CN113428135A - Vertical parking space parking method, device, equipment and storage medium - Google Patents

Vertical parking space parking method, device, equipment and storage medium Download PDF

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Publication number
CN113428135A
CN113428135A CN202110755248.9A CN202110755248A CN113428135A CN 113428135 A CN113428135 A CN 113428135A CN 202110755248 A CN202110755248 A CN 202110755248A CN 113428135 A CN113428135 A CN 113428135A
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target vehicle
parking
target
controlling
vertical
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李丰军
周剑光
侯发伟
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China Automotive Innovation Co Ltd
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China Automotive Innovation Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • 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

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The application discloses a vertical parking space parking method, a device, equipment and a storage medium, wherein the method comprises the following steps: generating a parking map of the target vehicle based on the target coordinate system in response to a parking instruction based on the target vertical parking space; acquiring an initial position of a target vehicle and a position of a target vertical parking space based on a parking map; controlling the target vehicle to advance from the initial position to a first end position based on the minimum turning radius of the target vehicle and a tracking control algorithm; controlling the target vehicle to transversely retreat to a second end point position based on the longitudinal center line position and the minimum turning radius; controlling the target vehicle to retreat to a third end position at a maximum steering wheel angle based on the longitudinal center line position and the lateral front line position; and controlling the target vehicle to retreat to the parking position based on the transverse rear edge position and a tracking control algorithm. By using the technical scheme provided by the application, the initial position and the course of the target vehicle do not need to be restrained, so that the universality of the vertical parking space parking method is improved.

Description

Vertical parking space parking method, device, equipment and storage medium
Technical Field
The application relates to the technical field of automatic driving, in particular to a vertical parking space parking method, device, equipment and storage medium.
Background
The existing automatic parking method for vertical parking spaces mainly comprises the following steps: a three-point vertical parking trajectory planning method and a parking trajectory planning method based on a hybrid A-star algorithm. The three-point type vertical parking track planning method is characterized in that the turning angle of a steering wheel is calculated and executed based on the position of a parking space and the initial position of a vehicle, when the heading of the vehicle is parallel to the central line of the parking space in the vertical direction, the vehicle returns to the steering wheel, and the vehicle is continuously controlled to retreat to the end point; the parking trajectory planning method based on the hybrid A-star algorithm does not require that the parking starting point of the vehicle is parallel to the parking space.
However, the three-point vertical parking trajectory planning method requires that the heading of the vehicle at the initial position is parallel to the horizontal direction of the parking space, and the initial position needs to be within a specific range, so that the initial position and the heading of the vehicle are constrained, and the universality is poor; meanwhile, the hybrid A-x algorithm is complex, has high calculation force requirements on a controller, is difficult to meet the real-time performance required by the automatic parking function, and has errors easily, so that a more effective technical scheme needs to be provided.
Disclosure of Invention
The application provides a vertical parking space parking method, a device, equipment and a storage medium, which can improve the real-time performance and the accuracy of track planning, and do not need to restrict the initial position and the course of a vehicle, thereby improving the universality of the method, and the technical scheme of the application is as follows:
in one aspect, a method for parking in a vertical parking space is provided, the method comprising:
generating a parking map of the target vehicle based on the target coordinate system in response to a parking instruction based on the target vertical parking space;
acquiring an initial position of the target vehicle and a position of the target vertical parking space based on the parking map, wherein the position of the target vertical parking space comprises a longitudinal center line position, a transverse front line position and a transverse rear line position of the target vertical parking space;
controlling the target vehicle to advance from the initial position to a first end position corresponding to a transverse adjustment track of the target vehicle based on the minimum turning radius of the target vehicle and a tracking control algorithm;
controlling the target vehicle to transversely retreat to a second end point position corresponding to a straight line transition track of the target vehicle based on the longitudinal center line position and the minimum turning radius;
controlling the target vehicle to retreat to a third end position corresponding to an arc transition trajectory of the target vehicle at a maximum steering wheel angle based on the longitudinal center line position and the lateral front line position;
and controlling the target vehicle to retreat to a parking point position corresponding to a longitudinal warehousing track of the target vehicle based on the transverse rear edge position and the tracking control algorithm.
