CN116461499B - Parking control method and device - Google Patents
Parking control method and device Download PDFInfo
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- CN116461499B CN116461499B CN202310218593.8A CN202310218593A CN116461499B CN 116461499 B CN116461499 B CN 116461499B CN 202310218593 A CN202310218593 A CN 202310218593A CN 116461499 B CN116461499 B CN 116461499B
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- 238000000034 method Methods 0.000 title claims abstract description 57
- 238000011065 in-situ storage Methods 0.000 claims abstract description 36
- 230000008569 process Effects 0.000 claims abstract description 22
- 230000006870 function Effects 0.000 claims description 54
- 238000004590 computer program Methods 0.000 claims description 13
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- 238000004364 calculation method Methods 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000004422 calculation algorithm Methods 0.000 description 6
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The application discloses a parking control method and device, relates to the technical field of intelligent control of vehicles, and provides a better parking control solution. The main technical scheme of the application is as follows: after a parking function is started, acquiring a parking track corresponding to the current vehicle; acquiring an angle difference between a current orientation angle corresponding to the current vehicle and an expected orientation angle on the parking track in the process of automatic parking control according to the parking track; judging whether the angle difference is larger than a preset angle threshold value or not; if yes, correcting the orientation position of the current vehicle based on the in-situ wheel-driving mode so as to continue parking control operation according to the parking track. The method and the device are mainly applied to automatic parking control operation.
Description
Technical Field
The application relates to the technical field of intelligent control of vehicles, in particular to a parking control method and device.
Background
In recent years, an autopilot-related function has been the focus of attention of the automotive industry, wherein an automatic parking function of locating an L3 level has been mass-produced on many vehicle models. Currently, it is well known that the accuracy of automatic parking control is susceptible to environmental influences, especially for space-limited bins, that the perception, localization and planning function modules upstream of the parking function will introduce more uncertainties than for conventional bins, which presents a higher challenge for the accuracy of parking control, thus requiring a more optimal parking control solution.
Disclosure of Invention
In view of this, the present application provides a parking control method and apparatus, and mainly aims to correct in-situ driving mode during the process of parking control according to the parking track, without additional cost and operation cost, and improve the parking control precision, so as to provide a better parking control solution.
The application mainly provides the following technical scheme:
the first aspect of the application provides a parking control method, which comprises the following steps:
after a parking function is started, acquiring a parking track corresponding to the current vehicle;
acquiring an angle difference between a current orientation angle corresponding to the current vehicle and an expected orientation angle on the parking track in the process of automatic parking control according to the parking track;
judging whether the angle difference is larger than a preset angle threshold value or not;
if yes, correcting the orientation position of the current vehicle based on the in-situ wheel-driving mode so as to continue parking control operation according to the parking track.
In some modified embodiments of the first aspect of the present application, the obtaining, during the automatic parking control according to the parking track, an angle difference between a current orientation angle corresponding to the current vehicle and an expected orientation angle on the parking track includes:
dividing the parking trajectory into a plurality of path segments;
if the current vehicle moves to the starting position of the path section in the process of automatic parking control according to the parking track, calculating a current orientation angle corresponding to the current vehicle;
calculating a corresponding expected orientation angle on the parking track based on the position of the starting position of the path segment in the parking track;
and comparing the current orientation angle with the expected orientation angle to obtain a corresponding angle difference.
In some modified embodiments of the first aspect of the present application, the correcting the orientation position of the current vehicle based on the in-situ wheel driving mode to continue the parking control operation according to the parking track includes:
disabling a longitudinal control function of the current vehicle;
acquiring a position difference between a current position of the current vehicle and an expected position on the parking track;
calculating an expected rotation angle corresponding to the current vehicle according to the position difference, the angle difference and the parking path curvature corresponding to the parking track;
and correcting the orientation position of the current vehicle based on the expected rotation angle to control the steering wheel angle so as to continue parking control operation according to the parking track.
