CN113246967A - Automatic parking method and device - Google Patents
Automatic parking method and device Download PDFInfo
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- CN113246967A CN113246967A CN202110639615.9A CN202110639615A CN113246967A CN 113246967 A CN113246967 A CN 113246967A CN 202110639615 A CN202110639615 A CN 202110639615A CN 113246967 A CN113246967 A CN 113246967A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
Abstract
The embodiment of the invention provides an automatic parking method and device, wherein the method comprises the following steps: when an obstacle is detected in the automatic parking process, acquiring the current vehicle speed and the current steering wheel angle; when the current vehicle speed is greater than a preset vehicle speed and the current steering wheel corner is greater than a preset corner, determining a target distance according to the change of the relative distance with the obstacle; and adjusting the target speed for controlling automatic parking according to the target distance. According to the embodiment of the invention, the automatic parking speed is adjusted according to the obstacle, the condition that the speed is too high under the condition that the steering wheel has a large turning angle is avoided, the obstacle can be effectively avoided at the large turning angle of parking, and the safety of automatic parking is improved.
Description
Technical Field
The invention relates to the field of electric automobiles, in particular to an automatic parking method and device.
Background
The backing and warehousing is a method for parking vehicles, and partial drivers are difficult to finish the backing and warehousing operation.
In the process of automatic parking, if the vehicle backing speed is high, when an obstacle appears, the obstacle is easy to miss in time and hit. Particularly, when the steering wheel angle is large, it is difficult to control the vehicle to turn at a large angle. However, in the prior art, obstacle avoidance by using the ultrasonic radar detection value has instability, and the condition of mistaken deceleration may occur.
Disclosure of Invention
In view of the above, it is proposed to provide a method and apparatus for automatic parking that overcomes or at least partially solves the above problems, comprising:
a method of automatic parking comprising:
when an obstacle is detected in the automatic parking process, acquiring the current vehicle speed and the current steering wheel angle;
when the current vehicle speed is greater than the preset vehicle speed and the current steering wheel corner is greater than the preset corner, determining a target distance according to the change of the relative distance with the obstacle;
and adjusting the target vehicle speed for controlling automatic parking according to the target distance.
Optionally, determining the target distance according to the relative distance change with the obstacle comprises:
determining the relative distance between the obstacle and the nearest N times of acquisition, wherein N is a positive integer greater than 1;
judging whether the relative distance between the obstacle and the obstacle is continuously decreased or not according to the distance difference between the relative distances between the obstacle and the obstacle, which is obtained in two adjacent times;
when the relative distance between the obstacle and the obstacle is continuously decreased, determining the target distance difference of the relative distance between the obstacle and the obstacle obtained at the last two times;
and determining the target distance according to the relative distance between the obstacle and the target distance difference acquired last time.
Optionally, the method further comprises:
and when the relative distance to the obstacle is discontinuously decreased, determining the relative distance to the obstacle acquired last time as the target distance.
Optionally, the method further comprises:
the interval restriction is performed for the distance difference.
Optionally, adjusting the target vehicle speed for controlling the automatic parking according to the target distance includes:
determining a safe distance and a dangerous distance;
and when the target distance is smaller than the safe distance and larger than the dangerous distance, adjusting the target speed for controlling automatic parking according to the target distance.
Optionally, the method further comprises:
when the target distance is smaller than or equal to the dangerous distance, judging whether the relative distance between the obstacle and the target distance acquired last time is smaller than a preset relative distance;
and when the relative distance between the vehicle and the obstacle acquired last time is smaller than the preset relative distance, determining the target vehicle speed for controlling automatic parking as the preset vehicle speed for controlling the vehicle to be in a static state.
Optionally, a relative distance to the obstacle is obtained by detecting with a vehicle-mounted radar.
The invention also discloses an automatic parking device, which comprises:
the current data acquisition module is used for acquiring the current vehicle speed and the current steering wheel angle when an obstacle is detected in the automatic parking process;
the target distance determining module is used for determining a target distance according to the change of the relative distance between the target distance determining module and the obstacle when the current vehicle speed is greater than the preset vehicle speed and the current steering wheel corner is greater than the preset corner;
and the target vehicle speed adjusting module is used for adjusting the target vehicle speed for controlling automatic parking according to the target distance.
