned in the parking space so as to park the vehicles into the parking space.
The invention provides a parking path planning method, which comprises the following steps:
recording a first parking path, a parking space position and the current position of a moving body in the parking space parking process of the moving body;
detecting whether the current position of the moving body meets a first preset condition or not;
if the current position of the moving body does not accord with a first preset condition, controlling the moving body to move out of the parking space position according to the first parking path;
and the parking space position accords with a second preset condition and generates a second parking path according to the current position of the moving body and the parking space position.
Optionally, detecting whether the current position of the moving body meets a first preset condition, before further comprising:
acquiring a re-parking request;
and if the current position of the moving body meets a first preset condition, the moving body moves out of the parking space position according to the re-parking request and the first parking path control.
Optionally, the first preset condition is that the current position of the moving body has no obstacle target within a first preset range, and the obstacle target is a target that hinders the moving body from moving into the parking space position.
Optionally, generating a second parking path according to the current position of the moving body and the position of the parking space, where the method further includes:
detecting whether the parking space position meets a second preset condition or not;
if the parking space position accords with a second preset condition, generating a second parking path according to the current position of the moving body and the parking space position;
the second preset condition is that the free size of the parking space position is larger than the size of the moving body.
Optionally, the method further includes:
if the current position of the moving body does not accord with a second preset condition, detecting an idle parking space of the moving body in a second preset range, and acquiring and displaying an auxiliary image which is used for identifying the idle parking space and is located in the second preset range;
setting a parking target position using the displayed auxiliary image;
and generating a third parking path according to the current position and the parking target position.
Optionally, the detecting the idle parking space of the moving body in the second preset range, and acquiring and displaying the auxiliary image of the moving body in the second preset range, which identifies the idle parking space, includes:
acquiring images around the moving body through a camera in a parking assistance device installed on the moving body, and generating a full-angle visual image of the moving body;
detecting the position of an obstacle of the moving body within a second preset range through an ultrasonic radar in the parking assist device;
and identifying the idle parking spaces in the full-angle visual image based on the positions of the obstacles to form the auxiliary image.
Optionally, the method further includes:
and controlling the moving body to move to the parking space position according to the second parking path.
The present invention also provides a parking path planning apparatus, including:
the recording unit is used for recording a first parking path, a parking space position and the current position of the moving body in the parking space parking process of the moving body;
the detection unit is used for detecting whether the current position of the moving body meets a first preset condition or not;
the execution unit is used for controlling the moving body to move out of the parking space position according to the first parking path when the current position of the moving body does not accord with a first preset condition;
and the generating unit is used for generating a second parking path according to the current position of the moving body and the parking position when the parking position meets a second preset condition.
Optionally, the method further includes:
an acquisition unit configured to acquire a re-entry request;
the execution unit is further used for controlling the moving body to move out of the parking space position according to the re-parking request and the first parking path when the current position of the moving body meets a first preset condition.
Optionally, the first preset condition is that the current position of the moving body has no obstacle target within a first preset range, and the obstacle target is a target that hinders the moving body from moving into the parking space position.
Optionally, the detection unit is further configured to detect whether the parking space position meets a second preset condition;
the generating unit is used for generating a second parking path according to the current position of the moving body and the parking position when the parking position meets a second preset condition;
the second preset condition is that the free size of the parking space position is larger than the size of the moving body.
Optionally, the method further includes:
the processing unit is used for detecting the idle parking space of the moving body in a second preset range when the current position of the moving body does not accord with a second preset condition, and acquiring and displaying an auxiliary image which is used for identifying the idle parking space and is located in the second preset range;
a setting unit for setting a parking target position using the displayed auxiliary image;
the generating unit is further used for generating a third parking path according to the current position and the parking target position.
Optionally, the processing unit includes:
the generation module is used for acquiring images around the moving body through a camera in a parking assist device installed on the moving body and generating a full-angle visual image of the moving body;
the detection module is used for detecting the position of an obstacle of the moving body in a second preset range through an ultrasonic radar in the parking assist device;
and the identification module is used for identifying and identifying the idle parking space in the full-angle visual image based on the position of the obstacle so as to form the auxiliary image.
Optionally, the execution unit is further configured to control the moving body to move to the parking space position according to the second parking path.
The invention also provides a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
The present invention also provides a computer-readable storage medium having stored thereon a computer program characterized in that: which when executed by a processor implements the steps of the above-described method.
