CN117068144A

CN117068144A - Layered finite state machine-based passenger parking method and device

Info

Publication number: CN117068144A
Application number: CN202311277884.0A
Authority: CN
Inventors: 屈紫君; 强小文; 雷明星; 郭启翔; 陈晖�; 何薇; 李嫩; 胡博伦; 高宠智; 刘磊; 晏萌; 欧阳辰宇; 赵金波; 于子康; 韩兴隆; 代怡鹏; 杨剑; 戢靓
Original assignee: Dongfeng Automobile Co Ltd
Current assignee: Dongfeng Automobile Co Ltd
Priority date: 2023-09-27
Filing date: 2023-09-27
Publication date: 2023-11-17

Abstract

The application discloses a method and a device for parking a person in charge based on a layered finite state machine, which relate to the technical field of automatic driving automobiles and comprise the following steps: acquiring running state information of the vehicle and surrounding vehicles, and setting upper-layer state machine events of the vehicle in the initial state, the running state, the parking state and the ending state; defining driving and parking lower-layer state machine events according to the self-vehicle information and surrounding vehicle state information and driver selection, and selecting current optimal vehicle behaviors according to the upper-layer state machine events and driving and parking lower-layer state machine events; and according to the current optimal vehicle behavior, the recall or parking of the vehicle is finished. By the method, behavior decision of the vehicle in the processes of the parking of the passengers and the fixed-point recall can be realized, safety of the vehicle is ensured, and corresponding functions of the parking of the passengers and the fixed-point recall are completed efficiently.

Description

Layered finite state machine-based passenger parking method and device

Technical Field

The application relates to the technical field of automatic driving automobiles, in particular to a method, a device and equipment for parking passengers based on a layered finite state machine and a computer readable storage medium.

Background

Autopilot has been valued by countries around the world as a product of the convergence of multiple industries. The passenger parking system is used as a technology for developing from conditional automatic driving to highly automatic driving, and has great research value and practical significance. The main functions of the passenger parking system are that in a parking mode, a driver parks a vehicle at a parking lot entrance, the vehicle automatically and safely drives into the parking lot and parks into a parking space, and in a recall mode, the vehicle parks out of the parking space and drives to a recall point. In the process of parking the vehicle by the agent and recall, the environment of the parking lot is complex, and meanwhile, the surrounding environment of the vehicle has larger uncertainty, so that the vehicle is ensured to be in a safe state in the process of parking by the agent and recall at fixed points, and the vehicle is ensured to reach the target position quickly and efficiently, and the method has great significance for the parking system of the agent.

The existing passenger parking system is mainly divided into a vehicle end, a yard end and a yard fusion based, mainly different points are the same as the acquisition mode of environmental information, the scheme of the passenger parking system and the research scheme of vehicle behavior decision in the scheme are fewer, the existing passenger parking system has certain defects, the requirements on the initial point position of parking are higher, the parking success rate is lower, and the fixed-point recall function is generally not included. Meanwhile, the safety of the vehicle in the running process cannot be ensured in the face of complex and changeable environments of the parking lot. For this purpose, we propose a scheme of unmanned passenger parking system.

Disclosure of Invention

The application provides a method, a device, equipment and a computer readable storage medium for parking a bus based on a layered finite state machine, which can solve the technical problem that the safety of a vehicle in the running process cannot be ensured in the prior art facing complex and changeable environments of a parking lot.

In a first aspect, a method for parking a person by person based on a hierarchical finite state machine is provided, where the method for parking a person by person based on the hierarchical finite state machine includes:

acquiring running state information of the vehicle and surrounding vehicles, and setting upper-layer state machine events of the vehicle in the initial state, the running state, the parking state and the ending state;

defining driving and parking lower-layer state machine events according to the self-vehicle information and surrounding vehicle state information and driver selection, and selecting current optimal vehicle behaviors according to the upper-layer state machine events and driving and parking lower-layer state machine events;

and according to the current optimal vehicle behavior, the recall or parking of the vehicle is finished.

In some embodiments, the acquiring the self vehicle information and the surrounding vehicle state information includes a self vehicle, a front vehicle, a rear vehicle, a left front vehicle, a left rear vehicle, a right front vehicle, a right rear vehicle position and a vehicle speed.

