CN114889587A - Method, device, equipment and medium for determining speed of passenger-replacing parking - Google Patents
Method, device, equipment and medium for determining speed of passenger-replacing parking Download PDFInfo
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- B60—VEHICLES IN GENERAL
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- 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
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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Abstract
The invention discloses a method, a device, equipment and a medium for determining the speed of a passenger car for parking instead of a car. The method comprises the following steps: acquiring real-time position information and parking path information of a target vehicle; determining a parking stage of the target vehicle according to the real-time position information; the parking state comprises an automatic driving stage and an automatic parking stage; and determining the target parking speed of the target vehicle in the parking stage according to the parking path information. According to the technical scheme, the safety and the stability of the vehicle are guaranteed, meanwhile, the accuracy and the parking efficiency of autonomous passenger car parking can be improved, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of vehicle intelligent control, in particular to a method, a device, equipment and a medium for determining the speed of passenger car parking.
Background
The autonomous passenger-replacing parking refers to that a driver issues an instruction from an appointed passenger-leaving point through a key or an application program, and a vehicle can automatically drive to a parking space of a parking lot without monitoring by the driver; the vehicle can automatically drive to the designated pick-up point from the parking space after receiving the instruction; and a plurality of vehicles receive the parking instruction at the same time, and the dynamic automatic waiting for entering the parking space is realized. The autonomous parking of the passenger car can reduce the invalid traffic time in the parking lot for the user, save the time for getting back the car, reduce the parking difficulty and improve the parking efficiency.
The core of the autonomous passenger-riding parking technology is parking speed control. However, the control of the parking speed is often determined on the basis of a planned parking path, for example by segmenting the parking path in the manner of parking and assigning different fixed speeds, and for example by determining the parking speed on the basis of the remaining length of the parking path. In the method, the parking speed control factor is considered singly, so that the vehicles to be parked are subjected to autonomous passenger-replacing parking at a lower speed, the vehicles to be parked in the parking lot are easy to jam, the autonomous passenger-replacing parking efficiency is reduced, and poor experience is brought to users.
Therefore, how to improve the efficiency of autonomous valet parking while ensuring the safety and stability of the vehicle is a technical problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention provides a method, a device, equipment and a medium for determining the speed of passenger car parking, which can improve the efficiency of autonomous passenger car parking and improve the user experience while ensuring the safety and stability of the car.
According to an aspect of the present invention, there is provided a method of determining a vehicle speed for a valet parking, including:
acquiring real-time position information and parking path information of a target vehicle;
determining a parking stage of the target vehicle according to the real-time position information; the parking state comprises an automatic driving stage and an automatic parking stage;
and determining the target parking speed of the target vehicle in the parking stage according to the parking path information.
According to another aspect of the present invention, there is provided a vehicle speed determination device for a valet parking, including:
the information acquisition module is used for acquiring real-time position information and parking path information of the target vehicle;
the parking stage determining module is used for determining a parking stage of the target vehicle according to the real-time position information; the parking state comprises an automatic driving stage and an automatic parking stage;
and the target parking speed determining module is used for determining the target parking speed of the target vehicle in the parking stage according to the parking path information.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform a method of determining a vehicle speed for a valet parking lot according to any of the embodiments of the present invention.
According to another aspect of the present invention, a computer readable storage medium is provided, which stores computer instructions for causing a processor to implement the method for determining a vehicle speed for a valet parking in accordance with any of the embodiments of the present invention when executed.
According to the technical scheme of the embodiment of the invention, the real-time position information and parking path information of the target vehicle are obtained; determining a parking stage of the target vehicle according to the real-time position information; the parking state comprises an automatic driving stage and an automatic parking stage; and determining the target parking speed of the target vehicle in the parking stage according to the parking path information. The efficiency of independently riding instead of the passenger to park is improved and the user experience is improved while the safety and the stability of the vehicle are ensured.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for determining a vehicle speed of a valet parking lot according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for determining a vehicle speed of a valet parking lot according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for determining the speed of a valet parking lot according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of the electronic device 10 that implements the method for determining the vehicle speed of a valet parking lot according to the embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
It should be noted that the terms "first," "second," "target," "candidate," and the like in the description and claims of the invention and in the above-described drawings 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 invention 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 apparatus 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.
