CN113320526A - Method, device and equipment for autonomous parking and computer readable storage medium - Google Patents
Method, device and equipment for autonomous parking and computer readable storage medium Download PDFInfo
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- CN113320526A CN113320526A CN202110713007.8A CN202110713007A CN113320526A CN 113320526 A CN113320526 A CN 113320526A CN 202110713007 A CN202110713007 A CN 202110713007A CN 113320526 A CN113320526 A CN 113320526A
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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
Abstract
The embodiment of the application provides an autonomous parking method, an autonomous parking device, an autonomous parking equipment and a computer readable storage medium. The autonomous parking method comprises the following steps: establishing a safe area for parking according to the current parking state of the vehicle; detecting whether an obstacle exists in a safety area; and controlling the vehicle to adjust the parking state or stop in the case where the obstacle exists in the safety area. The method for autonomous parking can obtain an accurate detection result, and further make a correct decision according to the detection result, so that the autonomous parking process is safer.
Description
Technical Field
The present application relates to the field of automatic driving, and more particularly, to a method, apparatus, and device for autonomous parking and a computer readable storage medium.
Background
In the process of autonomous parking of the vehicle, peripheral obstacles (such as a parking lot upright post, a wall body and/or the vehicle and the like) need to be judged, and then the vehicle collision avoidance is timely adjusted when the distance between the obstacle and the vehicle is too close through distance detection.
The autonomous parking modes in the prior art mainly include the following three modes:
firstly, a minimum distance is specified for each scene, and the distance of other vehicles is detected by sensing the position of an obstacle in real time to judge whether the vehicle takes a braking action;
in the method, the minimum distance requirement of the obstacle needs to be specified for each action in the parking process, and the corresponding minimum distances are different due to the current position of the vehicle, so that the rule is not uniform, the decision misjudgment is easily caused, and whether the braking action needs to be taken or not cannot be accurately judged.
Second, an envelope (typically 30cm longer and wider than the body) is added to the body to form a driving safety zone to confirm absolute safety of the vehicle.
The increased envelope prevents the vehicle from stopping in a smaller parking space, and the final product target is influenced; in addition, in the process of backward falling of the vehicle, the vehicle needs to keep a large distance from the inner side wall corner and also needs to keep a large distance from the outer side wall corner, so that the vehicle needs to be continuously adjusted in the parking process, and the process is complex.
Third, combining the first and second, simultaneous decision making is made by envelope + probe distance.
Due to the combination of the two methods, the strategy boundary is fuzzy, the strategy conflicts are caused, the vehicle is likely to be stuck in a certain position, and the autonomous parking cannot be smoothly realized.
Therefore, there is a need for an autonomous parking method that can accurately determine whether a braking action is required.
Disclosure of Invention
Embodiments of the present application provide a method, an apparatus, and a device for autonomous parking, and a computer-readable storage medium, to solve one or more technical problems in the prior art.
In a first aspect, an embodiment of the present application provides a method for autonomous parking, including: establishing a safe area for parking according to the current parking state of the vehicle; detecting whether an obstacle exists in the safety area; and controlling the vehicle to adjust the parking state or stop in the case that the obstacle exists in the safety area.
In one possible embodiment, the establishing a safe area for parking according to the current parking state of the vehicle includes: judging whether the vehicle is in a steering state at present; establishing the safe area according to whether the vehicle is currently in the steering state.
In one possible embodiment, the establishing the safe area according to whether the vehicle is currently in the turning state includes: under the condition that the vehicle is in the steering state at present, acquiring the running track of each point on the outer surface of the body of the vehicle within a preset time, wherein the preset time is greater than or equal to the system delay time of the vehicle, and the system delay time is the time from the beginning of detection to the end of the action of the vehicle responding to the detection result; and establishing the safe area by using the driving tracks of all points on the outer surface of the vehicle body.
In one possible embodiment, the establishing the safety zone using the driving trajectory of each point on the outer surface of the vehicle body includes: acquiring the current turning center and the current steering angle of the vehicle; and acquiring the track formed by each point rotating by the steering angle by taking the turning center as the circle center and running for the preset time at the preset angular speed.
