CN116022126A - Autonomous learning parking method, electronic device and storage medium - Google Patents
Autonomous learning parking method, electronic device and storage medium Download PDFInfo
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- CN116022126A CN116022126A CN202111254678.9A CN202111254678A CN116022126A CN 116022126 A CN116022126 A CN 116022126A CN 202111254678 A CN202111254678 A CN 202111254678A CN 116022126 A CN116022126 A CN 116022126A
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Abstract
The invention discloses an autonomous learning parking method, electronic equipment and a storage medium. The method comprises the following steps: starting learning a parking route of the driver in response to the start point setting event; in response to the end point setting event, stopping learning a parking route of the driver, generating an autonomous learning parking track, and recording parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver; in response to an automatic parking request, controlling the vehicle to run along the autonomous learning parking track, identifying the parking space along the autonomous learning parking track according to the recorded parking space information in the running process of the vehicle, and if the parking space along the autonomous learning parking track is identified as an idle parking space, controlling the vehicle to park in the idle parking space. According to the invention, in the process of controlling the vehicle to travel along the parking track, when the idle parking space along the way is found, the vehicle is controlled to park, so that the success rate of using functions is greatly improved, and the user experience is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an autonomous learning parking method, electronic equipment and a storage medium.
Background
At present, low-speed parking is divided into automatic parking and passenger parking, and passenger parking is divided into 2 stages, namely autonomous learning parking and autonomous passenger parking. The bus parking is the last kilometer, and the vehicle can start to automatically drive at a preset parking lot entrance and then park and put in storage, but the bus parking is still in a pre-research stage at present due to the fact that laws and regulations are involved, the implementation scheme is complex, and the like. And the autonomous learning parking can realize mass production landing based on the current automatic driving technology.
The automatic learning parking rough function is that a driver is required to set a starting point, the driver drives in person to park in a target parking space, then the parking space is set as a learning end point, the vehicle carries out analysis learning through data acquired by a sensor arranged on a vehicle body, a semantic map is automatically formed, namely, a learning completion track, the automatic learning parking function can be started to be used when the next time a user drives to the starting point position, and the vehicle automatically drives to the end point position from the starting point position without human intervention.
The existing autonomous learning parking method is only applicable to household private parking spaces at present. For public parking lots, such as centralized parking lots in an industrial park, because there is generally no fixed parking space, the parking spaces of the well-learned warehouse-in route are most likely to be occupied by other vehicles when in use, and the vehicles cannot automatically drive from a starting point (which may be a parking lot entrance or an elevator entrance) to a well-learned route end position, namely a target parking space, so that the existing autonomous learning parking function cannot be well used for the public parking lot, and bad experience is brought to users.
Disclosure of Invention
Based on the foregoing, it is necessary to provide an autonomous learning parking method, an electronic device and a storage medium for solving the technical problem that the autonomous learning parking function cannot be used well in a public parking lot in the prior art.
The invention provides an autonomous learning parking method, which comprises the following steps:
starting learning a parking route of the driver in response to the start point setting event;
in response to the end point setting event, stopping learning a parking route of the driver, generating an autonomous learning parking track, and recording parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver;
and in response to the automatic parking request, controlling the vehicle to run along the autonomous learning parking track, identifying the parking space along the autonomous learning parking track according to the recorded parking space information in the running process of the vehicle, and if the parking space along the autonomous learning parking track is identified as an idle parking space, controlling the vehicle to park in the idle parking space.
According to the invention, in the automatic parking process, when the vehicle is controlled to run along the parking track and an idle parking space along the way is found, the vehicle is controlled to park, so that the success rate of using functions is greatly improved for vehicle owners without private parking spaces, and the user experience is improved. Meanwhile, because the parking space information is recorded when the parking route of the driver is learned, when the vehicle is controlled to run along the autonomous learning parking track, the parking space can be quickly confirmed according to the recorded parking space information, and whether the parking space is an idle parking space or not is identified, so that the identification speed is improved.
Further, the controlling the vehicle to park in the idle parking space specifically includes:
and if the vehicle is controlled to successfully park in the idle parking space, completing warehousing, otherwise, controlling the vehicle to continue running along the autonomous learning parking track.
When the vehicle fails to successfully park, the embodiment controls the vehicle to continue running along the autonomous learning parking track, so that the next idle parking space is parked, and the parking success rate is greatly improved.
Further, before the learning of the driver's parking route is started in response to the start setting event, the method further includes:
acquiring a warehouse-in route type selected by a user;
the method comprises the steps of responding to an end point setting event, stopping learning a parking route of a driver, generating an autonomous learning parking track, and recording parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver, wherein the method specifically comprises the following steps of:
and stopping learning the parking route of the driver in response to the terminal setting event, generating an autonomous learning parking track, and if the type of the warehousing route selected by the user is the type of the along-road parking space, recording the parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver.
The embodiment provides warehouse-in route type selection for the user so as to meet different requirements of the user.
