CN116620302A

CN116620302A - Automatic parking position correcting method and device, electronic equipment and storage medium

Info

Publication number: CN116620302A
Application number: CN202310795485.7A
Authority: CN
Inventors: 姜辉; 陈博; 杜建宇; 李超; 黄显晴; 刘清宇; 王恒凯; 李佳骏; 吴岗岗; 赵禛
Original assignee: Faw Nanjing Technology Development Co ltd; FAW Group Corp
Current assignee: Faw Nanjing Technology Development Co ltd; FAW Group Corp
Priority date: 2023-06-30
Filing date: 2023-06-30
Publication date: 2023-08-22

Abstract

The invention discloses an automatic parking position and posture correction method, an automatic parking position and posture correction device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring sensor parameters, and determining the real-time pose of the vehicle corresponding to the target vehicle based on the sensor parameters; acquiring current target parking space coordinates corresponding to the target parking space, and determining whether to correct the real-time pose of the vehicle based on the current target parking space coordinates and the historical target parking space coordinates; and if the real-time pose of the vehicle needs to be corrected, determining the pose of the target vehicle based on the sensor parameters, and controlling the target vehicle to park into a target parking space based on the pose of the target vehicle. Based on the technical scheme, whether the real-time pose of the vehicle needs to be corrected or not is determined through the parking space coordinates, and the pose of the vehicle is redetermined based on the sensor information when the vehicle needs to be corrected, so that the pose correction can be performed by combining the sensor and the vehicle kinematic model, the pose judging efficiency of the vehicle during automatic parking is improved, and the accuracy of automatic parking is improved.

Description

Automatic parking position correcting method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of vehicle control technologies, and in particular, to an automatic parking position correcting method, apparatus, electronic device, and storage medium.

Background

With the continuous development of the standard of living and vehicle technology, users need to face a large number of repeated driving scenes, such as driving the vehicle into a parking space, during the process of using the vehicle.

Furthermore, in order to improve the driving experience of the user, an automatic parking function is set on the vehicle, so that the vehicle can automatically park in a target parking space, but the traditional automatic parking scheme directly controls the vehicle to automatically park based on the calculated vehicle pose, and the automatic parking precision cannot be ensured.

Disclosure of Invention

The invention provides an automatic parking position and posture correction method, an automatic parking position and posture correction device, electronic equipment and a storage medium, wherein whether the real-time position and posture of a vehicle need to be corrected or not is determined through parking position coordinates, the position and posture of the vehicle are determined again based on sensor information when the correction is needed, and the position and posture correction can be performed by combining a sensor and a vehicle kinematic model, so that the technical problem of insufficient parking precision in the existing automatic parking scheme is solved.

According to an aspect of the present invention, there is provided an automatic parking position correction method, the method comprising:

acquiring sensor parameters, and determining a real-time pose of a vehicle corresponding to a target vehicle based on the sensor parameters;

Acquiring current target parking space coordinates corresponding to a target parking space, and determining whether to correct the real-time pose of the vehicle based on the current target parking space coordinates and historical target parking space coordinates;

and if the real-time pose of the vehicle needs to be corrected, determining the pose of the target vehicle based on the sensor parameters, and controlling the target vehicle to be parked in the target parking space based on the pose of the target vehicle.

According to another aspect of the present invention, there is provided an automatic parking position correction apparatus, the apparatus comprising:

the real-time pose determining module is used for acquiring sensor parameters and determining the real-time pose of the vehicle corresponding to the target vehicle based on the sensor parameters;

the coordinate confirmation module is used for acquiring current target parking space coordinates corresponding to the target parking space and determining whether to correct the real-time pose of the vehicle based on the current target parking space coordinates and the historical target parking space coordinates;

and the control module is used for determining the pose of the target vehicle based on the sensor parameters and controlling the target vehicle to park in the target parking space based on the current vehicle pose if the real-time pose of the vehicle needs to be corrected.

