CN113386737B - Passenger-riding parking method based on fixed line - Google Patents

Passenger-riding parking method based on fixed line Download PDF

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CN113386737B
CN113386737B CN202110790173.8A CN202110790173A CN113386737B CN 113386737 B CN113386737 B CN 113386737B CN 202110790173 A CN202110790173 A CN 202110790173A CN 113386737 B CN113386737 B CN 113386737B
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parking
vehicle
path
point
obstacle
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CN113386737A (en
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张敬伟
骆铁平
罗凡
文翊
李旭婕
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Dongfeng Motor Corp
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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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • 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
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

Abstract

The invention provides a passenger-replacing parking method based on a fixed line, which comprises the following steps: constructing a parking map comprising a starting point, an end point, an obstacle and a driving path; controlling the vehicle to reach the starting point; decomposing the running speed V into X and Y directions, and predicting the speed at the next moment by the size and the direction of the speed at the previous moment every t moments; obtaining the coordinates of the central point of the vehicle through speed prediction; obtaining coordinates of a vehicle center point stored in a simultaneous parking map, and calculating coordinates of a target point of actual vehicle driving to obtain a parking path; and based on the parking path, tracking the current path by using a path tracking algorithm and a controller to finish the passenger-substitute parking. The invention provides a passenger-replacing parking method based on a fixed line, which is characterized in that a controller is used for recording driving data and a sensor is used for carrying out real-time positioning to complete the whole parking process, the problem that the parking lot lacks intelligent networking infrastructure and cannot carry out passenger-replacing parking is solved, and the existing sensor at the vehicle end is used for realizing the passenger-replacing parking.

Description

Passenger-riding parking method based on fixed line
Technical Field
The invention belongs to the field of parking, and particularly relates to a passenger-replacing parking method based on a fixed line.
Background
Most of the existing passenger-replacing parking is based on field-side, cloud-side and vehicle-side cooperative parking; however, in real conditions, most parking lots do not have field-side equipment, and therefore it is difficult to park in cooperation with automobiles. Moreover, at present, a large part of domestic passenger cars are parked in fixed parking spaces owned by the family downstairs, and the parking distance from the entrance of the corridor to the fixed parking spaces can be solved through a specific scheme, so that the influence of difficult realization of passenger-replacing parking due to lack of field ends and cloud ends is ignored.
Disclosure of Invention
The invention aims to provide a fixed line-based passenger-car-parking-substituting method, which is used for realizing the passenger-car-parking-substituting of a fixed line and solving the problem that the passenger-car-parking-substituting is difficult to realize due to lack of a field end and a cloud end.
The technical scheme adopted by the invention is as follows:
a passenger-riding parking method based on a fixed line comprises the following steps:
constructing a parking map comprising a starting point, an end point, an obstacle and a driving path;
controlling the vehicle to reach the starting point;
the traveling speed V is divided into X and Y directions from zero time, and the speed at the next time is predicted by the magnitude and direction of the speed at the previous time every t time from zero time, wherein the predicted speed is (V)x0，Vy0)，(Vx1，Vy1)，(Vx2，Vy2)……(Vxz，Vyz)；
From zero time, the coordinates of the center point of the vehicle are obtained by speed prediction and are respectively (X)20，Y20)，(X21，Y21)，(X22，Y22)……(X2z，Y2z) (ii) a The coordinate prediction formula of the vehicle center point is as follows: x2z＝X2(z-1)+Vx(z-1)*t，Y2z＝Y2(z-1)+Vy(z-1)*t；
Obtaining coordinates (X) of center points of vehicles stored in a simultaneous parking map1z，Y1z) Calculating coordinates (X) of a target point where the vehicle actually travelsz，Yz) Wherein X isz＝(X1z+X2z)/2，Yz＝(Y1z+Y2z)/2；
Fitting a series of target points into a smooth curve by using a curve fitting algorithm to obtain a parking path;
and based on the parking path, tracking the current path by using a path tracking algorithm and a controller to finish the passenger-substitute parking.