In some modified embodiments of the first aspect of the present application, before the obtaining the angle difference between the current orientation angle corresponding to the current vehicle and the desired orientation angle on the parking track, the method further includes:
judging whether the speed of the current vehicle is smaller than a preset threshold value or not;
if yes, judging whether the current vehicle is in a starting state or not;
and if so, executing the operation of acquiring the angle difference between the current orientation angle corresponding to the current vehicle and the expected orientation angle on the parking track.
In some modified embodiments of the first aspect of the present application, if it is determined that the vehicle speed of the current vehicle is not less than the preset threshold, the method further includes:
and carrying out parking control operation according to the parking track in a mode of parallel running and rotating a steering wheel by adopting the transverse control function and the longitudinal control function of the current vehicle.
A second aspect of the present application provides a parking control apparatus, including:
the first acquisition unit is used for acquiring a parking track corresponding to the current vehicle after the parking function is started;
the second acquisition unit is used for acquiring the angle difference between the current orientation angle corresponding to the current vehicle and the expected orientation angle on the parking track in the process of automatic parking control according to the parking track;
the judging unit is used for judging whether the angle difference is larger than a preset angle threshold value or not;
and the execution unit is used for correcting the orientation position of the current vehicle based on the in-situ wheel-driving mode to continue to carry out parking control operation according to the parking track when the angle difference is determined to be larger than a preset angle threshold value.
In some variation embodiments of the second aspect of the present application, the second obtaining unit includes:
the dividing module is used for dividing the parking track into a plurality of path segments;
the first calculation module is used for calculating a current orientation angle corresponding to the current vehicle if the current vehicle moves to the starting position of the path section in the process of automatic parking control according to the parking track;
the first calculation module is further configured to calculate a desired heading angle corresponding to the parking track based on a position of the initial position of the path segment in the parking track;
and the determining module is used for obtaining a corresponding angle difference by comparing the current orientation angle with the expected orientation angle.
In some variant embodiments of the second aspect of the present application, the execution unit includes:
a disabling module for disabling a longitudinal control function of the current vehicle;
the acquisition module is used for acquiring the position difference between the current position of the current vehicle and the expected position on the parking track;
the second calculation module is used for calculating an expected rotation angle corresponding to the current vehicle according to the position difference, the angle difference and the parking path curvature corresponding to the parking track;
and the correction module is used for correcting the orientation position of the current vehicle based on the expected rotation angle to control the steering wheel angle so as to continue to carry out parking control operation according to the parking track.
In some modified embodiments of the second aspect of the present application, before the obtaining the angle difference between the current orientation angle corresponding to the current vehicle and the desired orientation angle on the parking track, the apparatus further includes:
the judging unit is further used for judging whether the speed of the current vehicle is smaller than a preset threshold value or not;
the judging unit is further used for judging whether the current vehicle is in a starting state or not when the speed of the current vehicle is determined to be smaller than a preset threshold value;
the obtaining unit is further specifically configured to perform an operation of obtaining an angle difference between a current heading angle corresponding to the current vehicle and an expected heading angle on the parking track when the current vehicle is determined to be in a starting state.
In some modified embodiments of the second aspect of the present application, if it is determined that the vehicle speed of the current vehicle is not less than the preset threshold, the apparatus further includes:
the execution unit is also used for carrying out parking control operation according to the parking track in a mode of parallel running and rotating a steering wheel by adopting the transverse control function and the longitudinal control function of the current vehicle.
A third aspect of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a parking control method as described above.
A fourth aspect of the present application provides an electronic device, comprising: the parking control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the computer program is executed by the processor to realize the parking control method.
By means of the technical scheme, the technical scheme provided by the application has the following advantages:
after a parking function is started, in the process of automatic parking control according to a parking track, acquiring an angle difference between a current orientation angle of a current vehicle and an expected orientation angle on the parking track, and when the angle difference is judged to be larger than a preset angle threshold value, correcting the orientation position of the current vehicle based on an in-situ wheel-driving mode so as to continue the parking control operation according to the parking track. Compared with the prior art, in order to meet the requirement of higher precision and solve the technical problem of a better solution, the method and the device have the advantages that the in-situ wheel driving mode is utilized to improve the control precision, the expected rotation angle calculation related to the proposed in-situ wheel driving mode is the same as the algorithm required by the angle adjustment related to the original parking control mode, no additional new algorithm is required to be introduced, excessive operation cost is not required to be additionally spent, meanwhile, the parking control precision is improved, and therefore a better parking control solution is provided.
