CN116442992A - Parking control method and device - Google Patents
Parking control method and device Download PDFInfo
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- CN116442992A CN116442992A CN202310708999.4A CN202310708999A CN116442992A CN 116442992 A CN116442992 A CN 116442992A CN 202310708999 A CN202310708999 A CN 202310708999A CN 116442992 A CN116442992 A CN 116442992A
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- 238000004590 computer program Methods 0.000 claims description 10
- 238000003860 storage Methods 0.000 claims description 6
- 238000003032 molecular docking Methods 0.000 claims description 4
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Classifications
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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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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application provides a parking control method and device, wherein the method comprises the following steps: pre-configuring vehicle parking parameters for a target vehicle; acquiring parking environment information of a target vehicle at present; planning a parking path according to the parking environment information to obtain a preliminary planning path; performing curvature smoothing on the preliminary planning path according to the vehicle parking parameters to obtain a target path; and controlling the target vehicle to park according to the target path. Therefore, the method and the device can smooth any geometric path without changing the position of the segmentation point, have strong universality, high flexibility, low calculation force requirement, simplicity and easy implementation and have extremely strong engineering application value.
Description
Technical Field
The application relates to the technical field of whole vehicle control, in particular to a parking control method and device.
Background
At present, with the improvement of living standard, an automatic parking function becomes a convenient operation mode for a driver to park. In the existing parking control method, a parking path is usually planned by utilizing the splicing of geometric figures such as circular arcs, straight lines and the like through a geometric planning method, and meanwhile, the curvature of splicing points of geometric figures of a preset path is not suddenly changed through setting a preset path combination for some standard working conditions (such as a working condition of one-step pouring of parallel parking). However, in practice, the existing method only can plan paths for some ideal parking conditions, and when obstacles appear around or the environment space is narrower, the paths cannot be effectively adjusted, so that the method is poor in universality, poor in flexibility and low in engineering application value.
Disclosure of Invention
The embodiment of the application aims to provide a parking control method and device, which can smooth any geometric path without changing the position of a segmentation point, and has the advantages of strong universality, high flexibility, low calculation force requirement, simplicity, easiness in implementation and extremely strong engineering application value.
A first aspect of an embodiment of the present application provides a parking control method, including:
pre-configuring vehicle parking parameters for a target vehicle;
acquiring parking environment information of a target vehicle at present;
planning a parking path according to the parking environment information to obtain a preliminary planning path;
performing curvature smoothing on the preliminary planning path according to the vehicle parking parameters to obtain a target path;
and controlling the target vehicle to park according to the target path.
Further, the pre-configuring the vehicle parking parameters for the target vehicle includes:
calculating the parameters of the connection convolution line;
determining a path type division standard according to the steering characteristics of the segmented paths;
and summarizing the connection convolution line parameters and the path type dividing standard to obtain vehicle parking parameters, and configuring the vehicle parking parameters to a target vehicle.
Further, the calculating the docking clothoid parameter includes:
determining curvatures of two ends of a lightningline; wherein the two end curvatures comprise a first maximum curvature and a second maximum curvature, and the first maximum curvature is 0;
acquiring a minimum turning radius of the target vehicle, and acquiring a preset maximum vehicle speed, a maximum steering wheel turning angle and a maximum allowed steering wheel turning rate allowed by a parking system on the target vehicle;
calculating a second maximum curvature according to the minimum turning radius;
calculating theoretical steering time according to the maximum steering wheel angle and the steering wheel rotation rate;
calculating a theoretical steering distance according to the theoretical steering time and the preset maximum vehicle speed;
calculating a curvature change rate according to the theoretical steering time and the second maximum curvature;
constructing a lighter-receiving rotation line according to the minimum turning radius, the theoretical turning distance and the curvature change rate;
calculating the offset distance and the offset angle of the lightance spiral line;
and summarizing the connection convolution line, the offset distance and the offset angle to obtain connection convolution line parameters.