In one possible embodiment, the establishing the safe area according to whether the vehicle is currently in the turning state includes: under the condition that the vehicle is in the steering state at present, acquiring the running speed and the position of the vehicle at present; and calculating the safe area according to the current running speed, the position, a preset time and the area of the vehicle body of the vehicle, wherein the preset time is greater than or equal to the system delay time of the vehicle, and the system delay time is the time from the detection start to the end of the action of the vehicle responding to the detection result.
In a second aspect, an embodiment of the present application provides an apparatus for autonomous parking, including: a building unit; the safe area is used for establishing a parking safe area according to the current parking state of the vehicle; a detection unit; for detecting the presence of an obstacle in the safety zone; and a control unit for controlling the vehicle to adjust a parking state or stop the vehicle in a case where the obstacle exists in the safety area.
In a possible implementation, the establishing unit includes: the judging module is used for judging whether the vehicle is in a steering state at present; and the establishing module is used for establishing the safety zone according to whether the vehicle is in the steering state currently.
In one possible embodiment, the establishing module includes: a first obtaining sub-module, configured to, when the vehicle is currently in the steering state, obtain a current driving trajectory of each point on an outer surface of a body of the vehicle within a predetermined time, where the predetermined time is greater than or equal to a system delay time of the vehicle, where the system delay time is a time from when the detection is performed to when the vehicle responds to an end of a result of the detection; and the establishing submodule is used for establishing the safety region by utilizing the driving track of each point on the outer surface of the vehicle body.
In a possible implementation, the first obtaining sub-module is further configured to: acquiring the current turning center and the current steering angle of the vehicle; and acquiring the track formed by each point rotating by the steering angle by taking the turning center as the circle center and running for the preset time at the preset angular speed.
In one possible embodiment, the establishing module includes: the second obtaining submodule is used for obtaining the current running speed and position of the vehicle under the condition that the vehicle is currently in the steering state; and the calculation submodule is used for calculating the safety zone according to the current running speed, the position, the preset time and the area of the vehicle body of the vehicle, wherein the preset time is greater than or equal to the system delay time of the vehicle, and the system delay time is the time from the beginning of the detection to the end of the response of the vehicle to the detection result.
In a third aspect, an embodiment of the present application provides an apparatus for autonomous parking, where functions of the foregoing apparatus may be implemented by hardware, or may be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.
In one possible design, the apparatus includes a processor and a memory, the memory is used for storing a program for supporting the apparatus to execute the method for autonomous parking, and the processor is configured to execute the program stored in the memory. The apparatus may also include a communication interface for communicating with other devices or a communication network.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium for storing computer software instructions for an apparatus for autonomous parking, which includes a program for executing the above-mentioned method for autonomous parking.
One of the above technical solutions has the following advantages or beneficial effects: the establishing method establishes a corresponding safe area in each parking state, and can accurately judge whether a braking action needs to be taken or not only by detecting whether an obstacle exists in the safe area or not in the follow-up process, so that the safety of the vehicle in the autonomous parking process is ensured. In addition, the corresponding detection rules in the method are the same, so that the misjudgment condition caused by the non-uniform rules is avoided, and the correctness of the decision made according to the detection result is further ensured.
Another technical scheme in the above technical scheme has the following advantages or beneficial effects: according to the method, the safe regions for parking are established according to the current state of the vehicle, and the corresponding safe regions are different for different states of the vehicle, so that an envelope (one fixed value is larger than the length and the width of the vehicle body) does not need to be added around the vehicle body, the problem of complex parking process is avoided, and the parking process is simpler and more efficient.
Still another technical scheme in above-mentioned technical scheme has following advantage or beneficial effect: according to the autonomous parking method, under the condition that the obstacle is detected to appear in the safety area, the vehicle is controlled to adjust the parking state or park, so that the vehicle is prevented from colliding with the obstacle, and the safety of the vehicle in the autonomous parking process is further guaranteed. Specifically, if the vehicle is in a steering stage, the parking state of the vehicle can be adjusted by adjusting the steering angle of the vehicle; if the vehicle is in the straight-going and reversing stage after the vehicle is straightened, the vehicle can be controlled to steer to adjust the parking state of the vehicle.
The other technical scheme in the technical scheme has the following advantages or beneficial effects: in the process of establishing the safe area, the method for self parking only needs to consider the current state of the vehicle and does not need to consider the conditions of obstacles and the like around the vehicle body, and the safe area is simpler to establish.
The foregoing summary is provided for the purpose of description only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present application will be readily apparent by reference to the drawings and following detailed description.