In another aspect, a vertical-parking apparatus is provided, the apparatus including:
the parking map generation module is used for responding to a parking instruction based on a target vertical parking space and generating a parking map of a target vehicle based on a target coordinate system;
the position acquisition module is used for acquiring the initial position of the target vehicle and the position of the target vertical parking space on the basis of the parking map, wherein the position of the target vertical parking space comprises the longitudinal center line position, the transverse front line position and the transverse rear line position of the target vertical parking space;
the transverse adjustment track module is used for controlling the target vehicle to advance from the initial position to a first end position corresponding to the transverse adjustment track of the target vehicle on the basis of the minimum turning radius of the target vehicle and a tracking control algorithm;
a linear transition trajectory module for controlling the target vehicle to transversely back to a second end point position corresponding to the linear transition trajectory of the target vehicle based on the longitudinal centerline position and the minimum turning radius;
an arc transition trajectory module for controlling the target vehicle to retreat to a third end position corresponding to an arc transition trajectory of the target vehicle at a maximum steering wheel angle based on the longitudinal center line position and the lateral front line position;
and the longitudinal warehousing track module is used for controlling the target vehicle to retreat to a parking point position corresponding to the longitudinal warehousing track of the target vehicle based on the transverse rear edge position and the tracking control algorithm.
In another aspect, a vertical parking space apparatus is provided, which includes a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vertical parking space method as described above.
In another aspect, a computer-readable storage medium is provided, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the vertical parking space parking method as described above.
The vertical parking space parking method, the device, the equipment and the storage medium have the following technical effects:
by means of the technical scheme, through planning of the transverse adjusting track, the longitudinal warehousing track and the two sections of adjusting tracks, on one hand, the initial position and the course of the target vehicle do not need to be restrained, the parking requirements of the target vehicle relative to the target vertical parking space at different initial positions and different orientations can be met, the universality of the vertical parking space parking method is improved, on the other hand, the track point position in path planning and the corresponding front wheel corner of the target vehicle can be updated in real time based on a tracking control algorithm, and the instantaneity and the accuracy of the path planning are improved.
Drawings
In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flow chart of a vertical parking space parking method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a method for determining a target vertical parking space according to an embodiment of the present application;
FIG. 3 is a schematic illustration of a parking map provided in an embodiment of the present application;
FIG. 4 is a schematic diagram of a lateral adjustment track provided in an embodiment of the present application;
fig. 5 is a schematic flowchart of a process for controlling the target vehicle to advance from the initial position to a first end position corresponding to a lateral adjustment track of the target vehicle based on a minimum turning radius and a tracking control algorithm of the target vehicle according to an embodiment of the present application;
fig. 6 is a schematic flowchart of a process for controlling the target vehicle to advance from the initial position to the first end position based on the tracking control algorithm according to the embodiment of the present application;
FIG. 7 is a schematic diagram illustrating a method for determining a first intersection position of a first target circle and a first reference line according to an embodiment of the present application;
FIG. 8 is a schematic diagram of a straight transition trajectory provided by an embodiment of the present application;
FIG. 9 is a schematic flow chart illustrating a process for controlling the target vehicle to laterally retract to a second end position corresponding to a straight transition trajectory of the target vehicle based on the longitudinal centerline position and the minimum turning radius according to an embodiment of the present disclosure;
FIG. 10 is a schematic diagram of a circular arc transition trajectory provided by an embodiment of the present application;
FIG. 11 is a schematic view of a process for controlling the target vehicle to move back to a third end position at a maximum steering wheel angle based on the longitudinal center line position and the lateral front line position according to an embodiment of the present application;
fig. 12 is a schematic diagram of a vertical warehousing trajectory provided in an embodiment of the present application;
fig. 13 is a schematic flowchart of a process for controlling the target vehicle to move backward to a parking point position corresponding to a longitudinal warehousing trajectory of the target vehicle based on the transverse rear edge position and the tracking control algorithm according to the embodiment of the present application;
fig. 14 is a schematic flowchart illustrating a process of controlling the target vehicle to move back from the third end position to the stop position based on the tracking control algorithm according to an embodiment of the present application;
fig. 15 is a schematic view of a vertical parking space parking device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
A vertical parking space parking method provided in the embodiment of the present application is described below, and fig. 1 is a schematic flow chart of the vertical parking space parking method provided in the embodiment of the present application. It is noted that the present specification provides the method steps as described in the examples or flowcharts, but may include more or less steps based on routine or non-inventive labor. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. In actual system or product execution, sequential execution or parallel execution (e.g., parallel processor or multi-threaded environment) may be possible according to the embodiments or methods shown in the figures. Specifically, as shown in fig. 1, the method may include:
and S101, responding to a parking instruction based on the target vertical parking space, and generating a parking map of the target vehicle based on the target coordinate system.
In practical applications, a parking map is usually used to determine the position and orientation of a target vertical parking space relative to a target vehicle, and a parking path is planned accordingly. In the embodiment of the present specification, in consideration of convenience of parking path planning, when setting the target coordinate system of the parking map, the horizontal axis of the target coordinate system is parallel to the horizontal center line of the target vertical parking space, and the vertical axis of the target coordinate system is parallel to the longitudinal center line of the target vertical parking space.