Example one
Fig. 1 is a flowchart of a method for determining a vehicle speed of a valet parking lot according to an embodiment of the present invention, which is applicable to a situation where an automobile uses an autonomous valet parking function, and which may be performed by a device for determining a vehicle speed of the valet parking lot, which may be implemented in hardware and/or software, and which may be configured in the automobile.
As shown in fig. 1, the method includes:
and S110, acquiring real-time position information and parking path information of the target vehicle.
The real-time position information can be current longitude and latitude coordinate information of the target vehicle, and can also be regional information and relative coordinate information of the target vehicle in a current parking lot map. For example, the real-time location information of the target vehicle may be located at an entrance of a parking lot E area, and the relative coordinate information is (10.1, 500.5). As another example, the real-time location information of the target vehicle may be (100 ° 1 ', 50 ° 5').
In the embodiment of the invention, the real-time position of the target vehicle can be obtained through the positioning module of the target vehicle, and can also be identified and positioned according to the image collector in the parking lot. The embodiment of the invention does not limit the acquisition mode of the real-time position of the target vehicle.
The parking path information may be route information of the target vehicle from the current location to the target parking space. For example, the parking path can be planned according to the position information of the free parking space in the parking lot where the parking lot is currently located and the real-time position information of the target vehicle.
S120, determining a parking stage of the target vehicle according to the real-time position information; the parking state comprises an automatic driving stage and an automatic parking stage.
It can be understood that the target vehicle passenger-riding parking process can be divided into two stages according to the position key point in the planned parking path, wherein one stage is an automatic driving stage, namely, the target vehicle drives to a road section of a parking starting point from a specified getting-off point of a parking lot; the other is an auto park phase, i.e., a segment of the target vehicle that travels from a parking start point to a parking stop point.
The designated get-off point can be the current real-time position of the target vehicle or a designated position preset by the parking lot system. The locations of the parking start point and the parking stop point may be determined based on the parking path information.
The parking starting point may be determined according to the parking mode. For example, if the parking mode is vertical parking, the parking starting direction may be a horizontal direction in which the driving direction of the target vehicle is perpendicular to the parking direction of the target parking space, and the parking starting point may be a position from the center of the rear axle of the target vehicle to the center of the target parking space by a preset distance; for example, when the parking method is a side parking, the parking start direction may be a horizontal direction parallel to the traveling direction of the target vehicle and the parking direction of the target parking space, and the parking start point may be a position from the center of the rear axle of the target vehicle to the center of the target parking space by a predetermined distance.
The parking stop point may be a standard parking position preset by the parking lot system according to the parking space, for example, a position at which the rear axle center of the target vehicle is expected to stop.
In the embodiment of the invention, the parking stage of the target vehicle is determined according to the real-time position information, and the relation between the real-time position information of the target vehicle and the designated get-off point, the parking starting point and the parking stopping point can be determined by comparing the real-time position information with the preset designated get-off point, the preset parking starting point and the preset parking stopping point, so that the parking stage of the target vehicle is determined. For example, if the current position of the target vehicle is located in the middle of the specified getting-off point and the parking start point section, it is determined that the target vehicle is currently in the automatic driving stage.
And S130, determining the target parking speed of the target vehicle in the parking stage according to the parking path information.
It can be understood that, in the automatic driving stage, the road section traveled by the target vehicle is a wider large path; in the automatic parking stage, the road section traveled by the target vehicle is a narrow small path. Therefore, the vehicle can run at a higher speed in the automatic driving stage so as to improve the speed and efficiency of the autonomous valet parking, and can run at a lower speed in the automatic parking stage so as to ensure the safety and stability of the autonomous valet parking.
Further, in the automatic driving stage, since the road section is wide and a curved road exists in the stage, the parking speed of the target vehicle may be related to factors such as the degree of curve of the road, the distance of the target vehicle from an obstacle, the traveling direction of the target vehicle, the remaining distance of the target vehicle from the parking start point, or the gradient of the road. In the auto-parking stage, since the road section is narrow and accurate parking is required in the stage, the parking speed of the target vehicle may be related to the distance of the target vehicle from the obstacle, the traveling direction of the target vehicle, the remaining distance of the target vehicle from the parking stop point, the deviation distance of the target vehicle from the parking path, or the gradient of the auto-driving road section.
