CN112937554A - Parking method and system - Google Patents

Parking method and system Download PDF

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Publication number
CN112937554A
CN112937554A CN202110131332.3A CN202110131332A CN112937554A CN 112937554 A CN112937554 A CN 112937554A CN 202110131332 A CN202110131332 A CN 202110131332A CN 112937554 A CN112937554 A CN 112937554A
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parking
vehicle
current vehicle
angle
preset
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黄荣
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Huizhou Foryou General Electronics Co Ltd
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Huizhou Foryou General Electronics Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to the technical field of automobile control, and provides a parking method and a parking system, wherein an available parking space image is made according to available parking spaces, and a first preset condition is designed to determine a starting point (parking starting position) of a parking garage to complete vehicle positioning; when the vehicle arrives at a parking starting position, the maximum adjustment range of the vehicle in the parking process can be calculated according to the available parking space image, and then a first parking angle of the vehicle during the minimum backing action is obtained by taking the parking starting position as a fixed point; when the current vehicle reaches the first preset position at the first parking angle, the second parking angle in the backing process is further calculated, so that the vehicle can enter the available parking space at the minimum action amplitude, finally, the target parking space is taken as a target, the vehicle can be controlled to reach the target parking position by simply adjusting the direction, the goal of backing and warehousing in place perfectly can be realized by adjusting once, the congestion caused by overlong parking time is reduced, the time of a user is saved, and the user experience is improved.

Description

Parking method and system
Technical Field
The invention relates to the technical field of automobile control, in particular to a parking method and system.
Background
In the prior art, different automatic parking systems use different methods for detecting objects in the surroundings of a vehicle. Some have sensors mounted around the front and rear bumpers of the vehicle that can act as both transmitters and receivers. These sensors send signals that are reflected back when they hit obstacles around the vehicle body. The computer on the vehicle will then use the time it takes to receive the signal to determine the location of the obstacle. Other systems use bumper-mounted cameras or radar to detect obstacles.
But the end result is the same: the automobile detects the parked automobile, the size of the parking space and the distance from the roadside, and then drives the automobile into the parking space; however, the following drawbacks still exist:
1. when parking a parking space in the vertical direction, the existing automatic parking technology adopts the method that after a target parking space is identified, the vehicle can still go forward by about 3 meters (about 1.5 parking spaces), so that the rear vehicle has the opportunity of occupying the parking space, and the user experience is seriously influenced;
2. when parking a parking space in the vertical direction, the existing automatic parking technology can not directly put in place after one-time garage kneading, and the user experience is seriously influenced.
Disclosure of Invention
The invention provides a parking method and a parking system, which solve the technical problems that the existing automatic parking technology is unreasonable in parking algorithm, the parking space is occupied due to the fact that the moving range of a vehicle is too large during parking, and the vehicle cannot enter a garage directly after once garage kneading, so that the user experience is poor.
In order to solve the above technical problems, the present invention provides a parking method, comprising the steps of:
s1, when the available parking spaces are identified, generating corresponding available parking space images;
s2, determining a parking starting position of the current vehicle according to the available parking space image and a first preset condition, and further obtaining a maximum adjustment range of the current vehicle on the parking starting position;
s3, calculating a first parking angle of the current vehicle at the parking starting position according to the maximum adjustment range and the vehicle information, and controlling the current vehicle to reach a first preset position according to the first parking angle;
s4, presetting the minimum safe distance between the current vehicle and the obstacles on the two sides of the available parking space, and combining the vehicle information to calculate a second parking angle of the current vehicle on the first preset position, and further controlling the current vehicle to reach a second preset position according to the second parking angle;
and S5, controlling the current vehicle to reach the target parking position from the second preset position according to the target parking position.
The basic scheme is that an available parking space image is manufactured according to the available parking space, a first preset condition is designed to determine a starting point (parking starting position) of a backing garage to complete vehicle positioning; when the vehicle arrives at a parking starting position, the maximum adjustment range of the vehicle in the parking process can be calculated according to the available parking space image, and then a first parking angle of the vehicle during the minimum backing action is obtained by taking the parking starting position as a fixed point; when the current vehicle reaches the first preset position at the first parking angle, the second parking angle in the backing process is further calculated, so that the vehicle can enter the available parking space at the minimum action amplitude, finally, the target parking space is taken as a target, the vehicle can be controlled to reach the target parking position by simply adjusting the direction, the goal of backing and warehousing in place perfectly can be realized by adjusting once, the congestion caused by overlong parking time is reduced, the time of a user is saved, and the user experience is improved.