In this illustrative embodiment, as shown in fig. 2, before the generating a parking map of the target vehicle based on the target coordinate system in response to the parking instruction based on the target vertical parking space, the method may further include:
and S201, responding to an automatic parking function starting instruction, and controlling an automatic parking system of the target vehicle to search for a parking space.
Specifically, the automatic parking system may acquire image information of a surrounding environment acquired by a visual perception sensor of the target vehicle and distance information of a surrounding object acquired by a radar sensor of the target vehicle, perform parking space search based on the image information of the surrounding environment, and exclude a vertical parking space that has been used or includes an obstacle based on the distance information of the surrounding object.
And S203, when the vertical empty parking space is searched, displaying a parking space selection interface generated based on the vertical empty parking space.
Specifically, the parking space selection interface can identify the position of the vertical empty parking space relative to the target vehicle, so that the driver can conveniently select the parking space.
And S205, responding to a parking space selection instruction triggered based on the parking space selection interface, and determining the target vertical parking space in the vertical empty parking spaces.
In practical application, the parking space selection instruction can be triggered by touch action of a touch screen of a display device of the target vehicle.
The above embodiment shows that the parking space search and the parking space selection based on the automatic parking system can enable the driver to independently select the target vertical parking space, so as to facilitate the subsequent planning of the parking track based on the target vertical parking space.
And S103, acquiring an initial position of the target vehicle and a position of the target vertical parking space based on the parking map, wherein the position of the target vertical parking space comprises a longitudinal center line position, a transverse front line position and a transverse rear line position of the target vertical parking space.
Specifically, as shown in fig. 3, fig. 3 is a schematic view of a parking map provided in an embodiment of the present application. In all embodiments of the present specification, when the position of the target vehicle is marked in the parking map, the position of the rear axle center point of the target vehicle is taken as the position of the target vehicle; accordingly, the control target vehicle moves from one position to another position, so that the rear axle center point of the target vehicle moves from the one position to the another position.
And S105, controlling the target vehicle to advance from the initial position to a first end position corresponding to the transverse adjustment track of the target vehicle based on the minimum turning radius of the target vehicle and a tracking control algorithm.
In particular, the minimum turning radius RminCan be represented by the formula RminThe calculation is performed at L/tan (δ max), where L is the wheel base of the target vehicle, and δ max is the maximum front wheel steering angle of the target vehicle, that is, the corresponding front wheel steering angle at the maximum steering wheel steering angle.
Specifically, as shown in fig. 4, fig. 4 is a schematic diagram of a lateral adjustment trajectory provided in an embodiment of the present application, where the lateral adjustment trajectory may be a first parking trajectory for adjusting a body posture of the target vehicle, and when the target vehicle moves forward to a first end position based on the lateral adjustment trajectory, a direction of the body posture can be adjusted to be parallel to a lateral front line of the target vertical parking space, and a distance between a center point of a rear axle and a straight line where the lateral front sideline is located is kept at a minimum turning radius.
In a specific embodiment, as shown in fig. 5, the controlling the target vehicle to advance from the initial position to the first end position corresponding to the lateral adjustment trajectory of the target vehicle based on the minimum turning radius of the target vehicle and the tracking control algorithm may include:
s501, the first end point position is determined based on the lateral front edge position, the initial position, and the minimum turning radius.
In the embodiment of the present specification, the abscissa X of the initial position may be set to0And a first predetermined distance Q1The sum is taken as the abscissa X of the first end point position1The longitudinal coordinate Y of the position of the transverse front linefAnd the above-mentioned minimum turning radius RminThe difference is used as the ordinate Y of the first end point position1I.e. X1＝X0+Q1，Y1＝Yf-Rmin。
In practical applications, the first preset distance may be preset based on a lateral adjustment requirement of the target vehicle, and in an alternative embodiment, the first preset distance may be set to be 7 m.
S503, based on the tracking control algorithm, controls the target vehicle to move forward from the initial position to the first end position.
In some embodiments, as shown in fig. 6, the controlling the target vehicle to advance from the initial position to the first end position based on the tracking control algorithm may include:
s601, the initial position is set as a first starting point position.
S603, determining the position of a first track point based on the tracking control algorithm and the position of the first starting point.
Specifically, a first intersection position of a first target circle and a first reference line is determined based on the first locus, the first intersection position is defined as a first locus point position, the first target circle is a circle generated from a first preset radius with the first locus as a center, and the first reference line is a straight line parallel to the horizontal axis and passing through the first locus.
Specifically, as shown in fig. 7, fig. 7 is a schematic diagram for determining a first intersection position of the first target circle and the first reference line according to an embodiment of the present application. In practical applications, the first preset radius may be preset based on the calculation accuracy of the tracking control algorithm and the traveling speed of the target vehicle, and in an alternative embodiment, the first preset radius may be set to be 1 m.
