CN115214628A

CN115214628A - Automatic parking method and system and automobile

Info

Publication number: CN115214628A
Application number: CN202210559969.7A
Authority: CN
Inventors: 王立国; 樊毅; 刘芬; 徐伟; 禤文伟
Original assignee: Guangzhou Automobile Group Co Ltd
Current assignee: Guangzhou Automobile Group Co Ltd
Priority date: 2022-05-23
Filing date: 2022-05-23
Publication date: 2022-10-21
Anticipated expiration: 2042-05-23
Also published as: CN115214628B

Abstract

The invention provides an automatic parking method, a system and an automobile, wherein after the automobile is parked in a parking space, the environmental information and the physical information of drivers and conductors around the automobile are collected through a vehicle-mounted sensor; matching corresponding driver and passenger alighting space standards according to the driver and passenger configuration information, and determining whether the alighting space of the current position of the vehicle meets the matched driver and passenger alighting space standards according to the surrounding environment information of the vehicle; when the space of the vehicle at the current position does not meet the standard of the matched space for the driver and the passenger to get off, the temporary parking point of the vehicle is determined according to the surrounding environmental information of the vehicle and the vehicle is controlled to park in the temporary parking point, and the space of the vehicle at the temporary parking point can meet the standard of the matched space for the driver and the passenger to get off. The invention fully considers whether drivers and passengers have enough space to get off and open the trunk under the condition of not increasing the cost, thereby improving the use experience of users.

Description

Automatic parking method and system and automobile

Technical Field

The invention relates to the technical field of automatic parking, in particular to an automatic parking method, an automatic parking system and an automobile.

Background

Automatic parking systems with different intelligent degrees, such as an automatic parking assistance system (APA), a remote control parking system (RPA), a self-learning parking system and the like, are gradually popularized and applied in the market. The parking system mainly detects environmental information (such as the direction and the distance of an obstacle) and identifies available parking spaces through sensors such as a look-around camera and an ultrasonic radar (probe), performs path planning based on the type and the environmental information of the parking spaces, and finally sends a command to an actuator according to the planned path, so that the transverse and longitudinal control of the vehicle is realized, the vehicle is finally parked in a target parking space, and the automatic parking is completed, so that the purposes of assisting a driver in parking and reducing the parking difficulty are achieved.

After sensors of the parking system detect the environmental information and identify the available parking spaces, path planning is completed based on the positions of the target parking spaces and the environmental information. In the path planning process, the algorithm mainly considers the physical realizability of parking (such as the constraint conditions of the maximum turning angle of a steering wheel, the maximum torque and the like); avoiding collision and friction between the vehicle and the obstacle; and the final parking state meets the daily parking requirements and habits (such as avoiding pressing lines, stopping the vehicle in the middle of a parking space and the like). However, all of the parking systems described above do not consider whether the space left for the driver and passengers to get off and the trunk pickup is sufficient after the parking is completed. After parking is finished, a driver and passengers are blocked by the vehicles on two sides or pillars beside the parking spaces, and the situation that the driver and the passengers open the trunk to take objects does not exist in enough space after parking is finished, so that the vehicle using experience of the driver and the passengers is influenced, and the intelligent degree of the current parking system is further improved.

In order to avoid the insufficient space for drivers and passengers to get off and open the trunk after the vehicle is parked in a target parking space, some parking systems can predict whether the vehicle has enough space for the drivers and passengers to get off in advance and open the trunk after being parked in the parking space, and if the prediction result is that the vehicle cannot be parked, the parking system can remind passengers that 'the opening of the vehicle door is blocked and the passengers please get off in advance after parking is finished' at a proper position (enough space for the drivers and passengers to get off and open the trunk) after the parking function is started, as shown in fig. 1; although the technical scheme can also provide enough space for drivers and passengers to get off and open the trunk, in order to realize the 'predictability' of the parking scheme, a high requirement is put forward on the hardware performance of the system, a sensor is required to accurately measure the specification of the parking space, and then whether the vehicle has enough space after being parked in the target parking space is judged in advance according to the information such as the size of the vehicle and the physique of the drivers and passengers. The sensing sensor of a common parking system consists of an ultrasonic radar (probe) sensor and a panoramic camera, and the ultrasonic radar (probe) sensor and the panoramic camera are difficult to finish the task of accurately measuring the specification of a parking space. And the additional installation of the laser radar can greatly increase the hardware cost and the modeling and arrangement difficulty.