The invention provides a parking path planning method, a parking path planning device, a vehicle and a storage medium, which can record a first parking path, a parking position and the current position of a moving body in the parking process of the moving body, and detect whether the current position of the moving body meets a first preset condition so as to judge whether the moving body can safely park in the parking space by adopting the current parking path (the first parking path); if the current position of the moving body does not accord with the first preset condition, the situation that the vehicle cannot be parked into the parking space by adopting the first parking path is indicated, the moving body can be controlled to move out of the parking space position, and the parking track is re-planned according to the current position and the parking space position of the moving body to generate a second parking path so that the moving body can be safely moved into the parking space position. The invention can plan the parking path again for the vehicles which are already positioned in the parking spaces, so as to ensure that the moving body can safely and quickly park in the parking spaces, and improve the experience effect of users.
Drawings
Fig. 1 is a flowchart of a parking path planning method according to an embodiment of the present invention;
fig. 2 is a flowchart of a parking path planning method according to a second embodiment of the present invention;
fig. 3 is a flowchart of a parking path planning method according to a third embodiment of the present invention;
fig. 4 is a flowchart of a parking path planning method according to a fourth embodiment of the present invention;
FIG. 5 is a flowchart illustrating an embodiment of detecting an idle parking space of a mobile object within a second predetermined range according to the present invention;
FIG. 6 is a block diagram of an embodiment of a parking path planning apparatus according to the present invention;
fig. 7 is a block diagram of another embodiment of the parking path planning apparatus according to the present invention;
FIG. 8 is a block diagram of a processing unit of the present invention;
fig. 9 is a hardware architecture diagram of one embodiment of the vehicle of the present invention.
Detailed Description
The advantages of the invention are further illustrated by the following detailed description of the preferred embodiments in conjunction with the drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it should be understood that the numerical references before the steps do not identify the order of performing the steps, but merely serve to facilitate the description of the present invention and to distinguish each step, and thus should not be construed as limiting the present invention.
The moving body can adopt new energy vehicles such as pure electric vehicles, hybrid electric vehicles and the like, and a Parking controller, an automatic Parking Assist device (APA) and HMI interactive equipment can be installed on the moving body. Among them, the parking controller is implemented using a microcomputer including a Central Processing Unit (CPU), a communication unit, a memory, and an Electronic Power Steering (EPS). The parking controller installs a computer program for causing a microcomputer to have a function as an on-vehicle computer (ECU) in the microcomputer to execute. The parking controller has a function of controlling the operation of the mobile body. The communication unit can comprise a WiFi module, a Bluetooth module and the like, can support 4G and 5G communication modes, and can be used for communicating with an associated mobile terminal; the parking assistance apparatus includes a plurality of ultrasonic radars that can be provided at positions such as a front bumper, a rear bumper, and a skin near a tire of the moving body, and a surrounding camera. The distance between the moving body and the obstacle target is detected by the ultrasonic radar moving body. The surrounding cameras are arranged around the moving body, images around the moving body are collected through the surrounding cameras, the images collected by the cameras are combined, a full-angle visual image overlooked from the upper side of the moving body is obtained, and the cameras cannot shoot vehicles, so that the vehicle icons are adopted to replace actual images of the vehicles in the panoramic image. The HMI interaction device may include a display unit and an audio acquisition unit. The display unit is provided with a touch screen (central control screen) for inputting various control operations on the vehicle. The audio acquisition unit is arranged in the mobile body and is used for adopting the voice signal of the user so as to execute corresponding operation based on the voice signal.
The parking path planning method, the parking path planning device, the vehicle and the storage medium can be applied to the situation that a moving body arrives at a navigation destination, such as: the parking lot is used for parking a moving body in a parking place in a district, a market, a house, a parking lot, a charging station (charging pile) and other places.
In the embodiment of the invention, a user can send a control instruction (such as an automatic parking instruction, a re-parking instruction and the like) to the communication unit of the mobile body through the mobile terminal associated with the mobile body, the user can also directly input the control instruction on the central control screen of the mobile body, and the user can also input the control instruction through voice. In the process of parking the moving body into the parking space, recording a first parking path, a parking space position and the current position of the moving body, and simultaneously detecting whether the current position of the moving body meets a first preset condition so as to judge whether the moving body can safely park into the parking space by adopting the current parking path; if the current position of the moving body does not accord with the first preset condition, the situation that the vehicle cannot be parked into the parking space by adopting the first parking path is indicated, the moving body can be controlled to move out of the parking space position, and the parking track is re-planned according to the current position and the parking space position of the moving body to generate a second parking path so that the moving body can be safely moved into the parking space position. The invention can plan the parking path again for the vehicles which are already positioned in the parking spaces, so as to ensure that the moving body can safely and quickly park in the parking spaces, and improve the experience effect of users.
Example one
Referring to fig. 1, a parking path planning method of the present embodiment may include the following steps:
s1, recording a first parking path, a parking space position and the current position of the moving body in the parking space parking process of the moving body.