Drawings
In the drawings, like reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily to scale. It is appreciated that these drawings depict only some embodiments in accordance with the disclosure and are therefore not to be considered limiting of its scope.
Fig. 1 shows a flow chart of a method of autonomous parking according to an embodiment of the present application;
fig. 2 shows a flow chart of a method of autonomous parking according to another embodiment of the present application;
FIG. 3 illustrates a block diagram of a vehicle according to another embodiment of the present application;
FIG. 4 illustrates the current safety zone of the vehicle of FIG. 3;
fig. 5 is a block diagram showing a structure of an apparatus for autonomous parking according to another embodiment of the present application;
fig. 6 is a block diagram showing a structure of an apparatus for autonomous parking according to another embodiment of the present application;
fig. 7 is a block diagram showing a configuration of an apparatus for autonomous parking according to another embodiment of the present application.
Detailed Description
In the following, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present application. Accordingly, the drawings and description are to be regarded as illustrative in nature, and not as restrictive.
Fig. 1 shows a flowchart of a method for autonomous parking according to an embodiment of the present application. As shown in fig. 1, the method for autonomous parking includes:
step S110, establishing a safe parking area according to the current parking state of the vehicle;
step S120, detecting whether an obstacle exists in the safety area;
and step S130, controlling the vehicle to adjust the parking state or stop when the obstacle exists in the safety area.
According to the establishing method of the embodiment of the application, the corresponding safe area is established in each parking state, and whether a braking action needs to be taken or not can be accurately judged by detecting whether the obstacle exists in the safe area or not subsequently, so that the safety of the vehicle in the autonomous parking process is ensured. In addition, the corresponding detection rules in the method are the same, so that the misjudgment condition caused by the non-uniform rules is avoided, and the correctness of the decision made according to the detection result is further ensured.
And the method establishes a safe area for parking according to the current state of the vehicle, and the corresponding safe areas can be different for different states of the vehicle. For example, when the vehicle is in a turning state, the corresponding safety region thereof is a safety region including an arc boundary calculated using a turning angle or the like, and when the vehicle is in a straight-ahead reverse state, the safety region of the vehicle includes a safety region including a straight boundary.
The method does not need to add an envelope (one fixed value is larger than the length and the width of the car body) around the car body, does not cause the problem of complex parking process, and ensures that the parking process is simpler and more efficient.
In addition, in the autonomous parking method, under the condition that the obstacle is detected to appear in the safety area, the vehicle is controlled to adjust the parking state or park so as to prevent the vehicle from colliding with the obstacle, and the safety of the vehicle in the autonomous parking process is further ensured. Specifically, if the vehicle is in a steering stage, the parking state of the vehicle can be adjusted by adjusting the steering angle of the vehicle; if the vehicle is in the straight-going and reversing stage after the vehicle is straightened, the vehicle can be controlled to steer to adjust the parking state of the vehicle.
It should be noted that the "parking state of the vehicle" in the present application may include a state of the vehicle at each time point during parking. For example, at some point in time, the vehicle may be in a turning state, a forward state, a reverse state, or the like during parking. The steering state may include a steering angle of a steering wheel, the forward state may include a distance, a speed, an acceleration, and the like, which require forward movement, and the backward state may include a distance, a speed, an acceleration, and the like, which require backward movement.
Furthermore, in the process of establishing the safe area, the self-parking method only needs to consider the current state of the vehicle and does not need to consider the conditions of obstacles and the like around the vehicle body, and the establishing process of the safe area is simpler.
In one possible implementation manner, as shown in fig. 2, the step S110 includes:
step S111, judging whether the vehicle is in a steering state at present;
step S112, establishing the safety zone according to whether the vehicle is currently in the steering state.
The method comprises the following steps that the vehicle can be divided into a steering process and a non-steering process in the process of autonomous parking, and the process of establishing the safety zone is not much the same for the two processes, so that the safety zone is established according to whether the vehicle is in the steering state at present, the method is more reasonable, and the efficiency of establishing the safety zone is higher.
Specifically, the step S112 includes:
step S1121, when the vehicle is currently in the steering state, acquiring a driving trajectory of each point on the outer surface of the body of the vehicle within a predetermined time. Wherein the predetermined time may be greater than or equal to a system delay time of the vehicle, and the system delay time may be a time from when the detection is started to when an action of the vehicle in response to the detection result is ended. In a specific embodiment, the system delay time is 1.5 s. The system delay time in the application is not limited to 1.5s, and can be adjusted according to the actual condition of the vehicle.
