CN115489519A - Full-automatic parking method, device, equipment and medium - Google Patents
Full-automatic parking method, device, equipment and medium Download PDFInfo
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- CN115489519A CN115489519A CN202211349720.XA CN202211349720A CN115489519A CN 115489519 A CN115489519 A CN 115489519A CN 202211349720 A CN202211349720 A CN 202211349720A CN 115489519 A CN115489519 A CN 115489519A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The invention provides a full-automatic parking method, a device, equipment and a medium, wherein the full-automatic parking method comprises the following steps: determining a parking mode when the target vehicle is parked; if the parking mode is an automatic parking mode, calling the coordinates of a stopper in a target parking space in the automatic parking process; if the calling of the stopper coordinates fails, determining the stopper coordinates, and determining a parking path of the target vehicle according to the parking-out environment and the stopper coordinates so as to indicate that the target vehicle is parked out along the parking path; and if the calling of the stopper coordinate is successful, planning a parking-out path according to the stopper coordinate and the parking-out environment so as to indicate that the target vehicle is parked out along the parking-out path.
Description
Technical Field
The present application relates to the field of automatic parking technologies, and in particular, to a full-automatic parking method, device, electronic device, and computer-readable storage medium.
Background
The full-automatic parking system can realize the automatic parking and warehousing and ex-warehousing functions of vehicles by controlling actuating mechanisms such as steering, braking and gear shifting, liberates both hands and feet of a driver in the whole process, greatly reduces the vehicle pressure in the use process of a user, improves the user experience, is widely applied to the field of automobiles at present, and realizes the mass production of the full-automatic parking technology by a plurality of manufacturers at home and abroad.
According to the automatic parking system on the market, an ultrasonic space is mainly detected and parked according to an ultrasonic radar, characteristic obstacles are mainly learned and recognized according to the image depth of a camera, and a stopper is determined only in the stage of searching for a parking space by judging the characteristics of two stoppers and the distance from the bottom line of the parking space, so that a vehicle finally stops to a rear wheel about 10cm away from the stopper and serves as a final parking point. However, for the parking function, because the stopper is under the vehicle at the initial position and cannot be identified by the radar and the camera, when the vehicle is parked and moves backwards in the first step, the stopper is pressed and torque-increasing judgment is carried out, when the torque reaches a certain value, if the torque does not pass through the torque-increasing judgment, the vehicle is considered to encounter an obstacle, the coordinates of the obstacle are updated, the path is replanned, and the vehicle is switched to a forward gear. However, the vehicle is pressed twice by the mode, torque is increased, and safety and experience brought to users are poor.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides a method, an apparatus, a device and a medium for full-automatic parking to solve the above-mentioned technical problems.
The invention provides a full-automatic parking method, which comprises the following steps:
determining a parking mode when the target vehicle is parked;
if the parking mode is an automatic parking mode, calling the coordinates of a stopper in a target parking space in the automatic parking process;
if the calling of the stopper coordinates fails, determining the stopper coordinates, and determining a parking path of the target vehicle according to the parking-out environment and the stopper coordinates so as to indicate that the target vehicle is parked out along the parking path;
and if the calling of the stopper coordinate is successful, planning a parking-out path according to the stopper coordinate and the parking-out environment so as to indicate that the target vehicle is parked out along the parking-out path.
In an embodiment of the present invention, after determining a parking mode when the target vehicle is parked, the method further includes:
if the parking mode is the manual parking mode, controlling the target vehicle to retreat in the parking process of the target vehicle;
monitoring the wheel speed change and the gradient value change in the backing process of the target vehicle until the wheel speed change value is larger than a first preset value and the gradient value change is larger than a second preset value, controlling the target vehicle to back, determining that the rear wheel of the target vehicle abuts against a stopper, and recording the coordinates of the stopper;
and planning a parking path according to the coordinates of the stopper and the parking environment so as to indicate that the target vehicle is parked along the parking path.
In an embodiment of the present invention, before determining a parking mode when the target vehicle is parked, the method further includes:
triggering an automatic parking mode and acquiring an idle parking space;
determining an idle parking space closest to a target vehicle as a target parking space according to the position information of the target vehicle and the position information of the idle parking space;
determining the parking environment of the target parking space and the coordinates of the stopper in the target parking space;
and planning a parking path according to the parking environment and the coordinates of the stopper in the target parking space to indicate that the target vehicle parks in the target parking space, and recording the driving mileage of the target vehicle when parking is finished.
