CN115285221A - Parking planning method and device based on four-wheel steering, storage medium and vehicle - Google Patents
Parking planning method and device based on four-wheel steering, storage medium and vehicle Download PDFInfo
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Abstract
The invention provides a parking planning method and device based on four-wheel steering, a storage medium and a vehicle. The method comprises the following steps: when the automatic parking function is detected to be triggered, parking space information of a parking space where the vehicle is to be parked and obstacle information around the parking space where the vehicle is to be parked are obtained; according to the parking space information and the obstacle information, parking planning information of the vehicle in two four-wheel steering modes is determined; the parking planning information comprises a parking path, gear switching times and parking path length, and the two four-wheel steering modes comprise a front-wheel homodromous mode and a rear-wheel heterodromous mode; determining a target parking path from the two parking paths based on the gear switching times and/or the parking path length in the two parking planning information; and controlling the vehicle to stop to the parking space according to the target parking path.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a parking planning method and device based on four-wheel steering, a storage medium and a vehicle.
Background
The parking planning is an automatic driving assistance technology, and a user can realize automatic parking without operation through a parking path planned by a parking planning system. In the prior art, a parking plan is generally applied to a front-wheel steering vehicle and is limited by the steering radius of the front wheel, a parking path planned by a parking plan control system is complicated, the vehicle needs to switch gears for many times, the path is long, and the time consumption is high. Meanwhile, because the actual turning angle and the planned turning angle of the wheel have certain turning angle errors due to tire wear and the like, when the forward and backward reciprocating times of the vehicle are too many in the parking process, the turning angle errors are accumulated, so that the vehicle cannot run according to the path planned by the parking regulation and control system, a driver is required to intervene, and the ideal effect of automatic parking cannot be achieved.
Disclosure of Invention
In view of this, in a first aspect of the embodiments of the present invention, there is provided a four-wheel steering based parking planning method, including:
when the automatic parking function is detected to be triggered, acquiring parking space information of a parking space where the vehicle is to be parked and obstacle information around the parking space where the vehicle is to be parked;
according to the parking space information and the obstacle information, determining parking planning information of the vehicle in two four-wheel steering modes respectively; the parking planning information comprises a parking path, gear switching times and parking path length, and the two four-wheel steering modes comprise a front wheel homodromous mode and a rear wheel heterodromous mode;
determining a target parking path from the two parking paths based on the gear switching times and/or the parking path length in the two parking planning information;
and controlling the vehicle to stop to the parking space according to the target parking path. Optionally, when it is detected that the automatic parking function is triggered, acquiring parking space information of a parking space where the vehicle is to be parked and obstacle information around the parking space where the vehicle is to be parked, including:
acquiring image information of the parking space, and acquiring parking space information of the vehicle based on the image information, wherein the parking space information comprises a boundary line, an entrance length and a total length;
and detecting the position of an obstacle around the vehicle, and determining the obstacle with the distance from the parking space within a preset distance range based on the boundary line, the entrance length and the total length to obtain the obstacle information.
Optionally, the parking space information includes a boundary line, an entrance length, and a total length; according to the parking space information and the obstacle information, determining parking planning information of the vehicle in two four-wheel steering modes respectively, wherein the parking planning information comprises parking planning information;
determining an end point of the parking path based on the boundary line and/or the obstacle information; and determining a parking orientation of the vehicle according to the entrance length;
and respectively planning the parking planning information of the vehicle in two four-wheel steering modes by taking the current position of the vehicle as a parking starting point, taking the terminal point as a parking terminal point and taking the parking direction and the obstacle avoidance as constraints.
Optionally, determining an end point of the parking path based on the boundary line and/or the obstacle information includes:
when the parking space has a boundary line, determining the end point based on a side boundary opposite to the entrance on the boundary line;
and under the condition that the parking spaces do not have boundary lines, determining the end point based on the position of the obstacle and taking the shortest parking path as a constraint.
Optionally, determining a parking orientation of the vehicle based on the entrance length comprises:
when the entrance length is greater than a first length, determining the parking orientation as a first parking orientation, the first parking orientation being parallel to the entrance orientation with a longitudinal centerline of the vehicle;
when the entrance length is greater than the second length and less than or equal to the first length, determining the parking orientation as a second parking orientation, the second parking orientation being an orientation perpendicular to the entrance with a longitudinal centerline of the vehicle.
