CN113561965B - Vehicle control method, vehicle, and computer-readable storage medium - Google Patents
Vehicle control method, vehicle, and computer-readable storage medium Download PDFInfo
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- CN113561965B CN113561965B CN202110905480.6A CN202110905480A CN113561965B CN 113561965 B CN113561965 B CN 113561965B CN 202110905480 A CN202110905480 A CN 202110905480A CN 113561965 B CN113561965 B CN 113561965B
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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 invention discloses a vehicle control method, a vehicle and a computer readable storage medium, wherein the method comprises the following steps: acquiring vehicle position information in real time, and searching parking space information in a preset range around the vehicle according to the vehicle position information; processing according to the parking space information and the vehicle position information to obtain a vehicle parking path; carrying out parking operation according to the vehicle parking path until the parking is completed, and recording the actual running path of the vehicle; and generating a vehicle parking direction and a relative position between the parked vehicle and a parking space according to the actual driving path. The invention improves the experience of the driver in the parking process.
Description
Technical Field
The present invention relates to the field of vehicle parking, and more particularly, to a vehicle control method, a vehicle, and a computer-readable storage medium.
Background
When the automatic parking system of the existing vehicle automatically performs parking in the parking process, two steps are required to be completed, wherein the first step is to confirm the parking direction for a driver; and secondly, planning a reasonable parking path through the current vehicle position and the obstacle information and controlling the vehicle to finish parking. The automatic parking function is generally required to be used by a driver to select the parking direction automatically at the present stage, and the system cannot automatically identify the parking direction expected by the driver, so that the trouble in the parking process is easy to occur;
disclosure of Invention
The invention mainly aims to provide a vehicle control method, a vehicle and a computer readable storage medium, and aims to solve the problem that the existing automatic parking system cannot automatically identify the expected parking direction of a driver.
In order to achieve the above object, the present invention provides a vehicle control method comprising the steps of:
acquiring vehicle position information in real time, and searching parking space information in a preset range around the vehicle according to the vehicle position information;
processing according to the parking space information and the vehicle position information to obtain a vehicle parking path;
carrying out parking operation according to the vehicle parking path until the parking is completed, and recording the actual running path of the vehicle;
and generating a vehicle parking direction and a relative position between the parked vehicle and a parking space according to the actual driving path.
Optionally, the step of recording the actual running path of the vehicle includes:
running at a preset speed according to the parking path, and acquiring surrounding environment information in real time;
according to the surrounding environment information, the parking path is adjusted until parking is completed;
and storing the adjusted parking path as an actual driving path.
Optionally, the step of storing the adjusted parking path as an actual travel path includes:
and storing the actual driving path in the parking process every preset distance, and updating the actual driving path in the previous preset distance into the actual driving path in the next preset distance.
Optionally, the step of generating the vehicle parking direction and the relative position of the parked vehicle and the parking space according to the actual running path includes:
recording the relative positions of the rear axle of the vehicle and the parking space after the parking is completed;
establishing a plurality of coordinate axes by taking the center of a rear axle of the vehicle as an endpoint, and generating a coordinate system with a plurality of areas, wherein an area is arranged between adjacent coordinate axes;
and predicting the vehicle parking direction and the relative position between the parked vehicle and the parking space according to the area where the actual driving path passes.
Optionally, the step of establishing a plurality of coordinate axes with the center of the rear axle of the vehicle as an endpoint, and generating a coordinate system with a plurality of areas, wherein an area is between adjacent coordinate axes comprises the following steps:
taking the center of a rear axle of the vehicle as a coordinate origin, taking the direction of the rear axle as a coordinate transverse axis and the direction vertical to the rear axle as a coordinate vertical axis, and generating a coordinate system with a plurality of areas;
in the coordinate system, defining a direction parallel to the ground and pointing to the front of the vehicle as a positive direction of a coordinate vertical axis, wherein an axis extending from the coordinate origin according to the positive direction of the coordinate vertical axis is a positive half axis of the coordinate vertical axis, and an axis extending from the coordinate origin according to the positive direction of the coordinate vertical axis is a negative half axis of the coordinate vertical axis;
in the coordinate system, defining the right direction of the driver as a positive direction of a coordinate transverse axis, wherein an axis extending from the coordinate origin according to the positive direction of the coordinate transverse axis is a positive half axis of the coordinate transverse axis, and an axis extending reversely from the coordinate origin according to the positive direction of the coordinate transverse axis is a negative half axis of a coordinate vertical axis;
in the coordinate system, a first quadrant is defined as a region between a positive half axis of the coordinate vertical axis and a positive half axis of the coordinate horizontal axis, a second quadrant is defined as a region between a positive half axis of the coordinate vertical axis and a negative half axis of the coordinate horizontal axis, a third quadrant is defined as a region between a negative half axis of the coordinate vertical axis and a negative half axis of the coordinate horizontal axis, and a fourth quadrant is defined as a region between a negative half axis of the coordinate vertical axis and a positive half axis of the coordinate horizontal axis.