The foregoing description is merely an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.
Drawings
Fig. 1 is a flowchart of a parking control method provided in an embodiment of the present application;
FIG. 2 is a flowchart of another parking control method according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram demonstrating the desired trajectory and current localized position of a vehicle provided by an embodiment of the present application;
FIG. 4 is a simplified flow chart of parking control according to an embodiment of the present application;
fig. 5 is a block diagram of a parking control device according to an embodiment of the present application;
fig. 6 is a block diagram of another parking control apparatus according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The embodiment of the application provides a parking control method, as shown in fig. 1, for which the following specific steps are provided:
101. after the parking function is started, a parking track corresponding to the current vehicle is acquired.
In the embodiment of the application, the automatic parking function of the positioning L3 level may be adopted, but is not limited to, after the parking function is started, according to the position between the current vehicle and the target parking lot, a parking planning module at the upstream of the parking function designs a corresponding parking track, so as to complete the automatic parking and parking lot according to the parking track.
102. And acquiring the angle difference between the current orientation angle corresponding to the current vehicle and the expected orientation angle on the parking track in the process of automatic parking control according to the parking track.
In the embodiment of the application, the sensing, positioning and planning function module at the upstream of the parking function introduces more uncertainty than the conventional parking space under the influence of the parking environment, especially for the parking space with limited space, which affects the parking control precision, so that an angle difference between the current orientation angle of the current vehicle and the expected orientation angle on the parking track is generated, but if the angle difference is small, the angle difference is negligible, but if a certain preset angle threshold is reached, the angle difference is indicated to affect the final parking control operation, namely that the parking has a large deviation which is difficult to ignore.
103. And judging whether the angle difference is larger than a preset angle threshold value.
In the embodiment of the application, a preset angle threshold can be formulated according to experimental test experience to measure whether the angle difference between the current orientation angle and the expected orientation angle on the parking track can be ignored, namely, the corresponding error is unavoidable, and if the error is too large, the parking control effect is affected.
104a, if the angle difference is larger than the preset angle threshold value, correcting the orientation position of the current vehicle based on the in-situ wheel-driving mode so as to continue the parking control operation according to the parking track.
104b, if the angle difference is not larger than the preset angle threshold, performing parking control operation according to the parking track by adopting a conventional parking mode (namely parallel horizontal and vertical function control).
In-situ wheel driving mode in the embodiment of the application refers to correcting the orientation position to continuously conform to the parking track mainly by means of a transverse control function and a non-longitudinal control function, wherein the transverse control function refers to realizing parking control by rotating a steering wheel, and the longitudinal control function refers to corresponding control by conforming to the parking track by slowly advancing a vehicle.
In the above, after the parking function is started, in the embodiment of the present application, in the process of performing automatic parking control according to the parking track, an angle difference between the current orientation angle of the current vehicle and the expected orientation angle on the parking track is obtained, and when the angle difference is determined to be greater than the preset angle threshold, the orientation position of the current vehicle is corrected based on the in-situ wheel-driving mode so as to continue to perform the parking control operation according to the parking track. Compared with the prior art, in order to meet the requirement of higher precision without the technical problem of a better solution, the in-situ wheel driving mode is utilized to improve the control precision, the expected rotation angle calculation related to the proposed in-situ wheel driving mode is the same as the algorithm required by the angle adjustment related to the original parking control mode, no additional new algorithm is required to be introduced, and the parking control precision is improved while excessive operation cost is not required to be additionally spent, so that the better parking control solution is provided.