In a further embodiment, the present invention further comprises the steps of:
s0, detecting the region by using a sensing device, and judging the parking space to be available when detecting that the middle region between the obstacles on the near side meets the available condition;
the available conditions are that the width and the depth of the middle area are not less than the preset width and the preset depth.
According to the scheme, the size of the middle area between the obstacles is taken as a basis, the existence of the available parking space is determined, and the maximum safe distance of the warehousing channel is obtained on the premise that the minimum safe distance between the vehicle and the obstacles on the two sides of the channel is ensured, so that the risk of scratching the vehicle is reduced; and the parking space line is not restricted, more available parking space information can be acquired, and the parking efficiency is improved.
In a further embodiment, in the step S1, the generating the corresponding available parking space image specifically includes:
determining a virtual range corresponding to the available parking space by taking the vertex closest to the current vehicle on the available parking space as a reference point and combining the preset width and the preset depth;
and acquiring an actual image of the available parking space, and superposing the actual image with the virtual range to obtain an image of the available parking space.
The scheme establishes the virtual available parking space according to the preset width and the preset depth, and meanwhile, the virtual available parking space is overlapped with the actual image, so that the available parking space image can be vividly divided under the support of the actual scene, the understanding is convenient, and the user is provided with good use experience.
In further embodiments, the step S2 includes the steps of:
s21, taking the edge line of the parking space where the reference point is located as a mark position, obtaining the vehicle position when the initial mark on the current vehicle is spatially coincident with the edge line, and calibrating the vehicle position as a parking initial position;
s22, determining a corresponding first safety distance line and a corresponding second safety distance line according to a first safety distance and a second safety distance preset at two sides of a traffic channel;
and S23, continuously detecting the distance between the top point of the outermost edge of the barrier on the two sides of the traffic lane and the current vehicle, and dividing the first safe distance line and the second safe distance line according to the top point of the outermost edge to obtain the movable maximum adjustment range of the current vehicle.
In further embodiments, the step S23 includes:
s231, detecting the top points of the outermost edges of the barriers on the left side and the right side of the available parking space facing the traffic channel, and taking the top points as 2 end points of the maximum adjustment range;
s232, detecting obstacles on the other side of the driving channel corresponding to the left and right obstacles, and taking the outermost edge vertexes facing the driving channel as the other 2 end points of the maximum adjustment range;
and S233, determining projection points of the 4 end points projected on the nearest first safe distance line or the second safe distance line, and sequentially connecting the 4 projection points to obtain the movable maximum adjustment range of the current vehicle.
According to the scheme, the initial mark on the current vehicle is superposed with the edge line space to serve as a first preset condition to mark the parking initial position, at the moment, the movable width (namely a first safe distance line and a second safe distance line) on the traffic channel can be determined according to a preset first safe distance and a preset second safe distance, and the lengths of two ends of the traffic channel can be determined according to projection points projected to the first safe distance line and the second safe distance line from the outermost edge of obstacles around the available parking space, so that the movable maximum adjustment range of the current vehicle, which can not touch other obstacles, can be obtained.
In further embodiments, the step S3 includes:
s31, taking a near-end fixed point of the obstacle on one side of the available parking space in the advancing direction of the current vehicle as a coordinate origin, respectively determining a horizontal axis and a vertical axis along the horizontal and vertical directions of the coordinate origin, and establishing a plane coordinate system;
s32, calculating the maximum turning angle of the current vehicle at the parking starting position when the current vehicle advances at the minimum turning radius according to the maximum adjusting range and the size of the vehicle body and by combining the plane coordinate system, and obtaining a first parking angle;
and S33, controlling the current vehicle to advance at the first parking angle and the minimum turning radius to reach a first preset position.
In further embodiments, the step 32 is specifically: when the current vehicle advances from the parking starting position to the edge of the maximum adjustment range by the minimum turning radius, acquiring coordinate information of an edge reference point of the current vehicle at the parking starting position and a first preset position, determining coordinate information of a turning circle center of the current vehicle by combining the minimum turning radius, and calculating a maximum turning angle as a first parking angle according to the coordinate information;
the calculation formula is as follows:
Figure BDA0002925411790000041
where δ is the first parking angle, a1、a2The coordinates of the edge reference point at the parking start position and the first preset position, O1The coordinates of the center of a turn circle.
The scheme utilizes a cosine formula with a simple and easily understood algorithm to predict the end point (a first preset position) and the angle (a first parking angle) of the forward motion of the current vehicle at the parking starting position, and carries out data translation by combining with a plane coordinate system established by an actual reference object to obtain an accurate data control command, thereby controlling the current vehicle to finish forward positioning once and avoiding the problem that other vehicles occupy parking spaces by using the minimum turning radius.
