CN116901936A

CN116901936A - Automatic parking method, device, equipment and medium

Info

Publication number: CN116901936A
Application number: CN202311009776.5A
Authority: CN
Inventors: 钱伟; 徐达学; 张琳
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2023-08-09
Filing date: 2023-08-09
Publication date: 2023-10-20

Abstract

The application discloses an automatic parking method, an automatic parking device, automatic parking equipment and an automatic parking medium, and relates to the field of intelligent parking. Acquiring parking space data, wherein the parking space data is used for describing information of a parking space to be parked; determining a target position of the vehicle based on the parking space data, wherein the target position is used for indicating the position of a reference point on the vehicle after the vehicle is parked; determining a parking path of the vehicle based on the initial position and the target position of the reference point, wherein the parking path comprises a first arc path and a second arc path, and the centers of the first arc path and the second arc path are different; and controlling the vehicle to automatically travel to the parking space based on the parking path and completing parking. The number and types of required acquisition are few, the calculated amount is small, and the automatic parking efficiency can be improved.

Description

Automatic parking method, device, equipment and medium

Technical Field

The embodiment of the application relates to the field of intelligent parking, in particular to an automatic parking method, an automatic parking device, automatic parking equipment and an automatic parking medium.

Background

With the development of intelligent automobiles, an automatic parking technology becomes an important point of attention, when a driver drives the automobile to come into a parking lot, the automobile can get off, and the automobile automatically searches for a parking space and parks into an empty parking space, so that the automobile is parked, and the time can be saved for a user.

Parallel parking is one of automatic parking, and a controller is used for keeping the vehicle parallel to a parking space to be parked in the process of controlling the vehicle to run forwards. The controller controls the vehicle to drive to a feasible starting area meeting the parking condition in a forward or backward mode according to the pose information and the parking space information of the vehicle, the vehicle body pose and the parking space are kept parallel when parking is finished, and the front wheel corner and the steering wheel are in a return state.

However, more data needs to be collected in the parallel parking process to realize the parking path planning, so that the operation amount is too large, the time consumption of the path planning process is long, and the automatic parking efficiency is low.

Disclosure of Invention

The embodiment of the application provides an automatic parking method, an automatic parking device, automatic parking equipment and an automatic parking medium, which can improve the automatic parking efficiency. The technical scheme is as follows:

in one aspect, an automatic parking method is provided, the method comprising:

acquiring parking space data, wherein the parking space data is used for describing information of a parking space to be parked;

determining a target position of the vehicle based on the parking space data, wherein the target position is used for indicating the position of a reference point on the vehicle after the vehicle is parked;

Determining a parking path of the vehicle based on the initial position of the reference point and the target position, wherein the parking path comprises a first arc path and a second arc path, and the centers of the first arc path and the second arc path are different;

and controlling the vehicle to automatically travel to the parking space and complete parking based on the parking path.

In another aspect, an automatic parking apparatus is provided, the apparatus including:

the parking space information acquisition module is used for acquiring parking space data, wherein the parking space data are used for describing information of a parking space to be parked;

the determining module is used for determining a target position of the vehicle based on the parking space data, wherein the target position is used for indicating the position of a reference point on the vehicle after the vehicle is parked;

the determining module is further configured to determine a parking path of the vehicle based on the initial position of the reference point and the target position, where the parking path includes a first arc path and a second arc path, and a center of the first arc path and a center of the second arc path are different;

and the control module is used for controlling the vehicle to automatically travel to the parking space and complete parking based on the parking path.

In another aspect, a computer device is provided, the computer device including a processor and a memory, where the memory stores at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded and executed by the processor to implement an auto-park method as described in any one of the embodiments of the application.

In another aspect, a computer readable storage medium having stored therein at least one instruction, at least one program, code set, or instruction set loaded and executed by a processor to implement an auto-park method as described in any one of the embodiments of the application.

In another aspect, a computer program product or computer program is provided, the computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the auto-park method according to any one of the above embodiments.

The technical scheme provided by the embodiment of the application has the beneficial effects that at least:

by acquiring information of a parking space to be parked, a reference point is selected on the vehicle, and an initial position of the reference point and a target position of the expected reference point after parking the parking space are used as planning basis of a parking path, so that the state of the vehicle when the vehicle runs according to the parking path can be simulated, and the automatic parking efficiency is improved. The parking path comprises two paths, namely a first arc path and a second arc path, wherein the two paths are paths for vehicles to travel through successively, and the circle centers of the first arc path and the second arc path are different, so that the vehicles can be ensured to avoid obstacles or parking space edges in the automatic parking process. In the process of planning the path, the final parking path is determined based on two sections of arcs, the planning can be realized by only determining the end points and the radius of the arcs, the number and the types of required acquisition are small, the calculated amount is small, and the automatic parking efficiency can be improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, 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 application, 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 illustration of an implementation environment provided by an exemplary embodiment of the present application;

FIG. 2 is a flow chart of an automated parking method provided by an exemplary embodiment of the present application;

FIG. 3 is a schematic illustration of an automated parking path provided by an exemplary embodiment of the present application;

FIG. 4 is a flowchart of a method of determining a parking path provided by an exemplary embodiment of the present application;

FIG. 5 is a flow chart of an automated parking method when an obstacle is present in a parking space provided by an exemplary embodiment of the present application;

fig. 6 is a block diagram illustrating an automatic parking apparatus according to an exemplary embodiment of the present application;

fig. 7 is a block diagram of a computer device according to an exemplary embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be noted that, the information (including but not limited to vehicle information and the like) and the data (including but not limited to parking space data) related to the present application are all information and data authorized by a user or fully authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region.