Optionally, the target distance determining module includes:
the relative distance determining submodule is used for determining the relative distance between the obstacle and the nearest N times of acquisition, and N is a positive integer greater than 1;
the continuous decreasing judgment sub-module is used for judging whether the relative distance between the obstacle and the obstacle is continuously decreased or not according to the distance difference between the relative distances between the obstacle and the obstacle, which are obtained twice in a neighboring mode;
the target distance difference determining submodule is used for determining the target distance difference of the relative distance between the obstacle and the target, which is obtained twice recently, when the relative distance between the obstacle and the target is continuously decreased;
and the target distance determining submodule is used for determining the target distance according to the relative distance between the obstacle and the target distance difference which is obtained at the last time.
Optionally, the target distance determination sub-module is further configured to:
and when the relative distance to the obstacle is discontinuously decreased, determining the relative distance to the obstacle acquired last time as the target distance.
Optionally, the target distance determining module further includes:
and the interval limiting submodule is used for carrying out interval limitation on the distance difference.
Optionally, the target vehicle speed adjustment module includes:
the distance determination submodule is used for determining a safe distance and a dangerous distance;
and the target vehicle speed adjusting submodule is used for adjusting the target vehicle speed for controlling automatic parking according to the target distance when the target distance is smaller than the safe distance and larger than the dangerous distance.
Optionally, the target vehicle speed adjustment submodule is further configured to:
when the target distance is smaller than or equal to the dangerous distance, judging whether the relative distance between the obstacle and the target distance acquired last time is smaller than a preset relative distance;
and when the relative distance between the vehicle and the obstacle acquired last time is smaller than the preset relative distance, determining the target vehicle speed for controlling automatic parking as the preset vehicle speed for controlling the vehicle to be in a static state.
Optionally, a relative distance to the obstacle is obtained by detecting with a vehicle-mounted radar.
The embodiment of the invention has the following advantages:
in the embodiment of the invention, when an obstacle is detected in the automatic parking process, the current vehicle speed and the current steering wheel angle are obtained, when the current vehicle speed is greater than the preset vehicle speed and the current steering wheel angle is greater than the preset angle, the target distance is determined according to the change of the relative distance with the obstacle, and the target vehicle speed for controlling the automatic parking is adjusted according to the target distance, so that the vehicle speed for automatic parking is adjusted according to the obstacle, the condition that the vehicle speed is too fast under the condition that the steering wheel angle is larger is avoided, the obstacle can be effectively avoided at the large parking angle, and the safety of the automatic parking is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flowchart illustrating steps of a method for automatic parking according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps in an alternative method for automatic parking according to one embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps in an alternative method for automatic parking according to one embodiment of the present invention;
fig. 4 is a block diagram of an automatic parking apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a flowchart illustrating steps of a method for automatic parking according to an embodiment of the present invention is shown, which may specifically include the following steps:
the obstacle may be an object that prevents the vehicle from automatically parking, may be a stationary object, or may be a person who does not notice the vehicle.
The current vehicle speed may be a speed of the vehicle at which the presence of the obstacle is detected.
The current steering wheel angle is a rotation angle of the vehicle steering wheel relative to a stationary state, and may be a rotation angle of the vehicle steering wheel when the presence of the obstacle is detected.
In practical application, the automatic parking mode can be various, when the automatic parking is carried out by adopting the reversing and warehousing mode with advanced tailstock, obstacles may exist on the route of the head-throwing and warehousing of the vehicle, so that the automatic parking is prevented from being influenced by the obstacles, and when the obstacles are detected during the automatic parking, the vehicle can be controlled to avoid the obstacles.
the preset vehicle speed is related to the shortest braking distance of the vehicle and the relative distance of the obstacle, wherein the shortest braking distance is the shortest distance required by the vehicle to stop. In one example, the shortest braking distance of the vehicle based on the current vehicle speed may be obtained, and if the shortest braking distance is smaller than the relative distance to the obstacle, the current vehicle speed is considered to be greater than the preset vehicle speed.