For example, when the target vehicle is in an automatic driving stage, if the target vehicle is climbing a slope and the slope of the road exceeds a certain threshold, the parking speed of the target vehicle is controlled to be stabilized at a preset speed, so that vehicle sliding and other behaviors are avoided.
In the embodiment of the invention, the target parking speed of the target vehicle in the parking stage is determined according to the parking path information, and the target parking speed can be determined according to the influence factors of the parking stage of the target vehicle on the parking speed. For example, the influence degrees of the influence factors can be assigned, and the assigned parameters are weighted and summed.
The embodiment of the invention provides a method for determining the speed of a passenger-replacing parking vehicle, which comprises the steps of obtaining real-time position information and parking path information of a target vehicle; determining a parking stage of the target vehicle according to the real-time position information; the parking state comprises an automatic driving stage and an automatic parking stage; and determining the target parking speed of the target vehicle in the parking stage according to the parking path information. According to the technical scheme, the safety and the stability of the vehicle are ensured, meanwhile, the efficiency of autonomous passenger-assistant parking can be improved, and the user experience is improved.
Example two
Fig. 2 is a flowchart of a method for determining a vehicle speed of a passenger agent parking according to a second embodiment of the present invention, which is detailed based on the second embodiment of the present invention, and the second embodiment of the present invention may be combined with various alternatives in the first embodiment of the present invention, and the second embodiment of the present invention may be applied to a situation where an automobile uses an autonomous parking function. As shown in fig. 2, the method includes:
and S210, acquiring real-time position information and parking path information of the target vehicle.
S220, determining a parking stage of the target vehicle according to the real-time position information; the parking state comprises an automatic driving stage and an automatic parking stage.
S230, if the parking stage of the target vehicle is an automatic driving stage, determining a first target parking speed according to the parking path information; wherein the parking path information includes at least one of a road curvature, a driving direction, and a remaining distance.
The road curvature may be a rotation rate of a tangential direction angle of a pre-aiming point of the target vehicle on the parking path curve to an arc length. The running state of the target vehicle may include forward straight running, left front turning, right front turning, backward straight running, left rear turning, and right rear turning. The forward straight running, the left front turn, and the right front turn indicate that the running direction of the target vehicle is the forward direction, and the backward straight running, the left rear turn, and the right rear turn indicate that the running direction of the target vehicle is the backward direction. The remaining distance may be a distance from the current position point of the target vehicle to the parking path end point corresponding to the current parking stage. The remaining distance may be the shortest straight distance or the actual distance of the parking path, which is not limited in the embodiment of the present invention.
In the embodiment of the present invention, the first target parking vehicle speed may be determined according to the road curvature, the driving direction, and the remaining distance, may also be determined according to the driving direction and the remaining distance, and may also be determined according to the remaining distance. The present invention is not limited to this embodiment.
Further, the first target parking speed may be determined by assigning values according to the influence degree of the road curvature, the driving direction, and the remaining distance on the first target parking speed, and performing weighted summation on the assigned parameters to determine the first target parking speed. The first target parking vehicle speed may also be determined by empirically determining the correlation between the road curvature, the travel direction, and the remaining distance and the first target parking vehicle speed.
In this embodiment of the present invention, optionally, if the parking stage of the target vehicle is an automatic driving stage, determining a first target parking speed according to the parking path information includes: determining a first candidate parking vehicle speed according to the road curvature; determining a second candidate parking speed according to the remaining distance; determining a third candidate parking vehicle speed according to the driving direction; and setting the minimum value of the first parking candidate vehicle speed, the second parking candidate vehicle speed, and the third parking candidate vehicle speed as the first target parking vehicle speed.
It is understood that the safety and stability of the target vehicle can be ensured while the speed and parking efficiency of the target vehicle are improved. The minimum value of the first, second, and third parking candidate vehicle speeds is taken as the first target parking vehicle speed.