Further, the stopping learning the parking route of the driver in response to the end point setting event, generating an autonomous learning parking track, and recording the parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver, which specifically includes:
and stopping learning the parking route of the driver in response to the terminal setting event, generating an autonomous learning parking track, recording the parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver if the type of the warehousing route selected by the user is the type of the along-road parking space, and taking the parking space detected by the vehicle as a special parking space when responding to the terminal setting event if the type of the warehousing route selected by the user is the type of the special parking space.
According to the embodiment, the along-road parking spaces and the special parking spaces are provided according to the selection of the user on the type of the warehouse-in route, so that the user can conveniently select different types to learn.
Still further, in response to the automatic parking request, controlling the vehicle to travel along the autonomous learning parking track, during the process of controlling the vehicle to travel, identifying a parking space along the autonomous learning parking track according to the recorded parking space information, and if the parking space along the autonomous learning parking track is identified as an idle parking space, controlling the vehicle to park into the idle parking space, wherein the method specifically comprises the following steps:
Responding to an automatic parking request, and acquiring a warehousing route type selected by a user;
if the type of the warehouse-in route selected by the user is the type of the parking space along the autonomous learning parking track, controlling the vehicle to run along the autonomous learning parking track, identifying the parking space along the autonomous learning parking track according to the recorded parking space information in the running process of the vehicle, and if the parking space along the autonomous learning parking track is identified as an idle parking space, controlling the vehicle to park in the idle parking space; or alternatively
And if the type of the warehousing route selected by the user is the type of the special parking space, controlling the vehicle to travel to the special parking space along the autonomous learning parking track, and controlling the vehicle to park in the special parking space.
According to the embodiment, the along-road parking spaces and the special parking spaces are provided according to the selection of the user on the type of the warehouse-in route, so that the user can conveniently select different types of modes for parking.
Still further, the starting learning of the parking route of the driver in response to the start point setting event specifically includes:
and responding to the starting point setting event, starting to learn the parking route of the driver, and prompting the user to learn long distance if the type of the warehousing route selected by the user is the type of the parking space along the way.
The reminding of the user is increased, so that the user can learn for a long distance, collect more parking spaces, and improve the space occupation ratio during use.
Further, if the parking space along the autonomous learning parking track is identified as an idle parking space, the vehicle is controlled to park in the idle parking space, which specifically includes:
if the parking space along the autonomous learning parking track is identified as an idle parking space and the user is detected to be in the vehicle, a parking prompt is displayed;
and if a parking confirmation command is received, controlling the vehicle to park in the idle parking space, otherwise, controlling the vehicle to continue running along the autonomous learning parking track.
The embodiment provides the option for the user, so that the user can select whether to park in the idle parking space.
Further, in the process of controlling the vehicle to travel, identifying the parking space along the autonomous learning parking track according to the recorded parking space information, and if the parking space along the autonomous learning parking track is identified as an idle parking space, controlling the vehicle to park in the idle parking space, wherein the method specifically comprises the following steps:
in the process of controlling the vehicle to run, if the user is detected to be outside the vehicle, the recorded parking space information is sent to a mobile terminal of the user to be displayed, after the parking space selected by the user is received, the vehicle is controlled to run to the parking space selected by the user along the autonomous learning parking track, the parking space selected by the user is identified, and if the parking space selected by the user is an idle parking space, the vehicle is controlled to park in the idle parking space.
The embodiment provides the option for the user, so that the user selects the parking space to be parked.
The present invention provides an electronic device including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to at least one of the processors; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by at least one of the processors to enable the at least one processor to perform the autonomous learning parking method as previously described.
According to the invention, in the automatic parking process, when the vehicle is controlled to run along the parking track and an idle parking space along the way is found, the vehicle is controlled to park, so that the success rate of using functions is greatly improved for vehicle owners without private parking spaces, and the user experience is improved. Meanwhile, because the parking space information is recorded when the parking route of the driver is learned, when the vehicle is controlled to run along the autonomous learning parking track, the parking space can be quickly confirmed according to the recorded parking space information, and whether the parking space is an idle parking space or not is identified, so that the identification speed is improved.
The present invention provides a storage medium storing computer instructions that, when executed by a computer, perform all the steps of the autonomous learning parking method as described above.
According to the invention, in the automatic parking process, when the vehicle is controlled to run along the parking track and an idle parking space along the way is found, the vehicle is controlled to park, so that the success rate of using functions is greatly improved for vehicle owners without private parking spaces, and the user experience is improved. Meanwhile, because the parking space information is recorded when the parking route of the driver is learned, when the vehicle is controlled to run along the autonomous learning parking track, the parking space can be quickly confirmed according to the recorded parking space information, and whether the parking space is an idle parking space or not is identified, so that the identification speed is improved.
Drawings
FIG. 1 is a workflow diagram of an autonomous learning parking method of the present invention;
FIG. 2 is a schematic illustration of parking along a road parking space according to an embodiment of the present invention;
FIG. 3 is a schematic illustration of a parking space type according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a system in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic view of the mounting position of a sensor according to the preferred embodiment of the present invention;
FIG. 6 is a workflow diagram of the learning of a warehousing route for an autonomous learning parking method according to a preferred embodiment of the present invention;
FIG. 7 is a workflow diagram of a warehouse entry route use of an autonomous learning parking method in accordance with a preferred embodiment of the present invention;
Fig. 8 is a schematic diagram of a hardware structure of an electronic device according to the present invention.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples.