Step S1122, establishing the safety region using the travel track of each point on the outer surface of the vehicle body.
In the method, when the vehicle is currently in a steering state, if a safety region is established by calculating the boundary position, the process is complicated, and the efficiency of establishing the safety region is low. In order to obtain the safety zone at this time in an efficient and simple manner, the tracks may constitute the safety zone as long as the travel tracks of the points on the outer surface of the vehicle body are obtained within a predetermined time. The acquisition of the locus of each point can be realized by an analog simulation method.
More specifically, the step S1121 includes:
step S1123, acquiring the current turning center and the current steering angle of the vehicle;
and step S1124, obtaining the track formed by each point rotating by the steering angle with the turning center as the center of a circle, and running for the preset time at a preset angular speed.
According to Ackerman's theorem, in order to ensure that the vehicle rolls purely, the vehicle rotates around the instantaneous turning center O, and the simple geometric relationship in FIG. 3 is analyzed to obtain,
R＝hm·sinα。
as shown in fig. 3, the turning center O is located on the extension line of the rear axle,and is M points away from the rear axle
Wherein the content of the first and second substances,
the meaning of the parameters of the above formula can be seen in table 1.
Thus, the position of the instantaneous turning center point O on the vehicle coordinates can be obtained.
The outer surface of the vehicle body is cut into infinite points, each point is simulated to run for a preset time track at the current steering angle and the current speed, and as shown in fig. 4, a safety zone 01 is formed by countless tracks. When the obstacle appears in the area, the autonomous parking vehicle stops in time and makes corresponding adjustment.
The meaning of the parameters in fig. 3 and the above formulas can be seen as examples in table 1.
TABLE 1
In another possible implementation, step S112 includes:
step S1125, under the condition that the vehicle is currently in the steering state, acquiring the current running speed and position of the vehicle;
step S1126 of calculating the safe area based on the current running speed, the position, a predetermined time, and an area of a vehicle body of the vehicle, wherein the predetermined time is greater than or equal to a system delay time of the vehicle, the system delay time being a time from the start of the detection to the end of the action of the vehicle in response to the detection result.
The calculation of the safety zone is relatively simple if the vehicle is currently in a straight-ahead, i.e. non-steering, state. The motion tracks of a plurality of points on the outer surface of the vehicle body do not need to be acquired. The safety region may be calculated based on the current running speed, the position, a predetermined time, and an area of a body of the vehicle.
Of course, in a particular application, when the vehicle is traveling straight, the steering process may be similar. And obtaining the motion tracks of a plurality of points on the outer surface of the vehicle body, and forming a safety zone by using the motion tracks.
Fig. 5 is a block diagram showing a configuration of an apparatus for autonomous parking according to another embodiment of the present application. As shown in fig. 5, the apparatus for autonomous parking includes:
the system comprises an establishing unit 10, a parking control unit and a control unit, wherein the establishing unit is used for establishing a safe area for parking according to the current parking state of a vehicle;
a detection unit 20 for detecting whether an obstacle exists in the safety area;
and a control unit 30 for controlling the vehicle to adjust a parking state or stop the vehicle in a case where the obstacle exists in the safety zone.
According to the autonomous parking device, the establishing unit establishes the safe area for parking according to the current parking state of the vehicle, and subsequently, whether a braking action needs to be taken can be accurately judged as long as the detecting unit detects whether an obstacle exists in the safe area, so that the safety of the vehicle in the autonomous parking process is ensured. In addition, according to the device, corresponding detection rules are the same in each parking state, so that misjudgment caused by non-uniform rules is avoided, and the correctness of decision making according to detection results is further ensured.
In addition, the device establishes a parking safety region according to the current state of the vehicle, the corresponding safety regions are different for different states of the vehicle, an envelope (one fixed value is larger than the length and the width of the vehicle body) does not need to be added around the vehicle body, the problem of complex parking process is avoided, and the parking process is simpler and more efficient.