In the process of parking the moving body into the parking space, the user may park the parking space in a manual mode or in an automatic parking mode.
By way of example and not limitation, when parking in the manual mode, a user may trigger a camera of a parking assistance device installed on a moving body to acquire an image of the periphery of the moving body by using a recording button, sending a recording instruction, switching a reverse gear, and the like, and detect a parking space position by using an ultrasonic radar in the parking assistance device to acquire the parking space position (position coordinates), a current position of the moving body (including a position where a portion of the moving body is located at the parking space position), and a first parking path during parking.
When the automatic parking mode is adopted for parking, a camera of a parking auxiliary device installed on the moving body can be directly triggered to acquire images around the moving body, and the parking position is detected through an ultrasonic radar in the parking auxiliary device so as to acquire and record the parking position, the current position of the moving body and a first parking path in the parking process.
And S2, detecting whether the current position of the moving body meets a first preset condition or not.
The first preset condition is that the current position of the moving body does not have an obstacle target in a first preset range, and the obstacle target is a target for preventing the moving body from moving into the parking space position. The first preset range can be an alarm range (for example: 50cm) of the ultrasonic radar from the obstacle, and the user can set the alarm range according to the requirement.
In this embodiment, during the parking of the mobile body in the parking space, the ultrasonic radar on the mobile body may be used to detect whether there is an obstacle (e.g., a median at the edge of the parking space, a pillar near the parking space, or a pile barrel near the parking space) around the mobile body that obstructs the movement of the mobile body. When the front or the rear of the moving body meets a static obstacle, the vehicle can automatically avoid collision and brake, path planning is carried out again, and a second parking path is adopted to bypass the obstacle target, so that the success rate of automatic parking is improved.
And S3, if the current position of the moving body does not accord with a first preset condition, controlling the moving body to move out of the parking space position according to the first parking path.
In this embodiment, when the current position of the moving body does not meet the first preset condition (e.g., the front or the rear of the moving body meets a static obstacle), the moving body may automatically avoid collision and brake, move out of the parking space position according to the recorded first parking path, and return to the initial position before entering the parking space.
And S4, generating a second parking path according to the current position of the moving body and the parking space position.
In this step, the current position of the moving body is the position of the moving body after the moving body moves out of the parking space, and the current position can comprise the driving direction and the position information. The parking space positions can include parking types such as non-linear parking spaces, diagonal parking spaces, linear parking spaces, parking spaces close to the side of the pillar and the like.
Further, step S4 may further include:
identifying a parking type corresponding to the position of the parking space by adopting the position of the parking space in the full-angle visual image through the parking auxiliary device; determining a parking direction according to the relation between the current driving direction and the parking position, planning a global path and a parking path according to the appearance parameters of the moving body, the parking type corresponding to the current parking position, the current position, the vertex coordinate information of the parking position and the parking direction, and splicing, node optimization, smoothing and path fitting the global path and the parking path to obtain a second parking path with smooth transition.
In the embodiment, when the front or the rear of the moving body encounters a static obstacle, the parking path planning method can automatically avoid collision and brake, path planning is performed again, and a second parking path is adopted to bypass the obstacle target, so that the success rate of automatic parking is improved. The parking path planning method can record a first parking path, a parking position and the current position of the moving body in the parking process of the moving body, and simultaneously detect whether the current position of the moving body meets a first preset condition so as to judge whether the moving body can safely park in the parking space by adopting the current parking path (the first parking path); if the current position of the moving body does not accord with the first preset condition, the situation that the vehicle cannot be parked into the parking space by adopting the first parking path is indicated, the moving body can be controlled to move out of the parking space position, and the parking track is re-planned according to the current position and the parking space position of the moving body to generate a second parking path so that the moving body can be safely moved into the parking space position. The invention can plan the parking path again for the vehicles which are already positioned in the parking spaces, so as to ensure that the moving body can safely and quickly park in the parking spaces, and improve the experience effect of users.
Example two
Referring to fig. 2, the present embodiment is applied to a scenario in which a user parks in a manual mode for the first time, and the user triggers an automatic parking mode to park in the second time due to an unsatisfactory parking position (e.g., a failed parking position). The parking path planning method of the embodiment may include the following steps:
s1, recording a first parking path, a parking space position and the current position of the moving body in the parking space parking process of the moving body, and executing the step A1.
A1. A re-park request is obtained and step S2 is executed.
The user may transmit a re-entry request to the communication unit of the mobile body through the mobile terminal associated with the mobile body, the user may also directly input the re-entry request on the central control screen of the mobile body, the user may also input the re-entry request through voice, and when the mobile body receives the re-entry request, the automatic parking mode is entered, and step S2 is performed.