According to another aspect of the present invention, there is provided an electronic apparatus including:

At least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the automated parking spot correction method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the method for correcting an automatic parking position according to any one of the embodiments of the present invention.

According to the technical scheme, the real-time pose of the vehicle corresponding to the target vehicle is determined based on the sensor parameters, the current target parking space coordinate corresponding to the target parking space is obtained, whether the real-time pose of the vehicle is corrected is determined based on the current target parking space coordinate and the historical target parking space coordinate, if the real-time pose of the vehicle needs to be corrected, the pose of the target vehicle is determined based on the sensor parameters, and the target vehicle is controlled to be parked in the target parking space based on the current pose of the vehicle. Based on the technical scheme, whether the real-time pose of the vehicle needs to be corrected or not is determined through the parking space coordinates, and the pose of the vehicle is redetermined based on the sensor information when the vehicle needs to be corrected, so that the pose correction can be performed by combining the sensor and the vehicle kinematic model, the pose judging efficiency of the vehicle during automatic parking is improved, and the accuracy of automatic parking is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other 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 an automatic parking position correcting method according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the location of sensor parameters of a target vehicle provided by an embodiment of the present invention;

FIG. 3 is a flowchart of an automatic parking spot correction method according to an embodiment of the present invention;

fig. 4 is a block diagram of an automatic parking position correcting device according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a flow chart of an automatic parking position and posture correction method provided by the embodiment of the invention, which is applicable to determining whether a vehicle position and posture need to be corrected based on a historical parking position coordinate and a current parking position coordinate of a target parking position, determining a target vehicle position and controlling a situation that a vehicle is parked in the target parking position based on sensor information when the position and posture need to be corrected, wherein the method can be implemented by an automatic parking position and posture correction device, which can be implemented in a form of hardware and/or software, and can be configured in electronic equipment, such as a vehicle central control or a vehicle-mounted computer.

As shown in fig. 1, the method includes:

s110, acquiring sensor parameters, and determining the real-time pose of the vehicle corresponding to the target vehicle based on the sensor parameters.

The sensor parameter may be a parameter acquired by an in-vehicle sensor provided in the target vehicle, for example, a parameter such as a heading angle of the target vehicle, a vehicle speed of the target vehicle, and a yaw rate. The target vehicle may be understood as the current vehicle that the user is using. The real-time pose of the vehicle can be a kinematic pose of the vehicle calculated based on sensor parameters.

Specifically, when the target vehicle starts the automatic parking function, sensor parameters acquired by the vehicle-mounted sensors in the target vehicle can be acquired, real-time vehicle pose corresponding to the target vehicle is determined based on the sensor parameters, and the target vehicle is controlled to be parked in a target parking space based on the real-time vehicle pose. For example, the current vehicle pose may be calculated by acquiring an initial pose of the vehicle and based on sensor parameters.

On the basis of the technical scheme, the method for determining the real-time pose of the vehicle corresponding to the target vehicle based on the sensor parameters comprises the following steps: determining a current vehicle travel parameter based on the sensor parameter; and determining the real-time pose of the vehicle based on the current vehicle running parameters and a target vehicle kinematic model, and controlling the target vehicle to be parked in the target parking space based on the real-time pose of the vehicle.

The current vehicle running parameters can be real-time running parameters of the vehicle in the parking process, and the vehicle running parameters comprise yaw rate, course angle and central point line speed of rear wheels of the vehicle. The target vehicle kinematic model may be understood as a mathematical model constructed based on vehicle parameters. The vehicle parameters may be parameter information of the vehicle, such as length information and width information of the vehicle, maximum rotation angle, etc.