Preferably, the method further comprises:
in the parking process, whether an obstacle exists in a preset range in front of the vehicle is detected through an ultrasonic radar; if no obstacle exists, continuing to park;
if the obstacle exists, the ultrasonic radar detects the distance between the vehicle and the obstacle, and judges whether the obstacle moves or not according to the change of the distance; if the obstacle moves, waiting for the obstacle to leave, and then continuing parking; if the obstacle is not moving, parking is stopped, and the driver takes over the vehicle.
Preferably, the preset range in front of the vehicle is within 2 meters in front of the vehicle.
Preferably, the method further comprises:
in the parking process, the vehicle is positioned in real time by comparing the parking map so as to judge whether the vehicle runs on a preset parking path; if the vehicle runs on the preset parking path, continuing parking;
if the vehicle is not on the preset parking path, parking is stopped, and the driver takes over the vehicle.
Preferably, after the driver takes over the vehicle, the vehicle is directly parked by himself or the vehicle is driven to return to the preset parking path, and automatic parking is continued.
Preferably, the vehicle arrives at the terminal, and the valet parking is completed.
Preferably, the method further comprises: during parking, the distances from the automobile to the nearest obstacles in the X direction and the Y direction are recorded (S)xz，Syz) (ii) a Setting a safe distance S from a vehicle to an obstacle0Obtaining the maximum parking limit speed Vxz＝k*Sxz，Vyz＝k*SyzAnd k is a time coefficient.
Preferably, the parking map construction method includes:
the driver drives the vehicle to a selected position, and the position is positioned as a starting point;
a driver drives a vehicle to a specified position to finish parking, and the position is positioned as a terminal point;
in the parking process, an obstacle map in the driving process is constructed through the vehicle-mounted ultrasonic radar and the visual sensor, and a driving path is recorded.
Preferably, the driving path recording method comprises the following steps: positioning according to wheel speed sensors of front and rear wheels of the vehicle, recording once every fixed time, and marking a corresponding vehicle center point in an established parking map; and forming a track curve through a connecting line of the point and the point, and fitting the curve to form a smooth collision-free driving path.
Preferably, parking includes parking out and parking in.
The invention has the beneficial effects that:
the invention provides a passenger-replacing parking method based on a fixed line, which is characterized in that a controller is used for recording driving data and a sensor is used for carrying out real-time positioning to complete the whole parking process, the problem that the parking lot lacks intelligent networking infrastructure and cannot carry out passenger-replacing parking is solved, and the existing sensor at the vehicle end is used for realizing the passenger-replacing parking.
Drawings
FIG. 1 is a flow chart of a method for vehicle route recording;
FIG. 2 is a flow chart of vehicle parking confirmation;
fig. 3 is a flow chart of vehicle parking.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The invention aims to provide a method for realizing a passenger-replacing parking function in a specific scene aiming at the defects of the existing infrastructure and the technical defects. The method comprises the steps of constructing a parking map by using a vehicle-mounted camera and a sensor, wherein the parking map is mainly used for determining the position of an automobile, generating the parking map containing a starting point, an end point, a barrier and a driving route on the parking map by recording the driving distance of the automobile and the steering wheel rotation angle in the process of driving the automobile from a specified position by a driver, and carrying out parking and parking operations on the automobile according to the parking map.
The fixed line-based valet parking method of the present invention is described in detail below, and mainly includes the following modules:
a path recording module: the method comprises the steps that a driver drives a vehicle to park in and out, data such as environmental obstacles and parking routes are recorded, and a parking map is constructed;
a parking confirmation module: confirming that the vehicle reaches the designated position through map matching, confirming that the vehicle can start parking, and prompting the driver to select the vehicle to start parking;
a parking module: and (4) making a driving strategy in the driving process, and positioning in real time to ensure that the vehicle drives on an expected path.