It should be understood that, although the terms first, second, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first parameter may also be referred to as a second parameter, and similarly, a second parameter may also be referred to as a first parameter, without departing from the scope of the application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

The problem of difficult parking is increasingly pronounced in congested cities, where the lateral and longitudinal lengths of the parking space are very narrow as the amount of vehicle maintenance increases. In the face of complex parking environments, drivers often cannot guarantee successful parking every time, and when the parking environments are too narrow, the drivers need to travel at ultra-low speed and observe the surrounding environment at any time. In the parking process, a driver turns the steering wheel for many times and controls the vehicle speed to adjust the pose of the vehicle, so that the vehicle can safely drive into a parking space, the operation is complex, and a large amount of time is consumed. For drivers with insufficient driving experience, the safety hidden trouble may exist besides long time and great difficulty.

In order to improve inconvenience in the parking process, eliminate potential safety hazards, rapidly, safely and reliably park a vehicle in a specified parking position space, in the related technology, an unmanned technology is introduced by utilizing intelligent equipment, and the difficulty of parking is effectively reduced. An automatic parking system is arranged on the vehicle, and an algorithm deployed in the system plans a parking path for the vehicle to control the vehicle to realize automatic parking. The automatic parking technology can enable the placement position of the vehicle in the parking space to be tidier, and improves the parking efficiency of the parking lot. The parking space gap in the parking lot can be further reduced when the parking lot is fully automatically parked, so that the parking lot land is reduced.

The automatic parking system utilizes a vehicle-mounted sensor (comprising a panoramic camera and an ultrasonic radar fusion scheme) to identify an effective parking space, and orderly plans a parking route by an electronic stability system, a power assembly engine system, an automatic parking auxiliary control electronic control unit, an electric power steering assistance system of a whole chassis, a gearbox system and the like, and controls a vehicle to park in a lateral direction, a vertical parking space and an oblique parking space.

When the parking space is too narrow, the automatic parking system needs to collect various data, and a proper automatic parking path can be planned for the vehicle through a large amount of operation, so that the operation process consumes longer time, and the automatic parking efficiency is lower.

First, terms involved in the present application will be explained.

Ultrasonic radar (Ultrasonic Sensor System, USS): an ultrasonic radar is a radar sensor device that measures distance using ultrasonic waves. Among the vehicle sensors, an ultrasonic radar is one of the most common varieties at present, and in short-distance measurement, an ultrasonic ranging sensor has great advantages and is used for a reversing radar. The ultrasonic radar is also an important sensor for realizing the automatic parking function of the vehicle, and the ultrasonic radar (APA) on the side surface of the vehicle body also acts on the transverse auxiliary alarming function. The detection principle is that ultrasonic waves are emitted, echo waves are detected, and distance measurement is carried out through time difference.

Laser Radar (Laser Radar, LR): the lidar is a radar system that detects a characteristic quantity such as a position, a speed, etc. of a target by emitting a laser beam. The working principle is that a detection signal (laser beam) is emitted to a target, then a received signal (target echo) reflected from the target is compared with the emission signal, and after proper processing, the related information of the target, such as parameters of the target, such as the distance, the azimuth, the altitude, the speed, the gesture, the even the shape and the like, can be obtained, so that the targets of an airplane, a missile and the like are detected, tracked and identified. The laser changes the electric pulse into the light pulse to be emitted, and the light receiver restores the light pulse reflected from the target into the electric pulse to be sent to the display. The principle can also be applied to realizing the automatic parking function of the automobile.

Panoramic imaging system (Around View Monitor, AVM): the panoramic image system shoots images through a plurality of ultra-large wide-angle fish-eye lenses, and forms images of surrounding environment after data processing processes such as distortion correction and splicing are carried out on the shot images. In an automobile system, the method can be applied to realizing automatic parking functions of automobiles, such as: the panoramic image system provides overlook images of the periphery of the vehicle body for the driver, eliminates the visual field blind area of the driver, and can provide an effective visual auxiliary function when parking.

Secondly, describing the real-time environment related to the embodiment of the application, the application provides an automatic parking method, which is based on two-section arc planning of a path for automatic parking of a vehicle. Illustratively, as shown in fig. 1, the implementation environment involves a target vehicle 100, an in-vehicle terminal 120 of the target vehicle 100, and a server 140.

When the target vehicle 100 travels in the parking lot, the in-vehicle terminal 120 acquires the parking space information in the parking lot through an information acquisition device (e.g., camera assembly, radar, etc.) disposed on the target vehicle 100.