Specifically, the running parameters of the current vehicle are determined based on the sensor information, the real-time pose of the vehicle is calculated in real time based on the running parameters of the current vehicle and the kinematic model of the target vehicle, and the target vehicle is controlled to automatically park into a target parking space according to the real-time pose of the vehicle. For example, under the condition that the vehicle is traveling at a low speed, the cornering of the vehicle is ignored, and the kinematic state equation of the vehicle is as follows: x is X _k ＝X _k-1 +utcosθ；X _k ＝X _k-1 +utcosθ；X _k ＝X _k-1 +utcos θ; wherein X, Y is the position coordinate of the center point of the rear wheel of the vehicle; u is the speed of the center point of the rear wheel; omega is yaw rate; θ is the heading angle of the vehicle, and t is the time period. Substituting the current vehicle running parameters acquired by the sensors into the kinematic equation to obtain the real-time pose of the vehicle.

Based on the technical scheme, before acquiring the sensor parameters and determining the real-time pose of the vehicle corresponding to the target vehicle based on the sensor parameters, the method further comprises the following steps: acquiring initial vehicle coordinates and initial target parking space coordinates corresponding to an automatic parking instruction; and constructing a parking coordinate system corresponding to the target parking space and a vehicle coordinate system corresponding to the target vehicle based on the initial vehicle coordinates.

The automatic parking instruction may be instruction information sent by the user after triggering the automatic parking function. The initial vehicle coordinates are coordinates of a rear wheel center point of the vehicle. The initial vehicle coordinates may understand the coordinates of the initial position of the vehicle when the automatic parking function is activated. The initial target parking space coordinates can be initial coordinates of the target parking space acquired based on the vehicle-mounted sensor. The parking coordinate system may be a coordinate system for determining whether the parking space coordinates are changed. The own vehicle coordinate system may be a coordinate system for determining the pose of the own vehicle.

Specifically, initial vehicle coordinates and initial target parking space coordinates corresponding to the automatic parking instruction are acquired, and a parking coordinate system corresponding to the target parking space and a vehicle coordinate system corresponding to the target vehicle are constructed based on the initial vehicle coordinates. It should be noted that, the user may not only activate the automatic parking function by activating the automatic parking function trigger control on the vehicle-launching machine, but also activate the automatic parking function by the application program of the mobile terminal, so as to obtain the coordinate information corresponding to the instruction information after the target vehicle receives the corresponding instruction information, and construct the parking coordinate system and the vehicle coordinate system based on the coordinate information.

S120, acquiring current target parking space coordinates corresponding to the target parking space, and determining whether to correct the real-time pose of the vehicle based on the current target parking space coordinates and the historical target parking space coordinates

The target parking space can be a parking space selected by a user. The current target parking space coordinate can be understood as coordinate information of the target parking space in the process of moving the vehicle in real time. The historical target parking space coordinate can be understood as the target parking space coordinate acquired at the moment of the last sensor information acquisition.

Specifically, in the process of moving the vehicle, the current target parking space coordinate corresponding to the target parking space is continuously acquired according to the preset information acquisition time length, and whether the real-time pose of the vehicle needs to be corrected is determined based on the current target parking space coordinate and the historical target parking space coordinate. When the user needs to start the automatic parking function, the empty parking space near the current vehicle can be determined through the vehicle sensor, and the empty parking space is displayed to the user, so that the user can select a target parking space in the empty parking space, and further target parking space coordinates of the target parking space are obtained.

On the basis of the technical scheme, the determining whether to correct the real-time pose of the vehicle based on the current target parking space coordinate and the historical target parking space coordinate comprises the following steps: determining a parking space coordinate difference value based on the current target parking space coordinate and the historical target parking space coordinate; and if the parking space coordinate difference value is larger than a preset coordinate difference value, determining that the real-time pose of the vehicle needs to be corrected.

The parking space coordinate difference value can be distance information between the current target parking space coordinate and the historical target parking space coordinate. The preset coordinate difference may be a preset distance threshold.