Further, the performing curvature smoothing on the preliminary planning path according to the vehicle parking parameter to obtain a target path includes:
path segmentation is carried out on the preliminary planning path to obtain a plurality of segmented paths and a plurality of path segmentation points;
determining the path type of each segmented path and the point attribute of the path segmentation point according to the path type division standard;
and carrying out curvature smoothing treatment on the preliminary planning path according to the path type, the point attribute and the connection convolution line parameter to obtain a target path.
Further, the determining, according to the path type division criteria, a path type of each of the segmented paths and a point attribute of the path segmentation point includes:
determining starting point information of each segmented path;
determining the path type of each segmented path according to the starting point information and the path type dividing standard;
and determining the point attribute of the path segmentation point according to the path type.
A second aspect of the embodiments of the present application provides a parking control apparatus, including:
the configuration unit is used for pre-configuring vehicle parking parameters for the target vehicle;
the acquisition unit is used for acquiring the information of the parking environment where the target vehicle is currently located;
the path planning unit is used for planning a parking path according to the parking environment information to obtain a preliminary planning path;
the processing unit is used for carrying out curvature smoothing processing on the preliminary planning path according to the vehicle parking parameters to obtain a target path;
and the parking control unit is used for controlling the target vehicle to park according to the target path.
Further, the configuration unit includes:
the calculating subunit is used for calculating the parameters of the connection convolution line;
a first determining subunit, configured to determine a path type division criterion according to a steering characteristic of the segmented path;
and the summarizing subunit is used for summarizing the connection gyratory line parameters and the path type dividing standard to obtain vehicle parking parameters, and configuring the vehicle parking parameters to a target vehicle.
Further, the computing subunit includes:
the determining module is used for determining the curvatures of the two ends of the lightance spiral line; wherein the two end curvatures comprise a first maximum curvature and a second maximum curvature, and the first maximum curvature is 0;
the acquisition module is used for acquiring the minimum turning radius of the target vehicle and acquiring a preset maximum vehicle speed, a maximum steering wheel turning angle and a maximum allowed steering wheel turning rate allowed by a parking system on the target vehicle;
a first calculation module for calculating a second maximum curvature according to the minimum turning radius; calculating theoretical steering time according to the maximum steering wheel angle and the steering wheel rotation rate; calculating a theoretical steering distance according to the theoretical steering time and the preset maximum vehicle speed; and calculating a rate of curvature change based on the theoretical steering time and the second maximum curvature;
the construction module is used for constructing a lighter-receiving rotation line according to the minimum turning radius, the theoretical turning distance and the curvature change rate;
the second calculation module is used for calculating the offset distance and the offset angle of the lightance spiral;
and the summarizing module is used for summarizing the connection convolution line, the offset distance and the offset angle to obtain connection convolution line parameters.
Further, the processing unit includes:
the segmentation subunit is used for carrying out path segmentation on the preliminary planning path to obtain a plurality of segmentation paths and a plurality of path segmentation points;
a second determining subunit, configured to determine, according to the path type division criteria, a path type of each of the segmented paths and a point attribute of the path segmentation point;
and the processing subunit is used for carrying out curvature smoothing processing on the preliminary planning path according to the path type, the point attribute and the connection convolution line parameter to obtain a target path.
Further, the second determining subunit includes:
a determining module, configured to determine starting point information of each segment path;
the determining module is used for determining the path type of each segmented path according to the starting point information and the path type dividing standard;
the determining module is further configured to determine a point attribute of the path segment point according to the path type.