In an embodiment of the present invention, if the parking mode is an automatic parking mode, before the coordinates of the stopper in the target parking space in the automatic parking process are called, the method further includes:
acquiring a parking trigger signal, and determining the current mileage of the target vehicle when the parking trigger signal is triggered;
comparing the current mileage with the traveled mileage, and calling the coordinates of the limiter if the current mileage is consistent with the traveled mileage;
and if the current mileage is inconsistent with the driving mileage, deleting the coordinates of the limiter.
The invention provides a full-automatic parking device, comprising:
the parking mode determining module is used for determining a parking mode when the target vehicle parks;
the first processing module is used for calling the stopper coordinates recorded in the automatic parking process if the parking mode is the automatic parking mode;
the second processing module is used for determining the coordinates of the limit stop if the coordinate calling of the limit stop fails, and determining the parking-out path of the target vehicle according to the parking-out environment and the coordinates of the limit stop so as to indicate the target vehicle to park out along the parking-out path;
and the third processing module is used for planning a parking path according to the coordinate of the stopper and the parking environment if the coordinate of the stopper is successfully called so as to indicate that the target vehicle is parked out along the parking path.
In an embodiment of the invention, the apparatus further includes:
the fourth processing module is used for controlling the target vehicle to retreat in the parking process of the target vehicle if the parking mode is the manual parking mode;
the limiter coordinate acquisition module is used for monitoring the wheel speed change and the gradient value change of the target vehicle in the backing process until the wheel speed change value is greater than a first preset value and the gradient value change is greater than a second preset value, controlling the target vehicle to back, determining that the rear wheel of the target vehicle abuts against the limiter, and recording the coordinates of the limiter;
and the fifth processing module is used for planning a parking path according to the position of the position limiter and the parking environment so as to indicate that the target vehicle is parked along the parking path.
In an embodiment of the present invention, the apparatus further includes:
the parking triggering module is used for triggering an automatic parking mode and acquiring an idle parking space;
the parking space determining module is used for determining an idle parking space closest to a target vehicle as a target parking space according to the position information of the idle parking space;
the parking environment determining module is used for determining the parking environment of the target parking space and the coordinates of the stopper in the target parking space;
and the parking planning module is used for planning a parking path according to the parking environment and the coordinates of the stopper in the target parking space so as to indicate the target vehicle to park in the target parking space and record the driving mileage of the target vehicle after parking is finished.
In an embodiment of the present invention, the apparatus further includes:
the current mileage determining module is used for acquiring a pull-out trigger signal and determining the current mileage of the target vehicle during pull-out trigger;
the comparison module is used for comparing the current mileage with the traveled mileage, and calling the coordinates of the limiter if the current mileage is consistent with the traveled mileage;
and the deleting module is used for deleting the coordinates of the limiter if the current mileage is inconsistent with the driving mileage.
The electronic device provided by the invention comprises:
one or more processors;
a storage device for storing one or more programs, which when executed by the one or more processors, cause the electronic device to implement the fully-automatic parking method.
The present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the method for full automatic parking.
The invention has the beneficial effects that: in the parking process, the camera on the target vehicle can be used for collecting images, identifying the stopper and recording the coordinates of the stopper. In the parking process, the coordinates of the position limiter cannot be determined through the camera because the position limiter is positioned below the vehicle. In order to avoid pressing the stopper during parking out, the coordinates of the stopper recorded during parking in need to be called, and the parking out path during parking out is planned according to the coordinates of the stopper, so that the stopper is prevented from being pressed during parking out. And even though the vehicle is parked in the automatic parking mode, the coordinates of the position limiter are invalid due to the fact that the vehicle is used or moved by manual driving between parking and parking, and therefore the calling is failed.