Further, for more detailed explanation, another parking control method is provided in the embodiment of the present application, as shown in fig. 2, and the following specific steps are provided for this embodiment of the present application:
201. after the parking function is started, a parking track corresponding to the current vehicle is acquired.
After the parking track is obtained, the embodiment of the invention can further utilize the preset threshold value to measure whether the current vehicle speed is faster or slower, and in the parking control application scene, if the current vehicle speed is faster (for example, not smaller than the preset threshold value), the method is not suitable for the in-situ wheel-driving mode. This is mainly because the in-situ wheel steering mode is controlled by steering the steering wheel by means of a lateral control function (rather than a longitudinal control function). Therefore, in a parking control application scenario like a faster vehicle, parallel control of both the lateral control function and the longitudinal control function of the current vehicle should be adopted, such as performing a parking control operation while traveling in a parking trajectory and while turning a steering wheel.
However, if the current vehicle speed is relatively slow (e.g., less than a preset threshold) as measured by the preset threshold, a preferred implementation of the park control is: the parking control is performed by adopting a combination mode of an in-situ wheel driving mode and a conventional parking mode (namely parallel transverse and longitudinal function control).
For example, if it is determined that the vehicle speed of the current vehicle is less than the preset threshold, it is initially determined that the vehicle speed is slower, it is further determined whether the current vehicle is in a starting state, if so, the parking control is performed by starting to perform the two-mode combination, and for the explanation of the parking control performed by using the two-mode combination, see the following steps 202-207.
In addition, as to how to detect and judge whether the current vehicle is in a starting state, for example, the expected acceleration issued by the upstream parking planning function module can be identified, and if the expected acceleration is positive, the vehicle is judged to be in the starting state.
202. The parking trajectory is divided into a plurality of path segments.
In the embodiment of the application, the parking track is divided into a plurality of path segments in the process of parking at a slow speed, so that whether the in-situ wheel driving mode needs to be executed or not can be detected once in each path segment, which is equivalent to intermittently inserting the in-situ wheel driving mode for correction in the whole conventional parking mode (namely, parallel control of transverse and longitudinal functions) parking process, and the in-situ wheel driving mode is not required to be inserted in each path segment to reduce friction loss of wheels and the ground, and the following steps 203-207 are specifically adopted for detecting each path segment to determine whether the in-situ wheel driving mode needs to be executed or not.
203. In the process of automatic parking control according to the parking track, if the current vehicle moves to the starting position of the path section, calculating the current orientation angle corresponding to the current vehicle.
In the embodiment of the application, the current orientation angle can be obtained from the parking positioning function module.
204. Based on the position in the parking trajectory where the starting position of the path segment is located, a corresponding expected heading angle on the parking trajectory is calculated.
In the embodiment of the application, the parking track can be obtained from the parking planning function module, so that the relative position of the current vehicle on the parking track can be further determined according to the position relation between the current vehicle and the parking track, such as whether the current vehicle is on the parking track or deviates from the parking track, and the expected orientation angle corresponding to the parking track can be further calculated.
205. And comparing the current orientation angle with the expected orientation angle to obtain a corresponding angle difference.
The expected orientation angle provided by the embodiment of the application is calculated in advance according to the parking track, which is equivalent to a theoretical value provided by accurate parking, but an error is unavoidable in an actual parking environment, namely, the current orientation angle deviates from the expected orientation angle, and if the error is larger, the accuracy of parking control is directly affected, so that the embodiment of the application calculates the angle difference between the two angles, and actually, the angle difference between the two angles is obtained based on the difference between the two angles and takes an absolute value, so as to further judge whether the deviation is large or small.
The present embodiment provides for demonstrating the desired trajectory and current location of the vehicle as in fig. 3, and calculating this deviation using equation (1) as follows:
wherein e 2 The angular deviation is indicated as such,a desired track point heading angle (i.e., a desired heading angle), and phi is a positioning heading angle (i.e., a current heading angle); the positioning course angle is directly obtained by the positioning module, and the expected track point course angle is obtained through the nearest point on the current positioning search track of the vehicle.