A third aspect of the embodiments of the present application provides an electronic device, including a memory and a processor, where the memory is configured to store a computer program, and the processor is configured to execute the computer program to cause the electronic device to execute the parking control method according to any one of the first aspect of the embodiments of the present application.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing computer program instructions that, when read and executed by a processor, perform the parking control method according to any one of the first aspect of the embodiments of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a parking control method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of another parking control method according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a parking control device according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of another parking control device according to an embodiment of the present disclosure;
fig. 5 is a schematic diagram of a three-section geometric parking path of a vertical parking space standard according to an embodiment of the present application;
fig. 6 is a schematic diagram of a curvature transition result provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a schematic flow chart of a parking control method according to the present embodiment. The parking control method comprises the following steps:
s101, vehicle parking parameters are preconfigured for a target vehicle.
S102, acquiring parking environment information of the current target vehicle.
And S103, planning a parking path according to the parking environment information to obtain a preliminary planning path.
S104, performing curvature smoothing processing on the preliminary planning path according to the vehicle parking parameters to obtain a target path.
S105, controlling the target vehicle to park according to the target path.
In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, which is not limited in this embodiment.
In this embodiment, the execution body of the method may be an intelligent device such as a smart phone or a tablet computer, which is not limited in this embodiment.
Therefore, after the parking control method described in the embodiment is implemented, curvature smoothing processing can be performed on the dynamic segmentation points meeting the conditions or flexible in-situ steering processing can be performed on the dynamic segmentation points not meeting the conditions after standard arc and straight line planning is utilized, so that the planning requirements of the vehicle in a narrow position or obstacle avoidance are met. Since the positions of all parking spots are unchanged after the path is smoothed, the relative relation between the smoothed front and rear paths and the nearby obstacles is not affected. The method has the characteristics of strong universality, high flexibility, low calculation force requirement, simplicity and easiness in implementation, and has extremely strong engineering application value.
Example 2
Referring to fig. 2, fig. 2 is a schematic flow chart of a parking control method according to the present embodiment. The parking control method comprises the following steps:
s201, determining curvatures of two ends of the rejection spiral line.
In this embodiment, the curvature of both ends includes a first maximum curvature and a second maximum curvature, and the first maximum curvature is 0.
S202, acquiring the minimum turning radius of the target vehicle, and acquiring the preset maximum vehicle speed, the maximum steering wheel angle and the maximum allowed steering wheel rotation rate allowed by a parking system on the target vehicle.
S203, calculating a second maximum curvature according to the minimum turning radius.
S204, calculating theoretical steering time according to the maximum steering wheel angle and the steering wheel rotation rate.
S205, calculating the theoretical steering distance according to the theoretical steering time and the preset maximum vehicle speed.
S206, calculating the curvature change rate according to the theoretical steering time and the second maximum curvature.
S207, constructing a rejection rotation line according to the minimum turning radius, the theoretical turning distance and the curvature change rate.
S208, calculating the offset distance and the offset angle of the reject rotation line.
And S209, summarizing the connection swivel line, the offset distance and the offset angle to obtain the connection swivel line parameters.
In this embodiment, the curvatures at both ends of the reject rotation line are the maximum curvatures 0 and Cmax, respectively. Wherein Cmax is calculated from the minimum turning radius Rmin of the vehicle, cmax=1/Rmin.
In the present embodiment, a maximum vehicle speed Vmax (all of which are preset variables), a maximum steering wheel angle Amax, and a maximum allowable steering wheel rotation rate Gmax, which are allowed by the parking system. We can calculate the theoretical steering time t=amax/Gmax, the theoretical steering distance sk=t×vmax, and the curvature change rate c=cmax/T.
Wherein, construct clothoids with Rmin, sk and C and calculate offset distance Dst and offset angle Ag:
offset angle ag= (C/2) Sk 2;
offset distance dst=x H -Rmin*sin（Ag）。
After the connection convolution line parameters are determined, the connection convolution line parameters are preset vehicle parameters, and the connection convolution line parameters can be directly referenced when the path curvature is smoothed every time, and repeated calculation is not needed.
S210, determining a path type dividing standard according to the steering characteristics of the segmented paths.