In addition, in the autonomous parking device, under the condition that the obstacle is detected to appear in the safety area, the control unit controls the vehicle to adjust the parking state or stop the vehicle so as to prevent the vehicle from colliding with the obstacle, and the safety of the vehicle in the autonomous parking process is further ensured. Specifically, if the vehicle is in a steering stage, the parking state of the vehicle can be adjusted by adjusting the steering angle of the vehicle; if the vehicle is in the straight-going and reversing stage after the vehicle is straightened, the vehicle can be controlled to steer to adjust the parking state of the vehicle.
Furthermore, in the process of establishing the safe area, the self-parking device only needs to consider the current state of the vehicle and does not need to consider the conditions of obstacles and the like around the vehicle body, and the establishing process of the safe area is simpler.
In one possible implementation, as shown in fig. 6, the establishing unit 10 includes:
the judging module 11 is used for judging whether the vehicle is currently in a steering state;
the establishing module 12 is configured to establish the safety zone according to whether the vehicle is currently in the steering state.
The method comprises the following steps that the vehicle can be divided into a steering process and a non-steering process in the process of autonomous parking, and the processes of establishing the safety zone are not much the same for the two processes, so that the establishing unit in the device establishes the safety zone according to whether the vehicle is in the steering state at present, the safety zone is more reasonable, and the establishing efficiency of the safety zone is higher.
Specifically, the establishing module 12 includes:
a first obtaining sub-module, configured to, when the vehicle is currently in the steering state, obtain a current driving trajectory of each point on an outer surface of a body of the vehicle within a predetermined time, where the predetermined time is greater than or equal to a system delay time of the vehicle, where the system delay time is a time from when the detection is performed to when the vehicle responds to an end of a result of the detection;
and the establishing submodule is used for establishing the safety region by utilizing the driving track of each point on the outer surface of the vehicle body.
In the above device, when the vehicle is currently in a steering state, if the safe area is established by calculating the boundary position, the process is complicated, and the establishment efficiency of the safe area is low. Acquiring the locus of each point can be achieved by analog simulation.
More specifically, the first obtaining sub-module is further configured to: acquiring the current turning center and the current steering angle of the vehicle; and acquiring the track formed by each point rotating by the steering angle by taking the turning center as the circle center and running for the preset time at the preset angular speed.
The first obtaining submodule calculates and obtains a turning center and a steering angle according to Ackerman theorem, and then obtains the motion trail of each point according to the turning center and the steering angle. The specific procedures have already been described above and are not described herein again.
In another possible implementation, the establishing module includes:
the second obtaining submodule is used for obtaining the current running speed and position of the vehicle under the condition that the vehicle is currently in the steering state;
and the calculation submodule is used for calculating the safety zone according to the current running speed, the position, the preset time and the area of the vehicle body of the vehicle, wherein the preset time is greater than or equal to the system delay time of the vehicle, and the system delay time is the time from the beginning of the detection to the end of the response of the vehicle to the detection result.
In the case that the vehicle is in a straight-ahead running process, namely a non-steering state, the calculation process of the safety region is relatively simple, so that the motion tracks of a plurality of points on the outer surface of the vehicle body do not need to be acquired, and the safety region can be calculated according to the current running speed, the position, the preset time and the area of the vehicle body of the vehicle.
Of course, in a specific application process, when the vehicle is in a straight running process, the motion tracks of a plurality of points on the outer surface of the vehicle body can be obtained and form a safety zone as in a steering process.
Fig. 7 is a block diagram showing a configuration of an apparatus for autonomous parking according to another embodiment of the present application. As shown in fig. 7, the generating device includes a memory 40 and a processor 50, wherein the memory 40 is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the generating method as any one of the above. Moreover, the number of the processors and the memory may be one or more, and those skilled in the art may select an appropriate number of processors and memories according to actual situations.
The apparatus further comprises:
and the communication interface 60 is used for communicating with external equipment and performing data interactive transmission.
The memory 40 may comprise a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 40, the processor 50 and the communication interface 60 are implemented independently, the memory 40, the processor 50 and the communication interface 60 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The above-mentioned bus may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 7, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 40, the processor 50 and the communication interface 60 are integrated on a single chip, the memory 40, the processor 50 and the communication interface 60 may communicate with each other through an internal interface.