Optionally, the step of predicting the vehicle parking direction and the relative position of the parked vehicle and the parking space according to the area where the actual driving path passes includes:
if the actual running path is positioned in the second quadrant and the third quadrant of the rectangular coordinate system, predicting that the vehicle is parked in the left direction in the parking direction, and parking the vehicle head in the parking position;
if the actual running path is positioned in the first quadrant and the fourth quadrant of the rectangular coordinate system, predicting that the vehicle is parked in the horizontal right direction, and parking the vehicle head in the parking position;
if the actual running path is positioned in the first quadrant and the second quadrant of the rectangular coordinate system, predicting that the vehicle is parked in the vertical forward direction, and parking the vehicle head in the parking position;
if the actual running path is positioned in the third quadrant and the fourth quadrant of the rectangular coordinate system, the vehicle parking direction is predicted to be vertically backward parked, and the parking position is the vehicle tail parking space.
Optionally, the parking space information includes first picture information of a space position and an obstacle, and the step of processing to obtain a vehicle parking path according to the parking space information and the vehicle position information includes:
according to the positions of the parking spaces in a preset range around the vehicle, sequencing the parking spaces from near to far according to the distance from the vehicle, and generating a parking space information table;
judging whether barriers exist in each parking space or not according to the sequence of the parking spaces from the vehicle to the vehicle in the parking space information table;
if yes, generating the moving speed of the obstacle according to the first picture information;
determining a parking space according to the space information table, the first picture information of the obstacle and the moving speed of the obstacle;
and processing according to the parking space and the vehicle position information to obtain a vehicle parking path.
Optionally, the step of determining the parking space according to the parking space information table, the first picture information of the obstacle and the moving speed of the obstacle includes:
selecting a first parking space as a parking space to be selected according to the sequence in the bit information table;
judging whether the moving speed of the obstacle of the parking space to be selected is 0 or not;
if not, judging the moving direction of the obstacle according to the first picture information of the obstacle;
if the moving direction of the obstacle is out of the parking space, acquiring second picture information of the obstacle at intervals of preset time length until the obstacle leaves the parking space, and determining the parking space as a parking space;
if the moving direction of the obstacle is the moving parking space, selecting the next parking space as the parking space to be selected according to the sequence in the bit information table, and returning to the execution step: judging whether the moving speed of the obstacle of the parking space to be selected is 0 or not;
if yes, judging whether the shape of the obstacle area is smaller than the shape of the preset obstacle area according to the first picture information of the obstacle;
if the volume shape of the obstacle is smaller than the preset volume shape of the obstacle, determining that the vehicle is a parking space;
if the volume shape of the obstacle is larger than or equal to the preset volume shape of the obstacle, selecting the next parking space as the parking space to be selected according to the sequence in the position information table, and returning to the execution step: and judging whether the moving speed of the obstacle of the parking space to be selected is 0.
To achieve the above object, the present invention also provides a vehicle including a memory, a processor, and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the vehicle control method as described above.
To achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle control method as described above.
According to the vehicle control method, the vehicle and the computer readable storage medium, the vehicle position information is acquired in real time, parking space information in a preset range around the vehicle is searched according to the vehicle position information, so that the collection of all the space information around the vehicle is realized, and the space information can be picture information acquired based on radar or satellite-based positioning or can be real-time images shot by the surrounding parking space shooting device obtained according to networking; the vehicle parking path is obtained through processing according to the parking space information and the vehicle position, so that planning of the parking path is realized, and the vehicle can automatically park according to the planned parking path; recording an actual running path of the vehicle by carrying out a parking operation according to the vehicle parking path until the parking is completed, and recording the actual running path of the vehicle, wherein the actual running path of the vehicle is changed due to an external factor when the vehicle is parked, and the external factor can be pedestrians, vehicles or other obstacles on the original parking path; the vehicle parking direction and the relative position between the vehicle and the parking space are generated according to the actual driving path, so that the operation of using the parking function by a driver is simplified, the driver does not need to manually select the parking direction and the position after parking, the experience of the user is improved, and meanwhile, the safety in the parking process is improved and the scratch to other vehicles or obstacles is avoided through the selection based on the automatic parking direction and the position.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flow chart of a first embodiment of a vehicle control method according to the present invention;
FIG. 3 is a flow chart of a second embodiment of a vehicle control method according to the present invention;
FIG. 4 is a flow chart of a third embodiment of a vehicle control method according to the present invention;
FIG. 5 is a detailed flowchart of step S42 in a third embodiment of the vehicle control method according to the present invention;
FIG. 6 is a flow chart of a fourth embodiment of a vehicle control method according to the present invention;
FIG. 7 is a flowchart of a fifth embodiment of a vehicle control method according to the present invention;
fig. 8 is a schematic diagram of a refinement flow of step S24 in a fifth embodiment of the vehicle control method according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic diagram of a hardware structure of a vehicle according to various embodiments of the present invention. The vehicle comprises a communication module 01, a memory 02, a processor 03 and the like. Those skilled in the art will appreciate that the vehicle illustrated in FIG. 1 may also include more or fewer components than shown, or may combine certain components, or a different arrangement of components. The processor 03 is connected to the memory 02 and the communication module 01, respectively, and a computer program is stored in the memory 02 and executed by the processor 03 at the same time.