S2, detecting whether the current position of the moving body meets a first preset condition or not, and if so, executing step A2; if not, go to step S3.
A2. And controlling the moving body to move out of the parking space position according to the re-parking request and the first parking path, and executing step S4.
In this embodiment, according to a re-parking request sent by a user, the moving object needs to be moved out of the parking space, and a parking path is re-planned in the automatic parking mode. Specifically, the parking space position can be moved out according to the recorded first parking path, and the parking space position can be returned to the initial position before entering the parking space.
And S3, controlling the moving body to move out of the parking space position according to the first parking path, and executing the step S4.
And S4, generating a second parking path according to the current position of the moving body and the parking space position.
EXAMPLE III
Referring to fig. 3, a parking path planning method of the present embodiment may include the following steps: :
s1, recording a first parking path, a parking space position and the current position of the moving body in the parking space parking process of the moving body.
And S2, detecting whether the current position of the moving body meets a first preset condition or not.
And S3, if the current position of the moving body does not accord with a first preset condition, controlling the moving body to move out of the parking space position according to the first parking path.
And S4, generating a second parking path according to the current position of the moving body and the parking space position.
And S5, controlling the moving body to move to the parking space position according to the second parking path.
In this embodiment, after the second parking path is generated, the electronic power steering mechanism may control the moving object to park from the current position to the parking space position according to the second parking path, so as to complete the parking operation.
Example four
Referring to fig. 4, a parking path planning method of the present embodiment may include the following steps:
s1, recording a first parking path, a parking space position and the current position of the moving body in the parking space parking process of the moving body.
And S2, detecting whether the current position of the moving body meets a first preset condition or not.
And S3, if the current position of the moving body does not accord with a first preset condition, controlling the moving body to move out of the parking space position according to the first parking path.
B. Detecting whether the parking space position meets a second preset condition, if so, executing a step S4; if not, go to step S6.
The second preset condition is that the free size of the parking space position is larger than the size of the moving body.
In this embodiment, if the parking space position meets the second preset condition, step S4 is executed; if the parking space position does not meet the second preset condition, it indicates that the current parking space position cannot accommodate the moving body for parking, and step S6 is executed to avoid the situation that the free size of the parking space position is too small to park in the process of parking the moving body in the parking space position.
And S4, generating a second parking path according to the current position of the moving body and the parking space position.
And S5, controlling the moving body to move to the parking space position according to the second parking path.
And S6, detecting the idle parking space of the moving body in a second preset range, and acquiring and displaying an auxiliary image which marks the idle parking space of the moving body in the second preset range.
Wherein the second preset range is a short-distance range of the moving object, for example: within a range of 5 meters from the moving body, the second preset range is related to the detection range of the ultrasonic radar installed on the moving body.
In this embodiment, a parking space searching mode may be adopted to detect whether there are other vacant parking spaces around the moving body except for the current parking space position, and if so, an auxiliary image for identifying the vacant parking spaces is displayed through a display unit installed on the moving body, so that a user can view the position condition of the current vacant parking space through the display unit; if not, the auxiliary image can be displayed through the display unit, so that a user can know the parking space condition around the current moving body by watching the auxiliary image.
Specifically, step S6 shown in fig. 5 may include the following steps:
s61, acquiring images around the moving body through a camera in a parking assisting device installed on the moving body, and generating a full-angle visual image of the moving body.
In this embodiment, in order to collect the full-angle image of the moving body, the cameras may be installed in front of, behind, to the left of, and to the right of the moving body, four images of the moving body in four directions are collected through the cameras, and the preset vehicle icon of the moving body is registered and fused with the four images to form a full-angle visual image overlooked from above the moving body, and the full-angle visual image may display an idle parking space of a ground identification parking line, thereby avoiding a blind area of view.
Specifically, methods such as a fisheye correction algorithm, a linear transformation method, an edge registration and a weighted fusion algorithm can be used for image registration and fusion.
S62, detecting the position of the obstacle of the moving body in a second preset range through an ultrasonic radar in the parking assisting device.
In the embodiment, in order to improve the detection accuracy and coverage rate of the ultrasonic radar, a plurality of ultrasonic radars (for example, 8, 12, 14, etc.) may be installed at positions such as a front bumper, a rear bumper, and a skin near a tire of the mobile body, so that 360-degree radar detection without a dead angle is realized. The ultrasonic radar can detect the free parking space with obstacles (such as ground locks or vehicles) nearby without identifying the stop line on the ground.
And S63, identifying and marking the idle parking space in the full-angle visual image based on the position of the obstacle to form the auxiliary image.