Optionally, with the current position of the vehicle as a parking starting point, the terminal as a parking ending point, and the parking direction and avoidance of the obstacle as constraints, respectively planning parking paths of the vehicle in two modes, including:
acquiring a relative position relation between the head of the vehicle and the entrance;
and determining the parking path by taking the current position of the vehicle as a parking starting point, the terminal as a parking terminal point and the relation between the parking direction, the obstacle avoidance and the relative position as constraints.
Optionally, determining a target parking path from the two parking paths based on the number of gear shifting times and/or the parking path length in the two parking plan information includes:
determining a parking path with the minimum gear switching times and/or the shortest parking path as a first candidate target parking path in the front and rear wheel same-direction mode;
determining a parking path with the minimum gear switching times and/or the shortest parking path as a second alternative target parking path in the front-wheel and rear-wheel different-direction mode;
and determining a parking path with the least gear switching times and/or the shortest parking path as the target parking path from the first candidate target parking path and the second candidate target parking path.
In a second aspect of the embodiments of the present invention, there is provided a parking planning apparatus based on four-wheel steering, including:
the information acquisition module is used for acquiring parking space information of a parking space where the vehicle is to be parked and obstacle information around the parking space where the vehicle is to be parked when the automatic parking function is detected to be triggered and the automatic parking function is detected to be triggered;
the path planning module is used for determining parking planning information of the vehicle in two four-wheel steering modes respectively according to the parking space information and the obstacle information; the parking planning information comprises a parking path, gear switching times and parking path length, and the two four-wheel steering modes comprise a front wheel homodromous mode and a rear wheel heterodromous mode;
the path determining module is used for determining target parking planning information from the two parking paths based on the gear switching times and/or the parking path lengths in the two parking planning information;
and the parking driving module is used for controlling the vehicle to park to the parking space according to the target parking path.
In a third aspect of the embodiments of the present invention, a computer-readable storage medium is provided, on which a computer program is stored, the program being executed by a processor to implement the steps of the four-wheel-steering-based parking planning method according to the first aspect of the embodiments of the present invention.
In a fourth aspect of the embodiments of the present invention, a vehicle is provided, which includes the four-wheel steering based parking planning apparatus according to the second aspect of the embodiments of the present invention.
The invention provides a parking planning method based on four-wheel steering, which comprises the following steps: when the automatic parking function is detected to be triggered, parking space information of a parking space where the vehicle is to be parked and obstacle information around the parking space where the vehicle is to be parked are obtained; according to the parking space information and the obstacle information, determining parking planning information of the vehicle in two four-wheel steering modes respectively; the parking planning information comprises a parking path, gear switching times and parking path length, and the two four-wheel steering modes comprise a front-wheel homodromous mode and a rear-wheel heterodromous mode; determining a target parking path from the two parking paths based on the gear switching times and/or the parking path length in the two parking planning information; and controlling the vehicle to stop to the parking space according to the target parking path. According to the invention, the parking paths of the vehicle in the front and back same-direction mode and the parking paths in the front and back different-direction mode are used as alternative parking paths, and then the optimal parking path is selected from the alternative parking paths, so that the parking planning is carried out. According to the method, when the vehicle is parked and planned, different transverse control strategies can be selected according to the parking space information and the obstacle information, the characteristics of flexible steering and changeable driving paths of the four-wheel steering vehicle are exerted to the maximum extent, the optimal parking path is obtained, the flexibility of automatic parking of the vehicle is improved, the limitation of the parking space and the size of the parking space to the parking path is reduced, the accommodation degree of the parking space of the vehicle to the field space is increased, and the risk of collision with the obstacle in the parking process is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive labor.