Optionally, a panoramic image system is disposed on the target vehicle 100, so that panoramic photography can be performed on the environment where the target vehicle 100 is located, corresponding image frames and video frames can be obtained, and the acquired frame contents can be sent to the vehicle-mounted terminal 120.

Optionally, a radar (e.g., a laser radar or an ultrasonic parking radar) is disposed on the target vehicle 100, which can detect an obstacle in the environment where the target vehicle 100 is located, determine the position information of the obstacle, obtain the distance between the parking space and the target vehicle 100, further determine the relative position between the parking space and the target vehicle 100, and send the position information acquired by the relative position information to the vehicle-mounted terminal 120.

The data acquired by the above-mentioned devices are used to determine a parking space from among the empty spaces in the parking lot, and to determine a parking path based on the position between the parking space and the target vehicle 100. The vehicle-mounted terminal 120 determines a parking path formed by two different arc paths based on the parking space data and the vehicle information of the target vehicle 100, and drives the target vehicle 100 to travel to the parking space based on the parking path, so as to realize automatic parking. In some embodiments, the above operation process of planning the path may also be implemented by the server 140, where a communication connection is established between the server 140 and the vehicle-mounted terminal 120, and the server 140 sends the planned parking path to the vehicle-mounted terminal 120.

Illustratively, the driver drives the target vehicle 100 to the parking lot, and the human-computer interaction module of the vehicle-mounted terminal 120 turns on the parking space recognition function, so that the target vehicle 100 searches for an empty parking space that can be parked in during the driving process. In the driving process of the driver driving the target vehicle 100 in the parking lot, equipment such as a vehicle body sensor deployed on the target vehicle 100 starts to acquire environmental information, transmits the environmental information to the vehicle-mounted terminal 120, records a parking space meeting a minimum parking requirement (for example, the parking space is closest to the target vehicle 100) in the empty parking spaces, and determines a parking space to be parked from the parking spaces. The driver determines the parking space to park, and selects the appointed vehicle to park after starting the automatic parking function. The vehicle-mounted terminal 120 collects parking space data of a parking space, and automatically plans a parking path based on the parking space data, positions between the target vehicle 100 and the parking space and vehicle information of the target vehicle 100, wherein the parking path is composed of arc paths, and circle centers of two arcs are different. The in-vehicle terminal 120 drives the target vehicle 100 to travel to the parking space according to the parking path, and automatic parking is completed.

In some embodiments, an application program having a path planning function is installed in the in-vehicle terminal 120, and illustratively, an application program capable of planning a path of the target vehicle 100 to the vehicle to be parked is installed in the in-vehicle terminal 120. Such as: the in-vehicle terminal 120 is installed with a data analysis application, a data calculation application, a speed detection application, an instant messaging application, a music broadcasting application, a navigation positioning application, a news application, etc., which is not limited in the embodiment of the present application.

It should be noted that the communication network between the server 140 and the vehicle-mounted terminal 120 may be implemented as a wired network or a wireless network, and the communication network may be implemented as any one of a local area network, a metropolitan area network, or a wide area network, which is not limited in the embodiment of the present application.

It should be noted that the server 140 may be implemented as a Cloud server, where Cloud technology (Cloud technology) refers to a hosting technology that unifies serial resources such as hardware, software, and networks in a wide area network or a local area network to implement calculation, storage, processing, and sharing of data. The cloud technology is based on the general names of network technology, information technology, integration technology, management platform technology, application technology and the like applied by the cloud computing business mode, can form a resource pool, and is flexible and convenient as required. Cloud computing technology will become an important support. Background services of technical networking systems require a large amount of computing, storage resources, such as video websites, picture-like websites, and more portals. Along with the high development and application of the internet industry, each article possibly has an own identification mark in the future, the identification mark needs to be transmitted to a background system for logic processing, data with different levels can be processed separately, and various industry data needs strong system rear shield support and can be realized only through cloud computing.

In some embodiments, the server 140 described above may also be implemented as a node in a blockchain system. Blockchain (Blockchain) is a new application mode of computer technologies such as distributed data storage, point-to-point transmission, consensus mechanisms, encryption algorithms, and the like. The blockchain is essentially a decentralised database, and is a series of data blocks which are generated by association by using a cryptography method, and each data block contains information of a batch of network transactions and is used for verifying the validity (anti-counterfeiting) of the information and generating a next block. The blockchain may include a blockchain underlying platform, a platform product services layer, and an application services layer.

The automatic parking method provided in the embodiment of the application is described with reference to the above description of the noun introduction and the implementation environment. Fig. 2 is a flowchart of an automatic parking method according to an exemplary embodiment of the present application, which is performed by a vehicle-mounted terminal, as shown in fig. 2, and includes the following steps.

Step 210, acquiring parking space data.

The parking space data are used for describing information of the parking space to be parked.

The method includes the steps that a vehicle drives to a parking lot, a plurality of empty parking spaces exist in the parking lot, and a parking space is determined from the plurality of empty parking spaces according to a preset minimum parking requirement.