In this embodiment, the geometrically planned path may perform path segmentation according to the geometry, and the method divides the steering characteristic of each segmented path as follows:
(1) SS: the starting point and the end point of the path are both in-situ directional;
(2) DD: the starting point and the end point of the path are both dynamically oriented;
(3) SD: the starting point of the path is in-situ hit, and the end point is in dynamic hit;
(4) DS: the starting point of the path is dynamically directed, and the ending point is directed in situ.
The suitable points for in-situ steering are parking points, such as a starting point of parking start or a gear shifting point in the middle of parking.
S211, summarizing the connection gyratory line parameters and the path type dividing standard to obtain vehicle parking parameters, and configuring the vehicle parking parameters to the target vehicle.
S212, acquiring parking environment information of the current target vehicle.
S213, planning a parking path according to the parking environment information to obtain a preliminary planning path.
In this embodiment, to satisfy the curvature smoothing algorithm in the present method, the method has the following limitations:
(1) When the arc is connected with the straight line path and the connecting point is a non-stop point, the length of Dst is reserved for steering. For example, where both ends of a straight line are joined to a circle, the length of the straight line is at least greater than 2Dst.
(2) When two arcs with opposite curvatures are connected and the connecting point is a non-stop point, the connecting point needs to reserve a straight line with the length of at least 2Dst.
(3) The circular arc path of dynamic steering (SD or DS) is required on one side, and the central angle of the circular arc path is required to be larger than Ag.
(4) The circular arc path of the bilateral dynamic steering (DD) needs to have a central angle larger than 2Ag.
The method can be used for planning the path meeting the limiting condition preferentially, and when the limiting condition cannot be met, the limiting condition can be ignored for in-situ steering.
S214, path segmentation is carried out on the preliminary planning path, and a plurality of segmented paths and a plurality of path segmentation points are obtained.
S215, determining the starting point information of each segmented path.
S216, determining the path type of each segmented path according to the starting point information and the path type dividing standard.
In this embodiment, the method needs to determine, according to the information of the start point and the end point of each path segment, which type the path segment belongs to.
Referring to fig. 5, fig. 5 illustrates a three-segment geometric parking path with vertical parking space standard:
C0C1: and the point C0 is a parking start point and is a stopping point. Point C1 is a dynamic point and there is a sudden change in curvature. If C0C1 meets the preset length requirement in S3 and C1C2 meets the preset center angle requirement of S3, the path type of C0C1 is SD. Otherwise, the path type of C0C1 is SS.
When it is assumed that the path lengths of the outputs of the planning modules all meet the constraint in S3. It can be similarly derived that the C1C2 type is DS, the C2C3 type is SS, the C3C4 type is SD, and the C4C5 type is DS.
From the viewpoint of the segmentation point, it may be noted that the C1 point attribute is dynamic steering (S), the C2 point attribute is in-situ steering (D), the C3 point attribute is S, C point attribute is D, C point attribute is S.
S217, determining the point attribute of the path segmentation point according to the path type.
S218, performing curvature smoothing on the preliminary planning path according to the path type, the point attribute and the connection convolution line parameter to obtain a target path.
In this embodiment, at the dynamic turning points C1 and C4 in the above example, the length Dst may be subtracted from the straight line segment path, and the center angle Ag may be subtracted from the circular arc segment. And inserting a preset connection convolution line to perform curvature transition at the corresponding deduction point, please refer to fig. 6, and the adjusted effect is shown at a point C1 in fig. 6.
After the curvature smoothing treatment is completed at the points C1 and C4, the paths from C0 to C5 have no curvature mutation, and the following requirement of the tracking module can be met.
Similarly, for any geometric parking path, curvature smoothing can be performed by the method for dynamic points meeting the aforementioned constraints.
S219, controlling the target vehicle to park according to the target path.
In this embodiment, the execution subject of the method may be a computing device such as a computer or a server, which is not limited in this embodiment.
In this embodiment, the execution body of the method may be an intelligent device such as a smart phone or a tablet computer, which is not limited in this embodiment.