This scheme can effectual improvement user use experience feel, reduces the stopper and is pressed the in-process for a long time and in the same direction as bad possibility.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and, together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a flow chart illustrating a method for fully automated parking in accordance with an exemplary embodiment of the present application;
FIG. 2 is a flow chart illustrating a method for fully automated parking in accordance with an exemplary embodiment of the present application;
fig. 3 is a block diagram illustrating a fully automatic parking apparatus according to an exemplary embodiment of the present application.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, wherein the following description is made for the embodiments of the present invention with reference to the accompanying drawings and the preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, and are not intended to limit the scope of the present invention.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, amount and proportion of each component in actual implementation can be changed freely, and the layout of the components can be more complicated.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring embodiments of the present invention.
As shown in fig. 1, in an exemplary embodiment, the fully automatic parking method at least includes steps S110 to S150, which are described in detail as follows:
in step S110, a parking mode when the target vehicle is parked is determined.
It is noted that the parking mode includes an automatic parking mode and a manual parking mode. If the target user triggers the automatic parking mode in the parking process, the parking mode of the target user for parking is judged as the automatic parking mode, if the target user does not trigger the automatic parking mode, the target user automatically controls the target vehicle to park, if the target vehicle is automatically parked, the triggering information of the automatic parking mode is not called, and the parking mode is identified as the manual parking mode.
And step S120, if the parking mode is an automatic parking mode, calling the coordinates of the stopper in the target parking space in the automatic parking process.
It is worth noting that during parking, images can be collected through a camera on the target vehicle, the stopper is identified, and coordinates of the stopper are recorded. In the parking process, the coordinates of the position limiter cannot be determined through the camera because the position limiter is positioned below the vehicle. In order to avoid pressing the stopper during the parking-out process, the coordinates of the stopper recorded during parking-in need to be called, and the parking-out path during parking-out is planned according to the coordinates of the stopper, so that the stopper is prevented from being pressed during parking-out.
And step S130, if the calling of the limit stop coordinate fails, determining the limit stop coordinate, and determining the parking-out path of the target vehicle according to the parking-out environment and the limit stop coordinate so as to indicate the target vehicle to park out along the parking-out path.
It should be noted that, after the vehicle is parked, the target vehicle may move too much, and at this time, if the previous stopper coordinate in the target parking space is called, the coordinate may be inaccurate, and therefore, the recorded stopper coordinate is deleted, and therefore, even in the automatic parking mode during parking, the stopper coordinate may be called unsuccessfully.
It should be further noted that the coordinates of the stopper represent coordinates of the target vehicle in the target parking space and coordinates of the stopper in the target parking space, and are coordinates recorded with the target vehicle as an origin.
And step S140, if the calling of the stopper coordinate is successful, planning a parking-out path according to the stopper coordinate and the parking-out environment so as to indicate that the target vehicle is parked out along the parking-out path.
It should be noted that if the coordinate of the stopper is successfully called, it indicates that the target vehicle has not been moved after the automatic parking, so that the parking and exiting path can be planned according to the coordinate of the stopper to avoid pressing the stopper during the parking and exiting process.
As shown in fig. 2, in an exemplary embodiment of the invention, after determining the parking mode when the target vehicle is parked in step S110, the method further includes:
and step S210, if the parking mode is the manual parking mode, controlling the target vehicle to back in the parking process of the target vehicle.
It should be noted that, if the parking mode is the manual parking mode, the coordinates of the stopper need to be acquired, and therefore, at this time, the vehicle is controlled to move backward so as to abut against the stopper, and the coordinates of the stopper are determined.
Step S220, monitoring the wheel speed change and the gradient value change in the process of backing the target vehicle until the wheel speed change value is larger than a first preset value and the gradient value change is larger than a second preset value, controlling the target vehicle to back, determining that the rear wheel of the target vehicle abuts against the stopper, and recording the coordinates of the stopper.
It will be appreciated that when the target vehicle presses against the stop, the vehicle will experience a rebound condition. The wheel speed and the detected gradient value are changed, so that whether the vehicle abuts against the stopper or not can be determined by monitoring the vehicle speed and the gradient value, the relative position between the stopper and the target vehicle is determined, and the coordinates of the stopper are determined and recorded according to the position relation between the target vehicle and the parking space.
It should be noted that step S220 is a limiter coordinate determination process. If the invocation of the stopper coordinate fails, the stopper coordinate is determined, and the manner of determining the stopper coordinate is the same as that in step S220, which is not described herein again.