In further embodiments, the step S4 includes:
s41, presetting the minimum safe distance between the current vehicle and the obstacles on the two sides of the available parking space, and further obtaining a third safe distance line and a fourth safe distance line on the plane coordinate system;
s42, calculating the maximum turning angle of the current vehicle when the current vehicle is backed by the minimum turning radius according to the third safe distance line or the fourth safe distance line and the size of the vehicle body to obtain a second parking angle;
and S43, controlling the current vehicle to back up at the second parking angle and the minimum turning radius to reach a second preset position.
In further embodiments, the step 42 is specifically: when the current vehicle backs from the first preset position to contact with the third safety distance line or the fourth safety distance line at the minimum turning radius, acquiring coordinate information of the edge reference point at the first preset position and the second preset position, determining coordinate information of a turning circle center of the current vehicle by combining the minimum turning radius, and calculating a maximum turning angle as a second parking angle according to the coordinate information;
the calculation formula is as follows:
Figure BDA0002925411790000051
where α is a first parking angle, a2、a4Coordinates of the edge reference point at a first predetermined position and a second predetermined position, O, respectively2The coordinates of the center of a turn circle.
The scheme utilizes a cosine formula with a simple and understandable algorithm, takes the minimum safe distance between the current vehicle and the barriers at two sides of the available parking space as a limit, predicts the end point (a second preset position) and the angle (a second parking angle) of the backing motion of the current vehicle at a first preset position, and performs data translation to obtain an accurate data control command by combining with a plane coordinate system established by an actual reference object, so that the current vehicle can be controlled to finish warehousing positioning at one time, the current vehicle cannot be scratched by other barriers, and the problem that other vehicles occupy the parking space is avoided by the minimum turning radius.
In further embodiments, the step S5 includes:
s51, acquiring the actual distance between the current vehicle at the second preset position and the edge line at the inner side of the target parking position;
and S52, dividing the actual distance into at least two adjusting areas, and sequentially adjusting the distance between the current vehicle and the obstacles on the two sides in each adjusting area until the target parking position is reached.
According to the scheme, when the current vehicle enters the available parking space, the remaining reversing distance is divided into at least two sections of adjusting areas, and the distances between the vehicle body and the obstacles on the two sides can be coordinated while warehousing is carried out, so that the vehicle body posture is consistent with the obstacles on the left side and the right side after parking is finished, the distances between the vehicle body posture and the obstacles on the left side and the right side are equivalent, and the risk of vehicle scratching is reduced.
The invention also provides a parking system, which is applied to the parking method and comprises a sensing device, a decoding module, a control module and a vehicle braking module which are sequentially connected;
the sensing device is used for detecting the distance between the vehicle and surrounding obstacles and acquiring the actual image of the parking space;
the decoding module is used for acquiring the acquired data output by the sensing device and uploading the decoded acquired data to the control module;
the control module is used for processing the acquired data according to preset logic and vehicle information, sequentially calculating a parking starting position, a first parking angle and a first preset position when the current vehicle advances, a second parking angle, a second preset position and a target parking position when the vehicle is backed up, and issuing a corresponding control instruction to the vehicle braking module;
the vehicle brake module is used for responding to a control instruction to drive the vehicle: and after the parking starting position is reached, the vehicle is advanced to the first preset position by the first parking angle, is backed to a target parking position by the second preset position, and is finally parked in the target parking position.
In a further embodiment, the sensing device comprises a radar probe, a camera.
Drawings
FIG. 1 is a flowchart illustrating a parking method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an establishment of an available parking space image according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the detection range of the sensing device according to the embodiment of the present invention;
FIG. 4 is a schematic illustration of a region of a maximum adjustment range provided by an embodiment of the present invention;
fig. 5 is a schematic diagram of the step S3 provided by the embodiment of the present invention;
fig. 6 is a reverse schematic diagram of step S3 according to the embodiment of the present invention.
Fig. 7 is a structural framework diagram of a parking system according to embodiment 2 of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are given solely for the purpose of illustration and are not to be construed as limitations of the invention, including the drawings which are incorporated herein by reference and for illustration only and are not to be construed as limitations of the invention, since many variations thereof are possible without departing from the spirit and scope of the invention.
Example 1
As shown in fig. 1, the parking method according to the embodiment of the present invention includes steps S0 to S5:
and S0, detecting the region by using a sensing device, and judging the parking space to be available when detecting that the middle region between the obstacles on the near side meets the available condition.
Wherein, the available conditions are that the width and the depth of the middle area are not less than the preset width w and the preset depth h; the preset width w and the preset depth h are respectively the sum of the width of the vehicle and the reserved width, and the sum of the length of the vehicle and the reserved length, and the reserved width and the reserved length can be adjusted according to the habit of a user or the actual size of the vehicle.