Specifically, when the current target parking space coordinate is obtained, a parking space coordinate difference value can be determined based on the current target parking space coordinate and the historical target parking space coordinate, and if the parking space coordinate difference value is larger than a preset coordinate difference value, the real-time pose of the vehicle is determined to be required to be corrected. It should be noted that the parking space coordinates acquired by the sensor based on the target vehicle are usually represented in the form of a vehicle coordinate system, so that a coordinate transformation is also required before determining the parking space coordinate difference, for example, assuming (x _tarPoint, y _tarPoint ) _t1 、(x _tarPoint ,y _tarPoint ) _t The sensors of the target vehicles are respectively at t ₁ The target parking space coordinates of t relative to the vehicle coordinate system will (x) _tarPoint ,y _tarPoint ) _t1 、(x _tarPoint ,y _tarPoint ) _t The target parking space coordinate of parking is converted into a parking coordinate system XOY, and the target parking space coordinate of parking is not changed in the parking coordinate system XOY theoretically, and the conversion process is as follows:

wherein Err is the difference value of the parking space coordinates; (X, Y) is the coordinates of the center point of the rear wheel of the vehicle; θ is the heading angle of the vehicle. And further obtaining a parking space coordinate difference value, and determining that the real-time pose of the vehicle needs to be corrected when the parking space coordinate difference value is larger than a preset coordinate difference value.

And S130, if the real-time pose of the vehicle needs to be corrected, determining the pose of the target vehicle based on the sensor parameters, and controlling the target vehicle to park in the target parking space based on the current pose of the vehicle.

The target vehicle pose may be parameter information obtained by recalculating a sensor parameter, for example, the sensor parameter may include a distance and an angle between a parking space vertical line extension line and an origin of a vehicle own coordinate system xoy and a y axis.

Specifically, if the real-time pose of the vehicle needs to be corrected, the pose of the target vehicle of the current target vehicle is redetermined according to sensor parameter information acquired by a vehicle-mounted sensor in the target vehicle, and then the target vehicle is controlled to be parked in a target parking space based on the pose of the target vehicle.

On the basis of the above technical solution, the determining the pose of the target vehicle based on the sensor parameters includes: determining the parking space corner coordinates of the target parking space based on the sensor parameters; and determining the pose of the target vehicle based on the parking space angular point coordinates, the sensor parameters and the current target parking space coordinates.

The parking space corner coordinates can be the coordinate information of the parking space corner of the target parking space.

Specifically, based on the sensor parameters, the parking space angular point coordinates of the target parking space are determined, and then the pose of the target vehicle is determined based on the parking space angular point coordinates, the sensor parameters and the current target parking space coordinates, as shown in fig. 2, wherein XOY is a parking coordinate system, (x) _tarPoint ,y _tarPoint ) The coordinate information of the target parking space when the vehicle is at the coordinate origin O; θ _R 、θ _L 、D _L 、D _R Distance information and angle information between a parking space vertical line extension line acquired by a sensor and an origin of a vehicle self-vehicle coordinate system xoy and a y axis are acquired.

Before determining the pose of the current target vehicle based on the sensor information, it is necessary to determine whether the data acquired by the sensor is valid, specifically, the pose of the current target vehicle may be verified according to the information fed back by the sensorThe field determines that, for example, if a line and an included angle between the right side (the copilot side) of the vehicle collected by the sensor and the extended line of the parking space are valid, then there is eTypeFlg=1, and if a line and an included angle between the left side (the driver side) of the vehicle collected by the sensor and the parking space are valid, then there is eTypeFlg=2; all invalid with eTypeFlg=0; further, if eTypeFlg=1, there is an angle between the left side and the parking space, θ _L ＝θ _R Heading angle θ=θ of vehicle _R ，Correspondingly, if eTypeFlg=2, there is an angle θ between the left side and the parking space _L ＝θ _R The method comprises the steps of carrying out a first treatment on the surface of the Heading angle θ=θ of vehicle _L ；/>Wherein AB is the width of parking stall. Based on the sensor information, the angular point coordinates of the target parking space are obtained first, namely A, B coordinates (x _A ,y _A )、(x _B ,y _B ) Linear EF linear equation: y=ax+b; linear GH linear equation: y=a ₀ x+b ₀, wherein ,a₀ ＝-tan θ _L ，/>Linear AB linear equation: y=a ₁ x+b ₁； wherein a₁ ＝tanθ _L ＝tan θ _R . In connection with the geometrical relationship in fig. 2A, B is on line AB, a is on line EF, B is on line GH, and +.>Thus obtaining A (x) _A ,y _A )、B(x _B ,y _B ) Coordinates in the xoy coordinate system.