Disclosure of Invention

The invention aims to provide an automatic parking method, an automatic parking system and an automobile, and solves the technical problem that whether drivers and passengers have enough space to get off and open a trunk or not is not fully considered under the condition that the cost is not increased in the conventional method.

In one aspect, an automatic parking method is provided, including:

after the vehicle is parked in a parking space, acquiring the surrounding environmental information and the physical information of drivers and conductors by a vehicle-mounted sensor;

matching corresponding driver and passenger alighting space standards according to the driver and passenger configuration information, and determining whether the alighting space of the current position of the vehicle meets the matched driver and passenger alighting space standards according to the surrounding environment information of the vehicle;

when the space of the vehicle at the current position does not meet the matched space standard of the driver and the passenger, the temporary parking point of the vehicle is determined according to the surrounding environment information of the vehicle and the vehicle is controlled to park in the temporary parking point, and the space of the vehicle at the temporary parking point can meet the matched space standard of the driver and the passenger.

Preferably, the acquiring, by the vehicle-mounted sensor, the environmental information and the physical information of the driver and the passengers around the vehicle specifically includes:

the weight of the driver and the passenger is detected through a pressure sensor arranged in each seat, and the maximum value of the detected weight values is output as the current weight reference value;

detecting obstacle distance information around the vehicle through a plurality of groups of vehicle-mounted radars, and taking the obstacle distances behind and beside the vehicle as characteristic values for judging the obstacle distances;

detecting road surface image information around the vehicle through a plurality of groups of cameras, and identifying a specific road surface type according to the road surface image information; wherein the particular pavement type includes at least standing water or mud.

Preferably, the step of matching the corresponding driver and passenger alighting space standard according to the driver and passenger posture information specifically comprises the following steps:

matching the current weight reference value with a plurality of preset posture grades, wherein the weight reference value in each posture grade is correspondingly provided with a minimum space distance standard value;

when the weight reference value is within the first state grade standard, the matched space standard for passengers to get off the bus is more than or equal to the first space distance standard value;

when the weight reference value is within the second physical level standard, the matched passenger getting-off space standard is more than or equal to the second space distance standard value;

when the weight reference value is within the third posture grade standard, the matched space standard for passengers to get off the train is more than or equal to the third space distance standard value;

wherein the first spatial distance criterion value is less than the second spatial distance criterion value, and the second spatial distance criterion value is less than the third spatial distance criterion value.

Preferably, the determining whether the space of getting-off at the current position of the vehicle meets the matched driver/passenger space criteria according to the environmental information around the vehicle specifically includes:

when the characteristic value of the judgment of the distance between the obstacles detected at any side edge of the vehicle is smaller than the first space distance standard value or the characteristic value of the judgment of the distance between the obstacles detected at the rear side of the vehicle is smaller than or equal to the third space distance standard value, judging that the getting-off space of the current position of the vehicle does not meet the matched driver and passenger getting-off space standard;

when the getting-off space of the current position of the vehicle does not meet the matched getting-off space standard of the driver and the passenger, reminding the driver and the passenger to execute temporary parking and collecting a parking instruction input by the driver and the passenger; wherein the parking instruction comprises executing temporary parking or not executing temporary parking;

when the input parking instruction is to execute temporary parking, the temporary parking point of the vehicle is determined according to the environmental information around the vehicle and the vehicle is controlled to park in the temporary parking point.

Preferably, the method further comprises the following steps:

and when the detected road surface type is ponding or muddy, judging that the getting-off space at the moment does not meet the matched driver and passenger getting-off space standard.

Preferably, the method further comprises the following steps:

when the getting-off space meets the matched getting-off space standard of the driver and the passenger or the input parking instruction is not executed for temporary parking, judging that parking is finished and waiting for the driver and the passenger to get off or lock the vehicle and power off.

