CN113212424B - Vehicle and automatic parking method and device thereof - Google Patents
Vehicle and automatic parking method and device thereof Download PDFInfo
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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
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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
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Abstract
The invention provides a vehicle and an automatic parking method and device thereof, and belongs to the technical field of auxiliary driving. The method comprises the following steps: when the fact that the vehicle needs to park is judged, acquiring the parking starting point pose and the parking target point pose of the parking space, acquiring the gear information of the vehicle in real time, and determining a vehicle positioning point according to the gear information of the vehicle; when the vehicle is in a forward gear, the center of a front shaft of the vehicle is used as a vehicle positioning point, and when the vehicle is in a reverse gear, the center of a rear shaft of the vehicle is used as a vehicle positioning point; and planning a parking path based on a Dubins curve by combining the position and the position of the parking starting point and the position of the parking target point, and controlling the vehicle to run along the planned parking path to finish parking when the positioning point of the vehicle moves to the parking starting point. According to the method, the vehicle positioning points are determined based on the vehicle gear information before parking, so that the determination of the vehicle positioning points is more consistent with the vehicle running condition, and the running smoothness of the vehicle can be improved.
Description
Technical Field
The invention relates to a vehicle and an automatic parking method and device thereof, belonging to the technical field of auxiliary driving.
Background
With the continuous improvement of the vehicle intelligence level, advanced assistant driving technology is widely researched and applied. The vehicle can sense the road environment, the vehicle position and the obstacle information through the vehicle-mounted sensing system, a smooth and low-cost obstacle-free path from a starting point to a target point is searched by applying a path planning algorithm, and the steering and the speed of the vehicle are controlled so as to reach a preset target point. The automatic parking system can plan a corresponding parking path through a certain path planning algorithm, so that the vehicle can be automatically parked in the parking position.
The existing automatic parking path planning method usually adopts the center of a rear axle of a vehicle as a positioning point of the vehicle, but if the center of the rear axle of the vehicle is still adopted as the positioning point when the vehicle is in a forward gear, the swinging of a vehicle head is obvious, and the running smoothness of the vehicle is poor; in addition, different parking path planning methods are required for the vertical parking space and the horizontal parking space at present, and the algorithm universality is poor.
Disclosure of Invention
The invention aims to provide a vehicle and an automatic parking method and device thereof, which can improve the driving smoothness of the vehicle.
In order to achieve the above object, the present invention provides an automatic parking method, including the steps of:
(1) When the fact that the vehicle needs to park is judged, acquiring the parking starting point pose and the parking target point pose of the parking space, acquiring the gear information of the vehicle in real time, and determining a vehicle positioning point according to the gear information of the vehicle; when the vehicle is in a forward gear, the center of a front shaft of the vehicle is used as a vehicle positioning point, and when the vehicle is in a reverse gear, the center of a rear shaft of the vehicle is used as a vehicle positioning point;
(2) And planning a parking path based on a Dubins curve by combining the parking starting point pose and the parking target point pose, and controlling the vehicle to run along the planned parking path to finish parking when a vehicle positioning point moves to the parking starting point.
The automatic parking method has the beneficial effects that: the method comprises the steps that before parking, a vehicle positioning point is determined based on vehicle gear information, when the vehicle is in a forward gear, the center of a front shaft of the vehicle is used as the vehicle positioning point, when the vehicle is in a reverse gear, the center of a rear shaft of the vehicle is used as the vehicle positioning point, so that the determination of the vehicle positioning point is more consistent with the vehicle running condition, the vehicle runs more stably when parking along a planned parking path, and the running smoothness of the vehicle can be improved; meanwhile, a parking path is generated based on the Dubins curve, stable and efficient automatic planning can be achieved for different parking stall types, different types of parking stalls can be prevented from being calculated by adopting different algorithms, and algorithm operation efficiency and algorithm universality are improved.
Further, in the above automatic parking method, the step (2) includes:
combining the parking starting point pose and the parking target point pose, generating a plurality of parking curves from the parking starting point to the parking target point under different curvature radiuses based on a Dubins curve as a parking curve group from the parking starting point to the parking target point, wherein the curvature radiuses are larger than the minimum turning radius of the vehicle;
and determining an optimal parking curve from the parking curve group according to the principle that the vehicle contour does not generate an intersection point with the parking space contour when the vehicle runs along the parking curve and the parking path is shortest, and controlling the vehicle to run along the optimal parking curve to finish parking when the vehicle positioning point moves to the parking starting point.