The present application provides a computer-readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement any one of the above methods in the above embodiments.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). Further, the computer readable medium could even be paper or another suitable medium upon which the above described program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, and the program may be stored in a computer readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module may also be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various changes or substitutions within the technical scope of the present application, and these should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (8)
1. A method of autonomous parking, comprising:
establishing a safe area for parking according to the current parking state of the vehicle; the parking state comprises the state of the vehicle at each time point in the parking process;
detecting whether an obstacle exists in the safety area;
controlling the vehicle to adjust a parking state or stop in the case where the obstacle exists in the safety area;
the establishing of the safe area for parking according to the current parking state of the vehicle comprises the following steps:
judging whether the vehicle is in a steering state at present;
establishing the safety zone according to whether the vehicle is currently in the steering state;
the establishing the safe area according to whether the vehicle is currently in the steering state includes:
under the condition that the vehicle is in the steering state at present, acquiring the running track of each point on the outer surface of the body of the vehicle within a preset time, wherein the preset time is greater than or equal to the system delay time of the vehicle, and the system delay time is the time from the beginning of detection to the end of the action of the vehicle responding to the detection result;
and establishing the safe area by using the driving tracks of all points on the outer surface of the vehicle body.
2. The method according to claim 1, wherein the obtaining of the current travel track of each point on the outer surface of the body of the vehicle within a predetermined time under the condition that the vehicle is currently in the steering state comprises:
acquiring the current turning center and the current steering angle of the vehicle;
and acquiring the track formed by each point rotating by the steering angle by taking the turning center as the circle center and running for the preset time at the preset angular speed.
3. The method of claim 1, wherein the establishing the safe area as a function of whether the vehicle is currently in the steering state comprises:
under the condition that the vehicle is in the steering state at present, acquiring the running speed and the position of the vehicle at present;
and calculating the safe area according to the current running speed, the position, a preset time and the area of the vehicle body of the vehicle, wherein the preset time is greater than or equal to the system delay time of the vehicle, and the system delay time is the time from the detection start to the end of the action of the vehicle responding to the detection result.
4. An apparatus for autonomous parking, comprising:
the system comprises an establishing unit, a judging unit and a judging unit, wherein the establishing unit is used for establishing a safe area for parking according to the current parking state of a vehicle; the parking state comprises the state of the vehicle at each time point in the parking process;
a detection unit for detecting whether an obstacle exists in the safety area;
a control unit for controlling the vehicle to adjust a parking state or stop the vehicle in a case where the obstacle exists in the safety area;
the establishing unit includes:
the judging module is used for judging whether the vehicle is in a steering state at present;
the establishing module is used for establishing the safety area according to whether the vehicle is in the steering state currently;
the establishing module comprises:
a first obtaining sub-module, configured to, when the vehicle is currently in the steering state, obtain a current driving trajectory of each point on an outer surface of a body of the vehicle within a predetermined time, where the predetermined time is greater than or equal to a system delay time of the vehicle, where the system delay time is a time from when the detection is performed to when the vehicle responds to an end of a result of the detection;
and the establishing submodule is used for establishing the safety region by utilizing the driving track of each point on the outer surface of the vehicle body.
5. The apparatus of claim 4, wherein the first obtaining sub-module is further configured to:
acquiring the current turning center and the current steering angle of the vehicle;
and acquiring the track formed by each point rotating by the steering angle by taking the turning center as the circle center and running for the preset time at the preset angular speed.
6. The apparatus of claim 4, wherein the establishing module comprises:
the second obtaining submodule is used for obtaining the current running speed and position of the vehicle under the condition that the vehicle is currently in the steering state;
and the calculation submodule is used for calculating the safety zone according to the current running speed, the position, the preset time and the area of the vehicle body of the vehicle, wherein the preset time is greater than or equal to the system delay time of the vehicle, and the system delay time is the time from the beginning of the detection to the end of the response of the vehicle to the detection result.
7. An apparatus for autonomous parking, comprising:
one or more processors;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-3.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 3.
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| CN112572397B (en) * | 2019-09-30 | 2022-07-15 | 毫末智行科技有限公司 | Automatic parking control method, device and controller |
| CN111368641A (en) * | 2020-02-11 | 2020-07-03 | 北京百度网讯科技有限公司 | Obstacle screening method, obstacle screening device, electronic device and storage medium |
| CN114291100A (en) * | 2020-03-03 | 2022-04-08 | 北京百度网讯科技有限公司 | Parking method and device for autonomous vehicle |
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| CN109703552B (en) | 2021-06-22 |
| CN109703552A (en) | 2019-05-03 |
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