In this embodiment, the obstacle is typically another parked vehicle. Therefore, when a vehicle enters a parking available area (such as an indoor parking lot, an outdoor parking lot or a parking available space), the vehicle moves straight forward at a low speed, the radar mounted on the vehicle body is used for detecting the surrounding, the distance between other parked vehicles at the side closest to the side of the vehicle (namely, the middle area) is obtained, and the width and the depth of the middle area are not less than the preset width w and the preset depth h, so that the vehicle is judged to be an available parking space.
According to the method, the size of the middle area between the obstacles is taken as a basis, the existence of the available parking space is determined, the maximum safe distance of the warehousing channel is obtained on the premise that the minimum safe distance between the vehicle and the obstacles on the two sides of the channel can be guaranteed, and therefore the risk of vehicle scratch is reduced; and the parking space line is not restricted, more available parking space information can be acquired, and the parking efficiency is improved.
S1, when the available parking spaces are identified, generating corresponding available parking space images;
referring to fig. 2, generating the corresponding available parking space image specifically includes:
determining a virtual range corresponding to the available parking space by taking the vertex closest to the current vehicle on the available parking space as a reference point and combining the preset width w and the preset depth h;
and acquiring an actual image of the available parking space by adopting the vehicle-mounted camera, and superposing the actual image with the virtual range to obtain an image of the available parking space.
In the present embodiment, referring to fig. 2, taking the left advance of the current vehicle as an example, the upper left vertex of the left parked vehicle (obstacle) in the available parking space as the reference point O, and the upper right vertex M1 (i.e. the upper left vertex of the right parked vehicle), the lower right vertex M2 (i.e. the lower left vertex of the right parked vehicle), and the lower left vertex M3 (i.e. the lower right vertex of the left parked vehicle) of the virtual ranges are determined according to the preset width w and the preset depth h.
The virtual available parking space is established according to the preset width w and the preset depth h, meanwhile, the virtual available parking space is overlapped with the actual image, the available parking space image can be vividly divided under the support of the actual scene, the understanding is facilitated, and good use experience is provided for a user.
S2, determining a parking starting position of the current vehicle according to the available parking space image and a first preset condition, and further obtaining a maximum adjustment range of the current vehicle on the parking starting position, referring to FIGS. 3 and 4, including steps S21-S23:
s21, taking the edge line of the parking space where the reference point is located as a mark position, obtaining the position of the vehicle when the initial mark on the current vehicle is spatially coincident with the edge line, and calibrating the position as the initial parking position;
in the present embodiment, the start mark is a vehicle mirror. When the available parking space image is made, the vehicle rearview mirror is also converted into the available parking space image, after the available parking space is detected, the vehicle is controlled to continue to run at a low speed in a straight line until the vehicle rearview mirror is superposed with the edge line of the parking space where the reference point is located on the horizontal line, namely the vehicle arrives at the parking starting position, and at the moment, the current vehicle is controlled to stop (the control gear is converted from the D gear to the P gear).
And S22, determining a corresponding first safe distance line L1 and a corresponding second safe distance line L2 according to a first safe distance S1 and a second safe distance S2 preset at two sides of the traffic lane.
Firstly, the radar or the camera arranged on the bumper of the vehicle body is used for measuring the distance of the obstacles on two sides of the traffic lane, the minimum distance between the obstacles and two sides of the vehicle is determined, and at the moment, the reserved space of the first safe distance S1 and the second safe distance S2 is added, so that the first safe distance line L1 and the second safe distance line L2 can be divided on two sides of the traffic lane.
S23, continuously detecting the distance between the top point of the outermost edge of the barrier on the two sides of the traffic channel and the current vehicle, and dividing a first safe distance line L1 and a second safe distance line L2 according to the top point of the outermost edge to obtain the movable maximum adjustment range of the current vehicle.
In the present embodiment, step S23 includes:
s231, detecting the top points of the outermost edges of the left and right obstacles facing the traffic channel of the available parking space, namely an R point and an M1 point, and taking the top points as 2 end points of the maximum adjustment range;
s232, detecting obstacles on the other side of the driving channel corresponding to the obstacles on the left side and the right side, and taking the outermost edge vertexes facing the driving channel, namely G points and P points, as the other 2 end points of the maximum adjustment range;
and S233, determining projection points of the 4 end points projected on the nearest first safe distance line L1 or second safe distance line L2, and sequentially connecting the 4 projection points to obtain the movable maximum adjustment range of the current vehicle.
Specifically, G0 is a projection point of a point G on L1, point P0 is a projection point of a point P on L1, and point R0 is a projection point of a point R on L2; the point S0 is a projection point of the point S on the L2, and a quadrilateral G0P0R0S0 area formed by the four projection points is the maximum adjustment range of the parking start position.