S605, calculating a first front wheel steering angle required for the target vehicle to move from the initial position to the first track point position.
Specifically, the first front wheel turning angle δ1Can be represented by formula
Figure BDA0003146172760000081
Calculated, wherein L is the wheelbase of the target vehicle, alpha1Is the included angle between the body posture of the target vehicle and the position of the first track point ld1Is the straight-line distance between the initial position of the target vehicle (i.e., the center point of the rear axle) and the position of the first track point.
S607, the target vehicle is controlled to advance to the first track point position at the first front wheel steering angle.
In some embodiments, adjusting the first heading angle of the target vehicle to satisfy a first heading angle condition during the controlling the target vehicle to advance to the first track point position at the first front wheel steering angle.
Specifically, the first heading angle is an included angle between a centroid speed of the target vehicle and a horizontal axis of the target coordinate system in the process of controlling the target vehicle to advance to the first track point position through the first front wheel steering angle. In practical applications, the first heading angle condition may be preset based on the traveling speed of the target vehicle and the path planning accuracy, and in an alternative embodiment, the first heading angle condition may be set such that the deviation between the direction of the centroid speed of the target vehicle and the direction of the lateral adjustment track is within ± 3 degrees.
And S609, updating the first starting point position based on the first track point position.
S611, based on the updated first starting point position, repeating the step of determining a first track point position to the step of controlling the target vehicle to advance to the first track point position by the first front wheel steering angle based on the tracking control algorithm and the first starting point position, until the current first track point position is the first ending point position.
It can be seen from the above embodiments that, based on the tracking control algorithm, the position of the first track point and the corresponding first front wheel rotation angle can be updated in real time in the process of advancing the target vehicle, so that real-time planning of the transverse adjustment track is realized, and the universality of the automatic parking method is improved.
And S107, controlling the target vehicle to transversely retreat to a second end point position corresponding to the straight line transition track of the target vehicle based on the longitudinal center line position and the minimum turning radius.
Specifically, as shown in fig. 8, fig. 8 is a schematic view of a linear transition trajectory provided in the embodiment of the present application, where the linear transition trajectory may be a second parking trajectory used for adjusting a distance between the target vehicle and the target vertical parking space, and when the target vehicle transversely backs to a second end position based on the linear transition trajectory, the rear axle can be adjusted to be parallel to a longitudinal centerline of the target vertical parking space, and the rear axle and the longitudinal centerline can keep a minimum turning radius, so that a subsequent target vehicle can turn to reverse and approach the target vertical parking space.
In a specific embodiment, as shown in fig. 9, the controlling the target vehicle to laterally retreat to the second end point position corresponding to the straight transition trajectory of the target vehicle based on the longitudinal center line position and the minimum turning radius may include:
s901, the sum of the abscissa of the position of the longitudinal center line and the minimum turning radius is taken as the abscissa of the second end point position.
In particular, the abscissa X of the second end position2＝Xc+Rmin。
S903, sets the ordinate of the first end point position as the ordinate of the second end point position.
In particular, the ordinate Y of the second end position2＝Y1。
S905, controlling the target vehicle to laterally retreat from the first end point position to the second end point position.
Specifically, the heading angle of the target vehicle may be adjusted to 0 degree, and the target vehicle may be controlled to transversely retreat from the first end position to the second end position at the heading angle of 0 degree.
It can be seen from the above embodiments that, by planning the above straight line transition trajectory, the target vehicle can adjust the distance from the target vertical parking space, so as to subsequently turn to reverse and approach the target vertical parking space.
And S109, controlling the target vehicle to retreat to a third end point position corresponding to the arc transition track of the target vehicle at the maximum steering wheel angle based on the longitudinal center line position and the transverse front line position.
Specifically, as shown in fig. 10, fig. 10 is a schematic view of an arc transition trajectory provided in the embodiment of the present application, where the arc transition trajectory may be a third parking trajectory used for adjusting a body posture of the target vehicle, and when the target vehicle moves back to a third end position based on the arc transition trajectory, it is possible to adjust that a center point of a rear axle is located on a longitudinal center line of the target vertical parking space and keep a second preset distance between the center point of the rear axle and a lateral front line of the target vertical parking space.
In practical applications, the second predetermined distance Q is set2The preset may be made for the maximum steering wheel angle and the minimum turning radius based on the target vehicle, and in an alternative embodiment, the second preset distance may be set to 0.5 m.
In a specific embodiment, as shown in fig. 11, the controlling the target vehicle to retreat at the maximum steering wheel angle to the third end position corresponding to the arc transition trajectory of the target vehicle based on the longitudinal center line position and the lateral front line position may include:
s1101, the abscissa of the position of the vertical center line is taken as the abscissa of the third end point position.