206. And judging whether the angle difference is larger than a preset angle threshold value.
In this embodiment of the present application, the preset angle threshold is used to measure whether the angle difference is large or small, for example, if the angle difference is not greater than the preset angle threshold, the deviation between the current heading angle and the expected heading angle of the vehicle is not large, and the in-situ wheel-driving mode is not needed to be adopted for correction, but if the angle difference is greater than the preset angle threshold, the deviation between the current heading angle and the expected heading angle is relatively large, and the error is not negligible, otherwise, the accuracy of parking control is directly affected, and therefore the in-situ wheel-driving mode should be adopted for correction.
207a, if it is determined that the angle difference is greater than the preset angle threshold, correcting the orientation position of the current vehicle based on the in-situ wheel-driving mode to continue the parking control operation according to the parking track.
207b, if the angle difference is not larger than the preset angle threshold, performing parking control operation according to the parking track by adopting a conventional parking mode (namely parallel horizontal and vertical function control).
This step 207a may be further refined in the embodiment of the present application as follows:
first, the longitudinal control function of the current vehicle is disabled, i.e., the lateral control function is now used to adjust the heading angle of the current vehicle with the steering wheel.
Secondly, a position difference between the current position of the current vehicle and the expected position on the parking track is obtained, and an expected rotation angle corresponding to the current vehicle is calculated according to the position difference, the angle difference and the parking path curvature corresponding to the parking track, and the following formula (2) is adopted as an example:
θ＝(k 1 *e 1 +k 2 *e 2 +v x *κ)/v x * L.i formula (2);
wherein θ is the desired steering wheel angle, k 1 For the lateral error gain, k 2 E is the course error gain 1 E is a lateral error 2 V is heading error x For vehicle speed, κ is the desired track point curvature, L is the wheelbase, and i is the steering wheel gear ratio.
And thereby correcting the current vehicle's heading position based on the desired steering angle for steering wheel angle control to continue the parking control operation in accordance with the parking trajectory.
It should be noted that, the in-situ wheel driving mode is actually to adjust the vehicle orientation angle by using the steering wheel to perform parking correction, so that the longitudinal control function of the current vehicle is disabled, and too long time is consumed in the parking process, and the in-situ wheel driving mode used on the path section can also be used for time limitation, so as to avoid that the vehicle cannot enter a parking place due to too long-time running.
Exemplary, based on the steps 201-207, the embodiment of the present application further illustrates a simple flow chart of parking control, as shown in fig. 4, for the current vehicle to be steered, such as: starting a parking function- > detecting whether the vehicle speed is smaller than a set value- > if so, further detecting whether the vehicle speed is in a starting state- > if so, further detecting whether the angle difference between the current orientation angle and the expected orientation angle of the vehicle is larger than the set value- > if so, and pre-judging that an in-situ wheel-beating mode is needed to carry out parking control- > further continuing parking control to reach a parking end point so as to finish the parking control operation.
Further, as an implementation of the method shown in fig. 1 and fig. 2, the embodiment of the application provides a parking control device. The embodiment of the device corresponds to the embodiment of the method, and for convenience of reading, details of the embodiment of the method are not repeated one by one, but it should be clear that the device in the embodiment can correspondingly realize all the details of the embodiment of the method. The device is applied to provide a better parking control scheme, and particularly as shown in fig. 5, the device comprises:
a first obtaining unit 31, configured to obtain a parking track corresponding to a current vehicle after a parking function is started;
a second obtaining unit 32, configured to obtain, during automatic parking control according to the parking track, an angle difference between a current heading angle corresponding to the current vehicle and an expected heading angle on the parking track;
a judging unit 33, configured to judge whether the angle difference is greater than a preset angle threshold;
and an execution unit 34, configured to, when it is determined that the angle difference is greater than a preset angle threshold, correct the orientation position of the current vehicle based on the in-situ wheel-driving mode to continue the parking control operation according to the parking trajectory.