Therefore, after the parking control method described in the embodiment is implemented, curvature smoothing processing can be performed on the dynamic segmentation points meeting the conditions or flexible in-situ steering processing can be performed on the dynamic segmentation points not meeting the conditions after standard arc and straight line planning is utilized, so that the planning requirements of the vehicle in a narrow position or obstacle avoidance are met. Since the positions of all parking spots are unchanged after the path is smoothed, the relative relation between the smoothed front and rear paths and the nearby obstacles is not affected. The method has the characteristics of strong universality, high flexibility, low calculation force requirement, simplicity and easiness in implementation, and has extremely strong engineering application value.
Example 3
Referring to fig. 3, fig. 3 is a schematic structural diagram of a parking control device according to the present embodiment. As shown in fig. 3, the parking control apparatus includes:
a configuration unit 310 for pre-configuring vehicle parking parameters for a target vehicle;
an obtaining unit 320, configured to obtain parking environment information in which the target vehicle is currently located;
the path planning unit 330 is configured to plan a parking path according to the parking environment information, so as to obtain a preliminary planned path;
the processing unit 340 is configured to perform curvature smoothing processing on the preliminary planned path according to the vehicle parking parameters to obtain a target path;
and a parking control unit 350 for controlling the target vehicle to park according to the target path.
In this embodiment, the explanation of the parking control apparatus may refer to the description in embodiment 1 or embodiment 2, and a detailed description is not repeated in this embodiment.
Therefore, after the parking control device described in the embodiment is implemented, curvature smoothing processing can be performed on the dynamic segmentation points meeting the conditions or flexible in-situ steering processing can be performed on the dynamic segmentation points not meeting the conditions after standard arc and straight line planning is utilized, so that the planning requirements of the vehicle in a narrow position or obstacle avoidance are met. Since the positions of all parking spots are unchanged after the path is smoothed, the relative relation between the smoothed front and rear paths and the nearby obstacles is not affected. The method has the characteristics of strong universality, high flexibility, low calculation force requirement, simplicity and easiness in implementation, and has extremely strong engineering application value.
Example 4
Referring to fig. 4, fig. 4 is a schematic structural diagram of a parking control device according to the present embodiment. As shown in fig. 4, the parking control apparatus includes:
a configuration unit 310 for pre-configuring vehicle parking parameters for a target vehicle;
an obtaining unit 320, configured to obtain parking environment information in which the target vehicle is currently located;
the path planning unit 330 is configured to plan a parking path according to the parking environment information, so as to obtain a preliminary planned path;
the processing unit 340 is configured to perform curvature smoothing processing on the preliminary planned path according to the vehicle parking parameters to obtain a target path;
and a parking control unit 350 for controlling the target vehicle to park according to the target path.
As an alternative embodiment, the configuration unit 310 includes:
a calculating subunit 311, configured to calculate a docking clothoid parameter;
a first determining subunit 312, configured to determine a path type dividing criterion according to the steering characteristic of the segmented path;
and a summarizing subunit 313, configured to summarize the docking gyratory line parameter and the path type dividing criterion, obtain the vehicle parking parameter, and configure the vehicle parking parameter to the target vehicle.
As an alternative embodiment, the computing subunit 311 includes:
the determining module is used for determining the curvatures of the two ends of the lightance spiral line; wherein the curvatures at the two ends comprise a first maximum curvature and a second maximum curvature, and the first maximum curvature is 0;
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the minimum turning radius of a target vehicle and acquiring a preset maximum vehicle speed, a maximum steering wheel angle and a maximum allowed steering wheel rotation rate allowed by a parking system on the target vehicle;
the first calculation module is used for calculating a second maximum curvature according to the minimum turning radius; calculating theoretical steering time according to the maximum steering wheel angle and the steering wheel rotation rate; calculating a theoretical steering distance according to the theoretical steering time and a preset maximum vehicle speed; calculating the curvature change rate according to the theoretical steering time and the second maximum curvature;
the construction module is used for constructing a lightninging line according to the minimum turning radius, the theoretical turning distance and the curvature change rate;
the second calculation module is used for calculating the offset distance and the offset angle of the receiving rejection spiral line;
and the summarizing module is used for summarizing the lightering gyratory line, the offset distance and the offset angle to obtain the lightering gyratory line parameters.