The communication module 01 is connectable to an external device via a network. The communication module 01 can receive data sent by external equipment, and can also send data, instructions and information to the external equipment, wherein the external equipment can be electronic equipment such as a mobile phone, a tablet personal computer, a notebook computer, a desktop computer and the like.
The memory 02 is used for storing software programs and various data. The memory 02 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data or information created according to the use of the vehicle, or the like. In addition, memory 02 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.
The processor 03, which is a control center of the vehicle, connects various parts of the entire vehicle using various interfaces and lines, performs various functions of the vehicle and processes data by running or executing software programs and/or modules stored in the memory 02, and calling data stored in the memory 02, thereby performing overall monitoring of the vehicle. The processor 03 may include one or more processing units; preferably, the processor 03 may integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, a user interface, an application program, etc., and the modem processor mainly processes wireless communication. It will be appreciated that the modem processor described above may not be integrated into the processor 03.
Although not shown in fig. 1, the vehicle may further include a circuit control module, where the circuit control module is used to connect with a mains supply, to implement power control, and ensure normal operation of other components.
Those skilled in the art will appreciate that the vehicle structure shown in FIG. 1 is not limiting of the vehicle and may include more or fewer components than shown, or may combine certain components, or a different arrangement of components.
According to the above hardware structure, various embodiments of the method of the present invention are presented.
Referring to fig. 2, in a first embodiment of the vehicle control method of the invention, the vehicle control method includes the steps of:
step S10, acquiring vehicle position information in real time, and searching parking space information in a preset range around a vehicle according to the vehicle position information;
in this embodiment, the parking command may be sent through a mobile terminal, such as a mobile phone, a tablet pc, a vehicle-mounted device, or the like, or the parking function may be manually started by a driver to perform parking, and the vehicle position information may be acquired according to the vehicle positioning, where the preset range is 100m, 200m, 300m, or 500m, and a person skilled in the art may set the preset range for searching according to the parking range by himself, so as to implement parking of the vehicle; the parking space information includes: parking space position information, parking space real-time images, parking space obstacle information and the like.
Step S20, processing to obtain a vehicle parking path according to the parking space information and the vehicle position information;
in the embodiment, according to the position of the parking space and the position of the vehicle, an optimal parking path from the vehicle to the parking space is obtained through a built-in map of the vehicle; in addition, the vehicle parking path can be drawn together according to the data of the speed, steering wheel angle, wheel speed pulse, IMU (Inertial Measurement Unit inertial measurement unit) and the like of the preset path of the vehicle in the driving process, wherein the preset path can be the latest 10 meters, 15 meters, 20 meters or 25 meters in the vehicle driving record, and the preset path can be set by a person skilled in the art according to actual needs so as to achieve the acquisition of the vehicle parking path. The vehicle parking path is obtained through common drawing according to data such as speed, steering wheel rotation angle, wheel speed pulse, IMU (Inertial Measurement Unit inertial measurement unit) and the like of a preset path of the vehicle in the driving process, so that the vehicle parking path is obtained more accurately.
Step S30, carrying out parking operation according to the vehicle parking path until the parking is completed, and recording the actual running path of the vehicle;
in this embodiment, the actual running path is a path that the vehicle actually runs when running according to the parking path, because the vehicle changes the parking path due to external factors, the external factors may be pedestrians, vehicles, or other obstacles encountered during the actual running according to the parking path.
Step S40, generating a vehicle parking direction and a relative position between the parked vehicle and a parking space according to the actual driving path;
in this embodiment, the vehicle parking direction specifically includes: the vehicle is horizontally parked out leftwards and horizontally parked out rightwards on a horizontal parking space, and is vertically parked out forwards and vertically parked out backwards on a vertical parking space; the relative positions of the parking spaces after being parked out specifically comprise: the vehicle is parked out of the parking space on the horizontal parking space, the vehicle body and the parking space form 45 degrees, and the vehicle is parked out of the parking space on the vertical parking space.