Preferably, the determining the temporary parking point of the host vehicle and controlling the host vehicle to park in the temporary parking point according to the environmental information around the host vehicle specifically includes:

comparing the matched minimum space distance standard value with the characteristic value of the obstacle distance judgment to determine the difference value of the two;

taking the length of the vehicle body as the reference length for adjusting the position of the vehicle, and determining control parameters to be executed for controlling the vehicle to move by the difference value according to a preset vehicle control standard; the control parameters at least comprise an acceleration value, an acceleration keeping time value, a braking force value, a braking keeping time value, a control vehicle adjusting distance and a steering wheel angle control vehicle adjusting direction;

and controlling the vehicle to stop at the temporary stopping point according to the control parameters.

Preferably, the determining whether to control the vehicle to park in the corresponding parking space in response to the control instruction input by the driver and the passenger specifically includes:

when the control command input by the driver and the crew is the automatic parking halt, the vehicle continues to stop at the temporary parking point;

and when the control instruction input by the driver and the crew is to continue the automatic parking, controlling the vehicle to park in the target parking space.

In another aspect, an automatic parking system is provided to implement the method, including:

the information acquisition module is used for acquiring the surrounding environmental information and the posture information of drivers and passengers through the vehicle-mounted sensor after the vehicle is parked in the parking space;

the temporary stopping judgment module is used for matching the corresponding driver and passenger getting-off space standard according to the body state information of the driver and passenger and determining whether the getting-off space of the current position of the vehicle meets the matched driver and passenger getting-off space standard or not according to the surrounding environment information of the vehicle;

and the vehicle control module is used for determining a temporary parking point of the vehicle according to the surrounding environmental information of the vehicle and controlling the vehicle to park in the temporary parking point when the space of the vehicle at the current position of the vehicle does not meet the matched space standard of the driver and the passenger for getting off the vehicle, and the space of the vehicle at the temporary parking point can meet the matched space standard of the driver and the passenger for getting off the vehicle.

In another aspect, an automobile is provided, and automatic parking control is performed by the automatic parking system.

In summary, the embodiment of the invention has the following beneficial effects:

according to the automatic parking method, the automatic parking system and the automobile, after the automobile is parked in a target parking space, whether enough space is provided for a driver and passengers to get off the automobile on the body side and a trunk to take objects is judged according to the information of surrounding obstacles detected by the sensor, if the space is not enough through calculation, the system inquires whether the passengers need to get off the automobile on the body side and get the objects off the automobile, and after the passengers select to get off the automobile on the body side and get the objects off the automobile on the body side, the system calculates the proper parking position of the automobile, drives the automobile to the target position, and then parks the automobile in the parking space after the driver and the passengers get off the automobile on the body side and the objects on the body side, so that the subsequent parking is completed. Therefore, the intelligent degree of the parking system is improved, and the experience of a user using the parking system is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is within the scope of the present invention for those skilled in the art to obtain other drawings based on the drawings without inventive labor.

Fig. 1 is a schematic diagram of a parking system in the prior art for midway parking in a vertical parking space and a horizontal parking space.

Fig. 2 is a main flow diagram of an automatic parking method according to an embodiment of the present invention.

Fig. 3 is a logic diagram of an automatic parking method according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a vehicle-mounted radar in the embodiment of the present invention.

Fig. 5 is a schematic diagram of an automatic parking system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.

Fig. 2 and 3 are schematic diagrams illustrating an embodiment of an automatic parking method according to the present invention. In this embodiment, the method comprises the steps of:

after the vehicle is parked in a parking space, acquiring the surrounding environmental information and the physical information of drivers and conductors by a vehicle-mounted sensor; that is, in this embodiment, the vehicle-mounted sensor includes a look-around camera, an ultrasonic radar (probe), a pressure sensor and other sensors, and is configured to output obstacle information and environment information, including the position and distance of the obstacle, the ground condition, the physical characteristics of the driver and the passengers, and the like; and after receiving various characteristic values output by the sensors, making a decision to judge whether the driver and passengers can get on or off the vehicle.