And step S230, planning a parking path according to the stopper coordinates and the parking environment to indicate that the target vehicle is parked along the parking path.
Illustratively, the parking-out environment includes information such as the position distribution of dynamic obstacles and static obstacles around the target parking space.
It should be noted that, during the parking process, although the primary stopper is pressed in step S220, in order to avoid pressing the stopper for the second time, the coordinates of the stopper are recorded in the primary stopper, and the stopper is prevented from being pressed again in the subsequent parking process. And after the coordinates of the limit stop are determined, planning a path, so that the planned parking and exiting path can bypass the limit stop, and the target vehicle is prevented from pressing the limit stop.
In an exemplary embodiment of the invention, before determining the parking mode when the target vehicle is parked in step S110, the method further includes:
step S310, an automatic parking mode is triggered, and an idle parking space is obtained.
It should be noted that, the obtained idle parking space may be only one or multiple.
And step S320, determining the idle parking space closest to the target vehicle as the target parking space according to the position information of the target vehicle and the position information of the idle parking space.
It should be noted that the nearest idle parking space is selected as the target parking space for parking, so as to reduce the parking difficulty and improve the parking efficiency.
And step S330, determining the parking environment of the target parking space and the coordinates of the stopper in the target parking space.
It is worth mentioning that the parking environment includes the position information of the static obstacle and the dynamic obstacle near the target parking space.
Illustratively, the coordinates of the stop are determined according to recognition after the camera on the target vehicle collects images.
And step S340, planning a parking path according to the parking environment and the coordinates of the stopper in the target parking space to indicate that the target vehicle parks in the target parking space, and recording the driving mileage of the target vehicle after parking is finished.
It should also be noted that the coordinates of the stop are taken into account during the parking process, so as to avoid pressing the stop during the parking process.
In an exemplary embodiment of the invention, in step S120, if the parking mode is an automatic parking mode, before invoking coordinates of a stopper in a target parking space during an automatic parking process, the method further includes:
and step S410, acquiring a parking-out trigger signal, and determining the current mileage of the target vehicle at the time of parking-out trigger.
It is worth noting that as the vehicle travels, changes in the mileage record will result.
Illustratively, after the target vehicle is automatically parked, the mileage is recorded. And then the target user drives the target vehicle out of the parking space by self for use, and after the target vehicle is used and is manually driven and parked in the same parking space, the driving mileage is updated, the target vehicle is automatically parked out at the moment, the stopper coordinate and the mileage recorded by the parking system are the last time of automatic parking, and the last time of driving mileage is compared with the current driving mileage, so that whether the target vehicle moves between automatic parking and automatic parking can be determined. If a movement situation occurs, the stopper coordinates previously recorded for the origin based on the target vehicle position may be inaccurate.
Step S420, comparing the current mileage with the traveled mileage, and calling the coordinates of the stopper if the current mileage is consistent with the traveled mileage.
In this embodiment, the current mileage is compared with the previously recorded mileage, and if the current mileage does not match the mileage, it indicates that the target vehicle has moved, and if the current mileage is constant, it indicates that the target vehicle has not moved between automatic parking and parking.
And step S430, if the current mileage is inconsistent with the driving mileage, deleting the coordinates of the stopper.
In this embodiment, if the target vehicle moves between automatic parking and automatic parking, the stopper coordinates are inaccurate, and therefore, the stopper coordinates need to be deleted.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
As shown in fig. 3, the exemplary fully automatic parking apparatus includes:
a parking mode determination module 310 for determining a parking mode when the target vehicle is parked;
the first processing module 320 is configured to, if the parking mode is an automatic parking mode, invoke a stopper coordinate recorded in an automatic parking process;
the second processing module 330 is configured to determine a parking path of the target vehicle according to the parking environment if the invocation of the limiter coordinate fails, so as to instruct the target vehicle to park out along the parking path;
and the third processing module 340 is configured to determine the stopper coordinate if the stopper coordinate invocation fails, and determine a parking path of the target vehicle according to the parking environment and the stopper coordinate, so as to instruct the target vehicle to park out along the parking path.