According to the invention, by acquiring the vehicle position information in real time and searching the parking space information in the preset range around the vehicle according to the vehicle position information, the collection of all the space information around the vehicle is realized, and the space information can be the picture information acquired based on radar or satellite positioning or can be the real-time image shot by the surrounding parking space camera device acquired according to networking; the vehicle parking path is obtained through processing according to the parking space information and the vehicle position, so that planning of the parking path is realized, and the vehicle can automatically park according to the planned parking path; recording an actual running path of the vehicle by carrying out a parking operation according to the vehicle parking path until the parking is completed, and recording the actual running path of the vehicle, wherein the actual running path of the vehicle is changed due to an external factor when the vehicle is parked, and the external factor can be pedestrians, vehicles or other obstacles on the original parking path; the vehicle parking direction and the relative position between the vehicle and the parking space are generated according to the actual driving path, so that the operation of using the parking function by a driver is simplified, the driver does not need to manually select the parking direction and the position after parking, the experience of the user is improved, and meanwhile, the safety in the parking process is improved and the scratch to other vehicles or obstacles is avoided through the selection based on the automatic parking direction and the position.
Further, referring to fig. 3, in the vehicle control method according to the present invention proposed based on the first embodiment of the present invention, the present invention proposes a second embodiment, and the step S30 includes:
step S31, driving at a preset speed according to the parking path, and acquiring surrounding environment information in real time;
in this embodiment, the surrounding environment information may be extracted according to an image obtained during the driving process, the surrounding environment information of the vehicle may be obtained by a radar or a detection sensor, and the surrounding environment information may be obtained by a real-time image captured by an already-networked image capturing device in the driving path, where the surrounding environment information includes pedestrian, vehicle, or other obstacle information encountered during the driving process, and the like; the preset speed can be 15km/h, 20km/h, 25km/h or 30km/h, and the driver can actively adjust the preset speed according to actual conditions so as to ensure the safety in the parking process.
Step S32, according to the surrounding environment information, the parking path is adjusted until parking is completed;
step S33, storing the adjusted parking path as an actual running path;
the step S33 further includes the steps of:
and storing the actual driving path in the parking process every preset distance, and updating the actual driving path in the previous preset distance into the actual driving path in the next preset distance.
When the driving distance of the vehicle reaches 10 meters in the parking process, the actual driving path within the distance of 10 meters is stored, the storage path within the next 10 meters is stored after the distance exceeds 10 meters, and the next 10 meters is updated to be a new actual driving path, wherein the preset distance can be 10 meters, 20 meters, 30 meters or 40 meters, and a person skilled in the art can set different preset distances according to actual needs, so that the vehicle can store and update the actual driving path in real time.
In the embodiment, the information acquisition in the driving path is ensured by driving at a preset speed according to the parking path and acquiring the surrounding environment information in real time, so that the occurrence of safety accidents in the automatic driving process is avoided, and the safety in the parking process is improved by adjusting the parking path until the parking is completed according to the surrounding environment information; by storing the adjusted parking path as the actual traveling path, the recording of the actual traveling path is realized, and the actual traveling path within the preset distance is updated, so that the storage amount and the calculated amount of data in the parking process are reduced, and the parking is simpler and more convenient.
Further, referring to fig. 4, in the vehicle control method according to the present invention according to the first embodiment of the present invention, the present invention proposes a third embodiment, and the step S40 includes:
step S41, recording the relative positions of the rear axle and the parking space of the vehicle after the parking is completed;
step S42, establishing a plurality of coordinate axes by taking the center of a rear axle of the vehicle as an endpoint, and generating a coordinate system with a plurality of areas, wherein an area is arranged between adjacent coordinate axes;
in this embodiment, the number of coordinate axes may be two, that is, a coordinate system having four quadrants may be formed, the number of coordinate axes may be four, that is, a coordinate system having eight quadrants may be formed, and so on, the angle between the adjacent coordinate axes may be 90 degrees, 45 degrees or 22.5 degrees, and a person skilled in the art may set the angles between different numbers of coordinate axes and different sizes of adjacent coordinate axes according to actual needs, so as to realize recording of the actual running path of the vehicle.
Further, referring to fig. 5, the step S42 further includes:
step S421, a coordinate system with a plurality of areas is generated by taking the center of a rear axle of the vehicle as a coordinate origin, taking the direction of the rear axle as a coordinate transverse axis and taking the direction perpendicular to the rear axle as a coordinate vertical axis;
in this embodiment, the plurality of regions is specifically 4 regions, which are respectively a first quadrant, a second quadrant, a third quadrant, and a fourth quadrant.