The contents of each module are described in detail below:
1. path recording module, as shown in fig. 1:
step 101: a driver activates a parking function through the vehicle-mounted MP5 or the mobile phone APP;
step 102: opening a path recording function to prepare for recording a parking path;
step 103: when the driver parks, the driver drives to the selected starting point position, and the position is selected as the starting point (X) through the vehicle-mounted MP5 or the mobile phone APPs，Ys) Then, the vehicle is driven to a specified position, parking is completed, and the position is selected as a terminal point (X) after completion of parkinge，Ye). The driver carries out the operation of parking again, and the starting point and the end point position of the parking-out process are recorded in the same way;
step 104: when the vehicle is parked and out of the parking lot, an obstacle map in the driving process is constructed through the vehicle-mounted ultrasonic radar and the vision sensor;
step 105: the vehicle-mounted MP5 or the mobile phone APP prompts the completion of path recording, and a parking map containing a starting point, an end point, obstacles and a driving route is generated in the system. The vehicle running route established in the parking map through the path record is positioned according to wheel speed sensors of front and rear wheels of the vehicle, the vehicle running route is recorded once every fixed time t, corresponding vehicle central points are marked in the established parking map, and the points are sequentially recorded as (X)11，Y11)，(X12，Y12)，(X13，Y13)……(X1x，Y1x) And forming a track by connecting points and points, and fitting a curve to form a smooth collision-free track.
2. The parking confirmation module, as shown in fig. 2:
step 201: the driver selects the vehicle-mounted MP5 or the mobile phone APP to start parking;
step 202: the vehicle is positioned in real time by identifying the current barrier and comparing the stored barrier map;
step 203: prompting the driver to drive to a designated parking start location (X) on a maps，Ys)；
Step 204: confirmation of vehicle arrival at designated location by real-time location (X)s，Ys) If not, returning to the step 203, and if so, performing the step 205;
step 205: and the vehicle-mounted MP5 or the mobile phone APP prompts that parking can be started, and the completion of the parking link is confirmed.
3. Parking module, as shown in fig. 3:
step 301: a driver selects to start parking through the vehicle-mounted MP5 or the mobile phone APP, the vehicle is positioned in real time and confirmed to reach a specified position, and the vehicle starts to park;
step 302: determining whether the automobile is parked in or out according to the position of the automobile, and then loading corresponding stored data;
step 303: by the current starting position S (X) of the vehicles，Ys) Parking end point E (X)e，Ye) And the barrier obtains a planned path of a period of time t in the future through path planning;
first, in a coordinate system including a start point and an end point, a position of an obstacle is marked, and a distance from the start position to the end position is calculated
Figure GDA0003559845790000041
Decomposing the distance S into the distance S in the X directionxAnd a distance S in Y directiony. The traveling speed is divided into X, Y directions by taking V as the traveling speed from zero time, and the speed at the next time is predicted by the speed direction and the magnitude at the previous time every t time from zero time, and is respectively (V)x0，Vy0),(Vx1，Vy1),(Vx2，Vy2)……(Vxz，Vyz) Knowing the velocity V at zero timex0＝0，Vy00. The running speed of the automobile is required to be less than or equal to 20km/h, and the parking speed is required to be less than or equal to 3 km/h.
Starting from time zero by preThe coordinate of the central point of the automobile is measured to be (X)20，Y20)，(X21，Y21)，(X22，Y22)……(X2z，Y2z). Coordinate of zero time (X)20，Y20) As a starting point, the coordinates are known. The formula of the predicted coordinate is X2z＝X2(z-1)+Vx(z-1)*t，Y2z＝Y2(z-1)+Vy(z-1)*t。
Recording the distance from the center point of the automobile to the nearest barrier in the X direction and the Y direction at the time of t, and sequentially recording as (S)x0，Sy0),(Sx1，Sy1),(Sx2，Sy2)……(Sxz，Syz). If the safe distance from the vehicle to the obstacle is set to S0, the distances from the center point of the vehicle to the nearest obstacles in the X direction and the Y direction need to be greater than or equal to S0. The relation between the driving speed and the distance from the automobile to the barrier is Vxz＝k*Sxz,，Vyz＝k*Syz(ii) a Where k is a time coefficient, the reciprocal of the time of the collision, i.e. the reciprocal of the reaction time, from which the maximum parking limit speed can be determined.