Specifically, the abscissa X of the third end point position3＝Xc。
S1103, a vertical coordinate different from the vertical coordinate of the horizontal front edge position by a second predetermined distance is set as the vertical coordinate of the third end point position.
In particular, it can be based on the formula | Y3-Yb|＝Q2Determining the ordinate, i.e. Y, of the third end position3＝Yb±Q2。
S1105 controls the target vehicle to move backward to the third end position at the maximum steering angle.
In particular, the maximum steering wheel angle βmaxCan be represented by the formula
Figure BDA0003146172760000101
Calculating to obtain L, wherein L is the wheelbase; i is the steering wheel gear ratio.
In practical applications, the steering wheel transmission ratio is used to characterize the correspondence between the steering wheel angle and the turning radius of the vehicle. Generally, the steering wheel transmission ratio can be calibrated by a transmission ratio calibration method, and optionally, the transmission ratio calibration method can include, but is not limited to, a regular triangle-like calibration method and a semi-circle calibration method.
According to the embodiment, through the planning of the arc transition track, the target vehicle can approach and adjust the transverse front side line of the target vertical parking space based on the arc transition track, so that the subsequent backing and warehousing can be facilitated.
And S111, controlling the target vehicle to retreat to a parking point position corresponding to the longitudinal warehousing track of the target vehicle based on the transverse rear edge position and the tracking control algorithm.
Specifically, as shown in fig. 12, fig. 12 is a schematic view of a longitudinal parking trajectory provided in this embodiment of the present application, where the longitudinal parking trajectory may be a fourth parking trajectory for backing up a target vehicle, and when the target vehicle moves back to a parking spot position based on the longitudinal parking trajectory, it is possible to adjust a rear axle to be parallel to a transverse rear line of a target vertical parking spot and keep the rear axle and the transverse rear line at a third preset distance, so that the target vehicle reaches the parking spot, and a parking instruction is completed.
Specifically, the third predetermined distance Q3That is, the distance from the rear axle of the target vehicle to the transverse rear line of the target vertical parking space, in practical application, the third preset distance may be preset based on the longitudinal sideline length of the target vehicle and the parking habit of the driver, and in an alternative embodiment, the third preset distance may be set to be 1 m.
In a specific embodiment, as shown in fig. 13, the controlling the target vehicle to retreat to the parking point position corresponding to the longitudinal warehousing trajectory of the target vehicle based on the lateral rear edge position and the tracking control algorithm may include:
and S1301, determining the position of the parking point based on the position of the transverse rear edge.
In the embodiment of the present specification, the abscissa X of the third end point position may be set3Abscissa X as parking position4The longitudinal coordinate Y of the transverse rear edge line of the target vertical parking space is usedbAt a third predetermined distance Q3The difference is used as the ordinate Y of the parking position4I.e. X3＝X4，Yb-Q3＝Y4。
S1303, based on the tracking control algorithm, controlling the target vehicle to move backward from the third end point position to the stop point position.
In some embodiments, as shown in fig. 14, the controlling the target vehicle to retreat from the third end position to the parking position based on the tracking control algorithm may include:
s1401 sets the third end point position as a second start point position.
S1403, a second track point position is determined based on the tracking control algorithm and the second start point position.
Specifically, a second intersection position of a second target circle, which is a circle generated from a second predetermined radius around the second start point position as a center, and a second reference line, which is a straight line parallel to the longitudinal axis and passing through the third end point position, is determined based on the second start point position, and the second intersection position is set as a second locus point position.
S1405, calculating a second front wheel steering angle required for the target vehicle to travel from the second start point position to the second track point position.
S1407, controlling the target vehicle to move backward to the second track point position at the second front wheel steering angle.
In some embodiments, in the controlling the target vehicle to move back to the second track point position at the second front wheel steering angle, the second heading angle of the target vehicle is adjusted to meet a second heading angle condition.
Specifically, the second heading angle is an included angle between a centroid speed of the target vehicle and a horizontal axis of the target coordinate system in the process of controlling the target vehicle to retreat to the second track point position through the second front wheel steering angle. In practical application, the second heading angle condition may be preset based on the reversing speed and the path planning accuracy of the target vehicle, and in an optional embodiment, the second heading angle condition may be set such that the deviation between the direction of the centroid speed of the target vehicle and the direction of the longitudinal warehousing trajectory is within ± 3 degrees.
S1409, updating the second starting position based on the second track point position.
S1411, based on the updated second starting point, repeating the steps of determining a second track point position to control the target vehicle to move back to the second track point position at the second front wheel steering angle based on the tracking control algorithm and the second starting point until the current second track point position is the stop point position.