The preset turning angle is obtained through experimental data and is used for judging whether the vehicle is in the angle value of the large turning angle or not, and whether the vehicle needs to carry out large-angle head throwing or not can be judged. In one example, when the steering wheel of the automobile is fully turned for one circle, the turning angle of the steering wheel is 360 degrees, the turning angle of the wheel is 45 degrees, and the automobile can be judged to be in a large turning angle and needs to be thrown by a large angle.
The target distance is the relative distance of the vehicle to the obstacle at the next moment.
When the vehicle detects an obstacle in the process of backing and warehousing for automatic parking, if the speed of backing is too fast and the steering wheel angle is too large, the vehicle can not be controlled to avoid the obstacle in time when the vehicle is thrown and warehoused. In practical application, the steering wheel angle controls the running path of the vehicle, and the running path of the vehicle is difficult to change when an obstacle is detected, so that the vehicle speed can be controlled to avoid the obstacle.
Based on the method, the vehicle speed and the preset turning angle can be respectively preset for the vehicle speed and the steering wheel turning angle of the vehicle, when the current vehicle speed of the vehicle is judged to be greater than the preset vehicle speed and the current steering wheel turning angle is greater than the preset turning angle, namely the vehicle carries out head throwing and warehousing operation of the large turning angle of the steering wheel at a higher vehicle speed, and in order to avoid colliding with an obstacle, the vehicle can be controlled according to the obstacle.
In a specific implementation, in order to control the vehicle to avoid the obstacle, the target distance of the vehicle can be estimated according to the change of the relative distance between the vehicle and the obstacle, and whether the vehicle can collide with the obstacle at the next moment or not can be judged in advance. After vehicle control is carried out, because the relative distance between the vehicle and the obstacle is changed in real time, in order to avoid the vehicle from colliding with the obstacle at the next moment, the target distance at the next moment can be estimated through the historically collected relative distance between the vehicle and the obstacle.
In one example, if it is determined that the current vehicle speed of the vehicle is less than or equal to the preset vehicle speed or the current steering wheel angle is less than or equal to the preset steering angle, the head-throwing warehousing operation during automatic parking of the vehicle is easier to control the vehicle to avoid the obstacle, and the vehicle does not need to be additionally controlled.
And 103, adjusting the target speed for controlling automatic parking according to the target distance.
The target vehicle speed may be a vehicle speed at the next time of the vehicle, and may be a vehicle speed at which the obstacle is avoided when the steering wheel angle is large. Specifically, after the target distance is obtained, the vehicle speed at the next time may be calculated based on the target distance for vehicle speed control, so as to avoid that the vehicle speed is too fast in the case where the steering wheel angle is large, and thus avoid hitting an obstacle.
In the embodiment of the invention, when an obstacle is detected in the automatic parking process, the current vehicle speed and the current steering wheel angle are obtained, when the current vehicle speed is greater than the preset vehicle speed and the current steering wheel angle is greater than the preset angle, the target distance is determined according to the change of the relative distance with the obstacle, and the target vehicle speed for controlling the automatic parking is adjusted according to the target distance, so that the vehicle speed for automatic parking is adjusted according to the obstacle, the condition that the vehicle speed is too fast under the condition that the steering wheel angle is larger is avoided, the obstacle can be effectively avoided at the large parking angle, and the safety of the automatic parking is improved.
Referring to fig. 2, a flowchart illustrating steps of another method for automatic parking according to an embodiment of the present invention is shown, which may specifically include the following steps:
in practical application, the parking modes can be various, when the automatic parking is carried out by adopting a reversing garage mode with advanced tail, obstacles may exist on a route of a vehicle which is subject to head-throwing parking, so that the automatic parking is prevented from being influenced by the obstacles, and when the obstacles are detected during the automatic parking, the vehicle can be controlled to avoid the obstacles according to the current speed and the current steering wheel rotation angle.
when the current vehicle speed is greater than the preset vehicle speed and the current steering wheel corner is greater than the preset corner, namely the vehicle is subjected to high-corner head throwing warehousing speed, and speed control is needed. In a specific implementation, since the speed is related to the distance and time, in order to perform the speed control, a period for acquiring the relative distance to the obstacle may be preset, and the relative distance to the obstacle may be acquired every other period.