Optionally, the preset minimum parking requirement is: the straight line distance between the empty parking space and the vehicle is shortest, and no obstacle exists in the empty parking space. Such as: the parking lot is provided with a first empty parking space and a second empty parking space, the straight line distance between the first empty parking space and the vehicle is 10 meters, no obstacle exists, the straight line distance between the second empty parking space and the vehicle is 5 meters, and the obstacle exists in the parking space. And taking the first empty space as a parking space.

Alternatively, the vehicle-mounted terminal acquires the parking space data through a vehicle-mounted ultrasonic radar, a laser radar, a panoramic image system and the like.

Optionally, the parking space data includes a parking space length, a parking space width, and a position of a parking space vertex of the parking space, as shown in fig. 1, where the parking space vertex is located in a lower left corner of the parking space, and the parking space vertex is a vertex with a longest linear distance from the vehicle.

Step 220, determining a target position of the vehicle based on the parking space data.

The target position is used for indicating the position of the reference point on the vehicle after the vehicle is parked. A reference point is selected on the vehicle for determining the change in position that occurs before and after the parking.

Optionally, the reference point of the vehicle is a midpoint on a short axis constituted by the rear wheels of the vehicle. The initial position of the reference point is the position of the reference point before the vehicle parks, the driver selects a parking space to park after parking, a vehicle-mounted terminal plans a route for the vehicle, and when the vehicle finishes automatic parking based on the planned route, the position of the reference point is changed into a target position from the initial position.

In step 230, a parking path of the vehicle is determined based on the initial position of the reference point and the target position.

The parking path comprises a first arc path and a second arc path, wherein the centers of the circles of the first arc path and the second arc path are different.

Determining a first intersection point position of the first arc path and the second arc path based on the initial position and the target position of the reference point; determining a first arc path based on the initial position and the first intersection position; a second circular path is determined based on the target location and the first intersection location. That is, the first arc path and the second arc path are two sections in the same parking path, and an intersection exists between the first arc path and the second arc path. When the vehicle travels based on the parking path, the reference point (or the vehicle) first passes through the first circular arc path to reach the intersection point, and then passes through the second circular arc path to reach the target position.

Schematically, as shown in fig. 3, fig. 3 is a schematic view of an automatic parking path. The initial position of the reference point on the vehicle 300 is at point P1, the target position of the reference point is at point P2, and the first intersection position M is determined based on the initial position P1 and the target position P2.

And a first arc path 310 is established by taking M and P1 as endpoints, a second arc path 320 is established by taking M and P2 as endpoints, and the vehicle 300 runs firstly and secondly according to the first arc path 310 and the second arc path 320, so that automatic parking is realized.

Alternatively, the first intersection position M, the initial position P1 of the reference point, and the target position P2 of the reference point are collinear.

Illustratively, the first intersection point position of the first circular arc path and the second circular arc path is determined based on the initial position and the target position of the reference point in such a manner that the midpoint of the connection line of the initial position P1 and the target position P2 is taken as the first intersection point position M. The circle centers of the first arc path and the second arc path are arranged on two sides of the connecting line, namely, the radian directions of the first arc path and the second arc path are opposite.

In some embodiments, the first intersection position M, the initial position P1 of the reference point, and the target position P2 of the reference point are not collinear, i.e., the first intersection position M may be at other positions in the parking space.

It should be noted that the above schematic diagram of the automatic parking path is only used to illustrate and simulate a relative positional relationship between a vehicle and a parking space in a parking lot, in some embodiments, the positions of the parking space and the vehicle may be arbitrary, the manner of determining the first intersection position of the first circular arc path and the second circular arc path based on the initial position and the target position of the reference point may be arbitrary, and the reference point selected on the vehicle may be arbitrary, which is not limited in this embodiment.

Step 240, based on the parking path, controlling the vehicle to automatically travel to the parking space and complete parking.

The vehicle-mounted controller is arranged on the vehicle, the vehicle-mounted controller is driven after the vehicle-mounted terminal plans the parking path, and the vehicle-mounted controller enables the vehicle to travel to the empty space along the parking path according to the preset speed, so that parking is completed.

In summary, according to the method provided by the application, the information of the parking space to be parked is obtained, the reference point is selected on the vehicle, and the initial position of the reference point and the target position of the expected reference point after parking into the parking space are used as the planning basis of the parking path, so that the state of the vehicle when the vehicle runs according to the parking path can be simulated, and the automatic parking efficiency is improved. The parking path comprises two paths, namely a first arc path and a second arc path, wherein the two paths are paths for vehicles to travel through successively, and the circle centers of the first arc path and the second arc path are different, so that the vehicles can be ensured to avoid obstacles or parking space edges in the automatic parking process. In the process of planning the path, the final parking path is determined based on two sections of arcs, the planning can be realized by only determining the end points and the radius of the arcs, the number and the types of required acquisition are small, the calculated amount is small, and the automatic parking efficiency can be improved.