It should be noted that: a plurality of free parking spaces can be shown and identified in the auxiliary image.
In this embodiment, the image recognition model may be used to recognize the idle parking spaces in the full-angle visual image, calibrate the idle parking spaces in combination with the positions of the obstacles, and identify the calibrated idle parking spaces in the full-angle visual image, so as to form an empty auxiliary image with an identification frame (the idle parking spaces in the frame), so as to ensure the position accuracy of the idle parking spaces displayed in the auxiliary image, and avoid affecting the selection and judgment of the user due to position errors.
And S7, setting a parking target position by using the displayed auxiliary image.
Further, the free parking space selected by the user in the displayed auxiliary image is used as the parking target position.
In this embodiment, the auxiliary image may be displayed by using a central control screen disposed in the mobile body, and the user selects the identification frame of the parking target position through the central control screen to determine the parking space position for parking.
And S8, generating a third parking path according to the current position and the parking target position.
The current position may include a driving direction and position information. The parking target locations may include parking types such as non-linear parking spaces, diagonal parking spaces, linear parking spaces, parking spaces near the pillar, and the like.
Further, step S8 may further include:
according to the position of the parking target position in the auxiliary image, acquiring a parking type corresponding to the parking target position; determining a parking direction according to the relation between the current driving direction and the parking target position, planning a global path and a parking path according to the appearance parameters of the moving body, the parking type corresponding to the current parking target position, the current position, the vertex coordinate information of the parking target position and the parking direction, and splicing, node optimization, smoothing and path fitting the global path and the parking path to obtain a third parking path with smooth transition.
EXAMPLE five
Referring to fig. 6, a parking path planning apparatus 1 of the present embodiment includes: a recording unit 11, a detection unit 12, an execution unit 13 and a generation unit 14.
The recording unit 11 is configured to record a first parking path, a parking space position, and a current position of the mobile body during parking of the mobile body in the parking space.
In the process of parking the moving body into the parking space, the user may park the parking space in a manual mode or in an automatic parking mode.
By way of example and not limitation, when parking in the manual mode, a user may trigger a camera of a parking assistance device installed on a moving body to acquire an image of the periphery of the moving body by using a recording button, sending a recording instruction, switching a reverse gear, and the like, and detect a parking space position by using an ultrasonic radar in the parking assistance device to acquire the parking space position, a current position of the moving body (including a position where a part of the moving body is located at the parking space position), and a first parking path during parking.
When the automatic parking mode is adopted for parking, a camera of the parking auxiliary device installed on the moving body can be directly triggered to collect images around the moving body, the parking position is detected through an ultrasonic radar in the parking auxiliary device, and the parking position, the current position of the moving body and a first parking path in the parking process are obtained and recorded.
A detecting unit 12 for detecting whether the current position of the moving body meets a first preset condition.
The first preset condition is that the current position of the moving body does not have an obstacle target in a first preset range, and the obstacle target is a target for preventing the moving body from moving into the parking space position.
In this embodiment, during the parking of the mobile body in the parking space, the ultrasonic radar on the mobile body may be used to detect whether there is an obstacle (e.g., a median at the edge of the parking space, a pillar near the parking space, or a pile barrel near the parking space) around the mobile body that obstructs the movement of the mobile body. When the front or the rear of the moving body meets a static obstacle, the vehicle can automatically avoid collision and brake, path planning is carried out again, and a second parking path is adopted to bypass the obstacle target, so that the success rate of automatic parking is improved.
And the execution unit 13 is configured to control the moving body to move out of the parking space position according to the first parking path when the current position of the moving body does not accord with a first preset condition.
In this embodiment, when the current position of the moving body does not meet the first preset condition (e.g., the front or the rear of the moving body meets a static obstacle), the moving body may automatically avoid collision and brake, move out of the parking space position according to the recorded first parking path, and return to the initial position before entering the parking space.
And the generating unit 14 is used for generating a second parking path according to the current position of the moving body and the parking space position.
In this step, the current position of the moving body is the position of the moving body after the moving body moves out of the parking space, and the current position can comprise the driving direction and the position information. The parking space positions can include parking types such as non-linear parking spaces, diagonal parking spaces, linear parking spaces, parking spaces close to the side of the pillar and the like.
The generation unit 14 identifies a parking type corresponding to the parking stall position by using the position of the parking stall position in the full-angle visual image through the parking auxiliary device; determining a parking direction according to the relation between the current driving direction and the parking position, planning a global path and a parking path according to the appearance parameters of the moving body, the parking type corresponding to the current parking position, the current position, the vertex coordinate information of the parking position and the parking direction, and splicing, node optimization, smoothing and path fitting the global path and the parking path to obtain a second parking path with smooth transition.