Step S422, defining a direction parallel to the ground pointing to the front of the vehicle as a positive direction of a coordinate vertical axis in the coordinate system, wherein an axis extending from the origin of coordinates according to the positive direction of the coordinate vertical axis is a positive half axis of the coordinate vertical axis, and an axis extending from the origin of coordinates according to the positive direction of the coordinate vertical axis is a negative half axis of the coordinate vertical axis;
step S423, defining the right direction of the driver as the positive direction of the coordinate transverse axis in the coordinate system, wherein the axis extending from the origin of coordinates according to the positive direction of the coordinate transverse axis is the positive half axis of the coordinate transverse axis, and the axis extending reversely from the origin of coordinates according to the positive direction of the coordinate transverse axis is the negative half axis of the coordinate vertical axis;
in the coordinate system, a first quadrant is defined as a region between the positive half axis of the coordinate vertical axis and the positive half axis of the coordinate horizontal axis, a second quadrant is defined as a region between the positive half axis of the coordinate vertical axis and the negative half axis of the coordinate horizontal axis, a third quadrant is defined as a region between the negative half axis of the coordinate vertical axis and the negative half axis of the coordinate horizontal axis, and a fourth quadrant is defined as a region between the negative half axis of the coordinate vertical axis and the positive half axis of the coordinate horizontal axis in step S424.
In the embodiment, by constructing the vehicle coordinate system relative to the parking space, the actual driving path of the vehicle within the preset distance is recorded, the direction and the position of the vehicle when the vehicle is automatically parked are predicted, the experience of a driver is improved, and the operation steps in the automatic parking process are simplified.
Step S43, predicting the parking direction of the vehicle and the relative position between the parked vehicle and the parking space according to the area where the actual driving path passes;
in the embodiment, the automatic prediction of the automatic parking direction of the vehicle is realized by establishing the vehicle coordinate system, so that the operation of a driver in the parking process is simplified, the experience of the driver is improved, and meanwhile, the safety in the parking process is improved through the automatic prediction of the parking direction, so that the vehicle is automatically parked to a predicted position when being parked.
Further, referring to fig. 6, in the vehicle control method according to the present invention proposed based on the first embodiment of the present invention, the present invention proposes a fourth embodiment, and the step S43 includes:
step S431, if the actual running path is located in the second quadrant and the third quadrant of the rectangular coordinate system, predicting that the vehicle is parked horizontally and leftwards in the parking direction, and the parking position is that the vehicle head is parked out of the parking space;
in this embodiment, when the actual driving route of the vehicle is located in the second quadrant and the third quadrant, the actual driving route may also be located in most of the positions in the second quadrant and the third quadrant, that is, the actual driving route may also be located in the positions in the second quadrant and the third quadrant which exceed the range of 50% of the second quadrant and the third quadrant, and of course, a person skilled in the art may set positions with different sizes, for example, 60%, 70% or 80% or the like, according to the needs, where the parking space is a horizontal parking space, and the left side of the parking space is close to the road, that is, when the vehicle is parked out, only the left side of the parking space can be parked out, and the parking position is a position where the vehicle body is parked out of the horizontal parking space by 45 degrees, so that the vehicle is normally parked out.
Step S432, if the first quadrant and the fourth quadrant of the rectangular coordinate system of the actual driving path position, predicting that the vehicle is parked in the horizontal right direction and the parking position is the parking space of the vehicle head;
in this embodiment, when the actual running path of the vehicle is located in the first quadrant and the fourth quadrant, the actual running path may also be located in most positions of the second quadrant and the third quadrant, that is, the actual running path may also be located in a position of the first quadrant and the fourth quadrant that exceeds 50% of the range of the second quadrant and the third quadrant, and of course, a person skilled in the art may set positions with different sizes, such as 60%, 70% or 80% and the like, according to the needs, where the parking space is a horizontal parking space, and the right of the parking space is close to the road, that is, when the vehicle is parked, only the right of the parking space can be parked out, and the parking position is predicted to be the position where the vehicle body is parked out of the horizontal parking space by 45 degrees, so that the vehicle can be parked normally.
Step S433, if the first quadrant and the second quadrant of the rectangular coordinate system of the actual driving path position, predicting that the vehicle is parked in a vertical forward direction, and the parking position is the parking space of the vehicle head;
in this embodiment, when the actual running path of the vehicle is located in the first quadrant and the second quadrant, the actual running path may also be located in most positions of the first quadrant and the second quadrant, that is, the actual running path may also be located in positions of the second quadrant and the third quadrant exceeding 50% of the range of the second quadrant and the third quadrant, and of course, a person skilled in the art may set positions with different sizes, such as 60%, 70% or 80% or the like, according to the needs, where the parking space is a vertical parking space, and the front of the vehicle is close to the road when the vehicle parks, that is, the vehicle can only park from the front end of the parking space when the vehicle parks, and the parking position is predicted to park the vehicle normally.