Fig. 1 is a workflow diagram of an autonomous learning parking method according to the present invention, including:
step S101, responding to a starting point setting event, and beginning to learn a parking route of a driver;
step S102, stopping learning a parking route of a driver in response to an end point setting event, generating an autonomous learning parking track, and recording parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver;
step S103, in response to the automatic parking request, controlling the vehicle to run along the autonomous learning parking track, identifying the parking space along the autonomous learning parking track according to the recorded parking space information in the process of controlling the vehicle to run, and if the parking space along the autonomous learning parking track is identified as an idle parking space, controlling the vehicle to park into the idle parking space.
In particular, the invention may be applied to an electronic controller unit (Electronic Control Unit, ECU) of a vehicle. When the user presses the start point setting button, a start point setting event is generated, a step S101 is triggered, the vehicle starts to autonomously learn the driver' S manual parking, the position of the vehicle when the user presses the start point setting button is used as a start point of learning, then the driver drives the vehicle to travel and to park in a final target parking space or target position, the driver presses the end point setting button, and a step S102 is triggered, wherein the target position or the position of the vehicle when the driver presses the end point setting button is set as the end point of learning. The vehicle analyzes and learns through data acquired by sensors arranged on the vehicle body, automatically forms a semantic map and obtains an autonomous learning parking track. Specifically, the vehicle is continuously sampled when the driver parks manually, a parking learning track point is recorded in each sampling, and an autonomous learning parking track is obtained according to the planning of a plurality of parking learning track points. Meanwhile, surrounding environments are identified through the cameras, when route teaching is carried out, data of surrounding parking spaces are collected through the cameras, and after a semantic map is formed, the parking spaces on the whole route are contained in the map.
Then, the autonomous learning parking function can be started to be used when the user runs to the starting point position next time, and the vehicle automatically drives to the end point position from the starting point position without human intervention. When the automatic parking process starts, for example, the user presses the autonomous learning parking button, step S103 is triggered to control the vehicle to travel along the autonomous learning parking trajectory. In the driving process, as shown in fig. 2, when the vehicle is driving from the starting position 21 to the ending position 22, only an empty parking space exists on the route, namely, parking spaces P1-P4 in the schematic diagram can be used for parking and warehousing. And when the vehicle arrives at the idle parking space, the vehicle is parked into the idle parking space by adopting an automatic parking mode. Therefore, even if other vehicles occupy the parking space at the end position 22, the vehicles can still park in the idle parking space along the autonomous learning parking track, and for the vehicle owners without private parking spaces, the success rate of using functions is greatly improved, and the user experience is improved. As shown in fig. 3, which shows a parking manner of a dedicated parking space, it can be seen that a vehicle needs to travel from a start position 31 to an end position 32 and park into the parking space of the end position 32, and if the parking space of the end position 32 is occupied, parking failure may result.
Therefore, for a garage without private parking spaces, the parking spaces can be identified as long as any empty parking spaces exist, the user experience is improved, and the use scene of autonomous learning parking is increased.
When the vehicle identifies the idle parking space along the way, the vehicle identifies the parking space based on the recorded parking space information, and then judges whether the parking space is empty or not. The vehicle needs to carry out data analysis on the identification of the parking spaces, so that if the vehicle identifies the idle parking spaces from the environment information along the way in the driving process, the vehicle needs to identify the parking spaces first and then judge whether the vehicle is the idle parking spaces. It takes a long time to identify the outside of the vehicle from the environmental information, resulting in a low efficiency of identifying the free space. However, the invention acquires the environment information along the route during the route teaching, and can identify the parking space from the environment information during or after the route teaching. And then in the process of executing step S103 to control the vehicle to travel along the autonomous learning parking track, the parking space information is determined based on the already-identified parking space information, such as the surrounding environment of the parking space and the position of the parking space in the autonomous learning parking track, so that the parking space can be quickly identified and determined in the environment along the autonomous learning parking track, and real-time detection can be performed on the parking space to determine whether the parking space is an idle parking space. Therefore, in the process of controlling the vehicle to run along the autonomous learning parking track, the vehicle does not need to carry out complex parking space identification, but only needs to carry out simple idle parking space identification to judge whether the parking space is idle or not, and the identification speed of the idle parking space is greatly improved.
According to the invention, in the automatic parking process, when the vehicle is controlled to run along the parking track and an idle parking space along the way is found, the vehicle is controlled to park, so that the success rate of using functions is greatly improved for vehicle owners without private parking spaces, and the user experience is improved.
In one embodiment, the controlling the vehicle to park in the idle parking space specifically includes:
and if the vehicle is controlled to successfully park in the idle parking space, completing warehousing, otherwise, controlling the vehicle to continue running along the autonomous learning parking track.
Specifically, as shown in fig. 2, if the parking space P1 is being put in storage, if an abnormal obstacle occurs in the parking space because the parking space is too small, the system can automatically control the vehicle to continue to travel along the autonomous learning parking track, and continue to search for the parking space, for example, enter the parking spaces P2-P4, so that the success rate of using functions by the user is increased.