As an alternative embodiment, the processing unit 340 includes:
a segmentation subunit 341, configured to perform path segmentation on the preliminary planned path to obtain a plurality of segmented paths and a plurality of path segmentation points;
a second determining subunit 342, configured to determine, according to the path type division criteria, a path type of each segment path and a point attribute of the path segment point;
the processing subunit 343 is configured to perform curvature smoothing processing on the preliminary planned path according to the path type, the point attribute, and the connection convolution line parameter, so as to obtain a target path.
As an alternative embodiment, the second determining subunit 342 includes:
a determining module, configured to determine starting point information of each segment path;
the determining module is used for determining the path type of each segmented path according to the starting point information and the path type dividing standard;
and the determining module is also used for determining the point attribute of the path segmentation point according to the path type.
In this embodiment, the explanation of the parking control apparatus may refer to the description in embodiment 1 or embodiment 2, and a detailed description is not repeated in this embodiment.
Therefore, after the parking control device described in the embodiment is implemented, curvature smoothing processing can be performed on the dynamic segmentation points meeting the conditions or flexible in-situ steering processing can be performed on the dynamic segmentation points not meeting the conditions after standard arc and straight line planning is utilized, so that the planning requirements of the vehicle in a narrow position or obstacle avoidance are met. Since the positions of all parking spots are unchanged after the path is smoothed, the relative relation between the smoothed front and rear paths and the nearby obstacles is not affected. The method has the characteristics of strong universality, high flexibility, low calculation force requirement, simplicity and easiness in implementation, and has extremely strong engineering application value.
An embodiment of the present application provides an electronic device, including a memory and a processor, where the memory is configured to store a computer program, and the processor is configured to execute the computer program to cause the electronic device to execute a parking control method in embodiment 1 or embodiment 2 of the present application.
The present embodiment provides a computer-readable storage medium storing computer program instructions that, when read and executed by a processor, perform the parking control method of embodiment 1 or embodiment 2 of the present application.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners as well. The apparatus embodiments described above are merely illustrative, for example, flow diagrams and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, 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 and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (9)
1. A parking control method, characterized by comprising:
pre-configuring vehicle parking parameters for a target vehicle;
acquiring parking environment information of a target vehicle at present;
planning a parking path according to the parking environment information to obtain a preliminary planning path;
performing curvature smoothing on the preliminary planning path according to the vehicle parking parameters to obtain a target path;
controlling the target vehicle to park according to the target path;
the curvature smoothing processing is performed on the preliminary planning path according to the vehicle parking parameters to obtain a target path, and the method comprises the following steps:
path segmentation is carried out on the preliminary planning path to obtain a plurality of segmented paths and a plurality of path segmentation points;
determining the path type of each segmented path and the point attribute of the path segmentation point according to the path type division standard;
and carrying out curvature smoothing treatment on the preliminary planning path according to the path type, the point attribute and the connection convolution line parameter to obtain a target path.
2. The parking control method according to claim 1, wherein the pre-configuring the vehicle parking parameters for the target vehicle includes:
calculating the parameters of the connection convolution line;
determining a path type division standard according to the steering characteristics of the segmented paths;
and summarizing the connection convolution line parameters and the path type dividing standard to obtain vehicle parking parameters, and configuring the vehicle parking parameters to a target vehicle.