Further, the first candidate parking vehicle speed, the second candidate parking vehicle speed and the third candidate parking vehicle speed are determined, on one hand, the first target parking vehicle speed can be assigned through the influence degree of the road curvature, the driving direction and the remaining distance on the first target parking vehicle speed, and the first candidate parking vehicle speed, the second candidate parking vehicle speed and the third candidate parking vehicle speed are respectively determined; on the other hand, it is also possible to empirically determine the correlation between the road curvature, the travel direction, and the remaining distance and the first target parking vehicle speed, and determine the first, second, and third parking vehicle speed candidates, respectively.
The influence of the road curvature, the driving direction and the remaining distance on the first target parking speed is considered, so that the accuracy of the first target parking speed can be improved; in addition, the minimum value of the first parking candidate speed, the second parking candidate speed and the third parking candidate speed is selected as the first target parking speed, and the driving safety and stability of the target vehicle can be improved.
In the embodiment of the present invention, optionally, determining a first parking candidate vehicle speed according to the curvature of the road includes: determining the first candidate parking vehicle speed v using the following equation 1 ：
Wherein the content of the first and second substances,
is the curvature of the road in front of the road,
is constant, and
v max1 the maximum allowable speed for the automatic driving phase.
Wherein the maximum allowable speed v in the automatic driving stage max1 Front road curvature
Sum constant
This determination may be made empirically or through multiple trials.
Optionally, v max1 The value range is [10,15 ]]km/h。
The method has the advantages that the influence of the road curvature on the first candidate parking speed can be accurately quantized, and the accuracy of the autonomous passenger-riding parking and the parking efficiency are further improved.
In the embodiment of the present invention, optionally, the determining a second parking candidate vehicle speed according to the remaining distance includes: determining the second candidate parking vehicle speed v using the following equation 2 ：
Wherein d (k) is the remaining distance, v max1 I, j, a, b are constants for the maximum allowable speed during the automatic driving phase.
Wherein the constants i, j, a and b may be determined empirically or by multiple experiments.
Optionally, the constant i is 0.5m, the constant j is 0.5m, the constant a is 0m, and the constant b is 5 m.
The method has the advantages that the influence degree of the remaining distance on the second candidate parking speed can be accurately quantized, and the accuracy of the autonomous valet parking and the parking efficiency are further improved.
Optionally, determining a third parking candidate vehicle speed according to the driving direction includes: determining the third candidate parking vehicle speed v using the following equation 3 ：
Wherein v is max1 And u is a constant value which is the maximum allowable speed in the automatic driving stage.
The constant u can be determined empirically or through multiple experiments.
Optionally, the constant u is 2 m/s.
The method has the advantages that when the target vehicle moves forward, the vehicle speed is kept to run at a higher allowable vehicle speed, and when the target vehicle moves backward, the vehicle speed is kept to run at a constant low level, so that on one hand, the safety of the autonomous valet parking can be guaranteed, on the other hand, the influence degree of the running direction on the third candidate parking vehicle speed can be accurately quantized, and the accuracy of the autonomous valet parking and the parking efficiency are further improved.
S240, if the parking stage of the target vehicle is an automatic parking stage, determining a second target parking speed according to the parking path information; wherein the parking path information includes a remaining distance and/or a lateral deviation.
The remaining distance may be a distance between the current position point of the target vehicle and the parking path end point corresponding to the current parking stage. The remaining distance may be the shortest straight distance or the actual distance of the parking path, which is not limited in the embodiment of the present invention. The lateral deviation may be an offset of a center of a rear axle of the target vehicle from the parking path.
In the embodiment of the invention, the second target parking vehicle speed can be determined according to the remaining distance and the lateral deviation, the second target parking vehicle speed can also be determined according to the remaining distance, and the second target parking vehicle speed can also be determined according to the lateral deviation. The present invention is not limited to this embodiment.
Further, the second target parking speed may be determined by assigning values according to the influence degree of the remaining distance and the lateral deviation on the second target parking speed, and performing weighted summation on the assigned parameters to determine the second target parking speed. The second target parking vehicle speed may also be determined by empirically determining a correlation between the remaining distance and the lateral deviation and the second target parking vehicle speed.