FIG. 1 is a schematic diagram of three lateral control modes of a four-wheel-steering vehicle according to an embodiment of the present invention;
FIG. 2 is a step diagram of a four-wheel steering based parking planning method according to an embodiment of the present invention;
FIG. 3 is a diagram illustrating steps of another four-wheel-steering-based parking planning method according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating steps of another four-wheel-steering-based parking planning method according to an embodiment of the present invention;
fig. 5 is a scene diagram of a parking plan based on four-wheel steering according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a parking planning apparatus based on four-wheel steering according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Four-wheel steering means that the vehicle controls the lateral direction of the vehicle by controlling the steering angle of the front wheels and the rear wheels during steering. Fig. 1 shows three lateral control modes of a four-wheel-steering vehicle, including a normal steering mode, a front-rear-wheel same-direction steering mode, and a front-rear-wheel different-direction steering mode. The common steering mode is that the vehicle controls the running direction of the vehicle through a front wheel, and the mode is the same as the transverse control mode of the common front wheel steering vehicle; the front and rear wheel equidirectional steering mode is characterized in that the driving direction of the vehicle is controlled in a mode that the rotating directions of the front wheels and the rear wheels are the same, the effect of the vehicle in translation in the side direction can be realized to a certain extent, and when a parking space is positioned on the side of the vehicle and the vehicle parks in a side parking mode, the front and rear wheel equidirectional steering mode can effectively improve the parking efficiency of the vehicle; the front and rear wheel steering mode is to control the driving direction of the vehicle in a mode that the rotation directions of the front wheels and the rear wheels are opposite, has the advantage of small steering radius, and can improve the steering flexibility of the vehicle.
In the present invention, according to the application of three lateral control modes of a four-wheel steering vehicle in an actual parking scene, a front-rear wheel equidirectional steering mode and a front-rear wheel incongruous steering mode are mainly used. Therefore, in the embodiment of the present invention, the parking trajectory planning by the front-rear wheel equidirectional steering mode and the front-rear wheel incongruous steering mode is mainly discussed.
In an embodiment provided by the present invention, a parking planning method based on four-wheel steering is executed by a parking planning system, and as shown in fig. 2, a step diagram of a parking planning method based on four-wheel steering specifically includes:
step S101, when the triggering of the automatic parking function is detected, and when the triggering of the automatic parking function is detected, parking space information of a parking space where the vehicle is to be parked and obstacle information around the parking space where the vehicle is to be parked are obtained;
when a user starts the automatic parking function, the central control system sends a starting signal to the parking regulation and control system, and the parking regulation and control system obtains parking space information of a parking space to be parked of a vehicle and obstacle information around the parking space to be parked, wherein the parking space information is acquired by the parking perception system through a camera and a radar.
Step S102, according to the parking space information and the obstacle information, determining parking planning information of the vehicle in two four-wheel steering modes respectively; the parking planning information comprises a parking path, gear switching times and parking path length, and the two four-wheel steering modes comprise a front-wheel homodromous mode and a rear-wheel heterodromous mode;
the parking regulation and control system respectively determines the parking planning information with the highest parking efficiency in the corresponding mode under the front and rear wheel equidirectional mode and the front and rear wheel incongruous mode according to the acquired parking space information and the acquired obstacle information, wherein the parking planning information comprises a parking path and the parking efficiency.
Step S103, determining a target parking path from the two parking paths based on the gear switching times and/or the parking path length in the two parking planning information;
and comparing the parking path in the front-wheel and rear-wheel equidirectional mode with the parking path in the front-wheel and rear-wheel incongruous mode, and selecting the parking path with the highest parking efficiency as a target parking path.
Step S104, controlling the vehicle to stop at the parking space according to the target parking path;
the parking regulation and control system calculates a target steering angle of a front wheel and a target steering angle of a rear wheel of the vehicle according to a target parking path, and sends a turning angle request carrying information of the target steering angles of the four wheels to the vehicle-mounted controller, so that the vehicle-mounted controller controls the steering of the front wheel and the rear wheel according to the target steering angles of the four wheels.
When the vehicle is in a parking plan, different transverse control strategies can be selected according to parking space information and obstacle information, and the characteristics of flexible steering and variable driving paths of the four-wheel steering vehicle are exerted to the maximum extent, so that an optimal parking path is obtained, the flexibility of automatic parking of the vehicle is improved, the limitation of parking space and parking space size to the parking path is reduced, the accommodation degree of the vehicle parking to field space is increased, and the risk of collision with an obstacle in the parking process is reduced.