In this embodiment, a parking start position is calibrated by using a spatial coincidence between a start mark and an edge line on a current vehicle as a first preset condition, at this time, a movable width (i.e., a first safe distance line L1 and a second safe distance line L2) on a traffic lane can be determined according to a preset first safe distance S1 and a preset second safe distance S2, and lengths of two ends of the traffic lane can be determined according to projection points of outermost edges of obstacles around an available parking space, which are projected onto the first safe distance line L1 and the second safe distance line L2, so that a maximum movable adjustment range in which the current vehicle does not touch other obstacles is obtained.
S3, calculating a first parking angle of the current vehicle at the parking start position according to the maximum adjustment range and the vehicle information, and controlling the current vehicle to reach a first preset position according to the first parking angle, referring to fig. 5, including steps S31-S33:
s31, taking a near-end fixed point of an obstacle on one side of an available parking space in the advancing direction of the current vehicle as a coordinate origin, respectively determining a horizontal axis X and a vertical axis Y along the horizontal and vertical directions of the coordinate origin, and establishing a plane coordinate system XOY;
and S32, calculating the maximum turning angle of the current vehicle at the parking starting position when the current vehicle advances at the minimum turning radius according to the maximum adjusting range G0P0R0S0 and the size of the vehicle body and by combining the plane coordinate system XOY, and obtaining a first parking angle.
In this embodiment, when the current vehicle moves from the parking start position to the maximum adjustment range edge with the minimum turning radius (in this embodiment, the steering wheel of the vehicle is controlled to turn clockwise to the maximum angle), the coordinate information of the edge reference point of the current vehicle at the parking start position and the first preset position is obtained, the coordinate information of the turning circle center is determined by combining the minimum turning radius, and the maximum turning angle ≧ a is calculated according to the above coordinate information1O1a2As a first parking angle δ;
in fig. 4, a line segment r is the minimum turning radius of the own vehicle (current vehicle), a0Is the outermost edge of the exterior mirror, a1Is the outermost edge of the front right corner of the front vehicle when the vehicle is at the initial position of parking, a2Is the outermost edge of the right front corner of the vehicle head when the vehicle is at a first preset position, a3The outermost edge of the front left corner of the head of the vehicle at the parking starting position, d0 is the outermost edge of the head of the vehicle and a0D1 is the distance between the center of the wheel and the outermost edge of the vehicle body; l0 is the distance between the outermost edge of the vehicle head and the front axle of the vehicle; l is the wheelbase of the host vehicle.
The calculation formula is as follows:
calculating the minimum turning radius R of the current vehiclemin：
Figure BDA0002925411790000101
Wherein L is the wheel base, K is the distance between the center line of the two-wheel-direction main shaft and the intersection point of the ground, and thetaimaxThe maximum rotation angle of the inner steering wheel is shown as a, and the length of the wheel rotating arm is shown as a.
At the moment, the center of a circle O1Has the coordinates of (0)1x，O1y)，O1x＝(L+L0)-d0，O1y＝L*tanθimax+d1+S2；
a1Has the coordinates of (a)1x，a1y)，a1x＝L+L0，a1y＝w+S2；
a2The coordinate formula of (a) is as follows,
Figure BDA0002925411790000102
line segment a1O1The distance of (a) is:
Figure BDA0002925411790000103
due to, a1、a2At the circle O1A to1O1＝a2O1Then, the first parking angle δ is:
Figure BDA0002925411790000104
where δ is the first parking angle, a1、a2The coordinates of the edge reference point at the parking start position and the first preset position, O1The coordinates of the center of a turn circle.
And S33, controlling the current vehicle to advance at the first parking angle and the minimum turning radius to reach a first preset position.
At the moment, the vehicle is controlled to be switched from the P gear to the D gear to control the gear to be switched to the O gear1Taking the parking starting position as a center, starting to drive at low speed to a first preset position, stopping when the turning angle beta 1 of the vehicle is equal to ^ 1o1a2, and calculating the beta 1 as follows:
Figure BDA0002925411790000111
where v is the vehicle running speed and t1 is the running time.
In this embodiment, step 32 specifically includes:
in the embodiment, the end point (a first preset position) and the angle (a first parking angle) of the forward motion of the current vehicle at the parking starting position are predicted by utilizing a cosine formula with a simple and easily understood algorithm, and a plane coordinate system established by an actual reference object is combined to perform data translation to obtain an accurate data control command, so that the current vehicle can be controlled to finish forward positioning at one time, and the problem that other vehicles occupy parking spaces is avoided by using the minimum turning radius.