In this embodiment of the present invention, optionally, if the parking stage of the target vehicle is an automatic parking stage, determining a second target parking speed according to the parking path information includes: determining a fourth candidate parking speed according to the remaining distance; determining a fifth candidate parking speed according to the lateral deviation; and setting a minimum value of the fourth parking candidate vehicle speed and the fifth parking candidate vehicle speed as the second target parking vehicle speed.
It is understood that, in order to ensure the safety and stability of the target vehicle while ensuring the improvement in speed and parking efficiency of the target vehicle, the minimum value of the fourth parking candidate vehicle speed and the fifth parking candidate vehicle speed is taken as the second target parking vehicle speed.
Further, a fourth candidate parking vehicle speed and a fifth candidate parking vehicle speed are determined, on one hand, the fourth candidate parking vehicle speed and the fifth candidate parking vehicle speed are respectively determined by assigning values to the second target parking vehicle speed through the influence degree of the residual distance and the lateral deviation; on the other hand, it is also possible to empirically determine the correlation between the remaining distance and the lateral deviation and the second target parking vehicle speed, and determine the fourth parking vehicle candidate speed and the fifth parking vehicle candidate speed, respectively.
The influence degree of the remaining distance and the lateral deviation on the second target parking speed is considered, so that the accuracy of the second target parking speed can be improved; in addition, the minimum value of the fourth parking candidate speed and the fifth parking candidate speed is selected as the second target parking speed, and the driving safety and stability of the target vehicle can be improved.
In the embodiment of the present invention, optionally, the determining a fourth parking candidate vehicle speed according to the remaining distance includes: determining the fourth candidate parking vehicle speed v using the following equation 4 ：
Wherein d (k) is the remaining distance, v max2 And p, q, c and d are constants for the maximum allowable speed in the automatic parking stage.
Wherein the maximum allowable speed v is used in the automatic parking stage max2 The constants p, q, c and d can be determined empirically or by multiple experiments.
Optionally, v max2 Has a value range of [3,4 ]]km/h, c 0m, d 1m, p 0.2m/s, q 0.2 m/s.
The method has the advantages that the influence of the remaining distance on the fourth candidate parking speed can be accurately quantized, and the accuracy of the autonomous valet parking and the parking efficiency are further improved.
In an embodiment of the present invention, optionally, determining a fifth candidate parking vehicle speed based on the lateral deviation includes: determining the fifth candidate parking vehicle speed v using the following equation 5 ：
Wherein v is min Minimum allowable speed v for said auto-parking phase max2 And the maximum allowable speed in the automatic parking stage, e is the lateral deviation, and m, n, g and r are constants.
Optionally, v max2 Has a value range of [3,4 ]]km/h，v min Has a value range of (0, 0.2)]km/h, m is 3m, n is 10m, g is 10 and r is 3.
The method has the advantages that the influence of the lateral deviation on the fifth candidate parking speed can be accurately quantized, and the accuracy of the autonomous valet parking and the parking efficiency are further improved.
The method for determining the speed of the passenger car parking for the valet, provided by the embodiment of the invention, comprises the steps of obtaining real-time position information and parking path information of a target vehicle; determining a parking stage of the target vehicle according to the real-time position information; if the parking stage of the target vehicle is an automatic driving stage, determining a first target parking speed according to the parking path information; wherein the parking path information includes at least one of a road curvature, a driving direction, and a remaining distance; if the parking stage of the target vehicle is an automatic parking stage, determining a second target parking speed according to the parking path information; wherein the parking path information includes a remaining distance and/or a lateral deviation. According to the technical scheme, the target parking speeds of the target vehicle in different parking stages are determined in a targeted manner by respectively determining the influence factors on the parking speeds in the automatic driving stage and the automatic parking stage, so that the accuracy of autonomous passenger-riding parking and the parking efficiency are improved.
On the basis of the above technical solutions, optionally, the parking path information includes a shortest distance between the target vehicle and the obstacle; determining a target parking speed corresponding to the parking stage of the target vehicle according to the parking path information, wherein the target parking speed comprises the following steps: and if the shortest distance is smaller than the preset distance, determining that the speed of the target vehicle is zero.