In another embodiment provided by the present invention, fig. 3 provides another step diagram of a parking planning method based on four-wheel steering, which comprises the following specific contents:
step S201, collecting image information of the parking space, and acquiring parking space information of the vehicle based on the image information, wherein the parking space information comprises a boundary line, an entrance length and a total length; detecting the position of an obstacle around the vehicle, and determining the obstacle with the distance from the parking space within a preset distance range based on the boundary line, the entrance length and the total length to obtain the obstacle information;
when a user starts the automatic parking function, the central control system sends a starting signal to the parking regulation system, and the parking regulation system obtains the boundary line, the entrance length, the total length and the position of the obstacle from the information stored by the parking sensing system. The boundary line, the entrance length and the total length can be obtained through image information recorded by a camera, and the position of the obstacle is obtained through radar systems such as an ultrasonic radar or a millimeter wave radar. In addition, the information stored by the parking sensing system may also be obtained by other existing technologies, and the present invention is not limited thereto.
Step S202, determining the end point of the parking path based on the boundary line and/or the obstacle information; and determining a parking orientation of the vehicle according to the entrance length; respectively planning parking paths of the vehicle in two four-wheel steering modes by taking the current position of the vehicle as a parking starting point, taking the terminal point as a parking terminal point and taking the parking direction and the obstacle avoidance as constraints;
in actual life, parking spaces can be divided into multiple types, the directions and positions of parking vehicles in different parking spaces are different, and the parking directions of the vehicles are different, so that the parking space type can be used as one of the influence factors of the parking regulation and control system for planning the parking path. In addition, the planning of the parking path also needs to determine a parking starting point and a parking ending point, wherein the parking starting point is the position of the current vehicle, and the position of the parking starting point can be the relative position of the vehicle and a parking space to be parked, which is detected by sensors such as a radar and a camera, and can also be a position coordinate acquired by devices such as a global positioning system; the parking end point may be determined from the position information of the parking space boundary line or the obstacle.
The method comprises the steps that a parking starting point, a parking end point and a parking direction are used as input information and input into a parking regulation and control system, the parking regulation and control system plans a parking path under a front-wheel and rear-wheel equidirectional mode and a front-wheel and rear-wheel different-direction mode according to the input information on the premise that obstacles are avoided, and the parking path carries information such as a path track, gear switching times and a path length.
Step S203, under the front and rear wheel equidirectional mode, determining a parking path with the minimum gear switching times and/or the shortest parking path as a first candidate target parking path; determining a parking path with the minimum gear switching times and/or the shortest parking path as a second alternative target parking path in the front-wheel and rear-wheel different-direction mode; determining a parking path with the least gear switching times and/or the shortest parking path as the target parking path from the first candidate target parking path and the second candidate target parking path;
the parking regulation and control system also considers the parking efficiency of the vehicle when planning the parking path, wherein the factor which has the greatest influence on the parking efficiency is the gear switching times and the length of the parking path. The parking path with the least gear switching times among all parking paths has the highest efficiency, when the gear switching times are the same, the parking path with the short parking path length has the highest parking efficiency, and the parking path with the highest parking efficiency in the two modes is used as the alternative target parking path in the mode to be used for selecting the target parking path.
And selecting a parking path with the highest parking efficiency from the parking paths in the front-wheel and rear-wheel equidirectional mode as a first alternative parking path, and selecting a parking path with the highest parking efficiency from the parking paths in the front-wheel and rear-wheel opposite-direction mode as a second alternative parking path. And then, selecting a parking path with the minimum gear switching frequency from the two parking paths as a target parking path, and selecting the parking path with the shortest parking path length as the target parking path when the gear switching frequencies of the two parking paths are the same.
Step S204, controlling the vehicle to park to the parking space according to the target parking path;
the parking regulation and control system calculates a target steering angle of a front wheel and a target steering angle of a rear wheel of the vehicle according to a target parking path, and sends a turning angle request carrying information of the target steering angles of the four wheels to the vehicle-mounted controller, so that the vehicle-mounted controller controls the steering of the front wheel and the rear wheel according to the target steering angles of the four wheels.