S4, presetting a minimum safe distance between the current vehicle and the obstacle on the two sides of the available parking space, and combining the vehicle information to calculate a second parking angle of the current vehicle at the first preset position, and then controlling the current vehicle to reach the second preset position according to the second parking angle, referring to fig. 6, including steps S41-S43:
s41, presetting minimum safe distances d2 and d3 between the current vehicle and obstacles on two sides of the available parking space respectively, and further obtaining a third safe distance line L3 and a fourth safe distance line L4 which correspond to each other on a plane coordinate system;
and S42, calculating the maximum turning angle when the current vehicle is backed by the minimum turning radius according to the third safe distance line L3 or the fourth safe distance line L4 and the size of the vehicle body to obtain a second parking angle.
In this embodiment, when the current vehicle backs up from the first preset position to contact the third safe distance line L3 or the fourth safe distance line L4 with the minimum turning radius (in this embodiment, the steering wheel of the vehicle is controlled to turn counterclockwise to the maximum angle), the coordinate information of the edge reference point at the first preset position and the second preset position is acquired, the coordinate information of the center of the turn circle thereof is determined in combination with the minimum turning radius, and the maximum turning angle ^ a is calculated from the above coordinate information1O1a4As a second parking angle α;
in FIG. 5, O2Is the center of the minimum turning area at the tail of the vehicle when the vehicle backs up and enters the garage, d2 and d3 are the minimum safe distances between the vehicle and the obstacles on the two sides when the vehicle is parked in the target parking space, and L3 is the minimum safe distance line (namely, the third safe distance line) between the vehicle and the obstacle on the left side when the vehicle is parked in the target parking space; l4 is the minimum safe distance line (i.e. the fourth safe distance line) between the vehicle and the right obstacle when the vehicle is parked in the target parking space, the circle formed by the minimum turning radius r0 of the tail of the vehicle is tangent to the point c1, and a4 is the end point (i.e. the second preset position) of the vehicle when the steering wheel of the vehicle turns counterclockwise to the maximum angle.
Similarly, the calculation formula is as follows:
Figure BDA0002925411790000121
where α is a first parking angle, a2、a4Coordinates of the edge reference point at a first predetermined position and a second predetermined position, O, respectively2The coordinates of the center of a turn circle.
And S43, controlling the current vehicle to back up at a second parking angle and the minimum turning radius to reach a second preset position.
At the moment, the vehicle is controlled to be switched from the D gear to the R gear to control the gear to be O2As the circle center, starting to drive at low speed from the parking starting position to a first preset position, wherein the turning angle beta 2 of the vehicle is equal to-2O2a4Then, stop, β 2 is calculated as:
Figure BDA0002925411790000122
where v is the vehicle running speed and t2 is the running time.
In the embodiment, a cosine formula with a simple and easily understood algorithm is utilized, the minimum safe distance between the current vehicle and the barriers on two sides of the available parking space is taken as a limit, the end point (a second preset position) and the angle (a second parking angle) of the reversing action of the current vehicle on a first preset position are predicted, and in combination with a plane coordinate system established by an actual reference object, data translation is carried out to obtain an accurate data control command, so that the current vehicle can be controlled to finish warehousing positioning at one time, the current vehicle cannot be scratched by other barriers, and the problem that other vehicles occupy the parking space is avoided by the minimum turning radius.
S5, controlling the current vehicle to reach the target parking position from the second preset position according to the target parking position, comprising the steps of S51-S52:
and S51, acquiring the actual distance between the current vehicle at the second preset position and the edge line inside the target parking position.
In this embodiment, the target parking space is an area that is separated from the left and right obstacles d2 and d3 on the available parking space, and the bottom of the available parking space coincides with the extension line of the rearmost side obstacle tail M3M 4.
When the vehicle reaches the second preset position, the actual distance between the outermost edge of the tail of the vehicle and the tail extension line M3M4 of the lateral rearmost obstacle is continuously detected.
And S52, dividing the actual distance into at least two adjusting areas, and sequentially adjusting the distance between the current vehicle and the obstacles on the two sides in each adjusting area until the target parking position is reached.
The actual distance is divided into at least 2 sections of adjusting areas, at least one section is used for rotating a steering wheel to adjust the distance between the vehicle body and the obstacles on the left side and the right side to reach d2 and d3 respectively, and at least one section is used for controlling the vehicle to back linearly into the garage until the tail part of the vehicle is superposed with the tail part extension line M3M4 of the obstacle closest to the rear side. And stopping the vehicle, and switching the gear from the R gear to the P gear to finish the parking.