When the vehicle fails to successfully park, the embodiment controls the vehicle to continue running along the autonomous learning parking track, so that the next idle parking space is parked, and the parking success rate is greatly improved.
In one embodiment, before the learning of the driver's parking route is started in response to the start setting event, the method further includes:
Acquiring a warehouse-in route type selected by a user;
the method comprises the steps of responding to an end point setting event, stopping learning a parking route of a driver, generating an autonomous learning parking track, and recording parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver, wherein the method specifically comprises the following steps of:
and stopping learning the parking route of the driver in response to the terminal setting event, generating an autonomous learning parking track, and if the type of the warehousing route selected by the user is the type of the along-road parking space, recording the parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver.
Specifically, a selection interface may be displayed to allow the user to select the type of the binned route, thereby obtaining the type of the binned route selected by the user. And when the type of the warehouse-in route selected by the user is the type of the parking space along the way, in the process of learning the parking route of the driver, the parking space information of one or more parking spaces on the parking route is recorded.
The embodiment provides warehouse-in route type selection for the user so as to meet different requirements of the user.
In one embodiment, in response to the endpoint setting event, stopping learning a parking route of the driver, generating an autonomous learning parking track, and recording parking space information of one or more parking spaces on the parking route during learning the parking route of the driver, where the method specifically includes:
And stopping learning the parking route of the driver in response to the terminal setting event, generating an autonomous learning parking track, recording the parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver if the type of the warehousing route selected by the user is the type of the along-road parking space, and taking the parking space detected by the vehicle as a special parking space when responding to the terminal setting event if the type of the warehousing route selected by the user is the type of the special parking space.
Specifically, if the user selects a special parking space, the user needs to set a starting point position, personally drive the vehicle to run and park in the target parking space, click a setting end point, and wait for the system to learn to finish. If the user selects the along-road parking space, the driver drives the vehicle to run in person, and finally the vehicle is parked in the target parking space, wherein the target parking space is the special parking space, the system waits for the completion of learning by clicking the set end point, and the parking space information of one or more parking spaces on the parking route is recorded in the running process of the vehicle.
According to the embodiment, the along-road parking spaces and the special parking spaces are provided according to the selection of the user on the type of the warehouse-in route, so that the user can conveniently select different types to learn.
In one embodiment, the controlling the vehicle to travel along the autonomous learning parking track in response to the automatic parking request, identifying a parking space along the autonomous learning parking track according to the recorded parking space information during the controlling the vehicle to travel, and if the parking space along the autonomous learning parking track is identified as an idle parking space, controlling the vehicle to park into the idle parking space specifically includes:
responding to an automatic parking request, and acquiring a warehousing route type selected by a user;
if the type of the warehouse-in route selected by the user is the type of the parking space along the autonomous learning parking track, controlling the vehicle to run along the autonomous learning parking track, identifying the parking space along the autonomous learning parking track according to the recorded parking space information in the running process of the vehicle, and if the parking space along the autonomous learning parking track is identified as an idle parking space, controlling the vehicle to park in the idle parking space; or alternatively
And if the type of the warehousing route selected by the user is the type of the special parking space, controlling the vehicle to travel to the special parking space along the autonomous learning parking track, and controlling the vehicle to park in the special parking space.
Specifically, when a user needs to use a route, if the user selects a special parking space for storage, if the target parking space is in an idle state, the vehicle can be automatically driven into the parking space to finish parking, and if the parking space is occupied, the user is reminded of failure in temporarily storing the available parking space. When the user selects the along-road parking space, if the available parking space exists on the route, the system can control the vehicle to park into the available parking space, and if the parking fails in the system parking process, the system can automatically try to search for the next available parking space again to park until the vehicle runs to the destination target parking space.
According to the embodiment, the along-road parking spaces and the special parking spaces are provided according to the selection of the user on the type of the warehouse-in route, so that the user can conveniently select different types of modes for parking.
In one embodiment, the starting learning the parking route of the driver in response to the start point setting event specifically includes:
and responding to the starting point setting event, starting to learn the parking route of the driver, and prompting the user to learn long distance if the type of the warehousing route selected by the user is the type of the parking space along the way.
Specifically, based on the functional definition of the along-road parking spaces, the learned route system can support to park into any empty parking space on the route. Therefore, when the user selects the type of the parking space along the way to learn, the user is reminded to learn the route as long as possible, for example, one circle of the route is wound around a public parking lot, and the probability of finding the parking space can be increased during automatic driving.
The specific prompting mode can adopt modes such as voice prompting, screen text, video prompting and the like.
The reminding of the user is increased, so that the user can learn for a long distance, collect more parking spaces, and improve the space occupation ratio during use.
Specifically, there may be two modes of operation in controlling the vehicle to travel along the autonomous learning parking trajectory. In one manner, a user is located within a vehicle and the vehicle is autonomously controlled by the vehicle to travel along an autonomous learning parking trajectory. The user can take over the vehicle at any time according to the situation in the vehicle.