Specifically, the specific steps in S1401 to S1411 are similar to the steps of repeating the steps based on the tracking control algorithm and the first starting point position, determining the first track point position, and controlling the target vehicle to advance to the first track point position at the first front wheel corner based on the updated first starting point position from "taking the initial position as the first starting point position" to "based on the updated first starting point position in S601 to S611, until the current first track point position is the first ending point position", and the specific steps may refer to the relevant descriptions in S601 to S611, which is not described herein again.
The embodiment shows that the position of the second track point and the corresponding second front wheel corner can be updated in real time in the process of backing and warehousing the target vehicle based on the tracking control algorithm, so that the real-time planning of the longitudinal warehousing track is realized, and the universality of the automatic parking method is improved.
According to the technical scheme provided by the embodiment of the application, through planning of the transverse adjustment track, the longitudinal warehousing track and the two sections of adjustment tracks, on one hand, the initial position and the course of the target vehicle do not need to be restrained, the parking requirements of the target vehicle relative to the target vertical parking space at different initial positions and different orientations can be met, the universality of the vertical parking space parking method is improved, on the other hand, the track point position in the path planning and the corresponding front wheel corner of the target vehicle can be updated in real time based on a tracking control algorithm, and the real-time performance and the accuracy of the path planning are improved.
The embodiment of the present application provides a vertical parking space parking device, as shown in fig. 15, the device may include:
a parking map generation module 1510 configured to generate a parking map of the target vehicle based on the target coordinate system in response to a parking instruction based on the target vertical parking space;
a position obtaining module 1520, configured to obtain an initial position of the target vehicle and a position of the target vertical parking space based on the parking map, where the position of the target vertical parking space includes a longitudinal center line position, a transverse front line position, and a transverse rear line position of the target vertical parking space;
a lateral adjustment trajectory module 1530 for controlling the target vehicle to advance from the initial position to a first end position corresponding to the lateral adjustment trajectory of the target vehicle based on the minimum turning radius of the target vehicle and a tracking control algorithm;
a straight transition trajectory module 1540, configured to control the target vehicle to transversely retreat to a second end point position corresponding to the straight transition trajectory of the target vehicle based on the longitudinal center line position and the minimum turning radius;
an arc transition trajectory module 1550 for controlling the target vehicle to retreat at a maximum steering wheel angle to a third end position corresponding to an arc transition trajectory of the target vehicle based on the longitudinal center line position and the lateral front line position;
and a longitudinal warehousing trajectory module 1560, configured to control the target vehicle to move backward to a parking point position corresponding to the longitudinal warehousing trajectory of the target vehicle based on the transverse rear edge position and the tracking control algorithm.
In an embodiment of the present specification, the apparatus may further include:
the parking space searching module is used for responding to an automatic parking function starting instruction and controlling an automatic parking system of the target vehicle to search the parking space;
the parking place selection interface display module is used for displaying a parking place selection interface generated based on the vertical empty parking place when the vertical empty parking place is searched;
and the target vertical parking space determining module is used for responding to a parking space selection instruction triggered based on the parking space selection interface and determining the target vertical parking space in the vertical empty parking spaces.
In a specific embodiment, the transverse adjustment track module 1530 may include:
a first end point position determination unit configured to determine the first end point position based on the lateral front edge position, the initial position, and the minimum turning radius;
and a forward unit configured to control the target vehicle to advance from the initial position to the first end position based on the tracking control algorithm.
In some embodiments, the advancing unit may include:
a first start point position determining unit configured to set the initial position as a first start point position;
a first track point position determination unit for determining a first track point position based on the tracking control algorithm and the first starting point position;
a first front wheel steering angle calculation unit configured to calculate a first front wheel steering angle required for the target vehicle to travel from the initial position to the first track point position;
a forward control unit for controlling the target vehicle to advance to the first track point position at the first front wheel steering angle;
a first start point position updating unit for updating the first start point position based on the first track point position;
and a first step repeating unit, configured to repeat, based on the updated first endpoint position, the step of determining a first track point position to control the target vehicle to advance to the first track point position at the first front wheel steering angle based on the tracking control algorithm and the first endpoint position until the current first track point position is the first endpoint position.
In a specific embodiment, the straight transition trajectory module 1540 may include:
a second end point position abscissa determining unit configured to set a sum of an abscissa of the position of the longitudinal center line and the minimum turning radius as an abscissa of the second end point position;
a second end position vertical coordinate determination unit configured to set a vertical coordinate of the first end position as a vertical coordinate of the second end position;
and a lateral reverse control unit configured to control the target vehicle to reverse laterally from the first end position to the second end position.
In a specific embodiment, the arc transition trajectory module 1550 may include:
a third end point position abscissa determination unit configured to take an abscissa of the position of the longitudinal center line as an abscissa of the third end point position;
a third end position ordinate determining unit configured to set, as an ordinate of the third end position, an ordinate that differs by a second preset distance from an ordinate of the lateral front edge position;
and a steering angle reverse control unit configured to control the target vehicle to reverse to the third end position at the maximum steering wheel angle.