According to the parking system, when the current vehicle enters the available parking space, the remaining reversing distance is divided into at least two sections of adjusting areas, and the distances between the vehicle body and the obstacles on the two sides can be coordinated while warehousing is carried out, so that the vehicle body posture is consistent with the obstacles on the left side and the right side after parking is finished, the distances between the vehicle body posture and the obstacles on the left side and the right side are equivalent, and the risk of vehicle scratching is reduced.
According to the embodiment of the invention, an available parking space image is made according to an available parking space, a starting point (parking starting position) of a parking garage can be quickly determined according to a first preset condition to complete vehicle positioning, when the parking starting position is reached, the maximum adjustment range of a vehicle in the parking process can be calculated according to the available parking space image, and then a first parking angle of the vehicle in the minimum parking action is obtained by taking the parking starting position as a fixed point; when the first parking angle reaches the first preset position, the second parking angle in the backing process is further calculated, so that the vehicle can enter the available parking space in the minimum action range, finally, the target parking space is taken as a target, the vehicle can be controlled to reach the target parking position by simply adjusting the direction, the goal of backing and warehousing in place perfectly can be achieved by adjusting once, the congestion caused by overlong parking time is reduced, the time of a user is saved, and the user experience is improved.
Example 2
The reference numbers in the drawings in the present embodiment include: the device comprises a sensing device 1, a decoding module 2, a control module 3 and a vehicle braking module 4.
The embodiment of the present invention further provides a parking system, which is applied to the parking method of embodiment 1, and referring to fig. 7, the parking system includes a sensing device 1, a decoding module 2, a control module 3, and a vehicle braking module 4, which are connected in sequence;
the sensing device 1 is used for detecting the distance between the vehicle and surrounding obstacles and acquiring the actual image of the parking space;
the decoding module 2 is used for acquiring the acquired data output by the sensing device 1 and uploading the decoded data to the control module 3;
the control module 3 is used for processing the acquired data according to preset logic and vehicle information, sequentially calculating a parking starting position, a first parking angle and a first preset position when the current vehicle advances, a second parking angle, a second preset position and a target parking position when the vehicle is backed, and issuing a corresponding control instruction to the vehicle braking module 4;
the vehicle brake module 4 is used to drive the vehicle in response to control commands: after the parking starting position is reached, the vehicle is moved to a first preset position by a first parking angle, is backed to a target parking position by a second preset position, and is finally parked in the target parking position.
In the present embodiment, the sensing device 1 includes, but is not limited to, a radar probe and a camera.
The control module is preferably an in-vehicle ECU.
The parking system provided by the embodiment adopts each module to realize each step in the parking method, provides a hardware basis for the parking method, and is convenient for the method to implement.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (12)

1. A method of parking a vehicle, comprising the steps of:
s1, when the available parking spaces are identified, generating corresponding available parking space images;
s2, determining a parking starting position of the current vehicle according to the available parking space image and a first preset condition, and further obtaining a maximum adjustment range of the current vehicle on the parking starting position;
s3, calculating a first parking angle of the current vehicle at the parking starting position according to the maximum adjustment range and the vehicle information, and controlling the current vehicle to reach a first preset position according to the first parking angle;
s4, presetting the minimum safe distance between the current vehicle and the obstacles on the two sides of the available parking space, and combining the vehicle information to calculate a second parking angle of the current vehicle on the first preset position, and further controlling the current vehicle to reach a second preset position according to the second parking angle;
and S5, controlling the current vehicle to reach the target parking position from the second preset position according to the target parking position.
2. A method for parking a vehicle according to claim 1, further comprising the steps of:
s0, detecting the region by using a sensing device, and judging the parking space to be available when detecting that the middle region between the obstacles on the near side meets the available condition;
the available conditions are that the width and the depth of the middle area are not less than the preset width and the preset depth.
3. The parking method according to claim 2, wherein in step S1, the generating of the corresponding available parking space image is specifically:
determining a virtual range corresponding to the available parking space by taking the vertex closest to the current vehicle on the available parking space as a reference point and combining the preset width and the preset depth;
and acquiring an actual image of the available parking space, and superposing the actual image with the virtual range to obtain an image of the available parking space.
4. A method for parking in accordance with claim 3, wherein said step S2 comprises the steps of:
s21, taking the edge line of the parking space where the reference point is located as a mark position, obtaining the vehicle position when the initial mark on the current vehicle is spatially coincident with the edge line, and calibrating the vehicle position as a parking initial position;
s22, determining a corresponding first safety distance line and a corresponding second safety distance line according to a first safety distance and a second safety distance preset at two sides of a traffic channel;
and S23, continuously detecting the distance between the top point of the outermost edge of the barrier on the two sides of the traffic lane and the current vehicle, and dividing the first safe distance line and the second safe distance line according to the top point of the outermost edge to obtain the movable maximum adjustment range of the current vehicle.