In one embodiment, if the parking space along the autonomous learning parking track is identified as an idle parking space, the method includes:
if the parking space along the autonomous learning parking track is identified as an idle parking space and the user is detected to be in the vehicle, a parking prompt is displayed;
and if a parking confirmation command is received, controlling the vehicle to park in the idle parking space, otherwise, controlling the vehicle to continue running along the autonomous learning parking track.
According to the embodiment, aiming at the situation that a user is in a vehicle, when the vehicle identifies an idle parking space, a parking prompt is displayed, so that the user confirms whether to park the idle parking space, if the user selects confirmation, the user parks the idle parking space, and if the user selects refusal, the vehicle continues to travel along the autonomous learning parking track, and the next parking space is found.
For a vehicle, it simply identifies whether the parking space is free. However, it is possible for the user to consider the situation of other spaces beside the space or the distance of the space from the user's final destination to finally select the space. For example, although the parking space is idle, a luxury car is arranged beside the parking space, and if scratch occurs in the car parking process, high compensation can be caused. Therefore, some owners do not like to park beside a luxury car. In addition, if the user is parking in a parking lot of a mall, the user may consider whether the parking space is near the mall entrance, and the user may tend to park in a parking space near the mall entrance, and thus, for a parking space far from the mall entrance, the user may not tend to park.
The embodiment provides the option for the user, so that the user can select whether to park in the idle parking space.
Specifically, another operation mode for controlling the vehicle to travel along the autonomous learning parking track is that the user is located outside the vehicle, and sends information to the vehicle through a mobile terminal, such as a mobile phone, and the vehicle is controlled to travel along the autonomous learning parking track. The vehicle runs autonomously according to the autonomous learning parking track, and a user starts or stops running of the vehicle through the mobile phone.
In one embodiment, during the controlling of the vehicle to travel, according to the recorded parking space information, the method identifies a parking space along the autonomous learning parking track, and if the parking space along the autonomous learning parking track is identified as an idle parking space, the controlling of the vehicle to park in the idle parking space specifically includes:
in the process of controlling the vehicle to run, if the user is detected to be outside the vehicle, the recorded parking space information is sent to a mobile terminal of the user to be displayed, after the parking space selected by the user is received, the vehicle is controlled to run to the parking space selected by the user along the autonomous learning parking track, the parking space selected by the user is identified, and if the parking space selected by the user is an idle parking space, the vehicle is controlled to park in the idle parking space.
Specifically, according to the embodiment, aiming at the situation that the user is outside the vehicle, the situation that the user can observe the parking space better is considered, so that the user selects the parked parking space. Specifically, when it is detected that the user controls the vehicle outside the vehicle through the mobile terminal, the parking space information recorded when the route was previously learned is transmitted to the mobile terminal of the user for display. All the parking space information can be sent to the mobile terminal of the user for display, and a plurality of parking space information in front can be displayed on the mobile terminal of the user when the vehicle runs. And if the parking space is the idle parking space, the vehicle is controlled to park in the idle parking space, otherwise, parking failure information can be fed back to the user, so that the user can continue to select the parking space to park in.
The embodiment provides the option for the user, so that the user selects the parking space to be parked.
A system schematic diagram of a preferred embodiment of the present invention is shown in fig. 4, comprising: the system comprises 12 ultrasonic probes, 4 looking around cameras, 1 front camera, a host parking machine, an electric power steering system, a vehicle body stabilizing system, an electronic parking system, a vehicle controller, a central Control screen, a combination switch, a rotation angle sensor and the like, wherein a sensor unit (the ultrasonic probes) is communicated with the host parking machine through private communication, and other related communication systems are communicated with the host parking machine through a controller local area network (controller AreaNetwork, CAN). The main operation embodiments of the main related system are briefly described.
The schematic diagram of the installation position of the sensor is shown in fig. 5, which includes:
the ultrasonic remote probes S1, S6, S7 and S12 are arranged on the left side surface and the right side surface of the front-back protector, the detection distance is 4.5m, and the installation height is 500mm;
the ultrasonic probes S2, S3, S4, S5, S8, S9, S10 and S11 are arranged in front and back according to the installation requirement of a reversing radar system, and the detection distance is 2.2 m;
the looking-around cameras C1, C2, C3, C4 and 130 ten thousand pixels are provided, the fish-eye camera with 190 degrees is effectively output 720P, and the detectable distance is at least 8m;
the front cameras C5 and 130 are ten thousand pixels, the 100-degree wide-angle cameras effectively output 720P, and the detectable distance is about 70m.
And the host 6 for parking the passengers calculates the distance of the obstacle detected by the ultrasonic sensor, searches for a parking space, plans a track, controls steering, controls the speed of the vehicle, controls the brake and the like.
The system realizes the functions: the automatic learning parking can support horizontal parking space warehouse entry, vertical parking space warehouse exit and horizontal parking space warehouse exit. More specifically:
the combined switch is a parking function starting switch 1, and the parking starting switch 1 is a hard switch or a soft switch arranged in the HU and is used for starting an automatic parking function.