In step S434, if the third quadrant and the fourth quadrant of the rectangular coordinate system of the actual driving path position, the vehicle parking direction is predicted to be vertically backward parked, and the parking position is the vehicle tail parking space.
In this embodiment, when the actual running path of the vehicle is located in the third quadrant and the fourth quadrant, the actual running path may also be located in most positions of the third quadrant and the fourth quadrant, that is, the actual running path may also be located in positions of the second quadrant and the third quadrant exceeding 50% of the range of the second quadrant and the third quadrant, and of course, a person skilled in the art may set positions with different sizes, such as 60%, 70% or 80% or the like, according to the needs, where the parking space is a vertical parking space, and the rear of the vehicle approaches the road when parking the vehicle, that is, the rear of the parking space can only be parked when the vehicle is parked, and the parking position is predicted to be the parking space when the vehicle is parked normally.
In another embodiment, the actual running path can be obtained by jointly drawing data such as speed, steering wheel angle, wheel speed pulse, IMU (Inertial Measurement Unit inertial measurement unit) and the like of a preset path of the vehicle in the driving process, namely, the running path is not required to be generated, when the vehicle needs to be parked, the vehicle can automatically record the running path of the preset distance before parking, when the vehicle is parked, the parking path can be automatically planned according to the automatically recorded running path, the automatic planning of the parking path in the parking process of the vehicle is realized, and the use experience of a user is improved.
According to the invention, the direction and the position of the vehicle to be parked are predicted by recording the quadrants distributed by the actual driving path in the actual driving process of the vehicle, so that the automatic selection of the automatic parking direction of the vehicle is realized, the operation of the driver in the parking process is simplified, the experience of the driver is improved, and meanwhile, the safety in the parking process is improved through the automatic prediction of the parking direction, so that the vehicle is automatically parked to the predicted position when parked.
Further, referring to fig. 7, in the vehicle control method according to the present invention proposed based on the first embodiment of the present invention, the present invention proposes a fifth embodiment, and the step S20 includes:
s21, sorting the parking spaces according to the positions of the parking spaces within a preset range around the vehicle from near to far to the vehicle, and generating a parking space information table;
the method comprises the steps of obtaining parking space positions, within 500 meters, of the periphery of a vehicle, calculating the distance between the parking space and the vehicle, sequencing the parking space positions from small to large according to the distance between the parking space and the vehicle, and generating a parking space information table, wherein the preset range is 100m, 200m, 300m or 500m, and a person skilled in the art can set the preset range for searching according to the parking range by himself so as to realize parking of the vehicle.
Step S22, judging whether barriers exist in each parking space in sequence according to the sequence from the near to the far of each parking space from the vehicle in the parking space information table;
in this embodiment, whether an obstacle exists in the parking space can be determined according to the parking space information in step S10, where the obstacle may be a person, an animal, an object, or other vehicles.
Step S23, if yes, obtaining first picture information containing an obstacle, and generating the moving speed of the obstacle according to the first picture information;
in this embodiment, specifically, the first picture information includes real-time pictures of at least two parking spaces, whether the moving speed of the obstacle is 0 can be determined by changing the positions of the obstacle in the pictures, and the person skilled in the art can also calculate the actual moving speed of the obstacle in the pictures by acquiring more than two pictures in a fixed time interval.
Step S24, determining parking spaces according to the parking space information table, the first picture information of the obstacle and the moving speed of the obstacle;
further, referring to fig. 8, the step S24 includes:
step S241, selecting a first parking space as a parking space to be selected according to the sequence in the bit information table;
step S242, judging whether the moving speed of the obstacle of the parking space to be selected is 0; if the moving speed is not 0, executing step S243; if the moving speed is 0, step S246 is performed;
step S243, judging the moving direction of the obstacle according to the first picture information of the obstacle; if the moving direction of the obstacle is moving out of the parking space, executing step S244; if the moving direction of the obstacle is moving into the parking space, executing step S245;
the first picture information comprises real-time pictures of at least two obstacles, the moving direction of the obstacles is judged according to the position change of the obstacles in the real-time pictures, and if the obstacles in the second picture of the two pictures are farther from the parking space than the obstacles in the first picture, the obstacles are judged to be moving out of the parking space.
Step S244, acquiring second picture information of the obstacle at intervals of a preset time period until the obstacle leaves a parking space, and determining the parking space as a parking space;
if the obstacle is moving out of the parking space, acquiring real-time second picture information of the obstacle again according to the preset time length, judging whether the obstacle is still at the position of the parking space according to the second picture information, and determining that the parking space is a parking space until the obstacle leaves the parking space, wherein the preset time length can be 10 seconds, 20 seconds or 30 seconds, and a person skilled in the art can set different preset time lengths according to actual needs so as to determine the parking space.