In a specific embodiment, the vertical warehousing trajectory module 1560 may include:
a parking position determining unit for determining the position of the parking position based on the position of the lateral rear edge;
and a reverse unit configured to control the target vehicle to reverse from the third end point position to the parking point position based on the tracking control algorithm.
In some embodiments, the fallback unit may include:
a second start point position determination unit configured to set the third end point position as a second start point position;
a second track point position determination unit configured to determine a second track point position based on the tracking control algorithm and the second start point position;
a second front wheel steering angle calculation unit configured to calculate a second front wheel steering angle required for the target vehicle to retreat from the second start point position to the second track point position based on the tracking control algorithm;
a backward control unit configured to control the target vehicle to backward travel to the second track point position at the second front wheel steering angle;
a second start position updating unit configured to update the second start position based on the second track point position;
and a second step repeating unit, configured to repeat, based on the updated second starting point position, the step of determining a second track point position to control the target vehicle to move back to the second track point position at the second front wheel steering angle based on the tracking control algorithm and the second starting point position until the current second track point position is the stop point position.
The device and method embodiments in the device embodiment described above are based on the same inventive concept.
The embodiment of the application provides a vertical parking space parking device, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the vertical parking space parking method provided by the embodiment of the method.
The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to the use of the above-described apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.
The method provided by the embodiment of the application can be executed in a vehicle-mounted terminal or a similar operation device, that is, the computer device can comprise the vehicle-mounted terminal or the similar operation device.
The present invention further provides a storage medium, where the storage medium may be disposed in a server to store at least one instruction or at least one program for implementing the method for parking a vertical parking space in the embodiment of the method, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the method for parking a vertical parking space in the embodiment of the method.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
According to the embodiment of the vertical parking space parking method, the device, the equipment or the storage medium, the technical scheme provided by the application is utilized, and the planning of the transverse adjusting track, the longitudinal warehousing track and the two sections of adjusting tracks is realized, so that on one hand, the initial position and the course of the target vehicle do not need to be restricted, the parking requirements of the target vehicle at different initial positions and different orientations relative to the target vertical parking space can be met, the universality of the vertical parking space parking method is improved, on the other hand, the track point position in the path planning and the corresponding front wheel corner of the target vehicle can be updated in real time based on a tracking control algorithm, and the real-time performance and the accuracy of the path planning are improved.
It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus, device and storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program to instruct relevant hardware to implement the above program, and the above program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (13)

1. A method for vertical parking space parking, comprising:
generating a parking map of the target vehicle based on the target coordinate system in response to a parking instruction based on the target vertical parking space;
acquiring an initial position of the target vehicle and a position of the target vertical parking space based on the parking map, wherein the position of the target vertical parking space comprises a longitudinal center line position, a transverse front line position and a transverse rear line position of the target vertical parking space;
controlling the target vehicle to advance from the initial position to a first end position corresponding to a transverse adjustment track of the target vehicle based on the minimum turning radius of the target vehicle and a tracking control algorithm;
controlling the target vehicle to transversely retreat to a second end point position corresponding to a straight line transition track of the target vehicle based on the longitudinal center line position and the minimum turning radius;
controlling the target vehicle to retreat to a third end position corresponding to an arc transition trajectory of the target vehicle at a maximum steering wheel angle based on the longitudinal center line position and the lateral front line position;
and controlling the target vehicle to retreat to a parking point position corresponding to a longitudinal warehousing track of the target vehicle based on the transverse rear edge position and the tracking control algorithm.
2. The method of claim 1, wherein the controlling the target vehicle to advance from the initial position to a first end position corresponding to a lateral adjustment trajectory of the target vehicle based on a minimum turning radius of the target vehicle and a tracking control algorithm comprises:
determining the first end position based on the lateral leading edge position, the initial position, and the minimum turning radius;
controlling the target vehicle to advance from the initial position to the first end position based on the tracking control algorithm.
3. The method of claim 2, wherein the determining the first end position based on the lateral leading edge position, the initial position, and the minimum turn radius comprises:
taking the sum of the abscissa of the initial position and a first preset distance as the abscissa of the first end position;
taking the difference between the ordinate of the lateral front edge position and the minimum turning radius as the ordinate of the first end point position.
4. The method of claim 2, wherein the controlling the target vehicle to advance from the initial position to the first end position based on the tracking control algorithm comprises:
taking the initial position as a first starting point position;
determining a first trajectory point location based on the tracking control algorithm and the first starting point location;
calculating a first front wheel rotation angle required for the target vehicle to advance from the initial position to the first track point position;
controlling the target vehicle to advance to the first track point location at the first front wheel steering angle;
updating the first starting point location based on the first track point location;
and repeating the step of determining a first track point position to control the target vehicle to advance to the first track point position at the first front wheel rotation angle based on the updated first starting point position and the tracking control algorithm until the current first track point position is the first end point position.