In an embodiment of the invention, a vehicle-mounted radar can be adopted for detecting and acquiring the relative distance to the obstacle, and the acquired relative distance to the obstacle can be stored. Specifically, in a scene of head-swinging warehousing, the tail part of the vehicle moves less, and the head part of the vehicle moves more, so that only the data collected by two radars in front of the left side and the right side of the vehicle can be stored.
in order to avoid that the vehicle collides with the obstacle at the next moment, the position change of the vehicle and the obstacle can be obtained firstly, the distance difference can be calculated according to the relative distance between the vehicle and the obstacle obtained in the last N times and the relative distance between the vehicle and the obstacle obtained in two adjacent times, and the position change trend of the vehicle and the obstacle can be judged according to the distance difference.
For example, when the relative distances to the obstacle acquired three times last are respectively 80, 60, and 50 according to the chronological order, the distance differences can be obtained by subtracting the relative distance to the obstacle acquired at the previous time from the relative distance to the obstacle acquired at the next time according to the chronological order, and the distance differences are respectively-20 and-10. Since the distance difference values are all non-positive numbers, that is, the relative distances to the obstacle at the later time are all larger than the relative distances to the obstacle at the previous time, it can be determined that the relative distances to the obstacle are continuously decreased.
the target distance difference is a distance difference between the relative distances to the obstacle at the next time and the previous time.
For example, if the relative distances to the obstacle obtained three times last are respectively 80, 60, and 50 in chronological order, it is determined that the relative distances to the obstacle are continuously decreasing, and the target distance difference between the relative distances to the obstacle obtained two times last is-10.
when the relative distance between the vehicle and the obstacle tends to approach, it can be predicted that the distance between the vehicle and the obstacle is still approaching at the next time, and based on this, the next relative distance to the obstacle can be estimated from the most recently acquired relative distance to the obstacle and the target distance difference.
For example, when the three latest acquired relative distances to the obstacle are 80, 60, and 50 according to the chronological order, it may be determined that the relative distance to the obstacle is continuously decreased, the distance difference between the two latest acquired relative distances to the obstacle is-10, and the next relative distance to the obstacle may be the latest acquired relative distance to the obstacle 50 plus the target distance difference of-10, so that the target distance is 40.
In another embodiment of the present invention, if it is determined in step 203 that the relative distance to the obstacle is non-continuously decreased, it is determined that the most recently acquired relative distance to the obstacle is the target distance.
When the relative distance between the vehicle and the obstacle does not continuously decrease, the vehicle is not considered to be always close to the obstacle, the next relative distance between the vehicle and the obstacle cannot be directly estimated according to the obtained relative distance between the vehicle and the obstacle, and based on the relative distance between the vehicle and the obstacle, which is determined to be obtained last time, the target distance can be used.
For example, when the relative distances to the obstacle acquired three times last are respectively 80, 50, and 60 according to the chronological order, it is determined that the relative distances to the obstacle are not continuously decreased, and the next relative distance to the obstacle is 60.
In an embodiment of the invention, the interval limitation may be performed on the distance difference.
The distance difference is the difference between the relative distances to the obstacle acquired two adjacent times.
In practical applications, the maximum speed of the vehicle may be limited, and since the distance is related to speed and time, the maximum travel distance of the vehicle may be limited during a cycle, based on which the distance difference may be limited according to the maximum travel speed of the vehicle.
After the maximum vehicle speed of the vehicle is obtained, the maximum travel distance of the vehicle in one cycle may be calculated. Since the relative distance to the obstacle is obtained according to a period, the travel distance of the vehicle is proportional to the vehicle speed without changing the period, i.e., the travel distance of the vehicle is larger as the vehicle speed is faster.