Step S245, selecting the next parking space as the parking space to be selected according to the sequence in the parking space information table, and returning to execute: step S242;
and judging the moving direction of the obstacle according to the position change of the obstacle in the real-time picture, and judging that the obstacle is moving out of the parking space if the obstacle in the second picture is closer to the parking space than the obstacle in the first picture.
Step S246, judging whether the shape of the obstacle area is smaller than the shape of the preset obstacle area according to the first picture information of the obstacle; if the shape of the object is smaller than the preset obstacle shape, executing step S247; if the shape of the obstacle is greater than or equal to the preset shape of the obstacle, step S245 is executed;
step S247, if the volume shape of the obstacle is smaller than the shape of the preset obstacle, determining that the vehicle is a parking space;
if the moving speed of the obstacle is 0, whether the vehicle can park normally is judged according to the size of the obstacle, the shape of the preset obstacle can be smaller than the chassis of the vehicle in height and smaller than the distance between two wheels of the vehicle in width, for example, a small stone, a brick, a book and the like, and the shape and the volume of the preset obstacle can be determined according to the specification of the vehicle by a person skilled in the art so as to realize normal parking of the vehicle.
Step S248, if the obstacle volume shape is greater than or equal to the preset obstacle volume shape, selecting the next parking space as the parking space to be selected according to the order in the position information table, and returning to step S242.
In this embodiment, if all the parking spaces to be selected cannot be parked in the parking space information table, the preset searching range around the vehicle is enlarged until the parking of the vehicle is completed.
According to the invention, whether the obstacle in the parking space moves or not is judged, and the parking space is determined by moving out or in, so that the situation that the next parking space is searched due to temporary use of other vehicles is avoided, the time of a driver is saved, and meanwhile, the situation that unnecessary oil consumption is increased for the vehicles due to repeated searching of the parking spaces is avoided; through judging the shape and the volume of the obstacle, the increase of the parking time caused by accumulation of sundries in the parking space is avoided, the experience of a driver is improved, and meanwhile, the safety in parking is improved.
Step S25, processing to obtain a vehicle parking path according to the parking space and the vehicle position information;
according to the invention, the positions of the parking spaces in the preset range around the vehicle are obtained, the parking spaces are ordered from near to far from the vehicle, the parking space information table is generated, whether the barriers exist in each parking space or not is judged in sequence according to the sequence in the parking space information table, so that the cyclic judgment and preferential selection of the parking spaces are realized, more parking spaces in the parking process are selected, and the experience of a driver is improved.
The present invention also proposes a computer-readable storage medium on which a computer program is stored. The computer readable storage medium may be the Memory 02 in the vehicle of fig. 1, or may be at least one of ROM (Read-Only Memory)/RAM (Random Access Memory ), magnetic disk, optical disk, etc., and the computer readable storage medium includes a plurality of information for causing the vehicle to perform the method according to the embodiments of the present invention.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (6)
1. A vehicle control method characterized by comprising the steps of:
acquiring vehicle position information in real time, and searching parking space information in a preset range around the vehicle according to the vehicle position information;
processing according to the parking space information and the vehicle position information to obtain a vehicle parking path;
carrying out parking operation according to the vehicle parking path until the parking is completed, and recording the actual running path of the vehicle;
generating a vehicle parking direction and a relative position between the vehicle and a parking space after parking according to the actual running path, wherein the relative position comprises: the vehicle is parked out of the vehicle position on a horizontal vehicle position, the vehicle body of the vehicle forms an angle of 45 degrees with the vehicle position, and the vehicle is parked out of the vehicle position on a vertical vehicle position;
the step of generating the vehicle parking direction and the relative position between the parked vehicle and the parking space according to the actual driving path comprises the following steps:
recording the relative positions of the rear axle of the vehicle and the parking space after the parking is completed;
establishing a plurality of coordinate axes by taking the center of a rear axle of the vehicle as an endpoint, and generating a coordinate system with a plurality of areas, wherein an area is arranged between adjacent coordinate axes;
predicting the vehicle parking direction and the relative position between the parked vehicle and the parking space according to the area where the actual driving path passes;
the step of predicting the vehicle parking direction and the relative position between the parked vehicle and the parking space according to the area where the actual driving path passes through comprises the following steps:
if the actual running path is positioned in the second quadrant and the third quadrant of the rectangular coordinate system, predicting that the vehicle is parked in the left direction in the parking direction, and parking the vehicle head in the parking position;
if the actual running path is positioned in the first quadrant and the fourth quadrant of the rectangular coordinate system, predicting that the vehicle is parked in the horizontal right direction, and parking the vehicle head in the parking position;
if the actual running path is positioned in the first quadrant and the second quadrant of the rectangular coordinate system, predicting that the vehicle is parked in the vertical forward direction, and parking the vehicle head in the parking position;