Step 304: next, the (X) stored in the map of the simultaneous parking is compared10，Y10)，(X11，Y11)，(X12，Y12)，(X13，Y13)……(X1z，Y1z) And then finding the midpoint between the point predicted by the driving speed and obstacle distance constraint and the point in the parking map, wherein the midpoint is determined as the point to which the automobile needs to drive at the next moment.
Step 305: let the point actually needed to be traveled be (X)0，Y0)，(X1，Y1)，(X2，Y2)……(Xz，Yz). Then Xz＝(X1z+X2z)/2，Yz＝(Y1z+Y2z)/2. Each prediction is a stage, namely n x t, and points needing to be driven in the next period of time are predicted;
step 306: fitting a series of midpoints into a smooth curve by using a curve fitting algorithm;
step 307: tracking the current path driving by using a path tracking algorithm and a controller;
step 308: in the driving process, a sensor detects surrounding obstacles; performing steps 309 and 315;
step 309: detecting a front obstacle through an automobile front ultrasonic radar;
step 310: feeding back whether an obstacle exists within 2 meters ahead by the ultrasonic radar, if so, performing step 312, and if not, performing step 311;
step 311: continuing to drive, and performing step 320;
step 312: judging the distance to the obstacle through an ultrasonic radar, judging whether the obstacle moves or not through the distance change, if the obstacle moves, performing step 313, and if the obstacle does not move, performing step 314;
step 313: step 311 is performed after waiting for the obstacle to leave;
step 314: stopping the automatic parking, asking the driver to take over, and performing step 321;
step 315: real-time positioning is carried out by comparing parking maps;
step 316: if the vehicle is traveling on the predetermined route, if yes, go to step 317, if no, go to step 318;
step 317: continuing to drive; proceeding to step 320;
step 318: stopping the automatic parking mode and asking the driver to take over;
step 319: the driver drives the vehicle back on the predetermined path, step 317;
step 320: judging whether the vehicle reaches the terminal point through real-time positioning;
step 321: and finishing the automatic parking.
The invention carries out parking by using the parking path, the wheel driving distance and the steering wheel angle recorded by the automobile, constructs a local map required by parking by using the vehicle-mounted sensor and the controller, carries out real-time positioning, and confirms that the automobile drives according to the established path, thereby realizing the passenger-replacing parking in a specific scene. The vehicle runs on the appointed path, so that errors possibly generated in the parking planning and control process by sensing components at the present stage are avoided, and the parking lot is not required to be provided with basic equipment of intelligent networking.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. A passenger-replacing parking method based on a fixed line is characterized by comprising the following steps:
constructing a parking map comprising a starting point, an end point, an obstacle and a driving path;
controlling the vehicle to reach the starting point;
the traveling speed V is divided into X and Y directions from zero time, and the speed at the next time is predicted by the magnitude and direction of the speed at the previous time every t time from zero time, wherein the predicted speed is (V)x0，Vy0)，(Vx1，Vy1)，(Vx2，Vy2)……(Vxz，Vyz)；
From zero time, the coordinates of the center point of the vehicle are obtained by speed prediction and are respectively (X)20，Y20)，(X21，Y21)，(X22，Y22)……(X2z，Y2z) (ii) a The coordinate prediction formula of the vehicle center point is as follows: x2z＝X2(z-1)+Vx(z-1)*t，Y2z＝Y2(z-1)+Vy(z-1)*t；
Obtaining coordinates (X) of center points of vehicles stored in a simultaneous parking map1z，Y1z) Calculating coordinates (X) of a target point where the vehicle actually travelsz，Yz) Wherein X isz＝(X1z+X2z)/2，Yz＝(Y1z+Y2z)/2；
Fitting a series of target points into a smooth curve by using a curve fitting algorithm to obtain a parking path;
and based on the parking path, tracking the current path by using a path tracking algorithm and a controller to finish the passenger-substitute parking.