According to the method provided by the embodiment, the reference point is selected on the vehicle, the initial position of the reference point and the target position of the expected reference point after the expected reference point is parked in the parking space are used as the planning basis of the parking path, and the intersection point for dividing the two circular arc paths with different circle centers is determined based on the initial position and the target position, so that the state of the vehicle when the vehicle runs according to the parking path can be simulated, the turning condition of the vehicle when the vehicle is automatically parked can be determined, and the automatic parking efficiency and the safety in the automatic parking process are improved.

Fig. 4 is a flowchart of a method for determining a parking path according to an exemplary embodiment of the present application, wherein the parking path includes a first circular arc path and a second circular arc path, as shown in fig. 4, including the following steps.

Step 410, a coordinate system is established based on the parking space vertices of the substitute parking space.

Wherein the horizontal axis of the coordinate system is in the same direction as the length of the substituted parking space, and the vertical axis of the coordinate system is in the same direction as the width of the substituted parking space.

Schematically, as shown in fig. 3, a coordinate system is established by taking the top O of the parking space as the origin, a straight line where the length of the parking space is located is taken as the horizontal axis (X axis), and a straight line where the width of the parking space is located is taken as the vertical axis (Y axis). The initial position of the reference point is a P1 point, the target position of the reference point is a P2 point, and the first intersection point is an M point.

Step 420, vehicle information of the vehicle is acquired.

The vehicle information comprises a wheelbase and a vehicle body attitude angle, wherein the wheelbase refers to the distance between front and rear tires of the vehicle, the vehicle body attitude angle refers to the rotation angle of a long shaft of the coordinate system steering the vehicle in a anticlockwise direction, and the long shaft is in the same direction with the advancing direction of the vehicle.

Two tires are respectively arranged at the front and the rear of the vehicle, the shaft between the two front wheels is a short shaft, the shaft between the two rear wheels is also a short shaft, and the short shaft has the same length; the axis between the front and rear minor axes and perpendicular to the minor axis is the major axis.

Step 430, determining a first radius of the first circular arc path based on the wheelbase and the body attitude angle.

Optionally, the first radius corresponds to the formula:wherein R1 is a first radius, L is the wheelbase, < >>For the body attitude angle->Is the maximum value of the attitude angle of the vehicle body.

Step 440, determining a first circular path based on the initial position, the first intersection position, and the first radius.

And drawing a circle by taking the initial position P1 of the reference point as the circle center and the first radius as the radius to obtain a circle A, and drawing a circle by taking the first intersection point position M as the circle center and the first radius as the radius to obtain a circle B, wherein the intersection point of the circle A and the circle B is the circle center O1 of the first arc path. As shown in fig. 3, the center O1 is located below the line connecting the initial position P1 and the target position P2.

After determining the circle center O1 of the first circular arc path, drawing a circle by taking the O1 as the circle center and the first radius as the radius, wherein the circular arc truncated by the connecting line of the initial position P1 and the target position P2 is the first circular arc path, and the circle center angle corresponding to the first circular arc path is smaller than 180 degrees.

Step 450, determining a second radius of the second circular arc path based on the first distance between the initial position and the target position in the horizontal axis direction and the first radius.

Optionally, a secondThe formula corresponding to the radius is: r2=l _max The method comprises the steps of carrying out a first treatment on the surface of the Wherein R2 is a second radius, L _max Is the first distance.

Step 460, determining a second circular path based on the target location, the first intersection location, and the second radius.

And drawing a circle by taking the target position P2 of the reference point as the circle center and the second radius as the radius to obtain a circle C, and drawing a circle by taking the first intersection point position M as the circle center and the second radius as the radius to obtain a circle D, wherein the intersection point of the circle C and the circle D is the circle center O2 of the second arc path. As shown in fig. 3, the center O2 is located above the line connecting the initial position P1 and the target position P2.

After determining the circle center O2 of the second circular arc path, drawing a circle by taking the O2 as the circle center and the second radius as the radius, wherein the circular arc truncated by the connecting line of the initial position P1 and the target position P2 is the second circular arc path, and the circle center angle corresponding to the second circular arc path is smaller than 180 degrees.

It should be noted that the lengths of the first radius and the second radius may be arbitrary, and the first radius, the second radius, the center of the first circular arc path, and the center of the second circular arc path are correspondingly different due to the difference of the first intersection point positions M, which is not limited in this embodiment.

According to the method provided by the embodiment, the initial position and the target position of the reference point are represented in the form of coordinates by taking the parking space vertex as the origin of the coordinate system, so that the convenience of planning a path based on an arc can be improved, the line representing the change of the reference point when the vehicle runs along the parking path is clearer and more visible, and the automatic parking efficiency is improved.

According to the method provided by the embodiment, the sequence of the route is determined according to the distance between the first arc path and the second arc path and the vehicle, and the second arc path is determined based on the target position, the first intersection point position and the second radius after the first arc path is planned, so that the overall continuity of the parking path can be ensured, and the safety and the efficiency in the automatic parking process are improved.