The execution unit 13 is further configured to control the moving object to move to the parking space position according to the second parking route.
In an embodiment, referring to fig. 7, the parking path planning apparatus 1 may further include: an acquisition unit 15.
An obtaining unit 15, configured to obtain a re-parking request.
The user may transmit a re-entry request to the communication unit of the mobile body through the mobile terminal associated with the mobile body, the user may also directly input the re-entry request on the central control screen of the mobile body, the user may also input the re-entry request through voice, and the mobile body enters the automatic parking mode after receiving the re-entry request through the acquisition unit 15.
The execution unit 13 is further configured to, when the current position of the mobile body meets a first preset condition, control the mobile body to move out of the parking space position according to the re-parking request and the first parking path.
In this embodiment, according to a re-parking request sent by a user, the moving object needs to be moved out of the parking space, and a parking path is re-planned in the automatic parking mode. The execution unit 13 can move out of the parking space position according to the recorded first parking path and return to the initial position before entering the parking space.
In an embodiment, the detecting unit 12 is further configured to detect whether the parking space position meets a second preset condition. And the second preset condition is that the idle size of the parking space position is larger than the size of the moving body.
In this embodiment, if the parking space position meets the second preset condition, it indicates that the current parking space position can accommodate the moving body to park, and the generating unit 14 is adopted to generate the second parking path according to the current position of the moving body and the parking space position; if the parking position does not meet the second preset condition, the current parking position cannot accommodate the moving body to park.
In an embodiment, referring to fig. 7, the parking path planning apparatus 1 may further include: a processing unit 16 and a setting unit 17.
And the processing unit 16 is configured to detect an idle parking space of the moving body within a second preset range when the current position of the moving body does not meet a second preset condition, and acquire and display an auxiliary image that identifies the idle parking space of the moving body within the second preset range.
Wherein the second preset range is a short-distance range of the moving object, for example: within a range of 5 meters from the moving body, the second preset range is related to the detection range of the ultrasonic radar installed on the moving body.
In this embodiment, a parking space searching mode may be employed to detect whether there are other free parking spaces around the moving body except for the current parking space position, and if so, an auxiliary image identifying the free parking spaces is displayed through a display unit installed on the moving body, so that a user can view the position condition of the current free parking space through the display unit; if not, the auxiliary image can be displayed through the display unit, so that a user can know the parking space situation around the current moving body by watching the auxiliary image.
Further, the processing unit 16 shown in fig. 8 may include: a generation module 161, a detection module 162, and an identification module 163.
The generating module 161 is configured to capture an image of the periphery of the moving object through a camera in a parking assist device installed on the moving object, and generate a full-angle visualized image of the moving object.
In this embodiment, in order to collect the full-angle image of the moving body, the cameras may be installed in front of, behind, to the left of, and to the right of the moving body, four images of the moving body in four directions are collected through the cameras, and the preset vehicle icon of the moving body is registered and fused with the four images to form a full-angle visual image overlooked from above the moving body, and the full-angle visual image may display an idle parking space of a ground identification parking line, thereby avoiding a blind area of view.
A detecting module 162, configured to detect, by an ultrasonic radar in the parking assist apparatus, an obstacle position of the moving body within a second preset range.
In the embodiment, in order to improve the detection accuracy and coverage rate of the ultrasonic radar, a plurality of ultrasonic radars (for example, 8, 12, 14, etc.) may be installed at positions such as a front bumper, a rear bumper, and a skin near a tire of the mobile body, so that 360-degree radar detection without a dead angle is realized. The ultrasonic radar can detect the free parking space with obstacles (such as ground locks or vehicles) nearby without identifying the stop line on the ground.
The identification module 163 is configured to identify and identify the vacant parking spaces in the full-angle visualization image based on the position of the obstacle, so as to form the auxiliary image.
It should be noted that: a plurality of free parking spaces can be shown and identified in the auxiliary image.
In this embodiment, the identification module 163 may identify an idle parking space in the full-angle visual image by using an image identification model, calibrate the idle parking space by combining the position of the obstacle, and identify the calibrated idle parking space position in the full-angle visual image, so as to form an empty auxiliary image carrying an identification frame (the idle parking space is in the frame), so as to ensure the position accuracy of the idle parking space displayed in the auxiliary image, and avoid affecting the selection and judgment of the user due to position errors.
A setting unit 17 for setting a parking target position using the displayed assist image.
Further, the free parking space selected by the user in the displayed auxiliary image is used as the parking target position.
The generating unit 14 is further configured to generate a third parking path according to the current location and the parking target location.