The ultrasonic probe 2 and the ultrasonic remote probe 3 generate square wave signals, the ultrasonic probe is driven by the amplifying circuit to send ultrasonic pulse signals, the ultrasonic waves are measured and received by the ultrasonic probe after being transmitted by the obstacle, the MCU detects the echo, the temperature compensation is carried out according to the current temperature, and the obstacle distance is calculated through the formula d=1/2 Ct (C=343 m/s (20 ℃)).
The looking-around camera 4 is a fish-eye camera with 190 degrees, and can be used for capturing parking space information and surrounding environment information by means of image algorithm operation in real time. The detection and identification of near-end obstacles (such as short objects, moving objects and the like) which cannot be detected by ultrasonic waves can accurately identify the length, depth, lane lines, types of obstacles around the parking space and the like.
The front camera 5 is a wide angle of 100 degrees, namely a wide angle camera, and can be used for capturing parking space information and surrounding environment information by means of image algorithm operation in real time. The ultrasonic wave and the far away barriers (such as short objects, moving objects and the like) which cannot be detected by the fish-eye cameras are detected and identified, so that the functions of drawing construction, vehicle positioning and the like are realized.
The host 6 for parking the passenger (AVP module for short) performs the construction of the route, the positioning of the vehicle, the detection of the empty parking space, the identification of the parking space, etc. by acquiring the data of the sensing module (the sensing module comprises an ultrasonic wave, a fish-eye camera, a wide-angle camera, an IMU integrated in the sensing module, etc.), then performs the positioning calculation of the parking space by combining the current position of the vehicle, calculates the track planning of the warehouse-in route or the warehouse-out route by a vehicle control model, and then performs the automatic driving to the destination target position by the transverse and longitudinal control of the vehicle. After the calculation of the path planning of the host computer module for parking the passengers is completed, instructions such as steering angles, parking distances, driver prompt information and the like are sent to the related systems so as to execute the corresponding steps of the autonomous learning parking method.
The vehicle body stabilizing system 7 (abbreviated as ESC) is configured to receive a braking command sent by a host computer for parking, including deceleration, parking control, and the like, and simultaneously feed back vehicle body data such as deceleration, yaw angle, vehicle speed, wheel speed, and the like of the vehicle for AVP to perform vehicle longitudinal control calculation.
The electric power steering system 8 (EPS for short) is configured to execute a steering angle and a steering angle acceleration request sent by a host parking machine, control the steering wheel to steer to an angle instructed by the host parking machine, and if the EPS fails or the driver intervenes in parking, feedback a withdrawal control reason to the AVP.
The vehicle control unit 9 (VCU 7) is configured to receive the torque and the shift request of the parking of the vehicle, perform acceleration control and shift control, and feed back the gear position of the vehicle, respond to the torque, and the like in real time.
The central control screen 10 is used for prompting the display of characters, user operation interfaces and animation, buzzer alarm sounds and the like in the parking process.
The electronic parking 11 is configured to execute a set-up release request sent by the AVP when parking is completed or the parking system is exited.
Fig. 6 is a workflow diagram for learning a parking route by autonomous learning according to a preferred embodiment of the present invention, including:
step S601, powering up the whole vehicle;
Step S602, AVP self-checking is completed, havp_status=standby;
step S603, when the driver presses the AVP parking button, the function is started, and the central control screen displays route card information;
step S604, the driver selects an adding route and starts to add the route;
step S605, the driver selects warehouse entry route learning, if the type of the added parking space is selected to be a special parking space, step S606 is executed, otherwise step S610 is executed;
step S606, the driver sets a starting point;
step S607, the driver teaches to put in storage, and the vehicle is put into a private parking space;
step S608, the driver sets an end point;
step S609, generating a route, namely only learning route information of the parking space, and finishing the route learning;
step S610, a driver sets a starting point to remind a user to learn a longer route distance as much as possible;
step S611, the driver teaches and puts in storage, and learns the route distance to the maximum supportable distance of 100 meters;
step S612, the driver sets an end point;
step S613, generating a route, recording all parking spaces on the route, and finishing route learning.
Fig. 7 is a workflow diagram showing a use of a parking route for autonomous learning of a parking method according to a preferred embodiment of the present invention, including:
Step S701, powering up the whole vehicle;
step S702, AVP self-checking is completed, havp_status=standby;
step S703, when the driver presses the AVP parking button, the function is started, and the central control screen displays the route card information;
step S704, the driver selects to use the warehouse-in route, if the type of the parking space along the way is selected, step S705 is executed, otherwise step S708 is executed;
step S705, in route matching;
step S706, finding an empty space along the way, and starting parking and warehousing;
step S707, if the parking is successful, the parking is completed, otherwise, the next parking space is continuously searched;
step S708, in route matching;
step S709, finding the target special parking space for learning, and finishing warehousing.