According to the method provided by the embodiment, the radius of the first circular arc path is determined by taking the wheelbase between the front wheel and the rear wheel of the vehicle and the attitude angle of the vehicle body as parameters through a preset formula, when the maximum value of the attitude angle of the vehicle body is selected for input, the vehicle can be ensured to conform to the turning capacity of the vehicle in the process of running along the first circular arc path, and the problem that the vehicle cannot run along the parking path due to insufficient turning angle of the vehicle body in the running process is avoided. Because the vehicle has a certain width, the parking process is represented by the line of the reference point when the path planning is carried out, and the wheel base between the front wheel and the rear wheel of the vehicle is selected as another parameter, so that the vehicle can not collide with the edge of the parking space in the driving process, and the safety in the automatic parking process is improved.

According to the method provided by the embodiment, the radius of the second circular arc path is determined by taking the first distance in the transverse axis direction based on the initial position and the target position as a parameter on the basis of determining the first radius through the preset formula, so that turning smoothness at the intersection point of the first circular arc path and the second circular arc path can be ensured, and the safety in the automatic parking process is improved.

In some embodiments, an obstacle exists in the parking space, the obstacle needs to be avoided when path planning is performed, and when a first intersection point position of the first circular arc path and the second circular arc path is determined based on the initial position and the target position of the reference point, the first circular arc path and the second circular arc path cannot coincide with the obstacle. Fig. 5 is a schematic diagram of an automatic parking method when an obstacle exists in a parking space according to an exemplary embodiment of the present application, and as shown in fig. 5, the above-mentioned step 230 may be implemented as follows.

And step 231, obtaining barrier information in the parking space to be parked.

The obstacle information is used for indicating the existence of an obstacle in the parking space to be parked.

The method includes the steps that an obstacle exists in a parking space detected by an onboard ultrasonic radar of a vehicle, the linear distance between the obstacle and the vehicle is obtained and sent to an onboard terminal, and an image of the obstacle is obtained and sent to the onboard terminal by a camera component with a panoramic shooting function of the vehicle. The vehicle-mounted terminal determines the shape and volume of the obstacle after obtaining the obstacle image and the linear distance between the obstacle and the vehicle.

Optionally, the obstacle is stone, the shape is circular, the volume is 5 cubic centimeters, the linear distance from the vehicle is 10 meters, and then the obstacle information is: the obstacles exist in the parking space to be parked, the obstacles are stones, the shape of the obstacles is round, and the volume of the obstacles is 5 cubic centimeters.

Optionally, the parking space to be parked needs to meet a preset minimum parking requirement: (1) no obstacle exists in the empty parking space; and (2) the straight line distance between the empty parking space and the vehicle is shortest. The priority of the requirement (1) is highest, and the empty parking space with the shortest straight line distance is determined as the parking space in the empty parking spaces without the obstacle.

However, in an actual parking lot, the situation of empty space in the parking lot is not necessarily capable of meeting the preset minimum parking requirement. Including but not limited to the following:

(1) There is at least one empty space, there is no barrier in the empty space, such as: the parking lot is provided with a first empty parking space and a second empty parking space, the straight line distance between the first empty parking space and the vehicle is 10 meters, no obstacle exists, the straight line distance between the second empty parking space and the vehicle is 5 meters, and the obstacle exists in the parking space. And taking the first empty space without the obstacle as a parking space.

(2) Obstacles exist in all empty parking spaces, such as: the parking lot is provided with a first empty parking space and a second empty parking space, the straight line distance between the first empty parking space and the vehicle is 10 meters, the obstacle is arranged, the straight line distance between the second empty parking space and the vehicle is 5 meters, and the obstacle is arranged in the parking space. And taking the first empty space with the shortest linear distance as the parking space.

In some embodiments, there are obstacles in all empty spaces, and the vehicle-mounted terminal needs to bypass the obstacles when planning the parking route.

Step 232, determining a parking path of the vehicle based on the initial position and the target position of the reference point in the case that the obstacle exists in the parking space.

Wherein the parking path is not coincident with the obstacle.

Optionally, the parking path includes a first arc path and a second arc path, where the centers of the first arc path and the second arc path are different.

In the event that an obstacle is present in the space to be berthed, the manner in which the first intersection location is determined based on the initial location of the reference point and the target location includes, but is not limited to, the following manner for example.

Any point which is not coincident with the obstacle is selected as a first intersection point position in the parking space to be parked, and the linear distance between the first intersection point position and the obstacle is kept above a preset safety distance, wherein the preset safety distance is half of the sum of the width of the vehicle and the radius of the obstacle. Such as: the width of the vehicle is 3 meters, the radius of the obstacle is 0.1 meter, the preset safety distance is (3+0.1)/2=1.55 meters, and the straight line distance between the first intersection point position and the obstacle is at least kept to be 1.55 meters, so that the collision between the vehicle and the obstacle can be avoided when the vehicle is automatically parked.

Optionally, a circle is drawn by taking the center of the obstacle as the center of the circle and the preset safety distance as the radius, so as to obtain a circle E representing the range of the obstacle, and any position outside the range of the circle E and within the range of the parking space to be parked can be used as the first intersection point position. A connection is carried out between the initial position of the reference point and the target position, and if the midpoint of the connection does not pass through the circle E, the midpoint is taken as a first intersection point position; if the midpoint of the connecting line passes through the circle E, a point outside the range of the circle E and within the range of the parking space to be parked is selected as a first intersection point position.