The method for acquiring the shortest distance between the target vehicle and the obstacle can be realized by installing instruments which can identify the obstacle, such as a radar, an image sensor or an infrared sensor, on the target vehicle, identifying the obstacle around the target vehicle and acquiring the distance between the target vehicle and the obstacle.
When the shortest distance between the target vehicle and the obstacle is smaller than the preset distance, the obstacle is possibly in collision risk, the speed of the target vehicle is determined to be zero, and the target vehicle is emergently braked to ensure the safety of the target vehicle.
It can be understood that after the target vehicle is braked emergently, whether the position of the obstacle changes within the preset time is judged, and whether the shortest distance between the obstacle and the target vehicle is greater than or equal to the preset distance is further judged. And if the shortest distance between the obstacle and the target vehicle is greater than or equal to the preset distance in the preset time, continuing to perform the autonomous passenger-assistant parking function. If the shortest distance between the obstacle and the target vehicle is not more than or equal to the preset distance in the preset time, the vehicle can be driven manually to drive away from the obstacle.
It is understood that after the manually driven target vehicle is driven off the obstacle, the parking path information of the target vehicle needs to be updated again.
The safety of autonomous valet parking can be further improved by judging the shortest distance between the obstacles around the target vehicle and the target vehicle.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a device for determining the speed of a valet parking lot according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes:
the information obtaining module 310 is configured to obtain real-time location information and parking path information of a target vehicle;
the parking stage determining module 320 is configured to determine a parking stage of the target vehicle according to the real-time location information; the parking state comprises an automatic driving stage and an automatic parking stage;
and the target parking vehicle speed determining module 330 is configured to determine a target parking vehicle speed of the target vehicle in the parking stage according to the parking path information.
The embodiment of the invention provides a device for determining the speed of a passenger-replacing parking vehicle, which is used for obtaining the real-time position information and parking path information of a target vehicle; determining a parking stage of the target vehicle according to the real-time position information; the parking state comprises an automatic driving stage and an automatic parking stage; and determining the target parking speed of the target vehicle in the parking stage according to the parking path information. According to the technical scheme, the safety and the stability of the vehicle are ensured, meanwhile, the efficiency of autonomous passenger-assistant parking can be improved, and the user experience is improved.
Further, the parking path information includes the shortest distance between the target vehicle and the obstacle; accordingly, the target parking vehicle speed determination module 330 includes:
and the brake control unit is used for determining that the speed of the target vehicle is zero if the shortest distance is smaller than a preset distance.
Further, the target parking vehicle speed determination module 330 includes:
the first target parking vehicle speed determining unit is used for determining a first target parking vehicle speed according to the parking path information if the parking stage of the target vehicle is an automatic driving stage; wherein the parking path information includes at least one of a road curvature, a driving direction, and a remaining distance;
the second target parking vehicle speed determining unit is used for determining a second target parking vehicle speed according to the parking path information if the parking stage of the target vehicle is an automatic parking stage; wherein the parking path information includes a remaining distance and/or a lateral deviation.
Further, the first target parking vehicle speed determination unit includes:
a first parking candidate vehicle speed determination subunit operable to determine a first parking candidate vehicle speed according to the road curvature;
the second candidate parking vehicle speed determining subunit is used for determining a second candidate parking vehicle speed according to the remaining distance;
a third candidate parking vehicle speed determining subunit operable to determine a third candidate parking vehicle speed according to the traveling direction;
a first target parking vehicle speed determination subunit operable to take a minimum value of the first parking candidate vehicle speed, the second parking candidate vehicle speed, and the third parking candidate vehicle speed as the first target parking vehicle speed.
Further, the first parking candidate vehicle speed determination subunit is specifically configured to:
determining the first candidate parking vehicle speed v using the following equation 1 ：
Wherein the content of the first and second substances,
is the curvature of the road in front of the road,
is constant, and
v max1 the maximum allowable speed for the automatic driving phase.
Further, the second parking candidate vehicle speed determination subunit is specifically configured to:
determining the second candidate parking vehicle speed v using the following equation 2 ：
Wherein d (k) is the remaining distance, v max1 I, j, a, b are constants for the maximum allowable speed during the automatic driving phase.