5. The vehicle parking method according to claim 4, wherein the step S23 includes:
s231, detecting the top points of the outermost edges of the barriers on the left side and the right side of the available parking space facing the traffic channel, and taking the top points as 2 end points of the maximum adjustment range;
s232, detecting obstacles on the other side of the driving channel corresponding to the left and right obstacles, and taking the outermost edge vertexes facing the driving channel as the other 2 end points of the maximum adjustment range;
and S233, determining projection points of the 4 end points projected on the nearest first safe distance line or the second safe distance line, and sequentially connecting the 4 projection points to obtain the movable maximum adjustment range of the current vehicle.
6. The vehicle parking method according to claim 5, wherein the step S3 includes:
s31, taking a near-end fixed point of the obstacle on one side of the available parking space in the advancing direction of the current vehicle as a coordinate origin, respectively determining a horizontal axis and a vertical axis along the horizontal and vertical directions of the coordinate origin, and establishing a plane coordinate system;
s32, calculating the maximum turning angle of the current vehicle at the parking starting position when the current vehicle advances at the minimum turning radius according to the maximum adjusting range and the size of the vehicle body and by combining the plane coordinate system, and obtaining a first parking angle;
and S33, controlling the current vehicle to advance at the first parking angle and the minimum turning radius to reach a first preset position.
7. A method for parking a vehicle according to claim 6 wherein,
the step 32 is specifically: when the current vehicle advances from the parking starting position to the edge of the maximum adjustment range by the minimum turning radius, acquiring coordinate information of an edge reference point of the current vehicle at the parking starting position and a first preset position, determining coordinate information of a turning circle center of the current vehicle by combining the minimum turning radius, and calculating a maximum turning angle as a first parking angle according to the coordinate information;
the calculation formula is as follows:
Figure FDA0002925411780000031
where δ is the first parking angle, a1、a2The coordinates of the edge reference point at the parking start position and the first preset position, O1The coordinates of the center of a turn circle.
8. The vehicle parking method according to claim 6, wherein the step S4 includes:
s41, presetting the minimum safe distance between the current vehicle and the obstacles on the two sides of the available parking space, and further obtaining a third safe distance line and a fourth safe distance line on the plane coordinate system;
s42, calculating the maximum turning angle of the current vehicle when the current vehicle is backed by the minimum turning radius according to the third safe distance line or the fourth safe distance line and the size of the vehicle body to obtain a second parking angle;
and S43, controlling the current vehicle to back up at the second parking angle and the minimum turning radius to reach a second preset position.
9. The method for parking a vehicle according to claim 8,
the step 42 specifically includes: when the current vehicle backs from the first preset position to contact with the third safety distance line or the fourth safety distance line at the minimum turning radius, acquiring coordinate information of the edge reference point at the first preset position and the second preset position, determining coordinate information of a turning circle center of the current vehicle by combining the minimum turning radius, and calculating a maximum turning angle as a second parking angle according to the coordinate information;
the calculation formula is as follows:
Figure FDA0002925411780000041
where α is a first parking angle, a2、a4Coordinates of the edge reference point at a first predetermined position and a second predetermined position, O, respectively2The coordinates of the center of a turn circle.
10. The vehicle parking method according to claim 1, wherein the step S5 includes:
s51, acquiring the actual distance between the current vehicle at the second preset position and the edge line at the inner side of the target parking position;
and S52, dividing the actual distance into at least two adjusting areas, and sequentially adjusting the distance between the current vehicle and the obstacles on the two sides in each adjusting area until the target parking position is reached.
11. A parking system applied to the parking method according to claims 1 to 10, characterized in that: the device comprises a sensing device, a decoding module, a control module and a vehicle braking module which are connected in sequence;
the sensing device is used for detecting the distance between the vehicle and surrounding obstacles and acquiring the actual image of the parking space;
the decoding module is used for acquiring the acquired data output by the sensing device and uploading the decoded acquired data to the control module;
the control module is used for processing the acquired data according to preset logic and vehicle information, sequentially calculating a parking starting position, a first parking angle and a first preset position when the current vehicle advances, a second parking angle, a second preset position and a target parking position when the vehicle is backed up, and issuing a corresponding control instruction to the vehicle braking module;
the vehicle brake module is used for responding to a control instruction to drive the vehicle: and after the parking starting position is reached, the vehicle is advanced to the first preset position by the first parking angle, is backed to a target parking position by the second preset position, and is finally parked in the target parking position.
12. A parking system as claimed in claim 11, wherein: the sensing device comprises a radar probe and a camera.
CN202110131332.3A 2021-01-30 2021-01-30 Parking method and system Pending CN112937554A (en)

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