3. The parking control method according to claim 2, characterized in that the calculating of the docking swing line parameter includes:
determining curvatures of two ends of a lightningline; wherein the two end curvatures comprise a first maximum curvature and a second maximum curvature, and the first maximum curvature is 0;
acquiring a minimum turning radius of the target vehicle, and acquiring a preset maximum vehicle speed, a maximum steering wheel turning angle and a maximum allowed steering wheel turning rate allowed by a parking system on the target vehicle;
calculating a second maximum curvature according to the minimum turning radius;
calculating theoretical steering time according to the maximum steering wheel angle and the steering wheel rotation rate;
calculating a theoretical steering distance according to the theoretical steering time and the preset maximum vehicle speed;
calculating a curvature change rate according to the theoretical steering time and the second maximum curvature;
constructing a lighter-receiving rotation line according to the minimum turning radius, the theoretical turning distance and the curvature change rate;
calculating the offset distance and the offset angle of the lightance spiral line;
and summarizing the connection convolution line, the offset distance and the offset angle to obtain connection convolution line parameters.
4. The parking control method according to claim 1, wherein the determining the path type of each of the segmented paths and the point attribute of the path segment point according to the path type division criteria includes:
determining starting point information of each segmented path;
determining the path type of each segmented path according to the starting point information and the path type dividing standard;
and determining the point attribute of the path segmentation point according to the path type.
5. A parking control apparatus, characterized by comprising:
the configuration unit is used for pre-configuring vehicle parking parameters for the target vehicle;
the acquisition unit is used for acquiring the information of the parking environment where the target vehicle is currently located;
the path planning unit is used for planning a parking path according to the parking environment information to obtain a preliminary planning path;
the processing unit is used for carrying out curvature smoothing processing on the preliminary planning path according to the vehicle parking parameters to obtain a target path;
the parking control unit is used for controlling the target vehicle to park according to the target path;
wherein the processing unit comprises:
the segmentation subunit is used for carrying out path segmentation on the preliminary planning path to obtain a plurality of segmentation paths and a plurality of path segmentation points;
a second determining subunit, configured to determine, according to a path type division criterion, a path type of each of the segmented paths and a point attribute of the path segmentation point;
and the processing subunit is used for carrying out curvature smoothing processing on the preliminary planning path according to the path type, the point attribute and the connection convolution line parameter to obtain a target path.
6. The parking control apparatus according to claim 5, wherein the configuration unit includes:
the calculating subunit is used for calculating the parameters of the connection convolution line;
a first determining subunit, configured to determine a path type division criterion according to a steering characteristic of the segmented path;
and the summarizing subunit is used for summarizing the connection gyratory line parameters and the path type dividing standard to obtain vehicle parking parameters, and configuring the vehicle parking parameters to a target vehicle.
7. The parking control apparatus according to claim 6, wherein the calculation subunit includes:
the determining module is used for determining the curvatures of the two ends of the lightance spiral line; wherein the two end curvatures comprise a first maximum curvature and a second maximum curvature, and the first maximum curvature is 0;
the acquisition module is used for acquiring the minimum turning radius of the target vehicle and acquiring a preset maximum vehicle speed, a maximum steering wheel turning angle and a maximum allowed steering wheel turning rate allowed by a parking system on the target vehicle;
a first calculation module for calculating a second maximum curvature according to the minimum turning radius; calculating theoretical steering time according to the maximum steering wheel angle and the steering wheel rotation rate; calculating a theoretical steering distance according to the theoretical steering time and the preset maximum vehicle speed; and calculating a rate of curvature change based on the theoretical steering time and the second maximum curvature;
the construction module is used for constructing a lighter-receiving rotation line according to the minimum turning radius, the theoretical turning distance and the curvature change rate;
the second calculation module is used for calculating the offset distance and the offset angle of the lightance spiral;
and the summarizing module is used for summarizing the connection convolution line, the offset distance and the offset angle to obtain connection convolution line parameters.
8. An electronic device comprising a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to execute the parking control method according to any one of claims 1 to 4.
9. A readable storage medium having stored therein computer program instructions which, when read and executed by a processor, perform the park control method of any of claims 1-4.
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