The current position may include a driving direction and position information. The parking target locations may include parking types such as non-linear parking spaces, diagonal parking spaces, linear parking spaces, parking spaces near the pillar, and the like.
Further, the generating unit 14 may obtain, according to a position of the parking target position in the auxiliary image, a parking type corresponding to the parking target position; determining a parking direction according to the relation between the current driving direction and the parking target position, planning a global path and a parking path according to the appearance parameters of the moving body, the parking type corresponding to the current parking target position, the current position, the vertex coordinate information of the parking target position and the parking direction, and splicing, node optimization, smoothing and path fitting the global path and the parking path to obtain a third parking path with smooth transition.
In this embodiment, the parking path planning apparatus 1 may record the first parking path, the parking space position, and the current position of the mobile body by using the recording unit 11 during the parking of the mobile body in the parking space; detecting whether the current position of the moving body meets a first preset condition by using the detection unit 12 to judge whether the moving body can safely park in the parking space by adopting a current parking path (a first parking path); if the current position of the moving body does not meet the first preset condition, the vehicle cannot be parked in the parking space by adopting the first parking path, the moving body is controlled to move out of the parking space position by the execution unit 13, and the parking track is replanned by adopting the generation unit 14 according to the current position and the parking space position of the moving body to generate a second parking path so that the moving body can be safely moved into the parking space position. The invention can plan the parking path again for the vehicles which are already positioned in the parking spaces, so as to ensure that the moving body can safely and quickly park in the parking spaces, and improve the experience effect of users.
EXAMPLE six
In order to achieve the above object, the present invention further provides a vehicle 2, where the vehicle 2 of the present embodiment at least includes, but is not limited to: the parking path planning apparatus 1 includes a memory 21, a processor 23, a network interface 22, and a parking path planning apparatus 21 (see fig. 9) that are communicatively connected to each other via a system bus. It should be noted that fig. 9 only shows the vehicle 2 with components, but it should be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
In this embodiment, the memory 21 includes at least one type of computer-readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the storage 21 may be an internal storage unit of the vehicle 2, such as a hard disk or a memory of the vehicle 2. In other embodiments, the memory 21 may be an external storage device of the vehicle 2, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the vehicle 2. Of course, the memory 21 may also comprise both an internal storage unit of the vehicle 2 and an external storage device thereof. In this embodiment, the memory 21 is generally used for storing an operating system installed in the vehicle 2 and various types of application software, such as program codes of the parking path planning methods in the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment. Further, the memory 21 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 23 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data Processing chip in some embodiments. The processor 23 is generally used to control the overall operation of the vehicle 2, such as performing control and processing related to data interaction or communication with the vehicle 2. In this embodiment, the processor 23 is configured to operate the program codes or the processing data stored in the memory 21, for example, operate the parking path planning apparatus 1.
The network interface 22 may comprise a wireless network interface or a wired network interface, and the network interface 22 is generally used to establish communication connections between the vehicle 2 and other vehicles 2. For example, the network interface 22 is used to connect the vehicle 2 with an external terminal through a network, establish a data transmission channel and a communication connection between the vehicle 2 and the external terminal, and the like. The network may be a wireless or wired network such as an Intranet (Intranet), the Internet (Internet), a Global System of Mobile communication (GSM), Wideband Code Division Multiple Access (WCDMA), a 4G network, a 5G network, Bluetooth (Bluetooth), Wi-Fi, and the like.
It should be noted that fig. 9 only shows the vehicle 2 with components 21-23, but it should be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
In this embodiment, the parking path planning apparatus 1 stored in the memory 21 may be further divided into one or more program modules, and the one or more program modules are stored in the memory 21 and executed by one or more processors (in this embodiment, the processor 23) to complete the present invention.
EXAMPLE seven
To achieve the above objects, the present invention also provides a computer-readable storage medium including a plurality of storage media such as a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, which when executed by a processor 23, implements corresponding functions. The computer-readable storage medium of the present embodiment is used for storing the parking path planning apparatus 1, and when being executed by the processor 23, the parking path planning method according to the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment is implemented.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (16)
1. A parking path planning method, comprising:
recording a first parking path, a parking space position and the current position of a moving body in the parking space parking process of the moving body;
detecting whether the current position of the moving body meets a first preset condition or not;
if the current position of the moving body does not accord with a first preset condition, controlling the moving body to move out of the parking space position according to the first parking path;
and generating a second parking path according to the current position of the moving body and the parking space position.
2. The parking path planning method according to claim 1, wherein detecting whether the current position of the moving body meets a first preset condition further comprises:
acquiring a re-parking request;
and if the current position of the moving body meets a first preset condition, the moving body moves out of the parking space position according to the re-parking request and the first parking path control.