By limiting the distance difference, the vehicle speed of the vehicle can be limited to be less than the maximum vehicle speed of the vehicle. Meanwhile, under the condition that the maximum speed of the vehicle is determined, if the distance difference is smaller than the maximum driving distance of the vehicle in one period, the distance difference is judged to be too large, and the relative distance between the vehicle and the obstacle acquired twice in the adjacent period may have an error. If the limited distance difference is smaller than the maximum driving distance obtained by multiplying the period by the maximum vehicle speed, the influence of the error of the relative distance between the obstacle and the adjacent two times can be reduced, the calculation by using the error value is avoided, and the obstacle avoidance effect can be improved.
And step 206, adjusting the target speed for controlling automatic parking according to the target distance.
The target vehicle speed may be a vehicle speed at the next time of the vehicle, and may be a vehicle speed at which the obstacle is avoided when the steering wheel angle is large. Specifically, after the target distance is obtained, the vehicle speed at the next time may be calculated based on the target distance for vehicle speed control, so as to avoid that the vehicle speed is too fast in the case where the steering wheel angle is large, and thus avoid hitting an obstacle.
In the embodiment of the invention, when an obstacle is detected in the automatic parking process, when the current vehicle speed is greater than the preset vehicle speed and the current steering wheel angle is greater than the preset steering angle, the relative distance between the obstacle and the last N times of acquisition is determined, whether the relative distance between the obstacle and the obstacle is continuously decreased is judged according to the distance difference between the relative distances between the obstacle and the two adjacent times of acquisition, when the relative distance between the obstacle and the obstacle is continuously decreased, the target distance difference between the relative distances between the obstacle and the two last two times of acquisition is determined, the target distance is determined according to the relative distance between the obstacle and the target distance difference acquired last time, and the target vehicle speed for controlling the automatic parking is adjusted according to the target distance. The target distance is determined according to the position change trend of the obstacle, the data acquisition error is reduced, and the safety of automatic parking is improved.
Referring to fig. 3, a flowchart illustrating steps of another method for automatic parking according to an embodiment of the present invention is shown, which may specifically include the following steps:
the safe distance is related to the current speed of the vehicle, and may be a distance for keeping the current speed of the vehicle from hitting an obstacle at the next time. The dangerous distance is related to the current vehicle speed and the brake-off time of the vehicle, and may be a running distance of the vehicle when the vehicle is braked and stopped based on the current vehicle speed. Wherein the safe distance is greater than the hazardous distance.
In practical applications, the unit of measurement of the vehicle speed is kilometers per hour (Km/h), and since the distance during parking is small, an error may be caused if the unit of measurement is used to calculate the safe distance. In an embodiment of the present invention, in order to obtain a more accurate safe distance to ensure safe parking, the safe distance may be calculated by the formula safe _ dist ═ 1000+1000 × speed, where safe _ dist is the safe distance, speed is the current vehicle speed, and 1000 represents 1000 mm, i.e. 1 m.
After the target distance of the vehicle is obtained, in order to control the vehicle speed more accurately, before the vehicle speed control is performed, the target distance may be compared with the safe distance and the dangerous distance, respectively, to determine whether the vehicle speed control is required.
In an embodiment of the present invention, the safe area and the dangerous area may be determined according to the safe distance and the dangerous distance.
And step 304, when the target distance is smaller than the safe distance and larger than the dangerous distance, adjusting the target speed for controlling automatic parking according to the target distance.
When the target distance is smaller than the safe distance and larger than the dangerous distance, the fact that the distance between the vehicle and the obstacle is out of the dangerous range is indicated, namely the vehicle cannot collide with the obstacle at the next moment but is close to the obstacle at the next moment, the vehicle can be subjected to speed reduction control, and the target vehicle speed at the next moment can be adjusted according to the target distance.
In a specific implementation, the target vehicle speed is reduced under the condition that the target distance is not changed, the time required for driving the target distance can be increased, based on this, the preset time can be set according to the period, the preset time can be a time value greater than one period, such as 1.2 periods and 1.5 periods, and can be set in combination with the condition of an actual road, for example, the friction force when the vehicle drives on an asphalt road and a rubber road is different, and different preset times can be adopted.
Specifically, the target vehicle speed may be adjusted by the formula tar _ spd — predict/thr3, where tar _ spd is the target vehicle speed, predict is the target distance, and thr3 is the preset time.