In another embodiment provided by the present invention, fig. 4 provides another step diagram of a parking planning method based on four-wheel steering, which comprises the following specific contents:
step S301, collecting image information of the parking space, and acquiring parking space information of the vehicle based on the image information, wherein the parking space information comprises a boundary line, an entrance length and a total length; detecting the position of an obstacle around the vehicle, and determining the obstacle with the distance from the parking space within a preset distance range based on the boundary line, the entrance length and the total length to obtain the obstacle information;
the step S301 is the same as the step S201, and reference may be made to the description in the step S201.
Step S302, when the parking space has a boundary line, determining the end point based on a side boundary opposite to the entrance on the boundary line; under the condition that the parking spaces do not have boundary lines, determining the end point based on the position of the obstacle and taking the shortest parking path as a constraint;
when the vehicle camera detects that the parking space boundary line exists in the parking space to be parked, the parking terminal is determined by taking the fact that the whole vehicle is parked in the parking space boundary line as a standard. When the parking regulation and control system determines the parking end point, one side of the vehicle body can be aligned with one side of the boundary line to serve as a judgment rule to determine the final parking position of the vehicle, namely the parking end point.
When the vehicle camera detects that no parking space boundary line exists in the parking space to be parked, the area larger than the vertical projection of the vehicle body is selected from the area to be parked according to the obtained distribution condition of the positions of the obstacles, the barrier-free area which is closest to the vehicle and in which the vehicle is parked can be received as the parking space to be parked, and the parking terminal is determined as the proper position of the barrier-free area.
Step S303, when the length of the entrance is larger than a first length, determining that the parking orientation is a first parking orientation, wherein the first parking orientation is an orientation in which the longitudinal center line of the vehicle is parallel to the entrance; determining the parking orientation to be a second parking orientation when the entry length is greater than a second length and less than or equal to a first length, the second parking orientation being an orientation of parking perpendicular to the entry with a longitudinal centerline of the vehicle;
the parking regulation and control system determines a parking space entrance and measures the length of the parking space entrance according to the parking space information detected by the camera, and when the entrance length is greater than a first length, the parking direction of the vehicle is determined to be a mode that the longitudinal center line of the vehicle is parallel to the parking space entrance, namely a mode of parking at a side position; when the entrance length is greater than the second length and less than or equal to the first length, the parking orientation of the vehicle is determined as the way that the longitudinal center line of the vehicle is perpendicular to the entrance of the parking space, namely the way of backing up and warehousing is generally described. The first length is greater than the vehicle length, usually 1-1.5 times the vehicle length, the second length is greater than the vehicle width, usually 1-1.5 times the vehicle width, and the first length is greater than the second length.
Step S304, acquiring the relative position relationship between the head of the vehicle and the entrance; determining the parking path by taking the current position of the vehicle as a parking starting point, the terminal as a parking terminal point and the relation between the parking direction, the obstacle avoidance and the relative position as constraints;
when the vehicle determines the position of a parking space to be parked relative to the vehicle and a parking space entrance of the vehicle, acquiring the relative position relation between a vehicle head and the parking space entrance, and when the parking space entrance is positioned on one side of the vehicle head, namely when the parking space entrance is positioned in the advancing direction of the vehicle, adopting an advancing gear to park; when the parking space entrance is positioned at one side of the tail of the vehicle, the vehicle is parked by adopting reverse gear. In addition, the parking regulation and control system needs to collect gear information before the vehicle parks to monitor the current gear condition so as to switch the gear to the gear required for parking.
And determining a parking path according to the parking starting point, the parking end point, the parking direction, the obstacle avoidance and the relative position relationship, wherein the parking path carries information such as a path track, gear switching times, a path length, a parking gear and the like.
Step S305, determining a parking path with the minimum gear switching times and/or the shortest parking path as a first candidate target parking path in the front-wheel and rear-wheel equidirectional mode; determining a parking path with the minimum gear switching times and/or the shortest parking path as a second alternative target parking path in the front-wheel and rear-wheel different-direction mode; determining a parking path with the least gear switching times and/or the shortest parking path as the target parking path from the first candidate target parking path and the second candidate target parking path;
the specific implementation steps of step S305 are the same as those of step S203, and reference may be made to the related descriptions in step S203.