After the corner coordinates are obtained, converting a and B into a parking coordinate system, if the position of the vehicle at this time is defined as the origin of coordinates when a parking instruction is received, the vehicle advancing direction is the X-axis forward direction, and the left side of the vehicle is the Y-axis forward direction (actual parking system, in-comingWhen the parking interface is in, the origin of coordinates is 0 point), and the coordinates of the target parking space acquired by the sensor are (x) _tarPoint ,y _tarPoint ) Then under the coordinate of the parking system coordinate system XOY, the following steps are obtained:and then based on the relation, the coordinates (X) of the vehicle center point, namely the XOY origin of coordinates in the parking system coordinate system XOY can be obtained _o ,Y _o ) Namely the pose of the target vehicle, firstly, the coordinates of a parking system coordinate system are obtained according to the coordinate rotation translation conversion of the parking space corner A in the vehicle coordinate system,and further, based on the coordinates of the parking space corner point A in the vehicle coordinate system, the coordinates (X) of the vehicle center point o in the vehicle parking system coordinate system XOY can be deduced _o ,Y _o ) Heading angle θ=θ _L ＝θ _R The method comprises the steps of carrying out a first treatment on the surface of the Then there is a target vehicle pose:

wherein WheelBase is the WheelBase of the vehicle. Heading angle θ=θ _L ＝θ _R 。

On the basis of the technical scheme, the method further comprises the following steps: acquiring a current vehicle pose corresponding to the target vehicle; and determining whether the target vehicle is parked in the target parking space or not based on the current vehicle pose and the current target parking space coordinates.

The current vehicle pose may be pose information of the target vehicle at the current time. The current vehicle pose is a real-time vehicle pose or the target vehicle pose.

Specifically, when the target vehicle is controlled to be parked into the target parking space based on the pose information of the vehicle, whether the target vehicle is parked into the target parking space or not can be determined based on the current vehicle pose and the current target parking space coordinates by acquiring the current vehicle pose corresponding to the target vehicle, and whether the target vehicle needs to be continuously controlled to act or not is determined based on the pose of the vehicle.

On the basis of the above technical solution, the determining whether the target vehicle is parked in the target parking space based on the current vehicle pose and the current target parking space coordinates includes: determining a vehicle pose difference value based on the current vehicle pose and the current target parking space coordinates; if the vehicle pose difference value is smaller than or equal to a preset pose difference value, determining that the target vehicle is completely parked; and if the vehicle pose difference value is larger than the preset pose difference value, returning to calculate the real-time pose of the vehicle.

The vehicle pose difference value can be coordinate difference information between the current vehicle pose and the target garage. The preset pose difference value may be a preset distance threshold.

Specifically, a vehicle pose difference value is determined based on the current vehicle pose and the current target parking space coordinates, if the vehicle pose difference value is smaller than or equal to a preset pose difference value, the target vehicle is determined to finish parking, if the vehicle pose difference value is larger than the preset pose difference value, the real-time pose of the vehicle is calculated, and whether the target vehicle needs to be controlled to continue to act is determined based on the real-time pose of the vehicle again.

Example two

Fig. 3 is a flowchart of an automatic parking position correcting method according to an embodiment of the present invention, where the automatic parking position correcting method is further optimized based on the above embodiment. The specific implementation manner can be seen in the technical scheme of the embodiment. Wherein, the technical terms identical to or corresponding to the above embodiments are not repeated herein.