In an embodiment of the present invention, when the target distance is less than or equal to the dangerous distance, it is determined whether the relative distance between the obstacle and the vehicle, which is obtained last time, is less than a preset relative distance, where the preset relative distance is related to a shortest braking distance of the vehicle based on the current vehicle speed, and the shortest braking distance is a shortest distance required to stop the vehicle. When the relative distance between the vehicle and the obstacle obtained last time is smaller than the preset relative distance, namely the vehicle can collide with the obstacle when braking at the next moment according to the current speed, the vehicle needs to be controlled to perform emergency parking, and the target vehicle speed for controlling automatic parking is determined as the preset vehicle speed for controlling the vehicle to be in a static state.
In another embodiment of the invention, when the target distance is greater than or equal to the safe distance, the vehicle is far away from the obstacle, the current vehicle speed is kept not to collide with the obstacle at the next moment, and no processing is required.
In the embodiment of the invention, when an obstacle is detected in the automatic parking process, the current vehicle speed and the current steering wheel angle are obtained, when the current vehicle speed is greater than the preset vehicle speed and the current steering wheel angle is greater than the preset angle, the target distance is determined according to the change of the relative distance with the obstacle, and when the target distance is less than the safe distance and greater than the dangerous distance, the target vehicle speed for controlling the automatic parking is adjusted according to the target distance by determining the safe distance and the dangerous distance. The automatic parking speed is adjusted according to the distance between the automatic parking device and the obstacle, and the automatic parking speed can be controlled more accurately under the condition that the distance between the automatic parking device and the obstacle is different.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 4, a block diagram of a device for automatic parking according to an embodiment of the present invention is shown, which may specifically include the following modules:
a current data obtaining module 401, configured to obtain a current vehicle speed and a current steering wheel angle when an obstacle is detected in an automatic parking process;
a target distance determining module 402, configured to determine a target distance according to a change in a relative distance to an obstacle when a current vehicle speed is greater than a preset vehicle speed and a current steering wheel angle is greater than a preset angle; the relative distance to the obstacle can be acquired by adopting a vehicle-mounted radar for detection.
In an embodiment of the present invention, the target distance determining module 402 includes:
the relative distance determining submodule is used for determining the relative distance between the obstacle and the nearest N times of acquisition, and N is a positive integer greater than 1;
the continuous decreasing judgment sub-module is used for judging whether the relative distance between the obstacle and the obstacle is continuously decreased or not according to the distance difference between the relative distances between the obstacle and the obstacle, which are obtained twice in a neighboring mode;
the target distance difference determining submodule is used for determining the target distance difference of the relative distance between the obstacle and the target, which is obtained twice recently, when the relative distance between the obstacle and the target is continuously decreased;
and the target distance determining submodule is used for determining the target distance according to the relative distance between the obstacle and the target distance difference which is obtained at the last time.
In an embodiment of the present invention, the target distance determining submodule is further configured to:
and when the relative distance to the obstacle is discontinuously decreased, determining the relative distance to the obstacle acquired last time as the target distance.
In an embodiment of the present invention, the target distance determining module 402 further includes:
and the interval limiting submodule is used for limiting the interval of the distance difference.
And a target vehicle speed adjusting module 403, configured to adjust a target vehicle speed for controlling automatic parking according to the target distance.
In an embodiment of the present invention, the target vehicle speed adjustment module 403 includes:
the distance determination submodule is used for determining a safe distance and a dangerous distance;
and the target vehicle speed adjusting submodule is used for adjusting the target vehicle speed for controlling automatic parking according to the target distance when the target distance is smaller than the safe distance and larger than the dangerous distance.
In an embodiment of the present invention, the target vehicle speed adjustment submodule is further configured to:
when the target distance is smaller than or equal to the dangerous distance, judging whether the relative distance between the obstacle and the target distance acquired last time is smaller than a preset relative distance;
and when the relative distance between the vehicle and the obstacle acquired last time is smaller than the preset relative distance, determining the target vehicle speed for controlling automatic parking as the preset vehicle speed for controlling the vehicle to be in a static state.