In another exemplary embodiment, the apparatus further comprises:
the fourth processing module is used for controlling the target vehicle to retreat in the parking process of the target vehicle if the parking mode is the manual parking mode;
the limiter coordinate obtaining module is used for monitoring the wheel speed change and the gradient value change in the backing process of the target vehicle, controlling the target vehicle to back until the wheel speed change value is larger than a first preset value and the gradient value change is larger than a second preset value, determining that the rear wheel of the target vehicle abuts against the limiter, and recording the coordinates of the limiter;
and the fifth processing module is used for planning a parking path according to the position limiter coordinates and the parking environment so as to indicate that the target vehicle is parked along the parking path.
In another exemplary embodiment, the apparatus further comprises:
the parking triggering module is used for triggering an automatic parking mode and acquiring an idle parking space;
the parking space determining module is used for determining an idle parking space closest to a target vehicle as a target parking space according to the position information of the idle parking space;
the parking environment determining module is used for determining the parking environment of the target parking space and the coordinates of the stopper in the target parking space;
and the parking planning module is used for planning a parking path according to the parking environment and the coordinates of the stopper in the target parking space so as to indicate the target vehicle to park in the target parking space and record the driving mileage of the target vehicle after parking is finished.
In another exemplary embodiment, the apparatus further comprises:
the current mileage determining module is used for acquiring a pull-out trigger signal and determining the current mileage of the target vehicle when the pull-out trigger signal is triggered;
the comparison module is used for comparing the current mileage with the traveled mileage, and calling the coordinates of the limiter if the current mileage is consistent with the traveled mileage;
and the deleting module is used for deleting the coordinates of the limiter if the current mileage is inconsistent with the driving mileage.
It should be noted that the fully automatic parking device provided in the foregoing embodiment and the fully automatic parking method provided in the foregoing embodiment belong to the same concept, and specific manners for the modules and units to perform operations have been described in detail in the method embodiment, and are not described herein again. In practical applications, the fully automatic parking device provided in the above embodiment may distribute the above functions to different function modules according to needs, that is, divide the internal structure of the device into different function modules to complete all or part of the above described functions, which is not limited herein.
An embodiment of the present application further provides an electronic device, including: one or more processors; the storage device is used for storing one or more programs, and when the one or more programs are executed by the one or more processors, the electronic equipment is enabled to realize the full-automatic parking method provided in the above embodiments.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having 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), a 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. In the present application, a computer-readable signal medium may comprise a propagated data signal with a computer-readable computer program embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
Another aspect of the present application also provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor of a computer, causes the computer to perform the fully automatic parking method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the full-automatic parking method provided in the above embodiments.
The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A method for full automatic parking, comprising:
determining a parking mode when the target vehicle is parked;
if the parking mode is an automatic parking mode, calling the coordinates of a stopper in a target parking space in the automatic parking process;
if the calling of the coordinates of the limit stop fails, determining the coordinates of the limit stop, and determining a parking path of the target vehicle according to the parking-out environment and the coordinates of the limit stop so as to indicate that the target vehicle is parked out along the parking path;
and if the calling of the stopper coordinate is successful, planning a parking-out path according to the stopper coordinate and the parking-out environment so as to indicate that the target vehicle is parked out along the parking-out path.
2. The fully automatic parking method according to claim 1, wherein after determining a parking mode when the target vehicle is parked, the method further comprises:
if the parking mode is the manual parking mode, controlling the target vehicle to retreat in the parking process of the target vehicle;
monitoring the speed change and the gradient value change of the wheels in the process of backing the target vehicle until the speed change value of the wheels is greater than a first preset value and the gradient value change is greater than a second preset value, controlling the target vehicle to back, determining that the rear wheels of the target vehicle abut against a limiter, and recording the coordinates of the limiter;
and planning a parking path according to the coordinates of the stopper and the parking environment so as to indicate that the target vehicle is parked along the parking path.
3. The fully automatic parking method according to claim 1, wherein before determining a parking mode when the target vehicle is parked, the method further comprises:
triggering an automatic parking mode and acquiring an idle parking space;
determining an idle parking space closest to a target vehicle as a target parking space according to the position information of the target vehicle and the position information of the idle parking space;
determining the parking environment of the target parking space and the coordinates of the limiter in the target parking space;
and planning a parking path according to the parking environment and the coordinates of the stopper in the target parking space to indicate that the target vehicle parks in the target parking space and record the driving mileage of the target vehicle when parking is finished.