Further, in order to improve parking safety, in the automatic parking method, obstacle detection is performed before the vehicle is controlled to travel along the optimal parking curve, and if no obstacle exists or no intersection point exists between the optimal parking curve and an obstacle contour, the vehicle is directly parked.
Further, in the automatic parking method, if an intersection point exists between the optimal parking curve and the obstacle contour, the vehicle is controlled to travel to a position in front of the obstacle for parking and wait at a set distance, and the vehicle continues to park after the obstacle leaves, and if the parking waiting time is longer than a set time threshold, a parking curve is selected from the parking curve group again as an alternative curve according to the principle that the vehicle contour does not generate an intersection point with the parking space contour when the vehicle travels along the parking curve, the parking curve does not exist an intersection point with the obstacle contour, and the parking path is shortest, and the vehicle is controlled to travel along the alternative curve to finish parking.
Further, in order to improve the parking efficiency, in the automatic parking method, if there is an intersection point between the optimal parking curve and the obstacle contour, a parking curve is selected from the parking curve group again as an alternative curve, and the vehicle is controlled to travel along the alternative curve to complete parking, directly according to the principle that the vehicle contour does not generate an intersection point with the parking space contour when the vehicle travels along the parking curve, the parking curve does not have an intersection point with the obstacle contour, and the parking path is shortest.
Further, in the automatic parking method, it is determined that the vehicle needs to be parked when the vehicle needs to be loaded or unloaded to the material level, the vehicle needs to be parked in the parking lot, or the vehicle needs to be charged to the charging level.
Further, in the automatic parking method, the parking starting point pose and the parking target point pose of the parking space are obtained from a high-precision map drawn in advance, the high-precision map is drawn based on a laser SLAM or visual SLAM technology, and the high-precision map comprises all parking spaces and the parking starting point pose and the parking target point pose corresponding to each parking space.
The invention also provides an automatic parking device which comprises a processor and a memory, wherein the processor executes a computer program stored by the memory so as to realize the automatic parking method.
The invention also provides a vehicle, which comprises a vehicle body and an automatic parking device, wherein the automatic parking device comprises a processor and a memory, and the processor executes a computer program stored by the memory so as to realize the automatic parking method.
The vehicle and the automatic parking device have the beneficial effects that: the vehicle and the automatic parking device can realize an automatic parking method, the method determines the positioning point of the vehicle based on the gear information of the vehicle before parking, the operation condition of the vehicle is better met, the vehicle can run more stably when parking along a planned parking path, and the running smoothness of the vehicle can be improved.
Drawings
FIG. 1-1 is a vehicle contour trace with a center of a rear axle of a vehicle as a positioning point when a forward gear is in a vehicle embodiment of the present invention;
1-2 are vehicle profile trajectories with the center of the front axle of the vehicle as a locating point when the vehicle is in a forward gear in the vehicle embodiment of the present invention;
FIG. 2-1 is a schematic view of a vertical parking space in an embodiment of a vehicle according to the present invention;
2-2 are schematic views of horizontal parking spaces in an embodiment of a vehicle according to the present invention;
FIG. 3-1 is a parking curve set for vertical parking spaces generated based on the Dubins curves in an embodiment of a vehicle according to the present invention;
3-2 are parking curve sets for horizontal parking spaces generated based on the Dubins curves in a vehicle embodiment of the present invention;
FIG. 4-1 is a schematic diagram illustrating collision detection for a vertical parking space in an embodiment of a vehicle according to the present invention;
4-2 are schematic diagrams of collision detection for horizontal parking spaces in embodiments of vehicles according to the present invention;
FIG. 5 is a flow chart of an automatic parking method in an embodiment of a vehicle according to the present invention;
fig. 6 is a schematic structural diagram of an automatic parking device in a vehicle embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.
The embodiment of the vehicle is as follows:
the vehicle of the present embodiment includes a vehicle body and an automatic parking device, where the automatic parking device is shown in fig. 6, the device includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and the processor, when executing the computer program, implements the automatic parking method shown in fig. 5.
The processor refers to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The memory includes a physical device for storing information, and generally, the information is digitized and stored in a medium using an electric, magnetic, optical or the like method. For example: various memories for storing information by using an electric energy mode, such as a RAM, a ROM and the like; various memories for storing information by magnetic energy, such as hard disk, floppy disk, magnetic tape, magnetic core memory, bubble memory, and U disk; various types of memory, CD or DVD, that store information optically. Of course, there are other ways of memory, such as quantum memory, graphene memory, and so forth. The apparatus comprising the memory, the processor and the computer program is realized by the processor executing corresponding program instructions in the computer, and the processor can be loaded with various operating systems, such as windows operating system, linux system, android, iOS system, and the like.