if the actual running path is positioned in the third quadrant and the fourth quadrant of the rectangular coordinate system, predicting that the vehicle is parked in the vertical backward direction, and parking the vehicle at the parking position is the tail of the vehicle;
the step of establishing a plurality of coordinate axes by taking the center of a rear axle of the vehicle as an endpoint to generate a coordinate system with a plurality of areas, wherein an area is arranged between the adjacent coordinate axes comprises the following steps:
taking the center of a rear axle of the vehicle as a coordinate origin, taking the direction of the rear axle as a coordinate transverse axis and the direction vertical to the rear axle as a coordinate vertical axis, and generating a coordinate system with a plurality of areas;
in the coordinate system, defining a direction parallel to the ground and pointing to the front of the vehicle as a positive direction of a coordinate vertical axis, wherein an axis extending from the coordinate origin according to the positive direction of the coordinate vertical axis is a positive half axis of the coordinate vertical axis, and an axis extending from the coordinate origin according to the positive direction of the coordinate vertical axis is a negative half axis of the coordinate vertical axis;
in the coordinate system, defining the right direction of the driver as a positive direction of a coordinate transverse axis, wherein an axis extending from the coordinate origin according to the positive direction of the coordinate transverse axis is a positive half axis of the coordinate transverse axis, and an axis extending reversely from the coordinate origin according to the positive direction of the coordinate transverse axis is a negative half axis of a coordinate vertical axis;
in the coordinate system, a first quadrant is defined as a region between a positive half axis of the coordinate vertical axis and a positive half axis of the coordinate horizontal axis, a second quadrant is defined as a region between a positive half axis of the coordinate vertical axis and a negative half axis of the coordinate horizontal axis, a third quadrant is defined as a region between a negative half axis of the coordinate vertical axis and a negative half axis of the coordinate horizontal axis, and a fourth quadrant is defined as a region between a negative half axis of the coordinate vertical axis and a positive half axis of the coordinate horizontal axis.
2. The vehicle control method according to claim 1, wherein the step of recording an actual travel path of the vehicle includes:
running at a preset speed according to the parking path, and acquiring surrounding environment information in real time;
according to the surrounding environment information, the parking path is adjusted until parking is completed;
and storing the adjusted parking path as an actual driving path.
3. The vehicle control method according to claim 2, wherein the parking space information includes first picture information of a space position and an obstacle, and the step of processing to obtain a vehicle parking path based on the parking space information and the vehicle position information includes:
according to the positions of the parking spaces in a preset range around the vehicle, sequencing the parking spaces from near to far according to the distance from the vehicle, and generating a parking space information table;
judging whether barriers exist in each parking space or not according to the sequence of the parking spaces from the vehicle to the vehicle in the parking space information table;
if yes, generating the moving speed of the obstacle according to the first picture information;
determining a parking space according to the space information table, the first picture information of the obstacle and the moving speed of the obstacle;
and processing according to the parking space and the vehicle position information to obtain a vehicle parking path.
4. The vehicle control method according to claim 3, wherein the step of determining the parking space based on the space information table, the first picture information of the obstacle, and the moving speed of the obstacle includes:
selecting a first parking space as a parking space to be selected according to the sequence in the parking space information table;
judging whether the moving speed of the obstacle of the parking space to be selected is 0 or not;
if not, judging the moving direction of the obstacle according to the first picture information of the obstacle;
if the moving direction of the obstacle is out of the parking space, acquiring second picture information of the obstacle at intervals of preset time length until the obstacle leaves the parking space, and determining the parking space as a parking space;
if the moving direction of the obstacle is the moving parking space, selecting the next parking space as the parking space to be selected according to the sequence in the bit information table, and returning to the execution step: judging whether the moving speed of the obstacle of the parking space to be selected is 0 or not;
if yes, judging whether the volume of the obstacle is smaller than the preset volume of the obstacle according to the first picture information of the obstacle;
if the obstacle volume is smaller than the preset obstacle volume, determining the parking space as a parking space;
if the obstacle volume is greater than or equal to the preset obstacle volume, selecting the next parking space as the parking space to be selected according to the sequence in the parking space information table, and returning to the execution step: and judging whether the moving speed of the obstacle of the parking space to be selected is 0.
5. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor, implements the steps of the vehicle control method according to any one of claims 1 to 4.
6. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle control method according to any one of claims 1 to 4.
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| CN114506383B (en) * | 2022-02-23 | 2023-06-27 | 奇瑞汽车股份有限公司 | Steering wheel alignment control method, device, terminal, storage medium and product |
| WO2024031453A1 (en) * | 2022-08-10 | 2024-02-15 | 中国科学院深圳先进技术研究院 | Vehicle control method and apparatus, terminal device, and computer-readable storage medium |
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