In a specific embodiment, the weights of drivers and passengers are detected through pressure sensors arranged in all seats, and the maximum value of the detected weight values is output as the current weight reference value; it can be understood that the seat pressure sensors inside the vehicle will detect the weight of the driver and the passenger, and the system will take the maximum value of the multiple weight values as the current weight reference value of the system after taking the weight value of each seat sensor.

Detecting obstacle distance information around the vehicle through a plurality of groups of vehicle-mounted radars, and taking the obstacle distances behind and beside the vehicle as characteristic values for judging the obstacle distances; it is understood that, in the present embodiment, as shown in fig. 4, the obstacle information detected by 12 ultrasonic radar (probe) sensors in total around the vehicle body is included, the obstacle information includes the number of the ultrasonic radar (probe) that detects the obstacle and the distance (unit: cm) between the obstacle and the detection surface of the ultrasonic radar (probe), and the direction of the obstacle can be estimated based on the number information, for example, when the parking system receives "the probe 2:40cm "means that there is an obstacle 40cm directly in front of the vehicle. Under the scene, the 12 ultrasonic radars detect the obstacle distance information in the detection range in groups, and the obstacle distances detected by the radars at the back side and the side of the vehicle are used as the characteristic values for judging the obstacle distances.

Detecting road surface image information around the vehicle through a plurality of groups of cameras, and identifying a specific road surface type according to the road surface image information; wherein the particular pavement type includes at least standing water or mud. It can be understood that, in this embodiment, there are 4 all around-looking cameras, and this around-looking camera system has, in addition to the conventional capabilities of image stitching, encoding processing, and the like, a road surface classification recognition capability, that is, the around-looking camera mounted on the vehicle can recognize a specific road surface type. The panoramic camera identifies environmental characteristics, such as pavement information (ponding, mud and the like) of a getting-off activity area of a driver and a passenger, and pavement characteristic signals can be output in four types, 00 (the pavement is normal); 01 (surface water); 10 (the road surface is muddy); 11 (others).

Further, matching the corresponding driver and passenger space standard according to the body state information of the driver and passenger, and determining whether the space of the current position of the vehicle meets the matched driver and passenger space standard according to the surrounding environment information of the vehicle; when the getting-off space of the current position of the vehicle does not meet the matched getting-off space standard of the driver and the passenger, reminding the driver and the passenger to execute temporary parking and collecting a parking instruction input by the driver and the passenger; wherein the parking instruction comprises executing temporary parking or not executing temporary parking; that is, when the system judges that the driver and the passenger can not get off the vehicle in the body, the system provides the service option of the body-side parking for the user, and the user selects whether to use the body-side parking function according to the requirement of the user.

In a specific embodiment, matching a current weight reference value with a plurality of preset posture grades, wherein a minimum space distance standard value is correspondingly set for the weight reference value in each posture grade; when the weight reference value is within the first state grade standard, the matched driver and passenger get-off space standard is more than or equal to a first space distance standard value; when the weight reference value is within the second body state grade standard, the matched passenger getting-off space standard is more than or equal to a second space distance standard value; when the weight reference value is within the third posture grade standard, the matched space standard for passengers to get off the train is more than or equal to the third space distance standard value; and the first space distance standard value is smaller than the second space distance standard value, and the second space distance standard value is smaller than the third space distance standard value. It can be understood that the system divides the body weight into three grades of a first grade (the body weight is less than or equal to 60 kg), a second grade (the body weight is more than 60kg and less than or equal to 85 kg) and a third grade (more than 85 kg); after the weight reference value is measured, the weight reference value is matched with three grades, weights in different grades have corresponding minimum body getting-off space requirements, the first grade (the body getting-off space distance is not less than 40 cm), the second grade (the body getting-off space distance is not less than 60 cm) and the third grade (the body getting-off space distance is not less than 80 cm) are taken as examples to explain the conditions of the system for judging the pushing body parking in the first grade (not more than 60 kg) of the reference weight.