2. The fixed-line based valet parking method of claim 1, further comprising:
in the parking process, whether an obstacle exists in a preset range in front of the vehicle is detected through an ultrasonic radar; if no obstacle exists, continuing to park;
if the obstacle exists, the ultrasonic radar detects the distance between the vehicle and the obstacle, and judges whether the obstacle moves or not according to the change of the distance; if the barrier moves, waiting for the barrier to leave, and continuing parking; if the obstacle is not moving, parking is stopped, and the driver takes over the vehicle.
3. The fixed-line based valet parking method as claimed in claim 2, wherein the preset range in front of the vehicle is within 2 meters in front of the vehicle.
4. The fixed-line based valet parking method of claim 1, further comprising:
in the parking process, the vehicle is positioned in real time by comparing the parking map so as to judge whether the vehicle runs on a preset parking path; if the vehicle runs on the preset parking path, continuing parking;
if the vehicle is not on the preset parking path, parking is stopped, and the driver takes over the vehicle.
5. The fixed-line-based valet parking method as claimed in claim 4, wherein the driver takes over the vehicle and then parks the vehicle by himself or drives the vehicle back to a preset parking path to continue automatic parking.
6. A fixed-line based valet parking method as claimed in claim 1, wherein the valet parking is completed when the vehicle reaches the terminal.
7. The fixed-line based valet parking method of claim 1, further comprising: during parking, the distances from the automobile to the nearest obstacles in the X direction and the Y direction are recorded (S)xz，Syz) (ii) a Setting a safe distance S from a vehicle to an obstacle0Obtaining the maximum parking limit speed Vxz＝k*Sxz，Vyz＝k*SyzAnd k is a time coefficient.
8. The fixed-line-based valet parking method according to claim 1, wherein the parking map construction method comprises:
the driver drives the vehicle to a selected position, and the position is positioned as a starting point;
a driver drives a vehicle to a specified position to finish parking, and the position is positioned as a terminal point;
in the parking process, an obstacle map in the driving process is constructed through the vehicle-mounted ultrasonic radar and the visual sensor, and a driving path is recorded.
9. The fixed-line-based valet parking method according to claim 8, wherein the driving path recording method comprises: positioning according to wheel speed sensors of front and rear wheels of the vehicle, recording once every fixed time, and marking a corresponding vehicle center point in an established parking map; and forming a track curve through a connecting line of the point and the point, and fitting the curve to form a smooth collision-free driving path.
10. A fixed-line based valet parking method as claimed in any one of claims 1-9 wherein parking comprises parking out and parking in.
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DE102013222071A1 (en) * 2013-10-30 2015-04-30 Robert Bosch Gmbh Parking management system
JP6991119B2 (en) * 2018-10-05 2022-01-12 先進モビリティ株式会社 Path control method in automatic driving
CN109927716B (en) * 2019-03-11 2020-11-10 武汉环宇智行科技有限公司 Autonomous vertical parking method based on high-precision map
WO2021029444A1 (en) * 2019-08-09 2021-02-18 엘지전자 주식회사 Route providing apparatus and route providing method therefor
CN110775052B (en) * 2019-08-29 2021-01-29 浙江零跑科技有限公司 Automatic parking method based on fusion of vision and ultrasonic perception
CN112590775B (en) * 2020-12-22 2022-02-22 中国第一汽车股份有限公司 Automatic parking method and device, vehicle and storage medium
CN112793563B (en) * 2021-02-04 2022-07-19 武汉理工大学 Automatic parking method, device, storage medium and computer equipment
CN112937557B (en) * 2021-03-09 2022-08-12 东风汽车集团股份有限公司 Curvature control-based passenger-riding parking path planning method and system

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