Further, the second target parking vehicle speed determination unit includes:
a fourth candidate parking vehicle speed determining subunit, configured to determine a fourth candidate parking vehicle speed according to the remaining distance;
a fifth candidate parking vehicle speed determining subunit, configured to determine a fifth candidate parking vehicle speed according to the lateral deviation;
a second target parking vehicle speed determination subunit operable to take a minimum value of the fourth parking vehicle speed candidate and the fifth parking vehicle speed candidate as the second target parking vehicle speed.
Further, a fourth parking candidate vehicle speed determination subunit is specifically configured to:
determining the fourth candidate parking vehicle speed v using the following equation 4 ：
Wherein d (k) is the remaining distance, v max2 And p, q, c and d are constants for the maximum allowable speed in the automatic parking stage.
Further, the fifth parking candidate vehicle speed determination subunit is specifically configured to:
determining the fifth candidate parking vehicle speed v using the following equation 5 ：
Wherein v is min Minimum allowable speed v for said auto-parking phase max2 And the maximum allowable speed in the automatic parking stage, e is the lateral deviation, and m, n, g and r are constants.
The device for determining the vehicle speed of the valet parking, provided by the embodiment of the invention, can execute the method for determining the vehicle speed of the valet parking, provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of the electronic device 10 that implements the method for determining the vehicle speed of a valet parking lot according to the embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the method of determining the speed of a valet parking vehicle.
In some embodiments, the method of determining the speed of a valet parking vehicle may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the memory unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more of the steps of the method for determining the speed of a valet parking vehicle described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the method of determining the speed of the valet parking vehicle by any other suitable means (e.g., via firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
EXAMPLE five
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A method for determining a vehicle speed for a valet parking, comprising:
acquiring real-time position information and parking path information of a target vehicle;
determining a parking stage of the target vehicle according to the real-time position information; the parking state comprises an automatic driving stage and an automatic parking stage;
and determining the target parking speed of the target vehicle in the parking stage according to the parking path information.
2. The method according to claim 1, wherein the parking path information includes a shortest distance of the target vehicle from an obstacle;
determining a target parking speed corresponding to the parking stage of the target vehicle according to the parking path information, wherein the target parking speed comprises the following steps:
and if the shortest distance is smaller than the preset distance, determining that the speed of the target vehicle is zero.
3. The method of claim 1, wherein determining a target parking vehicle speed corresponding to the target vehicle in the parking stage according to the parking path information comprises:
if the parking stage of the target vehicle is an automatic driving stage, determining a first target parking speed according to the parking path information; wherein the parking path information includes at least one of a road curvature, a driving direction, and a remaining distance;
if the parking stage of the target vehicle is an automatic parking stage, determining a second target parking speed according to the parking path information; wherein the parking path information includes a remaining distance and/or a lateral deviation.
4. The method of claim 3, wherein determining a first target parking speed according to the parking path information if the parking stage in which the target vehicle is located is an automatic driving stage comprises:
determining a first candidate parking vehicle speed according to the road curvature;
determining a second candidate parking speed according to the remaining distance;
determining a third candidate parking vehicle speed according to the driving direction;
and setting the minimum value of the first parking candidate vehicle speed, the second parking candidate vehicle speed, and the third parking candidate vehicle speed as the first target parking vehicle speed.
5. The method of claim 4 wherein determining a first candidate parking vehicle speed as a function of the road curvature comprises:
determining the first candidate parking vehicle speed v using the following equation 1 ：
Wherein the content of the first and second substances,
is the curvature of the road in front of the road,
is constant, and
v max1 the maximum allowable speed for the automatic driving phase.
6. The method of claim 4 wherein determining a second candidate parking vehicle speed as a function of the remaining distance comprises:
determining the second candidate parking vehicle speed v using the following equation 2 ：
Wherein d (k) is the remaining distance, v max1 I, j, a, b are constants for the maximum allowable speed during the automatic driving phase.