Specifically, in one case, when the feature value determined by the distance between the obstacles detected on either side of the vehicle is smaller than the first spatial distance standard value or the feature value determined by the distance between the obstacles detected on the rear side of the vehicle is smaller than or equal to the third spatial distance standard value, it is determined that the space of getting off the vehicle at that time does not satisfy the matched space standard for the driver or the passenger to get off the vehicle. In another case, when the road surface type is detected to be ponding or muddy, the getting-off space at the moment is judged to be the standard of the getting-off space of the driver and the passenger which do not meet the matching. That is, the distance of the obstacle detected by the ultrasonic radar core detecting core on any side is less than 40cm |, the distance of the obstacle detected by the ultrasonic radar core detecting core on any rear side is less than or equal to 80cm | | | the detection type of the road surface is ponding | | | muddy | | | by the panoramic camera; as long as any one of the conditions is met, the system will provide the car-in-vehicle push-to-park service for the driver to select. The system sends interactive information to the driver and the passenger to inquire whether the driver and the passenger need to use the body-side parking function or not. When the passenger selects 'no', the parking is finished; when the passenger selects "yes," the parking system performs the task of parking in a body. The process ensures that the final decision maker for starting the parking function is the user, and can avoid misoperation caused by mismatching of the system calculation result and the reality.

Further, when the space of the vehicle at the current position of the vehicle does not meet the standard of the space of the matched driver and passenger for getting off the vehicle, a temporary parking point of the vehicle is determined according to the surrounding environmental information of the vehicle and the vehicle is controlled to park in the temporary parking point, and the space of the temporary parking point can meet the standard of the space of the matched driver and passenger for getting off the vehicle; that is, after the passenger selects the car parking service, the system moves the car to a position which can provide enough space for the driver to get off and open the trunk to get the object according to the distribution of the driver and the passenger and the environmental information.

In a specific embodiment, the matched minimum space distance standard value is compared with the characteristic value of the obstacle distance judgment to determine the difference value of the two; taking the length of the vehicle body as the reference length for adjusting the position of the vehicle, and determining control parameters to be executed for controlling the vehicle to move by the difference value according to a preset vehicle control standard; the control parameters at least comprise an acceleration value, an acceleration keeping time value, a braking force value, a braking keeping time value, a control vehicle adjusting distance and a steering wheel angle control vehicle adjusting direction; and controlling the vehicle to stop at the temporary stopping point according to the control parameters. It is understood that the system achieves vehicle position adjustment by sending torque, steering wheel angle, etc. information to the chassis actuators; the length of the vehicle body is used as a reference length for adjusting the position of the vehicle, the magnitude of the acceleration and the holding time, the magnitude of the braking force and the holding time control the adjusting distance of the vehicle, and the steering wheel angle controls the adjusting direction of the vehicle.

Specifically, when the getting-off space of the current position of the vehicle does not meet the matched getting-off space standard of the driver and the passenger, the driver and the passenger are reminded to execute temporary parking and collect a parking instruction input by the driver and the passenger; wherein the parking instruction comprises executing temporary parking or not executing temporary parking; when the input parking instruction is to execute temporary parking, the temporary parking point of the vehicle is determined according to the environmental information around the vehicle and the vehicle is controlled to park in the temporary parking point. And after the vehicle is parked into the temporary parking point, whether the vehicle is controlled to be parked into the target parking space is determined in response to a control instruction input by a driver and a passenger. That is, after the driver and the passengers complete the actions of opening the car door to get off the car, opening the trunk to take articles and the like, the system can send instructions according to the key, complete the subsequent parking task and park the car in the target parking space.

In the specific embodiment, when the control command input by the driver and the passenger is the automatic parking halt, the vehicle continues to stop at the temporary parking point; and when the control instruction input by the driver and the crew is to continue the automatic parking, controlling the vehicle to park in the target parking space. In the embodiment, the method for controlling the vehicle to complete the subsequent parking task after the driver and the passengers get off the vehicle can be realized by pressing the smart key 3s for a long time; the short-press (single-click) of the smart key can be set in advance as the automatic parking suspension; and setting the long-time pressing of a (3 s) smart key to continue automatic parking. The system makes a decision for body-surface parking based on the perception information, the calculation result cannot be guaranteed to be 100% correct, and the problems of space estimation errors and the like exist, so that secondary confirmation by a driver is optimal.

Fig. 5 is a schematic diagram of an embodiment of an automatic parking system according to the present invention.

In this embodiment, the system includes:

The invention also provides an automobile, and automatic parking control is performed through the automatic parking system.