In some embodiments, the obstacle is larger, and even if the parking route can bypass the obstacle, there may be a situation that the vehicle collides with the edge of the parking space during the driving process, and at this time, the parking space may be set to meet the preset minimum parking requirement: (1) no obstacle exists in the empty parking space; (2) the straight line distance between the empty parking space and the vehicle is shortest; (3) The volume of the obstacle in the empty space is not more than a preset volume threshold. The priority of the requirement (1) is higher than that of the requirement (3), and the priority of the requirement (3) is higher than that of the requirement (2).

Wherein the volume threshold may be determined by the following equation: v=d1-2×d2, where V is a volume threshold, D1 is a parking space width, and D2 is a vehicle width.

According to the method provided by the embodiment, under the condition that the obstacles exist in all the empty parking spaces, the volumes of the obstacles and the linear distances between the empty parking spaces and the vehicle are limited, when the first intersection point position is determined, the linear distances between the first intersection point position and the obstacles are limited, so that the vehicle is prevented from colliding with the edges of the obstacles and the parking spaces to be parked when the vehicle is parked automatically based on the parking route, and the safety in the automatic parking process is improved.

Fig. 6 is a block diagram illustrating an automatic parking apparatus according to an exemplary embodiment of the present application, which includes the following parts as shown in fig. 6.

An obtaining module 610, configured to obtain parking space data, where the parking space data is used to describe information of a parking space to be parked;

a determining module 620, configured to determine a target position of the vehicle based on the parking space data, where the target position is used to indicate a position of a reference point on the vehicle after the vehicle is parked;

the determining module 620 is further configured to determine a parking path of the vehicle based on the initial position of the reference point and the target position, where the parking path includes a first arc path and a second arc path, and a center of the first arc path and a center of the second arc path are different;

and the control module 630 is used for controlling the vehicle to automatically travel to the parking space and complete parking based on the parking path.

In an alternative embodiment, the determining module 620 is further configured to determine a first intersection position of the first circular arc path and the second circular arc path based on the initial position of the reference point and the target position; determining the first circular arc path based on the initial position and the first intersection position; the second circular arc path is determined based on the target location and the first intersection location.

In an alternative embodiment, the determining module 620 is further configured to establish a coordinate system based on a parking space vertex of the surrogate parking space, where a horizontal axis of the coordinate system is in a same direction as a length of the surrogate parking space, and a vertical axis of the coordinate system is in a same direction as a width of the surrogate parking space; acquiring vehicle information of the vehicle, wherein the vehicle information comprises a wheelbase and a vehicle body attitude angle, the wheelbase is the distance between front and rear tires of the vehicle, the vehicle body attitude angle is the rotation angle of a long axis of the vehicle, which is turned by the longitudinal axis of the coordinate system in a counterclockwise direction, and the long axis is in the same direction as the advancing direction of the vehicle; determining a first radius of the first circular arc path based on the wheelbase and body attitude angle; the first arc path is determined based on the initial position, the first intersection position, and the first radius.

In an alternative embodiment, the determining module 620 is further configured to determine the second radius of the second circular arc path based on the first distance between the initial position and the target position in the lateral axis direction and the first radius; the second circular arc path is determined based on the target location, the first intersection location, and the second radius.

In an alternative embodiment, the first radius corresponds to the formula:wherein R1 is a first radius, L is the wheelbase, < >>For the body attitude angle, < >>Is the maximum value of the body attitude angle.

In an alternative embodiment, the second radius corresponds to the formula: r2=l _max The method comprises the steps of carrying out a first treatment on the surface of the Wherein R2 is a second radius, L _nax Is the first distance.

In an optional embodiment, the determining module 620 is further configured to obtain obstacle information in the parking space, where the obstacle information is used to indicate that an obstacle exists in the parking space; and determining a parking path of the vehicle based on the initial position and the target position of the reference point when an obstacle exists in the parking space, wherein the parking path is not coincident with the obstacle.

In summary, according to the device provided by the application, the information of the parking space to be parked is obtained, the reference point is selected on the vehicle, and the initial position of the reference point and the target position of the expected reference point after parking into the parking space are used as the planning basis of the parking path, so that the state of the vehicle when the vehicle runs according to the parking path can be simulated, and the automatic parking efficiency is improved. The parking path comprises two paths, namely a first arc path and a second arc path, wherein the two paths are paths for vehicles to travel through successively, and the circle centers of the first arc path and the second arc path are different, so that the vehicles can be ensured to avoid obstacles or parking space edges in the automatic parking process. In the process of planning the path, the final parking path is determined based on two sections of arcs, the planning can be realized by only determining the end points and the radius of the arcs, the number and the types of required acquisition are small, the calculated amount is small, and the automatic parking efficiency can be improved.