4. The method for full-automatic parking according to claim 3, wherein if the parking mode is an automatic parking mode, before invoking the coordinates of the stopper in the target parking space during the automatic parking process, the method further comprises:
acquiring a parking trigger signal, and determining the current mileage of the target vehicle when the parking trigger signal is triggered;
comparing the current mileage with the traveled mileage, and calling the coordinates of the limiter if the current mileage is consistent with the traveled mileage;
and if the current mileage is inconsistent with the driving mileage, deleting the coordinates of the limiter.
5. A fully automatic parking device, comprising:
the parking mode determining module is used for determining a parking mode when the target vehicle parks;
the first processing module is used for calling the stopper coordinates recorded in the automatic parking process if the parking mode is the automatic parking mode;
the second processing module is used for determining the coordinates of the limit stop if the coordinate calling of the limit stop fails, and determining a parking path of the target vehicle according to the parking environment and the coordinates of the limit stop so as to indicate the target vehicle to park out along the parking path;
and the third processing module is used for planning a parking path according to the coordinate of the stopper and the parking environment if the coordinate of the stopper is successfully called so as to indicate that the target vehicle is parked out along the parking path.
6. The fully automatic parking device according to claim 5, further comprising:
the fourth processing module is used for controlling the target vehicle to retreat in the parking process of the target vehicle if the parking mode is the manual parking mode;
the limiter coordinate obtaining module is used for monitoring the wheel speed change and the gradient value change in the backing process of the target vehicle, controlling the target vehicle to back until the wheel speed change value is larger than a first preset value and the gradient value change is larger than a second preset value, determining that the rear wheel of the target vehicle abuts against the limiter, and recording the coordinates of the limiter;
and the fifth processing module is used for planning a parking path according to the position limiter coordinates and the parking environment so as to indicate that the target vehicle is parked along the parking path.
7. The fully automatic parking device according to claim 5, further comprising:
the parking triggering module is used for triggering an automatic parking mode and acquiring an idle parking space;
the parking space determining module is used for determining an idle parking space closest to a target vehicle as a target parking space according to the position information of the idle parking space;
the parking environment determining module is used for determining the parking environment of the target parking space and the coordinates of the stopper in the target parking space;
and the parking planning module is used for planning a parking path according to the parking environment and the coordinates of the stopper in the target parking space so as to indicate the target vehicle to park in the target parking space and record the driving mileage of the target vehicle after parking is finished.
8. The fully automatic parking device according to claim 7, further comprising:
the current mileage determining module is used for acquiring a pull-out trigger signal and determining the current mileage of the target vehicle when the pull-out trigger signal is triggered;
the comparison module is used for comparing the current mileage with the traveled mileage, and calling the coordinates of the limiter if the current mileage is consistent with the traveled mileage;
and the deleting module is used for deleting the coordinates of the limiter if the current mileage is inconsistent with the driving mileage.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the fully automated parking method of any of claims 1 to 4.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor of a computer, causes the computer to carry out the fully automatic parking method according to any one of claims 1 to 4.
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| CN202211349720.XA CN115489519A (en) | 2022-10-31 | 2022-10-31 | Full-automatic parking method, device, equipment and medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116740682A (en) * | 2023-08-14 | 2023-09-12 | 禾昆科技(北京)有限公司 | Vehicle parking route information generation method, device, electronic equipment and readable medium |
| CN117818587A (en) * | 2024-03-06 | 2024-04-05 | 毫末智行科技有限公司 | Vehicle control method, apparatus, computer-readable storage medium, and electronic device |
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2022
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116740682A (en) * | 2023-08-14 | 2023-09-12 | 禾昆科技(北京)有限公司 | Vehicle parking route information generation method, device, electronic equipment and readable medium |
| CN116740682B (en) * | 2023-08-14 | 2023-10-27 | 禾昆科技(北京)有限公司 | Vehicle parking route information generation method, device, electronic equipment and readable medium |
| CN117818587A (en) * | 2024-03-06 | 2024-04-05 | 毫末智行科技有限公司 | Vehicle control method, apparatus, computer-readable storage medium, and electronic device |
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