Step S306, controlling the vehicle to park to the parking space according to the target parking path;
the parking regulation and control system calculates a target steering angle of a front wheel and a target steering angle of a rear wheel of the vehicle according to a target parking path, and sends a turning angle request carrying information of the target steering angles of the four wheels to the vehicle-mounted controller, so that the vehicle-mounted controller controls the steering of the front wheel and the rear wheel according to the target steering angles of the four wheels.
The embodiment of the invention also provides a specific process for planning the parking path by using the parking planning method based on four-wheel steering, which comprises the following steps:
when the vehicle runs to a certain place, the driver starts the automatic parking function, and the intelligent driving regulation and control system obtains the information about the parking space and the information about the obstacles from the intelligent driving perception system. The parking space information mainly comprises information such as a parking space boundary line, a parking space entrance length and a parking space total length which are acquired through images shot by a camera, and the obstacle information comprises information such as an obstacle position acquired by a radar. Fig. 5 shows a parking planning scene diagram based on four-wheel steering, as shown in fig. 5, a vehicle to be parked determines a parking space with a space-free boundary line around the current vehicle through a camera and a radar, a parking regulation system determines a space-free area between a barrier 1 and a barrier 2, where the vehicle to be parked is allowed to be parked, as a parking space to be parked, and determines an entrance length of the parking space to be parked through the camera.
As shown in fig. 5, when the vehicle detects that the length of the parking space to be parked is greater than 1 time of the length of the vehicle, the parking direction of the vehicle is determined as the parking direction in which the longitudinal center line of the vehicle is parallel to the entrance of the parking space, the vehicle is parked in the lateral parking mode, and meanwhile, the parking endpoint is determined by taking the shortest parking path as a constraint.
And inputting the parking starting point, the parking end point and the parking direction of the vehicle into a parking regulation and control system, and respectively regulating all parking paths which can be parked from the parking starting point to the parking end point and are determined to be parked in a parking mode by the parking regulation and control system under a front-wheel equidirectional mode and a front-wheel incongruous mode according to input information.
And then, selecting a parking path with the minimum gear switching times from the front and rear wheel same-direction mode as a first candidate target parking path, and selecting the parking path with the shortest parking path as the first candidate target parking path when two or more parking paths have the same and the minimum gear switching times in the mode. Similarly, a second candidate target parking path may be determined from all parking paths for the front and rear wheel steering mode.
After the first alternative target parking path and the second alternative target parking path are determined, the parking path with the minimum gear switching times is selected as the target parking path, and when the gear switching times of the first alternative target parking path and the second alternative target parking path are the same, the parking path with the shortest parking path is selected as the target parking path.
The parking regulation and control system calculates a target steering angle of the front wheels and a target steering angle of the rear wheels of the vehicle according to the target parking path, and sends a turning angle request carrying the target steering angle information of the four wheels to the vehicle-mounted controller, so that the vehicle-mounted controller controls the steering of the front wheels and the steering of the rear wheels according to the target steering angles of the four wheels.
An embodiment of the present invention further provides a parking planning apparatus based on four-wheel steering, as shown in fig. 6, including:
the information acquisition module is used for acquiring parking space information of a parking space where the vehicle is to be parked and obstacle information around the parking space where the vehicle is to be parked when the automatic parking function is detected to be triggered and the automatic parking function is detected to be triggered;
the path planning module is used for determining parking planning information of the vehicle in two four-wheel steering modes respectively according to the parking space information and the obstacle information; the parking planning information comprises a parking path, gear switching times and parking path length, and the two four-wheel steering modes comprise a front-wheel homodromous mode and a rear-wheel heterodromous mode;
the route determining module is used for determining target parking planning information from the two parking routes based on the gear switching times and/or the parking route lengths in the two parking planning information;
and the parking driving module is used for controlling the vehicle to park to the parking space according to the target parking path.