It should be noted that, the technical solution provided by the embodiment of the present invention is based on the characteristic of no accumulated error of the perception module, and corrects the pose information of the vehicle, which is calculated based on the odometer and the inertial measurement unit (Inertia Measurement Unit, IMU), in real time according to the test information provided by the perception module, so as to reduce the accumulated error caused by time integration and provide more accurate, stable and reliable positioning accuracy. As shown in fig. 3, the method of the embodiment of the present invention includes:

establishing a coordinate system and acquiring the target parking space coordinates: specifically, the position of the own vehicle coordinate system at the time of the start of parking is defined as a parking coordinate system XOY, the initial pose of the vehicle is (0, 0), and the target parking space coordinate (x _tarPoint ,y _tarPoint )。

Calculating the real-time vehicle pose: specifically, the vehicle starts parking, the vehicle pose estimation module calculates the real-time vehicle pose of the vehicle according to the key parameters of the vehicle, the received vehicle speed and the received yaw rate and the kinematic model of the vehicle, namely, under the condition that the vehicle runs at a low speed, ignoring the lateral deviation of the vehicle, and the kinematic state equation of the vehicle is as follows: x is X _k ＝X _k-1 +utcosθ；X _k ＝X _k-1 +utcosθ；X _k ＝X _k-1 +utcos θ; wherein X, Y is the position coordinate of the center point of the rear wheel of the vehicle; u is the speed of the center point of the rear wheel; omega is yaw rate; θ is the heading angle of the vehicle, and t is the time period. Substituting the current vehicle running parameters acquired by the sensors into the kinematic equation to obtain the real-time pose of the vehicle.

Calculating the pose of the target vehicle: specifically, if the signal valid signal etteflgtrig of the environment sensing module is not equal to 0, the signal transmitted by the environment sensing module (x _tarPoint ,y _tarPoint )、θ _R 、θ _L 、D _L 、D _R The data are valid, and the pose of the target vehicle is calculated according to the sensor information. For example, if the line or the angle between the right side (the copilot side) of the vehicle collected by the sensor and the extended parking space is valid, there is an ettetypefrg=1, and if the line or the angle between the left side (the driver side) of the vehicle collected by the sensor and the extended parking space is valid, there is an ettetypefrg=2; all invalid with eTypeFlg=0; further, if eTypeFlg=1, there is an angle between the left side and the parking space, θ _L ＝θ _R Heading angle θ=θ of vehicle _R ，Correspondingly, if eTypeFlg=2, there is an angle θ between the left side and the parking space _L ＝θ _R The method comprises the steps of carrying out a first treatment on the surface of the Heading angle θ=θ of vehicle _L ；/>Wherein AB is the width of parking stall. Based on the sensor information, the angular point coordinates of the target parking space are obtained first, namely A, B coordinates (x _A ,y _A )、(x _B ,y _B ) Linear EF linear equation: y=ax+b; linear GH linear equation: y=a ₀ x+b ₀, wherein ,a₀ ＝-tanθ _L ,/>Linear AB linear equation: y=a ₁ x+b ₁； wherein a₁ ＝tanθ _L ＝tanθ _R . In connection with the geometric relationship in FIG. 2, A, B is on line AB, A is on line EF, B is on line GH, andthus obtaining A (x) _A ,y _A )、B(x _B ,y _B ) Coordinates in the xoy coordinate system.

After the corner coordinates are obtained, converting A and B into a parking coordinate system, if defined when a parking instruction is receivedAt this time, the position of the vehicle is the origin of coordinates, the forward direction of the vehicle is the forward direction of the X-axis, the left side of the vehicle is the forward direction of the Y-axis (the origin of coordinates is 0 point when entering the parking interface in the actual parking system), and the target parking space coordinate acquired by the sensor is (X) _tarPoint ,y _tarPoint ) Then under the coordinate of the parking system coordinate system XOY, the following steps are obtained:and then based on the relation, the coordinates (X) of the vehicle center point, namely the XOY origin of coordinates in the parking system coordinate system XOY can be obtained _o ,Y _o ) Namely the pose of the target vehicle, firstly, the coordinates of a parking system coordinate system are obtained according to the coordinate rotation translation conversion of the parking space corner A in the vehicle coordinate system,and further, based on the coordinates of the parking space corner point A in the vehicle coordinate system, the coordinates (X) of the vehicle center point o in the vehicle parking system coordinate system XOY can be deduced _o ,Y _o ) Heading angle θ=θ _L ＝θ _R The method comprises the steps of carrying out a first treatment on the surface of the Then there is a target vehicle pose:

Determining whether the real-time pose of the vehicle needs to be corrected: specifically, if Err is greater than the set threshold value postd, the context awareness calculation results in a vehicle pose instead of the current position of the vehicle, assuming (x _tarPoint ,y _tarPoint ) _t1 、(x _tarPoint ,y _tarPoint ) _t The sensors of the target vehicles are respectively at t ₁ The target parking space coordinates of t relative to the vehicle coordinate system will (x) _tarPoint ,y _tarPoint ) _t1 、(x _tarPoint ,y _tarPoint ) _t Conversion to the parking coordinate system XOY, in which theoretically the target parking space coordinate of parking should be unchanged, is performed as follows：

Determining whether to park in a target parking space: specifically, the current vehicle pose is detected in real time in the process of parking the vehicle, whether the vehicle is parked in the target parking space is determined based on the current vehicle pose and the target parking space coordinates, if the target vehicle is parked in the target parking space, the automatic parking function is exited, for example, the automatic parking function can be determined based on a preset distance threshold value constEr, the pose difference value is determined based on the current pose of the vehicle and the coordinates of the target parking space, when the current pose (X, Y) -parking target position of the vehicle is less than the constEr, the target vehicle is determined to be parked in the target parking space, and if the target vehicle is not parked in the target parking space, the real-time pose of the vehicle is calculated.

Example III

Fig. 4 is a block diagram of an automatic parking position correcting device according to an embodiment of the present invention. As shown in fig. 4, the apparatus includes: a real-time pose determination module 410, a coordinate validation module 420, and a control module 430.

A real-time pose determining module 410, configured to obtain sensor parameters, and determine a real-time pose of the vehicle corresponding to the target vehicle based on the sensor parameters;

the coordinate confirmation module 420 is configured to obtain a current target parking space coordinate corresponding to a target parking space, and determine whether to correct the real-time pose of the vehicle based on the current target parking space coordinate and a historical target parking space coordinate;

the control module 430 is configured to determine a target vehicle pose based on the sensor parameters and control the target vehicle to park in the target parking space based on the current vehicle pose if the real-time vehicle pose needs to be corrected.

On the basis of the technical scheme, the device comprises: the coordinate system establishing module is used for acquiring initial vehicle coordinates and initial target parking space coordinates corresponding to the automatic parking instruction before acquiring sensor parameters and determining real-time vehicle pose corresponding to the target vehicle based on the sensor parameters; wherein the initial vehicle coordinates are coordinates of a rear wheel center point of the vehicle; and constructing a parking coordinate system corresponding to the target parking space and a vehicle coordinate system corresponding to the target vehicle based on the initial vehicle coordinates.

On the basis of the technical scheme, the coordinate confirming module is used for confirming a parking space coordinate difference value based on the current target parking space coordinate and the historical target parking space coordinate; and if the parking space coordinate difference value is larger than a preset coordinate difference value, determining that the real-time pose of the vehicle needs to be corrected.

On the basis of the technical scheme, the real-time pose determining module is used for determining current vehicle running parameters based on the sensor parameters; wherein the vehicle driving parameters comprise yaw rate, course angle and central point line speed of rear wheels of the vehicle; and determining the real-time pose of the vehicle based on the current vehicle running parameters and a target vehicle kinematic model, and controlling the target vehicle to be parked in the target parking space based on the real-time pose of the vehicle.

On the basis of the technical scheme, the control module is used for determining the parking space angular point coordinates of the target parking space based on the sensor parameters; and determining the pose of the target vehicle based on the parking space angular point coordinates, the sensor parameters and the current target parking space coordinates.