Further, as shown in fig. 6, the second obtaining unit 32 includes:
a dividing module 321, configured to divide the parking trajectory into a plurality of path segments;
a first calculating module 322, configured to calculate a current heading angle corresponding to the current vehicle if the current vehicle moves to reach a start position of the path segment during automatic parking control according to the parking track;
the first calculating module 322 is further configured to calculate a corresponding expected heading angle on the parking track based on a position of the start position of the path segment in the parking track;
a determining module 323, configured to obtain a corresponding angle difference by comparing the current orientation angle and the desired orientation angle.
Further, as shown in fig. 6, the execution unit 34 includes:
a disabling module 341, configured to disable a longitudinal control function of the current vehicle;
an obtaining module 342, configured to obtain a position difference between a current position of the current vehicle and a desired position on the parking track;
a second calculating module 343, configured to calculate an expected rotation angle corresponding to the current vehicle according to the position difference, the angle difference, and a parking path curvature corresponding to the parking track;
and a correction module 344, configured to correct the current vehicle orientation position to continue the parking control operation according to the parking trajectory based on the desired steering angle for steering wheel angle control.
Further, as shown in fig. 6, before the obtaining the angle difference between the current orientation angle corresponding to the current vehicle and the desired orientation angle on the parking track, the apparatus further includes:
the judging unit 33 is further configured to judge whether a speed of the current vehicle is less than a preset threshold;
the judging unit 33 is further configured to judge whether the current vehicle is in a starting state when it is determined that the vehicle speed of the current vehicle is less than a preset threshold;
the obtaining unit 32 is further specifically configured to perform an operation of obtaining, when it is determined that the current vehicle is in a starting state, an angle difference between a current heading angle corresponding to the current vehicle and an expected heading angle on the parking track.
Further, as shown in fig. 6, if it is determined that the vehicle speed of the current vehicle is not less than the preset threshold, the apparatus further includes:
the execution unit 34 is further configured to perform a parking control operation in a parallel traveling and steering wheel rotation mode according to the parking trajectory using the lateral control function and the longitudinal control function of the current vehicle.
In summary, after the parking function is started, in the embodiment of the present application, in the process of performing automatic parking control according to the parking track, an angle difference between a current orientation angle of a current vehicle and an expected orientation angle on the parking track is obtained, and when the angle difference is determined to be greater than a preset angle threshold, the orientation position of the current vehicle is corrected based on the in-situ wheel driving mode so as to continue to perform the parking control operation according to the parking track. In addition, in the embodiment of the application, whether the in-situ wheel-driving mode is needed to be corrected is detected in each small path section in the parking track, and if so, the mode is adopted, so that the in-situ wheel-driving mode is inserted in the whole conventional mode to increase the parking accuracy. In addition, because the in-situ wheel driving mode is not adopted in each path section, the friction loss between wheels and the ground is reduced, and the expected rotation angle calculation related to the in-situ wheel driving mode provided by the embodiment of the application is the same as the algorithm required by the angle adjustment related to the original parking control mode, no additional new algorithm is required to be introduced, and therefore the embodiment of the application does not need to additionally spend excessive operation cost, and meanwhile improves the parking control precision, so that a better parking control solution is provided.
The parking control device provided by the embodiment of the application comprises a processor and a memory, wherein the first acquisition unit, the second acquisition unit, the judging unit, the executing unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The inner core can be provided with one or more than one, and the inner core parameters are adjusted to correct in-situ wheel driving mode in the process of parking control according to the parking track, so that excessive operation cost is not required, the parking control precision is improved, and a better parking control solution is provided.
Embodiments of the present application provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a parking control method as described above.