Optionally, the information acquiring module may be further configured to acquire image information of the parking space, and acquire parking space information of the vehicle based on the image information, where the parking space information includes a boundary line, an entrance length, and a total length; and detecting the position of an obstacle around the vehicle, and determining the obstacle with the distance from the parking space within a preset distance range based on the boundary line, the entrance length and the total length to obtain the obstacle information.
Optionally, the path planning module may be further configured to determine an end point of the parking path based on the boundary line and/or the obstacle information; and determining a parking orientation of the vehicle according to the entrance length; and respectively planning parking paths of the vehicle in two modes by taking the current position of the vehicle as a parking starting point, taking the terminal point as a parking terminal point and taking the parking direction and the obstacle avoidance as constraints.
Optionally, the path planning module further includes:
the parking end point determining module is used for determining the end point based on a side boundary opposite to the entrance on the boundary line when the parking space has the boundary line; determining the end point based on the position of the obstacle and taking the shortest parking path as a constraint when the parking space does not have a boundary line
Optionally, the path planning module further includes:
the parking orientation determining module is used for determining the parking orientation as a first parking orientation when the length of the entrance is greater than a first length, wherein the first parking orientation is that the vehicle is parked in a mode that the longitudinal center line of the vehicle is parallel to the entrance of the parking space; and when the entrance length is greater than the second length and less than or equal to the first length, determining that the parking orientation is a second parking orientation, wherein the second parking orientation is that the vehicle is parked in a mode that the longitudinal center line of the vehicle is perpendicular to the parking space entrance.
Optionally, the path planning module may be further configured to obtain a relative position relationship between a vehicle head of the vehicle and an entrance of the parking space; and determining the parking path by taking the current position of the vehicle as a parking starting point, the terminal as a parking terminal point and the relation between the parking direction, the obstacle avoidance and the relative position as constraints.
Optionally, the path determining module may be further configured to determine, as the first candidate target parking path, a parking path of the vehicle in a front-rear wheel same-direction mode, where the number of gear shifts is the smallest and/or the parking path is the shortest; determining a parking path with the least gear switching times and/or the shortest parking path of the vehicle in a front-rear wheel different-direction mode as a second alternative target parking path; and determining a parking path with the least gear switching times and/or the shortest parking path as the target parking path from the first candidate target parking path and the second candidate target parking path.
Embodiments of the present application further provide a computer-readable storage medium, on which a computer program/instruction is stored, and the computer program/instruction, when executed by a processor, implements a four-wheel steering based parking planning method as disclosed in the embodiments of the present application.
The embodiment of the invention also provides a vehicle which comprises the parking planning device based on four-wheel steering.
According to the four-wheel steering based parking planning method, the four-wheel steering based parking planning device, the storage medium and the vehicle, the four-wheel steering is applied to the parking path planning of the vehicle, the parking track of the vehicle is determined according to the parking space information and the obstacle information acquired by the parking sensing system, the characteristics of flexible steering and variable track paths of the four-wheel steering vehicle can be effectively utilized, the gear switching times in the parking process are reduced, the parking path is shortened, the parking efficiency is improved, the vehicle abrasion is reduced, the parking precision is improved, and the user experience of automatic parking is greatly improved.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus, electronic devices and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrases "comprising one of \ 8230; \8230;" does not exclude the presence of additional like elements in a process, method, article, or terminal device that comprises the element.
The parking planning method, the parking planning device, the parking planning storage medium and the vehicle based on four-wheel steering provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A parking planning method based on four-wheel steering is characterized by comprising the following steps:
when the automatic parking function is detected to be triggered, acquiring parking space information of a parking space where the vehicle is to be parked and obstacle information around the parking space where the vehicle is to be parked;
according to the parking space information and the obstacle information, parking planning information of the vehicle in two four-wheel steering modes is determined; the parking planning information comprises a parking path, gear switching times and parking path length, and the two four-wheel steering modes comprise a front-wheel homodromous mode and a rear-wheel heterodromous mode;
determining a target parking path from the two parking paths based on the gear switching times and/or the parking path length in the two parking planning information;
and controlling the vehicle to stop to the parking space according to the target parking path.