3. The parking path planning method according to claim 1 or 2, wherein the first preset condition is that the current position of the mobile body is free of an obstacle target within a first preset range, the obstacle target being a target that hinders the mobile body from moving into the parking space position.
4. The parking path planning method according to claim 1, wherein a second parking path is generated according to the current position of the mobile body and the parking space position, and before the generating, the method further comprises:
detecting whether the parking space position meets a second preset condition or not;
if the parking space position accords with a second preset condition, generating a second parking path according to the current position of the moving body and the parking space position;
the second preset condition is that the free size of the parking space position is larger than the size of the moving body.
5. The parking path planning method according to claim 4, further comprising:
if the current position of the moving body does not accord with a second preset condition, detecting an idle parking space of the moving body in a second preset range, and acquiring and displaying an auxiliary image which is used for identifying the idle parking space and is located in the second preset range;
setting a parking target position using the displayed auxiliary image;
and generating a third parking path according to the current position and the parking target position.
6. The parking path planning method according to claim 5, wherein detecting a free parking space of the moving body within a second preset range, and acquiring and displaying an auxiliary image identifying the free parking space of the moving body within the second preset range includes:
acquiring images around the moving body through a camera in a parking assistance device installed on the moving body, and generating a full-angle visual image of the moving body;
detecting the position of an obstacle of the moving body within a second preset range through an ultrasonic radar in the parking assist device;
and identifying the idle parking spaces in the full-angle visual image based on the positions of the obstacles to form the auxiliary image.
7. The parking path planning method according to claim 1, further comprising:
and controlling the moving body to move to the parking space position according to the second parking path.
8. A parking path planning apparatus, comprising:
the recording unit is used for recording a first parking path, a parking space position and the current position of the moving body in the parking space parking process of the moving body;
the detection unit is used for detecting whether the current position of the moving body meets a first preset condition or not;
the execution unit is used for controlling the moving body to move out of the parking space position according to the first parking path when the current position of the moving body does not accord with a first preset condition;
and the generating unit is used for generating a second parking path according to the current position of the moving body and the parking space position.
9. The parking path planning apparatus according to claim 8, further comprising:
an acquisition unit configured to acquire a re-entry request;
the execution unit is further used for controlling the moving body to move out of the parking space position according to the re-parking request and the first parking path when the current position of the moving body meets a first preset condition.
10. The parking path planning apparatus according to claim 8 or 9, wherein the first preset condition is that the current position of the mobile body is free of an obstacle target within a first preset range, the obstacle target being a target that hinders the mobile body from moving into the parking space position.
11. The parking path planning apparatus according to claim 8, characterized in that:
the detection unit is also used for detecting whether the parking space position meets a second preset condition;
the generating unit is used for generating a second parking path according to the current position of the moving body and the parking position when the parking position meets a second preset condition;
the second preset condition is that the free size of the parking space position is larger than the size of the moving body.
12. The parking path planning apparatus according to claim 11, further comprising:
the processing unit is used for detecting the idle parking space of the moving body in a second preset range when the current position of the moving body does not accord with a second preset condition, and acquiring and displaying an auxiliary image which is used for identifying the idle parking space and is of the moving body in the second preset range;
a setting unit for setting a parking target position using the displayed auxiliary image;
the generating unit is further used for generating a third parking path according to the current position and the parking target position.
13. The parking path planning apparatus according to claim 12, wherein the processing unit includes:
the generation module is used for acquiring images around the moving body through a camera in a parking assist device installed on the moving body and generating a full-angle visual image of the moving body;
the detection module is used for detecting the position of an obstacle of the moving body in a second preset range through an ultrasonic radar in the parking assist device;
and the identification module is used for identifying and identifying the idle parking space in the full-angle visual image based on the position of the obstacle so as to form the auxiliary image.
14. The parking path planning apparatus according to claim 8, wherein the execution unit is further configured to control the moving body to move to the parking space position according to the second parking path.
15. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1 to 7 when executing the computer program.
16. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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| CN113665564B (en) * | 2021-08-10 | 2023-04-18 | 东风汽车集团股份有限公司 | Magnetic track memory parking method and system |
| CN113548040B (en) * | 2021-08-11 | 2022-12-13 | 广州小鹏自动驾驶科技有限公司 | Parking method, parking device, vehicle and storage medium |
| CN114137956B (en) * | 2021-10-28 | 2023-11-10 | 华人运通(上海)云计算科技有限公司 | Vehicle cloud cooperative path planning method and system |
| CN114312758B (en) * | 2022-01-04 | 2023-08-08 | 岚图汽车科技有限公司 | Remote vehicle moving control method, device, equipment and readable storage medium |
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