The embodiment of the application provides electronic equipment, which comprises: the parking control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the parking control method when executing the computer program.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, the device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that 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 an element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (8)
1. A parking control method, the method comprising:
after a parking function is started, acquiring a parking track corresponding to the current vehicle;
judging whether the speed of the current vehicle is smaller than a preset threshold value or not;
if the speed of the current vehicle is not less than the preset threshold value, adopting a transverse control function and a longitudinal control function of the current vehicle to carry out parking control operation according to the parking track in a mode of running and rotating a steering wheel in parallel;
if the speed of the current vehicle is less than the preset threshold value, judging whether the current vehicle is in a starting state or not;
if so, acquiring an angle difference between a current orientation angle corresponding to the current vehicle and an expected orientation angle on the parking track in the process of automatic parking control according to the parking track;
judging whether the angle difference is larger than a preset angle threshold value or not;
if yes, correcting the orientation position of the current vehicle based on the in-situ wheel-driving mode so as to continue parking control operation according to the parking track.
2. The method according to claim 1, wherein the obtaining an angle difference between the current heading angle corresponding to the current vehicle and the desired heading angle on the parking track during the automatic parking control according to the parking track includes:
dividing the parking trajectory into a plurality of path segments;
if the current vehicle moves to the starting position of the path section in the process of automatic parking control according to the parking track, calculating a current orientation angle corresponding to the current vehicle;
calculating a corresponding expected orientation angle on the parking track based on the position of the starting position of the path segment in the parking track;
and comparing the current orientation angle with the expected orientation angle to obtain a corresponding angle difference.
3. The method of claim 1, wherein modifying the current vehicle's heading position based on the in-situ wheel-playing mode to continue the parking control operation in accordance with the parking trajectory comprises:
disabling a longitudinal control function of the current vehicle;
acquiring a position difference between a current position of the current vehicle and an expected position on the parking track;
calculating an expected rotation angle corresponding to the current vehicle according to the position difference, the angle difference and the parking path curvature corresponding to the parking track;
and correcting the orientation position of the current vehicle based on the expected rotation angle to control the steering wheel angle so as to continue parking control operation according to the parking track.
4. A parking control apparatus, characterized in that the apparatus comprises:
the first acquisition unit is used for acquiring a parking track corresponding to the current vehicle after the parking function is started;
the judging unit is used for judging whether the speed of the current vehicle is smaller than a preset threshold value or not;
the execution unit is used for carrying out parking control operation in a parallel mode of advancing and rotating a steering wheel according to the parking track by adopting a transverse control function and a longitudinal control function of the current vehicle if the speed of the current vehicle is not less than the preset threshold value;
the judging unit is further used for judging whether the current vehicle is in a starting state or not when the speed of the current vehicle is determined to be smaller than a preset threshold value;
the second acquisition unit is used for acquiring an angle difference between a current orientation angle corresponding to the current vehicle and an expected orientation angle on the parking track in the process of automatic parking control according to the parking track when the current vehicle is determined to be in a starting state;
the judging unit is further used for judging whether the angle difference is larger than a preset angle threshold value or not;
and the execution unit is used for correcting the orientation position of the current vehicle based on the in-situ wheel-driving mode to continue to carry out parking control operation according to the parking track when the angle difference is determined to be larger than a preset angle threshold value.
5. The apparatus of claim 4, wherein the second acquisition unit comprises:
the dividing module is used for dividing the parking track into a plurality of path segments;
the first calculation module is used for calculating a current orientation angle corresponding to the current vehicle if the current vehicle moves to the starting position of the path section in the process of automatic parking control according to the parking track;
the first calculation module is further configured to calculate a desired heading angle corresponding to the parking track based on a position of the initial position of the path segment in the parking track;
and the determining module is used for obtaining a corresponding angle difference by comparing the current orientation angle with the expected orientation angle.
6. The apparatus of claim 4, wherein the execution unit comprises:
a disabling module for disabling a longitudinal control function of the current vehicle;
the acquisition module is used for acquiring the position difference between the current position of the current vehicle and the expected position on the parking track;
the second calculation module is used for calculating an expected rotation angle corresponding to the current vehicle according to the position difference, the angle difference and the parking path curvature corresponding to the parking track;
and the correction module is used for correcting the orientation position of the current vehicle based on the expected rotation angle to control the steering wheel angle so as to continue to carry out parking control operation according to the parking track.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the parking control method according to any one of claims 1 to 3.
8. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the parking control method according to any one of claims 1-3.
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