In the embodiment of the invention, when an obstacle is detected in the automatic parking process, the current vehicle speed and the current steering wheel angle are obtained, when the current vehicle speed is greater than the preset vehicle speed and the current steering wheel angle is greater than the preset angle, the target distance is determined according to the change of the relative distance with the obstacle, and the target vehicle speed for controlling the automatic parking is adjusted according to the target distance, so that the vehicle speed for automatic parking is adjusted according to the obstacle, the condition that the vehicle speed is too fast under the condition that the steering wheel angle is larger is avoided, the obstacle can be effectively avoided at the large parking angle, and the safety of the automatic parking is improved.
An embodiment of the present invention also provides a vehicle, which may include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the method for automatic parking as above.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the above method for automatic parking.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The above detailed description is provided for the automatic parking method and device, and the principle and the implementation of the present invention are explained in the present text by applying specific examples, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A method for automatic parking, the method comprising:
when an obstacle is detected in the automatic parking process, acquiring the current vehicle speed and the current steering wheel angle;
when the current vehicle speed is greater than a preset vehicle speed and the current steering wheel corner is greater than a preset corner, determining a target distance according to the change of the relative distance with the obstacle;
and adjusting the target speed for controlling automatic parking according to the target distance.
2. The method of claim 1, wherein determining a target distance from the change in relative distance to the obstacle comprises:
determining the relative distance between the obstacle and the latest N times of acquisition, wherein N is a positive integer greater than 1;
judging whether the relative distance between the obstacle and the obstacle is continuously decreased or not according to the distance difference between the relative distances between the obstacle and the obstacle, which is obtained in two adjacent times;
when the relative distance between the obstacle and the obstacle is continuously decreased, determining the target distance difference of the relative distance between the obstacle and the obstacle obtained at the last two times;
and determining the target distance according to the relative distance between the obstacle and the target distance difference acquired last time.
3. The method of claim 2, further comprising:
and when the relative distance to the obstacle is discontinuously decreased, determining the latest acquired relative distance to the obstacle as the target distance.
4. The method of claim 2, further comprising:
and carrying out interval limitation on the distance difference.
5. The method according to claim 1 or 2 or 3 or 4, wherein the adjusting the target vehicle speed for controlling the automatic parking according to the target distance comprises:
determining a safe distance and a dangerous distance;
and when the target distance is smaller than the safe distance and larger than the dangerous distance, adjusting the target speed for controlling automatic parking according to the target distance.
6. The method of claim 5, further comprising:
when the target distance is smaller than or equal to the dangerous distance, judging whether the relative distance between the obstacle and the target distance acquired last time is smaller than a preset relative distance;
and when the relative distance between the vehicle and the obstacle acquired last time is smaller than a preset relative distance, determining a target vehicle speed for controlling automatic parking as a preset vehicle speed for controlling the vehicle to be in a static state.
7. The method of claim 2, wherein the relative distance to the obstacle is obtained by detection using a vehicle-mounted radar.
8. An apparatus for automatic parking, comprising:
the current data acquisition module is used for acquiring the current vehicle speed and the current steering wheel angle when an obstacle is detected in the automatic parking process;
the target distance determining module is used for determining a target distance according to the change of the relative distance between the target distance determining module and the obstacle when the current vehicle speed is greater than a preset vehicle speed and the current steering wheel corner is greater than a preset corner;
and the target vehicle speed adjusting module is used for adjusting the target vehicle speed for controlling automatic parking according to the target distance.
9. A vehicle comprising a processor, a memory, and a computer program stored on and executable on the memory, the computer program, when executed by the processor, implementing the method for automatic parking according to any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for automatic parking according to any one of claims 1 to 7.
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| CN202110639615.9A CN113246967A (en) | 2021-06-08 | 2021-06-08 | Automatic parking method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110639615.9A CN113246967A (en) | 2021-06-08 | 2021-06-08 | Automatic parking method and device |
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| CN113246967A true CN113246967A (en) | 2021-08-13 |
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| CN202110639615.9A Pending CN113246967A (en) | 2021-06-08 | 2021-06-08 | Automatic parking method and device |
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