7. The method of claim 3, wherein determining a second target parking speed according to the parking path information if the parking stage of the target vehicle is an automatic parking stage comprises:
determining a fourth candidate parking speed according to the remaining distance;
determining a fifth candidate parking speed according to the lateral deviation;
and setting a minimum value of the fourth parking candidate vehicle speed and the fifth parking candidate vehicle speed as the second target parking vehicle speed.
8. The method of claim 7 wherein determining a fourth candidate parking vehicle speed as a function of the remaining distance comprises:
determining the fourth candidate parking vehicle speed v using the following equation 4 ：
Wherein d (k) is the remaining distance, v max2 And p, q, c and d are constants for the maximum allowable speed in the automatic parking stage.
9. The method of claim 7 wherein determining a fifth candidate parking vehicle speed based on the lateral deviation comprises:
determining the fifth candidate poise using the following formulaVehicle speed v 5 ：
Wherein v is min Minimum allowable speed v for said auto-parking phase max2 And the maximum allowable speed in the automatic parking stage, e is the lateral deviation, and m, n, g and r are constants.
10. A device for determining a vehicle speed of a valet parking, comprising:
the information acquisition module is used for acquiring real-time position information and parking path information of the target vehicle;
the parking stage determining module is used for determining a parking stage of the target vehicle according to the real-time position information; the parking state comprises an automatic driving stage and an automatic parking stage;
and the target parking speed determining module is used for determining the target parking speed of the target vehicle in the parking stage according to the parking path information.
11. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method of determining a vehicle speed for a valet parking lot of any of claims 1-9.
12. A computer readable storage medium having stored thereon computer instructions for causing a processor to execute a method for determining a vehicle speed for a valet parking vehicle as claimed in any one of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210744525.0A CN114889587A (en) | 2022-06-27 | 2022-06-27 | Method, device, equipment and medium for determining speed of passenger-replacing parking |
| PCT/CN2023/099868 WO2024001758A1 (en) | 2022-06-27 | 2023-06-13 | Valet parking speed determination method and apparatus, and device and medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210744525.0A CN114889587A (en) | 2022-06-27 | 2022-06-27 | Method, device, equipment and medium for determining speed of passenger-replacing parking |
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| CN202210744525.0A Pending CN114889587A (en) | 2022-06-27 | 2022-06-27 | Method, device, equipment and medium for determining speed of passenger-replacing parking |
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| WO (1) | WO2024001758A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024001758A1 (en) * | 2022-06-27 | 2024-01-04 | 中国第一汽车股份有限公司 | Valet parking speed determination method and apparatus, and device and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108275146A (en) * | 2017-01-05 | 2018-07-13 | 重庆长安汽车股份有限公司 | Full-automatic speed Discrete control system and method for parking |
| CN108819939B (en) * | 2018-07-06 | 2021-02-02 | 奇瑞汽车股份有限公司 | Automatic parking system |
| KR20200052998A (en) * | 2018-10-25 | 2020-05-18 | 현대자동차주식회사 | Apparatus for controlling a parking of vehicle, system having the same and method thereof |
| CN110097779A (en) * | 2019-05-22 | 2019-08-06 | 北京新能源汽车股份有限公司 | It parks method, apparatus, vehicle, equipment and medium |
| FR3111314B1 (en) * | 2020-06-11 | 2022-07-29 | Renault Sas | Method and system for assisting the parking of a motor vehicle |
| CN112937557B (en) * | 2021-03-09 | 2022-08-12 | 东风汽车集团股份有限公司 | Curvature control-based passenger-riding parking path planning method and system |
| CN113428136B (en) * | 2021-07-23 | 2022-10-14 | 国汽智控(北京)科技有限公司 | Parking method and device and electronic equipment |
| CN113428137B (en) * | 2021-08-06 | 2022-09-09 | 浙江吉利控股集团有限公司 | Parking control method and device and storage medium |
| CN114889587A (en) * | 2022-06-27 | 2022-08-12 | 中国第一汽车股份有限公司 | Method, device, equipment and medium for determining speed of passenger-replacing parking |
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- 2022-06-27 CN CN202210744525.0A patent/CN114889587A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2024001758A1 (en) * | 2022-06-27 | 2024-01-04 | 中国第一汽车股份有限公司 | Valet parking speed determination method and apparatus, and device and medium |
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