On the basis of the technical scheme, the device further comprises: the pose confirmation module is used for acquiring the current vehicle pose corresponding to the target vehicle; the current vehicle pose is a real-time vehicle pose or the target vehicle pose; and determining whether the target vehicle is parked in the target parking space or not based on the current vehicle pose and the current target parking space coordinates.

On the basis of the technical scheme, the pose confirmation module is used for determining a vehicle pose difference value based on the current vehicle pose and the current target parking space coordinates; if the vehicle pose difference value is smaller than or equal to a preset pose difference value, determining that the target vehicle is completely parked; and if the vehicle pose difference value is larger than the preset pose difference value, returning to calculate the real-time pose of the vehicle.

The automatic parking position and posture correcting device provided by the embodiment of the invention can execute the automatic parking position and posture correcting method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.

Example IV

Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as an automated parking position correction method.

In some embodiments, the automated parking spot correction method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the automated parking position correction method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the automatic parking position correction method in any other suitable way (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. An automatic parking position correction method is characterized by comprising the following steps:

2. The method of claim 1, further comprising, prior to acquiring the sensor parameters and determining the vehicle real-time pose corresponding to the target vehicle based on the sensor parameters:

acquiring initial vehicle coordinates and initial target parking space coordinates corresponding to an automatic parking instruction; wherein the initial vehicle coordinates are coordinates of a rear wheel center point of the vehicle;

and constructing a parking coordinate system corresponding to the target parking space and a vehicle coordinate system corresponding to the target vehicle based on the initial vehicle coordinates.

3. The method of claim 1, wherein the determining whether to correct the real-time pose of the vehicle based on the current target parking space coordinates and the historical target parking space coordinates comprises:

determining a parking space coordinate difference value based on the current target parking space coordinate and the historical target parking space coordinate;

and if the parking space coordinate difference value is larger than a preset coordinate difference value, determining that the real-time pose of the vehicle needs to be corrected.

4. The method of claim 1, wherein the determining a vehicle real-time pose corresponding to the target vehicle based on sensor parameters comprises:

determining a current vehicle travel parameter based on the sensor parameter; wherein the vehicle driving parameters comprise yaw rate, course angle and central point line speed of rear wheels of the vehicle;

And determining the real-time pose of the vehicle based on the current vehicle running parameters and a target vehicle kinematic model, and controlling the target vehicle to be parked in the target parking space based on the real-time pose of the vehicle.

5. The method of claim 1, wherein the determining a target vehicle pose based on the sensor parameters comprises:

determining the parking space corner coordinates of the target parking space based on the sensor parameters;

and determining the pose of the target vehicle based on the parking space angular point coordinates, the sensor parameters and the current target parking space coordinates.

6. The method according to claim 1, wherein the method further comprises:

acquiring a current vehicle pose corresponding to the target vehicle; the current vehicle pose is a real-time vehicle pose or the target vehicle pose;

and determining whether the target vehicle is parked in the target parking space or not based on the current vehicle pose and the current target parking space coordinates.

7. The method of claim 6, wherein the determining whether the target vehicle is parked in the target parking space based on the current vehicle pose and the current target parking space coordinates comprises:

Determining a vehicle pose difference value based on the current vehicle pose and the current target parking space coordinates;

if the vehicle pose difference value is smaller than or equal to a preset pose difference value, determining that the target vehicle is completely parked;

and if the vehicle pose difference value is larger than the preset pose difference value, returning to calculate the real-time pose of the vehicle.

8. An automatic parking position correction apparatus, comprising:

and the control module is used for determining the pose of the target vehicle based on the sensor parameters and controlling the target vehicle to park in the target parking space based on the pose of the target vehicle if the real-time pose of the vehicle needs to be corrected.

9. An electronic device, the electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the automated parking spot correction method of any of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to perform the method of automatic parking spot correction according to any one of claims 1-7.