As shown in fig. 5, the automatic parking method of the present embodiment includes the steps of:
in the embodiment, in the process that the vehicle runs according to the global path planned in advance, whether the vehicle needs to be parked or not is judged in real time, and if the vehicle does not need to be parked, the vehicle is controlled to continue running; and if the vehicle needs to be parked, entering a parking scene. The global path planning belongs to the prior art, and in practical application, the global path planning may be performed based on an a-or Dijkstra algorithm to generate a global path, and the path smoothing may be performed on the global path by a B-spline or a Bezier curve, which is not described herein.
In this embodiment, whether the vehicle needs to be parked is determined based on the actual demand and the scheduling instruction, and the vehicle needs to be parked is determined when the following conditions occur: (1) When the cloud end or the vehicle end issues instructions such as loading and unloading, the vehicle needs to move to a material level to carry out loading and unloading operation; (2) When the vehicle finishes a day and needs to return to the parking space, the vehicle needs to go to the parking space to park; (3) When the current vehicle electric quantity is too low and needs to be charged, the vehicle needs to move to a charging position for charging.
In the embodiment, when the fact that the vehicle needs to park is judged, the position and the position of the parking starting point and the position of the parking target point of the parking space are obtained from a high-precision map drawn in advance; the high-precision map (namely the high-precision semantic map) is drawn based on a laser SLAM or visual SLAM technology, the high-precision map comprises position information of all parking spaces, parking starting point poses pi and parking target point poses pj corresponding to each parking space, and the types of the parking spaces comprise parking spaces, charging positions, material positions and the like. Taking the example that a vehicle needs to return to a parking space for parking after finishing a task one day, in practical application, position information of all parking spaces can be obtained from a high-precision map, then which parking space to go to for parking is determined according to a principle of proximity, and then a parking starting point pose and a parking target point pose of the parking space are obtained from the high-precision map.
Comparing fig. 1-1 and fig. 1-2, it can be seen that if the center of the rear axle of the vehicle is used as a positioning point during the forward gear, the vehicle head swings obviously, the distance of the vehicle head deviating from the track center is larger, and the center of the front axle of the vehicle is used as a positioning point during the forward gear, so that the vehicle runs more stably. In the embodiment, the vehicle positioning point is determined according to the vehicle gear information, so that the vehicle positioning point is more accordant with the vehicle running condition, and the running smoothness of the vehicle can be improved.
In this embodiment, the information such as SLAM, GPS, IMU, etc. is fused to obtain the pose of the vehicle locating point, and the origin of the vehicle coordinate system is converted from the origin of the fused locating system to the locating point:
wherein (x) 1 ，y 1 ) And (x) 2 ，y 2 ) The coordinate before and after conversion (dx, dy) is the horizontal and vertical relative distance between the coordinate origin of the fusion positioning system and the positioning point.
And 2, combining the parking starting point pose and the parking target point pose, planning a parking path based on a Dubins curve, and controlling the vehicle to run along the planned parking path to finish parking when the vehicle positioning point moves to the parking starting point.
Wherein, according to the parking starting point position pi (x) i ，y i α) and parking target point poses pj (x) j ，y j β) is able to determine the parking spot type, (x) i ，y i )、(x j ，y j ) And the alpha and the beta are respectively course angles of the parking starting point and the parking target point. The parking space types include a vertical parking space and a parallel parking space, and as shown in fig. 2-1 and fig. 2-2, when | α - β | =90 °, the parking space is the vertical parking space; when | alpha-beta | =0 °, the parking space is a parallel space.
The Dubins curve includes six forms of LSL, RSR, RSL, LSR, RLR, and LRL, based on the actual scene requirement, the present embodiment only considers four cases of LSL, RSR, RSL, and LSR, and selects the Dubins curve with the shortest length as the optimal curve:
wherein, pi (x) i ，y i ，α)，pj(x j ，y j Beta) is the coordinate of start and stop points and course angle information, d is the distance after unitization, L lsl 、L rsr 、L rsl 、L lsr The curve length in the four cases, r, which is a curvature radius satisfying the vehicle turning radius constraint, may be a value larger than the minimum turning radius.
In the embodiment, a group of curvature radius values are set at equal intervals, a plurality of parking curves from a parking starting point to a parking target point under different curvature radii are generated based on the Dubins curves, and the curvature radius r of the ith parking curve i ＝r 0 -(i-1)*dr，r 0 Is the initial radius, dr is the radius interval, and r i A value greater than the minimum turning radius of the vehicle should be taken.