5. The method of claim 1, wherein the controlling the target vehicle to laterally retreat to a second end position corresponding to a straight transition trajectory of the target vehicle based on the longitudinal centerline position and the minimum turning radius comprises:
taking the sum of the abscissa of the longitudinal centerline position and the minimum turning radius as the abscissa of the second end point position;
taking the ordinate of the first end point position as the ordinate of the second end point position;
controlling the target vehicle to retreat laterally from the first end position to the second end position.
6. The method of claim 1, wherein the controlling the target vehicle to back up to a third end position corresponding to the target vehicle's arc transition trajectory at a maximum steering wheel angle based on the longitudinal centerline position and the lateral front centerline position comprises:
taking the abscissa of the position of the longitudinal center line as the abscissa of the third end point position;
taking a vertical coordinate which is different from the vertical coordinate of the transverse front edge position by a second preset distance as a vertical coordinate of the third end point position;
controlling the target vehicle to retreat from the second end position to the third end position at the maximum steering wheel angle.
7. The method of claim 1, wherein the controlling the target vehicle to back to a parking point position corresponding to a longitudinal garage trajectory of the target vehicle based on the lateral rear edge position and the tracking control algorithm comprises:
determining the parking spot location based on the lateral rear edge position;
controlling the target vehicle to retreat from the third end position to the parking point position based on the tracking control algorithm.
8. The method of claim 7, wherein the determining the parking spot position based on the lateral rear edge position comprises:
taking the abscissa of the third end point position as the abscissa of the parking point position;
and taking the difference between the vertical coordinate of the transverse rear edge line of the target vertical parking space and a third preset distance as the vertical coordinate of the parking position.
9. The method of claim 7, wherein the controlling the target vehicle to back from the third end position to the stop position based on the tracking control algorithm comprises:
taking the third end position as a second start position;
determining a second track point location based on the tracking control algorithm and the second start location;
calculating a second front wheel rotation angle required for the target vehicle to retreat from the second starting point position to the second track point position;
controlling the target vehicle to retreat to the second track point position at the second front wheel steering angle;
updating the second start position based on the second track point position;
and repeating the step of determining a second track point position to control the target vehicle to retreat to the second track point position at the second front wheel steering angle based on the updated second starting point position and the tracking control algorithm until the current second track point position is the parking point position.
10. The method of any one of claims 1 to 9, wherein prior to said generating a parking map of the target vehicle based on the target coordinate system in response to the target vertical slot-based parking instruction, the method further comprises:
responding to an automatic parking function starting instruction, and controlling an automatic parking system of the target vehicle to search for a parking space;
when a vertical empty parking space is searched, displaying a parking space selection interface generated based on the vertical empty parking space;
and responding to a parking place selection instruction triggered based on the parking place selection interface, and determining the target vertical parking place in the vertical empty parking places.
11. A vertical-slot parking apparatus, comprising:
the parking map generation module is used for responding to a parking instruction based on a target vertical parking space and generating a parking map of a target vehicle based on a target coordinate system;
the position acquisition module is used for acquiring the initial position of the target vehicle and the position of the target vertical parking space on the basis of the parking map, wherein the position of the target vertical parking space comprises the longitudinal center line position, the transverse front line position and the transverse rear line position of the target vertical parking space;
the transverse adjustment track module is used for controlling the target vehicle to advance from the initial position to a first end position corresponding to the transverse adjustment track of the target vehicle on the basis of the minimum turning radius of the target vehicle and a tracking control algorithm;
a linear transition trajectory module for controlling the target vehicle to transversely back to a second end point position corresponding to the linear transition trajectory of the target vehicle based on the longitudinal centerline position and the minimum turning radius;
an arc transition trajectory module for controlling the target vehicle to retreat to a third end position corresponding to an arc transition trajectory of the target vehicle at a maximum steering wheel angle based on the longitudinal center line position and the lateral front line position;
and the longitudinal warehousing track module is used for controlling the target vehicle to retreat to a parking point position corresponding to the longitudinal warehousing track of the target vehicle based on the transverse rear edge position and the tracking control algorithm.
12. An apparatus for vertical parking, comprising a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the method for vertical parking according to any one of claims 1 to 10.
13. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded by a processor and executed to implement the method for vertical parking according to any one of claims 1 to 10.
CN202110755248.9A 2021-07-02 2021-07-02 Vertical parking space parking method, device, equipment and storage medium Pending CN113428135A (en)

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Application publication date: 20210924