It should be noted that: the automatic parking device provided in the above embodiment is only exemplified by the division of the above functional modules, and in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules, so as to perform all or part of the functions described above. In addition, the automatic parking device and the automatic parking method provided in the above embodiments belong to the same concept, and detailed implementation processes of the automatic parking device and the automatic parking method are detailed in the method embodiments, which are not repeated here.

Fig. 7 shows a block diagram of a computer device 700 provided in an exemplary embodiment of the application. The computer device 700 may be: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion picture expert compression standard audio plane 3), an MP4 (Moving Picture Experts Group Audio Layer IV, motion picture expert compression standard audio plane 4) player, a notebook computer, or a desktop computer. The computer device 700 may also be referred to by other names of user devices, portable terminals, laptop terminals, desktop terminals, and the like.

In general, the computer device 700 includes: a processor 701 and a memory 702.

Processor 701 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 701 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 701 may also include a main processor, which is a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 701 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 701 may also include an AI processor for processing computing operations related to machine learning.

Memory 702 may include one or more computer-readable storage media, which may be non-transitory. The memory 702 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 702 is used to store at least one instruction for execution by processor 701 to implement the auto-park method provided by the method embodiments of the present application.

In some embodiments, computer device 700 also includes other components, and those skilled in the art will appreciate that the structure illustrated in FIG. 7 is not limiting of computer device 700, and may include more or less components than those illustrated, or may combine certain components, or employ a different arrangement of components.

Alternatively, the computer-readable storage medium may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), solid state disk (SSD, solid State Drives), or optical disk, etc. The random access memory may include resistive random access memory (ReRAM, resistance Random Access Memory) and dynamic random access memory (DRAM, dynamic Random Access Memory), among others. The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

The embodiment of the application also provides a computer device, which comprises a processor and a memory, wherein at least one instruction, at least one section of program, a code set or an instruction set is stored in the memory, and the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by the processor to realize the automatic parking method according to any one of the embodiment of the application.

The embodiment of the application also provides a computer readable storage medium, in which at least one instruction, at least one section of program, a code set or an instruction set is stored, where the at least one instruction, the at least one section of program, the code set or the instruction set is loaded and executed by a processor to implement the automatic parking method according to any one of the embodiments of the application.

Embodiments of the present application also provide a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the auto-park method according to any one of the above embodiments.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing description of the preferred embodiments of the present application is not intended to limit the application, but rather, the application is to be construed as limited to the appended claims.

Claims

1. An automatic parking method, applied to a vehicle-mounted terminal, comprising:

2. The method of claim 1, wherein the determining the parking path of the vehicle based on the initial position of the reference point and the target position comprises:

Determining a first intersection point position of the first arc path and the second arc path based on the initial position of the reference point and the target position;

determining the first circular arc path based on the initial position and the first intersection position;

the second circular arc path is determined based on the target location and the first intersection location.

3. The method of claim 2, wherein the determining the first circular arc path based on the initial position and the first intersection position comprises:

establishing a coordinate system based on the parking space vertexes of the parking space, wherein the transverse axis of the coordinate system is in the same direction as the length of the parking space, and the longitudinal axis of the coordinate system is in the same direction as the width of the parking space;

acquiring vehicle information of the vehicle, wherein the vehicle information comprises a wheelbase and a vehicle body attitude angle, the wheelbase is the distance between front and rear tires of the vehicle, the vehicle body attitude angle is the rotation angle of a long axis of the vehicle, which is turned by the longitudinal axis of the coordinate system in a counterclockwise direction, and the long axis is in the same direction as the advancing direction of the vehicle;

determining a first radius of the first circular arc path based on the wheelbase and body attitude angle;

The first arc path is determined based on the initial position, the first intersection position, and the first radius.

4. The method of claim 3, wherein the determining the second circular arc path based on the target location and the first intersection location comprises:

determining a second radius of the second circular arc path based on a first distance between the initial position and the target position in the transverse axis direction and the first radius;

the second circular arc path is determined based on the target location, the first intersection location, and the second radius.

5. The method of claim 4, wherein the first radius corresponds to the formula:

wherein R1 is a first radius, L is the wheelbase,for the body attitude angle, < >>Is the maximum value of the body attitude angle.

6. The method of claim 5, wherein the second radius corresponds to the formula: r2=l _max ；

Wherein R2 is a second radius, L _max Is the first distance.

7. The method of claim 1, wherein the determining the parking path of the vehicle based on the initial position of the reference point and the target position further comprises:

Obtaining barrier information in the parking space to be parked, wherein the barrier information is used for indicating the situation that the barrier exists in the parking space to be parked;

and determining a parking path of the vehicle based on the initial position and the target position of the reference point when an obstacle exists in the parking space, wherein the parking path is not coincident with the obstacle.

8. An automatic parking apparatus, the apparatus comprising:

9. A computer device comprising a processor and a memory, wherein the memory has stored therein at least one program that is loaded and executed by the processor to implement the auto-park method of any of claims 1-7.

10. A computer-readable storage medium, characterized in that at least one program is stored in the storage medium, the at least one program being loaded and executed by a processor to implement the automatic parking method according to any one of claims 1 to 7.