A plurality of parking curves from a parking start point to a parking target point are taken as a parking curve group from the parking start point to the parking target point, and fig. 3-1 and 3-2 are a parking curve group for a vertical parking space and a parking curve group for a horizontal parking space generated based on the Dubins curves, respectively. It should be noted that the parking curve group shown in fig. 3-1 and fig. 3-2 is planned according to the reverse gear parking position, and the vehicle positioning point is the center of the rear axle of the vehicle; in practical applications, the arrows in fig. 3-1 and fig. 3-2 may be reversed, and the parking curve group is planned according to the forward gear parking position, where the vehicle positioning point is the center of the front axle of the vehicle.
After the parking curve group is generated, according to the principle that the vehicle contour does not generate an intersection point with the parking space contour when the vehicle runs along the parking curve and the parking path is shortest, determining an optimal parking curve from the parking curve group, and controlling the vehicle to run along the optimal parking curve to finish parking when the vehicle positioning point moves to the parking starting point.
As shown in fig. 4-1 and 4-2, a parking space profile is obtained by using a multi-sensor information fusion technology, whether intersections exist between curves corresponding to four vertexes on the vehicle profile and the parking space profile when the vehicle runs along the ith parking curve is sequentially judged, if the intersections exist, the vehicle has collision risks in the parking process is judged, the (i + 1) th parking curve is continuously judged until a parking curve which does not generate the intersections with the parking space profile when the vehicle runs along the parking curve is selected as a curve capable of safely parking, and then a curve with the shortest length is selected from the curves capable of safely parking as an optimal parking curve, so that the shortest parking path can be ensured.
In the embodiment, in order to improve parking safety, barrier information is acquired by using a multi-sensor information fusion technology before a vehicle is controlled to run along an optimal parking curve, and the vehicle is directly parked in a place when no barrier exists; when an obstacle exists, judging whether an intersection point exists between the optimal parking curve and the outline of the obstacle, and if the intersection point does not exist, directly parking the vehicle; if the intersection point exists, the vehicle moves to a position with a set distance delta x before the obstacle to stop for waiting, the vehicle continues to park after the obstacle leaves, and if the parking waiting time length is longer than a set time length threshold value T thre And according to the principle that the vehicle contour does not generate an intersection point with the parking space contour when the vehicle runs along the parking curve, the parking curve does not have an intersection point with the obstacle contour and the parking path is shortest, reselecting one parking curve from the parking curve group as an alternative curve (firstly, selecting the parking curve from the parking curve group which does not generate an intersection point with the parking space contour)And generating intersection points and parking curves without intersection points with the outline of the obstacle, selecting a shortest curve from the screened parking curves as an alternative curve), controlling the vehicle to run along the alternative curve to finish parking, reporting parking failure information to the cloud if the alternative curve cannot be selected, and waiting for executing a next step of instruction.
In another embodiment, in order to improve the parking efficiency, if there is an intersection between the optimal parking curve and the obstacle contour, one parking curve is selected from the parking curve group as an alternative curve, and the vehicle is controlled to travel along the alternative curve to complete parking without waiting for parking, directly according to the principle that the vehicle contour does not generate an intersection with the parking space contour when the vehicle travels along the parking curve, the parking curve does not have an intersection with the obstacle contour, and the parking path is shortest.
In summary, the automatic parking method of the embodiment has the following advantages:
(1) The vehicle positioning point is determined according to the vehicle running gear, so that the determination of the vehicle positioning point is more consistent with the vehicle running condition, and the running smoothness of the vehicle can be improved;
(2) The parking path is generated based on the Dubins curve, stable and efficient automatic planning can be realized for different parking stall types, different types of parking stalls can be prevented from being calculated by adopting different algorithms, and the algorithm operation efficiency and algorithm universality are improved;
(3) The collision detection is carried out by comparing whether the intersection point exists between the vehicle outline track and the obstacle, and the system safety is improved.
Claims (9)
1. An automatic parking method, characterized by comprising the steps of:
(1) When the fact that the vehicle needs to park is judged, acquiring the parking starting point pose and the parking target point pose of the parking space, acquiring the gear information of the vehicle in real time, and determining a vehicle positioning point according to the gear information of the vehicle; when the vehicle is in a forward gear, the center of a front shaft of the vehicle is used as a vehicle positioning point, and when the vehicle is in a reverse gear, the center of a rear shaft of the vehicle is used as a vehicle positioning point;
(2) And planning a parking path based on a Dubins curve by combining the position and the position of the parking starting point and the position of the parking target point, and controlling the vehicle to run along the planned parking path to finish parking when the positioning point of the vehicle moves to the parking starting point.