Specifically:
1) The whole vehicle is electrified, and the system enters a standby state after the self-checking of the AVP system is finished;
2) The driver presses the AVP switch, the central control screen displays a route card interface, and clicks an adding route;
3) The user selects to add warehouse-in or warehouse-out, and selects a warehouse-in route;
4) The user selects a special parking space or a along-road parking space, if the user has a private parking space, the special parking space is selected, if the user has no private parking space, the along-road parking space is selected, and if the user selects the along-road parking space, the user is reminded to learn a longer distance as much as possible, so that the system can collect more parking spaces, and the space occupation ratio during use is improved;
5) If the user selects a special parking space, the user needs to set a starting point position (the starting point position may be an elevator gate or a park parking garage), drive the vehicle in person and park in the target parking space, click to set an end point, and wait for the system to learn. If the user selects the along-road parking space, the user is reminded to set a starting point position, the vehicle is driven in person to travel for a long distance, the parking space is finally parked in the target parking space, the setting end point is clicked, and the system learning is waited for finishing.
When the user needs to use the route, if the user selects a special parking space for storage, if the target parking space is in an idle state, the vehicle can automatically drive into the parking space to finish parking, and if the parking space is occupied, the user is reminded of failure in temporarily storing the available parking space. When the user selects the along-road parking space, if the available parking space exists on the route, the system can control the vehicle to park into the available parking space, and if the parking fails in the system parking process, the system can automatically try to search for the next available parking space again to park until the vehicle runs to the destination target parking space.
The invention has the following application scenes:
at present, the existing autonomous learning parking starts learning from a starting point position, a driver personally tries to drive the parking space into an end point position, and then sets the parking space as the end point position, so that the system learns a route from the starting point position to the end point position, and the driver can only park the parking space from the starting point position to the end point position when the parking space is used, and if the end point parking space is occupied, the parking space can fail to park, the function cannot be used, the user experience is greatly degraded, and particularly, the vehicle owner without a private parking space can be prevented.
According to the invention, a learning route mode for learning the along-road parking spaces is added, surrounding environments are identified through the camera, when route teaching is carried out, the camera is used for collecting data of the surrounding parking spaces, after a semantic map is formed, the parking spaces on the whole route are contained in the map, so that when the vehicle is used, only an empty parking space exists on the route, namely P1-P4 in a schematic diagram can be used for parking and warehousing, and if the P1 is used for warehousing, if the parking space is too small or an abnormal obstacle appears in the parking space, the system can automatically control the vehicle to continuously search the parking space on the route, and the success rate of using functions of a user is increased.
According to the method and the device for automatically learning the parking track, the parking track along the parking track is learned, the function of parking any parking space on the route (the automatic learning parking track) can be achieved when the method and the device are used, and for owners without private parking spaces, the success rate of the function is greatly improved, and the user experience is improved. By adding a way of learning the route along the parking spaces, the optimization of a mapping algorithm during route learning can be realized, and the parking spaces on the route can be all contained in the map during route acquisition. Based on the function definition of the along-road parking spaces, the learned route system can support empty spaces arbitrarily parked on the routes, the user is reminded to learn the routes as long as possible when selecting the type of the along-road parking spaces to learn, for example, the user winds around a public parking lot, and the probability of finding the parking spaces can be increased when the user drives automatically. When the learned along-road parking space route is used, the system automatically finds a parking space, if the parking is unsuccessful, the system can further control the vehicle to automatically drive to continuously find an empty parking space along the learned route instead of directly reminding the failure of warehousing until the final target parking space is failed to be parked. This strategy greatly improves the success rate of the use of this function.
Fig. 8 is a schematic diagram of a hardware structure of an electronic device according to the present invention, including:
at least one processor 801; the method comprises the steps of,
a memory 802 communicatively coupled to at least one of the processors 801; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory 802 stores instructions executable by at least one of the processors to enable the at least one processor to perform the autonomous learning parking method as previously described.
One processor 801 is illustrated in fig. 8.
The electronic device may further include: an input device 803 and a display device 804.
The processor 801, the memory 802, the input device 803, and the display device 804 may be connected by a bus or other means, which is illustrated as a bus connection.
The memory 802 is used as a non-volatile computer readable storage medium, and may be used to store a non-volatile software program, a non-volatile computer executable program, and modules, such as program instructions/modules corresponding to the autonomous learning parking method in the embodiment of the present application, for example, a method flow shown in fig. 1. The processor 801 executes various functional applications and data processing by running nonvolatile software programs, instructions, and modules stored in the memory 802, that is, implements the autonomous learning parking method in the above-described embodiment.
Memory 802 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the autonomous learning parking method, or the like. In addition, memory 802 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 802 may optionally include memory remotely located relative to processor 801, which may be connected via a network to a device performing the autonomous learning parking method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 803 may receive input user clicks and generate signal inputs related to user settings and function controls of the autonomous learning parking method. The display 804 may include a display device such as a display screen.
The autonomous learning parking method in any of the method embodiments described above is performed when executed by the one or more processors 801, with the one or more modules stored in the memory 802.
According to the invention, in the automatic parking process, when the vehicle is controlled to run along the parking track and an idle parking space along the way is found, the vehicle is controlled to park, so that the success rate of using functions is greatly improved for vehicle owners without private parking spaces, and the user experience is improved.