It should be noted that the system described in the foregoing embodiment corresponds to the method described in the foregoing embodiment, and therefore, portions of the system described in the foregoing embodiment that are not described in detail can be obtained by referring to the content of the method described in the foregoing embodiment, and details are not described here.

according to the automatic parking method, the automatic parking system and the automobile, after the automobile is parked in a target parking space, whether enough space is provided for a driver and passengers to get off the automobile on the body side and a trunk to take objects is judged according to the information of surrounding obstacles detected by the sensor, if the space is not enough through calculation, the system inquires whether the passengers need to get off the automobile on the body side and get the objects off the automobile, and after the passengers select to get off the automobile on the body side and get the objects off the automobile on the body side, the system calculates the proper parking position of the automobile, drives the automobile to the target position, and then parks the automobile in the parking space after the driver and the passengers get off the automobile on the body side and the objects on the body side, so that the subsequent parking is completed. Therefore, the intelligent degree of the parking system is improved, and the experience of using the parking system by a user is improved.

While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims

1. An automatic parking method, comprising:

when the space of the vehicle at the current position does not meet the standard of the matched space for the driver and the passenger to get off, the temporary parking point of the vehicle is determined according to the surrounding environmental information of the vehicle and the vehicle is controlled to park in the temporary parking point, and the space of the vehicle at the temporary parking point can meet the standard of the matched space for the driver and the passenger to get off.

2. The method according to claim 1, wherein the acquiring environmental information and the driver and passenger posture information around the vehicle by the vehicle-mounted sensor specifically comprises:

detecting road surface image information around the vehicle through a plurality of groups of cameras, and identifying a specific road surface type according to the road surface image information; wherein the particular pavement type includes at least water logging or mud.

3. The method as claimed in claim 2, wherein said matching the corresponding driver-passenger alighting space standard according to the driver-passenger posture information specifically comprises:

when the weight reference value is within the second body state grade standard, the matched passenger getting-off space standard is more than or equal to a second space distance standard value;

when the weight reference value is within the third physical level standard, the matched passenger getting-off space standard is more than or equal to a third space distance standard value;

4. The method of claim 3, wherein the determining whether the space of the current position of the host vehicle meets the matched driver-passenger space criteria according to the environmental information surrounding the host vehicle specifically comprises:

when the characteristic value judged by the distance between the obstacles detected on any side edge of the vehicle is smaller than the first space distance standard value or the characteristic value judged by the distance between the obstacles detected on the rear side of the vehicle is smaller than or equal to the third space distance standard value, judging that the space of the vehicle at the current position of the vehicle does not meet the matched driver and passenger space standard;

5. The method of claim 4, further comprising:

6. The method of claim 5, further comprising:

and when the getting-off space of the current position of the vehicle meets the matched driver and passenger getting-off space standard or the input parking instruction is not executed for temporary parking, judging that parking is finished and waiting for the driver and passenger to get off or lock the vehicle and power off.

7. The method of claim 5, wherein determining the temporary stopping point of the host vehicle and controlling the host vehicle to stop at the temporary stopping point according to the environmental information around the host vehicle specifically comprises:

taking the length of the vehicle body as the reference length for adjusting the position of the vehicle, and determining control parameters to be executed for controlling the movement of the vehicle by the difference value according to a preset vehicle control standard; the control parameters at least comprise an acceleration value, an acceleration keeping time value, a braking force value, a braking keeping time value, a control vehicle adjusting distance and a steering wheel angle control vehicle adjusting direction;

8. The method according to claim 7, wherein the determining whether to control the host vehicle to park in the corresponding parking space in response to the control instruction input by the driver and the passenger specifically comprises:

and when the control instruction input by the driver and the crew is to continue to automatically park the vehicle, controlling the vehicle to park in the target parking space.

9. An automatic parking system for implementing the method according to any one of claims 1 to 8, comprising:

the information acquisition module is used for acquiring the surrounding environmental information and the physical and attitude information of drivers and passengers through the vehicle-mounted sensor after the vehicle is parked in the parking space;

10. An automobile characterized in that automatic parking control is performed by the automatic parking system according to claim 9.