2. The automatic parking method according to claim 1, wherein the step (2) includes:
combining the parking starting point pose and the parking target point pose, generating a plurality of parking curves from the parking starting point to the parking target point under different curvature radiuses based on a Dubins curve as a parking curve group from the parking starting point to the parking target point, wherein the curvature radiuses are larger than the minimum turning radius of the vehicle;
and determining an optimal parking curve from the parking curve group according to the principle that the vehicle contour does not generate an intersection point with the parking space contour when the vehicle runs along the parking curve and the parking path is shortest, and controlling the vehicle to run along the optimal parking curve to finish parking when the vehicle positioning point moves to the parking starting point.
3. The automatic parking method according to claim 2, wherein obstacle detection is also performed before the vehicle is controlled to travel along the optimal parking curve, and the vehicle is directly parked if there is no obstacle or there is no intersection of the optimal parking curve and the obstacle contour.
4. The automatic parking method according to claim 3, wherein if there is an intersection between the optimal parking curve and the obstacle contour, the vehicle is controlled to travel to a position in front of the obstacle for a parking wait at a set distance, and the vehicle continues to park after the obstacle leaves, and if the parking wait time is longer than a set time threshold, a parking curve is selected from the parking curve group again as an alternative curve, and the vehicle is controlled to travel along the alternative curve to complete parking according to the principle that the vehicle contour does not generate an intersection with the parking space contour when the vehicle travels along the parking curve, the parking curve does not have an intersection with the obstacle contour, and the parking path is shortest.
5. The automatic parking method according to claim 3, wherein if there is an intersection between the optimal parking curve and the obstacle contour, a parking curve is selected from the parking curve group again as an alternative curve, and the vehicle is controlled to travel along the alternative curve to complete parking, directly on the basis that the vehicle contour does not generate an intersection with the parking space contour when the vehicle travels along the parking curve, the parking curve does not have an intersection with the obstacle contour, and the parking path is shortest.
6. The automatic parking method according to any one of claims 1 to 5, wherein it is determined that the vehicle needs to be parked when the vehicle needs to be driven to a material location for loading or unloading, the vehicle needs to be driven to a parking location for parking in a parking lot, or the vehicle needs to be driven to a charging location for charging.
7. The automatic parking method according to claim 6, wherein the parking start point poses and the parking target point poses of the parking slots are obtained from a previously drawn high-precision map, the high-precision map is drawn based on a laser SLAM or visual SLAM technology, and the high-precision map includes all parking slots and the parking start point poses and the parking target point poses corresponding to each parking slot.
8. An automatic parking apparatus characterized by comprising a processor and a memory, the processor executing a computer program stored by the memory to implement the automatic parking method according to any one of claims 1 to 7.
9. A vehicle comprising a vehicle body and an automatic parking device, characterized in that the automatic parking device comprises a processor and a memory, the processor executing a computer program stored by the memory to implement the automatic parking method according to any one of claims 1 to 7.
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| CN114030463B (en) * | 2021-11-23 | 2024-05-14 | 上海汽车集团股份有限公司 | Path planning method and device for automatic parking system |
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| CN102416952B (en) * | 2011-10-28 | 2013-12-04 | 中国科学院自动化研究所 | Autonomous parking method |
| DE102016216755A1 (en) * | 2016-09-05 | 2018-03-08 | Ford Global Technologies, Llc | Automatic forward or reverse parking method and parking assistant |
| CN106985815B (en) * | 2017-03-14 | 2019-05-03 | 重庆长安汽车股份有限公司 | It is remotely controlled parking system and method |
| US10281921B2 (en) * | 2017-10-02 | 2019-05-07 | Ford Global Technologies, Llc | Autonomous parking of vehicles in perpendicular parking spots |
| WO2021102955A1 (en) * | 2019-11-29 | 2021-06-03 | 华为技术有限公司 | Path planning method for vehicle and path planning apparatus for vehicle |
| CN112477850A (en) * | 2020-11-27 | 2021-03-12 | 北京罗克维尔斯科技有限公司 | Parking path planning method and device, vehicle-mounted equipment and storage medium |
| CN112793562B (en) * | 2021-02-03 | 2023-02-28 | 武汉理工大学 | Automatic parking path planning and tracking control method, planning device, storage medium and computer equipment |
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