An embodiment of the invention provides a storage medium storing computer instructions that, when executed by a computer, perform all the steps of the autonomous learning parking method as described above.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. An autonomous learning parking method, comprising:
starting learning a parking route of the driver in response to the start point setting event;
in response to the end point setting event, stopping learning a parking route of the driver, generating an autonomous learning parking track, and recording parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver;
And in response to the automatic parking request, controlling the vehicle to run along the autonomous learning parking track, identifying the parking space along the autonomous learning parking track according to the recorded parking space information in the running process of the vehicle, and if the parking space along the autonomous learning parking track is identified as an idle parking space, controlling the vehicle to park in the idle parking space.
2. The autonomous learning parking method of claim 1, wherein the controlling the vehicle to park in the free space comprises:
and if the vehicle is controlled to successfully park in the idle parking space, completing warehousing, otherwise, controlling the vehicle to continue running along the autonomous learning parking track.
3. The autonomous learning parking method of claim 1, wherein prior to the beginning of learning a driver's parking route in response to the origin setting event, the method further comprises:
acquiring a warehouse-in route type selected by a user;
the method comprises the steps of responding to an end point setting event, stopping learning a parking route of a driver, generating an autonomous learning parking track, and recording parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver, wherein the method specifically comprises the following steps of:
And stopping learning the parking route of the driver in response to the terminal setting event, generating an autonomous learning parking track, and if the type of the warehousing route selected by the user is the type of the along-road parking space, recording the parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver.
4. The autonomous learning parking method as claimed in claim 3, wherein the stopping learning the parking route of the driver in response to the end point setting event generates an autonomous learning parking trajectory, and the recording of the parking space information of one or more parking spaces on the parking route during learning the parking route of the driver specifically includes:
and stopping learning the parking route of the driver in response to the terminal setting event, generating an autonomous learning parking track, recording the parking space information of one or more parking spaces on the parking route in the process of learning the parking route of the driver if the type of the warehousing route selected by the user is the type of the along-road parking space, and taking the parking space detected by the vehicle as a special parking space when responding to the terminal setting event if the type of the warehousing route selected by the user is the type of the special parking space.
5. The autonomous learning parking method of claim 4, wherein the controlling the vehicle to travel along the autonomous learning parking trajectory in response to the automatic parking request, during controlling the vehicle to travel, identifies a parking space along the autonomous learning parking trajectory according to the recorded parking space information, and if the parking space along the autonomous learning parking trajectory is identified as an idle parking space, controlling the vehicle to travel into the idle parking space, specifically comprises:
Responding to an automatic parking request, and acquiring a warehousing route type selected by a user;
if the type of the warehouse-in route selected by the user is the type of the parking space along the autonomous learning parking track, controlling the vehicle to run along the autonomous learning parking track, identifying the parking space along the autonomous learning parking track according to the recorded parking space information in the running process of the vehicle, and if the parking space along the autonomous learning parking track is identified as an idle parking space, controlling the vehicle to park in the idle parking space; or alternatively
And if the type of the warehousing route selected by the user is the type of the special parking space, controlling the vehicle to travel to the special parking space along the autonomous learning parking track, and controlling the vehicle to park in the special parking space.
6. The autonomous learning parking method of claim 3, wherein the initiating learning of the driver's parking route in response to the start setting event comprises:
and responding to the starting point setting event, starting to learn the parking route of the driver, and prompting the user to learn long distance if the type of the warehousing route selected by the user is the type of the parking space along the way.
7. The autonomous learning parking method as claimed in claim 1, wherein if the parking space along the autonomous learning parking trajectory is identified as an idle parking space, the vehicle is controlled to park in the idle parking space, and the method specifically includes:
If the parking space along the autonomous learning parking track is identified as an idle parking space and the user is detected to be in the vehicle, a parking prompt is displayed;
and if a parking confirmation command is received, controlling the vehicle to park in the idle parking space, otherwise, controlling the vehicle to continue running along the autonomous learning parking track.
8. The autonomous learning parking method according to claim 1, wherein during the controlling of the vehicle, the vehicle space along the autonomous learning parking trajectory is identified according to the recorded vehicle space information, and if the vehicle space along the autonomous learning parking trajectory is identified as an idle vehicle space, the controlling of the vehicle into the idle vehicle space specifically includes:
in the process of controlling the vehicle to run, if the user is detected to be outside the vehicle, the recorded parking space information is sent to a mobile terminal of the user to be displayed, after the parking space selected by the user is received, the vehicle is controlled to run to the parking space selected by the user along the autonomous learning parking track, the parking space selected by the user is identified, and if the parking space selected by the user is an idle parking space, the vehicle is controlled to park in the idle parking space.
9. An electronic device, comprising:
At least one processor; the method comprises the steps of,
a memory communicatively coupled to at least one of the processors; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by at least one of the processors to enable the at least one of the processors to perform the autonomous learning parking method of any of claims 1-8.
10. A storage medium storing computer instructions which, when executed by a computer, are adapted to carry out all the steps of the autonomous learning parking method of any of claims 1 to 8.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116279437A (en) * | 2023-05-18 | 2023-06-23 | 集度科技有限公司 | Control system, vehicle and control method for memory parking |
| CN116279437B (en) * | 2023-05-18 | 2023-08-22 | 集度科技有限公司 | Control system, vehicle and control method for memory parking |
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