2. The method according to claim 1, wherein when it is detected that the automatic parking function is triggered, acquiring parking space information of a parking space where the vehicle is to be parked and obstacle information around the parking space where the vehicle is to be parked, includes:
acquiring image information of the parking space, and acquiring parking space information of the vehicle based on the image information, wherein the parking space information comprises a boundary line, an entrance length and a total length;
and detecting the position of an obstacle around the vehicle, and determining the obstacle with the distance from the parking space within a preset distance range based on the boundary line, the entrance length and the total length to obtain the obstacle information.
3. The method of claim 1, wherein the slot information comprises a boundary line, an entrance length, and a total length; according to the parking space information and the obstacle information, determining parking planning information of the vehicle in two four-wheel steering modes respectively, wherein the parking planning information comprises the following steps:
determining an end point of the parking path based on the boundary line and/or the obstacle information; and determining a parking orientation of the vehicle according to the entrance length;
and respectively planning the parking planning information of the vehicle in two four-wheel steering modes by taking the current position of the vehicle as a parking starting point, taking the terminal point as a parking terminal point and taking the parking direction and the obstacle avoidance as constraints.
4. The method of claim 3, wherein determining an endpoint of the parking path based on the boundary line and/or the obstacle information comprises:
when the parking space has a boundary line, determining the end point based on a side boundary opposite to the entrance on the boundary line;
and under the condition that the parking spaces do not have boundary lines, determining the end point by taking the shortest parking path as a constraint on the basis of the positions of the obstacles.
5. The method of claim 3, wherein determining the parking orientation of the vehicle based on the entry length comprises:
determining the parking orientation to be a first parking orientation when the entry length is greater than a first length, the first parking orientation being an orientation parallel to the entry with a longitudinal centerline of the vehicle;
determining the parking orientation to be a second parking orientation when the entrance length is greater than a second length and less than or equal to a first length, the second parking orientation being an orientation perpendicular to the entrance with a longitudinal centerline of the vehicle.
6. The method of claim 3, wherein the step of respectively planning parking paths of the vehicle in two modes by taking the current position of the vehicle as a parking starting point, the terminal as a parking terminal point and the parking direction and the obstacle avoidance as constraints comprises the steps of:
acquiring a relative position relation between the head of the vehicle and the inlet;
and determining the parking path by taking the current position of the vehicle as a parking starting point, the terminal as a parking terminal point and the relation between the parking direction, the obstacle avoidance and the relative position as constraints.
7. The method according to any one of claims 1 to 6, wherein determining a target parking path from two parking paths based on the number of shifts and/or the parking path length in the two parking plan messages comprises:
determining a parking path with the minimum gear switching times and/or the shortest parking path as a first alternative target parking path in the front and rear wheel equidirectional mode;
determining a parking path with the minimum gear switching times and/or the shortest parking path as a second alternative target parking path in the front-wheel and rear-wheel different-direction mode;
and determining a parking path with the least gear switching times and/or the shortest parking path as the target parking path from the first candidate target parking path and the second candidate target parking path.
8. A four-wheel-steering-based parking planning apparatus, comprising:
the information acquisition module is used for acquiring parking space information of a parking space where the vehicle is to be parked and obstacle information around the parking space where the vehicle is to be parked when the automatic parking function is detected to be triggered and the automatic parking function is detected to be triggered;
the path planning module is used for determining parking planning information of the vehicle in two four-wheel steering modes respectively according to the parking space information and the obstacle information; the parking planning information comprises a parking path, gear switching times and parking path length, and the two four-wheel steering modes comprise a front-wheel homodromous mode and a rear-wheel heterodromous mode;
the path determining module is used for determining target parking planning information from the two parking paths based on the gear switching times and/or the parking path lengths in the two parking planning information;
and the parking driving module is used for controlling the vehicle to park to the parking space according to the target parking path.
9. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the four-wheel-steering-based parking planning method according to any one of claims 1 to 7.
10. A vehicle comprising the four-wheel-steering-based parking planning apparatus of claim 8.
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| JPH10114274A (en) * | 1996-10-09 | 1998-05-06 | Honda Motor Co Ltd | Automatic steering device for vehicle |
| JP2014004932A (en) * | 2012-06-25 | 2014-01-16 | Aisin Seiki Co Ltd | Parking support device, parking support method, and program |
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