In some embodiments, the setting an upper layer state machine event includes:

defining a vehicle function as event E1, E1 being 1 when a proxy parking is selected, E1 being 0 when a fixed point recall is selected;

defining whether the vehicle is in the parkable region as an event E2, wherein E2 is 1 when the vehicle is in the parkable region, and E2 is 0 when the vehicle is not in the parkable region;

defining whether the vehicle is in the recall area as an event E3, wherein E3 is 1 when the vehicle is in the recall area, and E3 is 0 when the vehicle is not in the recall area;

defining whether the vehicle is completely parked as an event E4, wherein E4 is 1 when the vehicle is completely parked, and E4 is 0 when the vehicle is not completely parked;

whether the vehicle is out is completed is defined as event E5, E5 being 1 when the vehicle is out completed and E5 being 0 when the vehicle is not in completed.

In some embodiments, the defining a driving lower layer state machine event according to the self vehicle information and surrounding vehicle state information includes:

defining whether an obstacle exists in the following range as an event DE1;

according to the formula:

L _f ＝τv+s

determining a following range L _f Wherein τ is the inter-vehicle time interval, v is the vehicle speed of the vehicle, and s is the minimum distance threshold;

range L for following vehicle in front of vehicle _f When an obstacle exists, DE1 is 1;

range L for following vehicle in front of vehicle _f DE1 is 0 when there is no obstacle;

defining whether a collision risk exists in a front vehicle as an event DE2;

according to the formula:

obtaining the time to collision TTC of the front vehicle, wherein v _ego For the speed of the bicycle, v _target Target vehicle speed s _target Corresponding S value, S of target obstacle vehicle under Frenet coordinate system _ego Corresponding S value for the own vehicle under the Frenet coordinate system;

when the front vehicle obstacle is in the safe following distance threshold value, the front vehicle collision time TTC is smaller than the threshold value and is larger than 0, judging that the front vehicle is in the braking range, and DE2 is 1;

when the current vehicle obstacle is not in the safe following distance threshold value, the collision time TTC of the front vehicle is more than or equal to the threshold value or the collision time TTC of the front vehicle is less than or equal to 0, judging that the front vehicle is not in the braking range, and determining that DE2 is 0;

defining whether a lane change requirement exists as an event DE3;

when the own vehicle is not in the target lane of the road section, or collision risk exists between the front vehicle and the own vehicle, or the speed of the front vehicle in the following range is smaller than the minimum speed threshold, judging that the vehicle has a lane changing requirement, when the lane changing requirement exists, DE3 is 1, otherwise DE3 is 0;

defining whether the lane change of the vehicle is completed as an event DE4;

According to the formula:

judging whether the inequality is satisfied, wherein Deltal is the transverse difference value between the center line of the own vehicle and the center line of the target lane,the heading difference between the own vehicle and the target lane;

when the two inequality are established, the channel switching is completed, DE4 is 1, otherwise, the channel switching is completed, DE4 is 0;

defining whether the vehicle is allowed to change lanes as an event DE5;

when a lane exists in the lane changing direction of the vehicle, TTC time of a front vehicle on a target lane of the own vehicle and TTC time of a rear vehicle on the target lane are both larger than a TTC threshold value, absolute value of distance between the front vehicle and the own vehicle is larger than the shortest local planning distance, lane changing is allowed, DE5 is 1, otherwise lane changing is not allowed, and DE5 is 0;

when no obstacle vehicle exists on the target lane or only a front vehicle on the target lane and a rear vehicle on the target lane exist, and the vehicle meets the condition that TTC is larger than a TTC threshold value and the distance between the vehicle and a self vehicle is larger than a minimum planning distance, the lane change is allowed, the event DE5 is defined, DE5 is 1, otherwise, the lane change is not allowed, and DE5 is 0;

defining whether the vehicle enters the target area as an event DE6;

according to the formula:

determining the length L of a target area, wherein v is the current vehicle speed, a is the maximum deceleration of the vehicle, and L is the compensation distance;

according to the formula:

W＝w _lane ×n

determining a target area width W, wherein W _lane The lane width is the lane width, and n is the lane number;

and determining a target area range through the target area length and the target area width, wherein DE6 is 1 when the vehicle head enters the target area range, or else, the vehicle head does not enter the target area range, and DE6 is 0.

In some embodiments, the defining a parking lower layer state machine event according to the self vehicle information and surrounding vehicle state information includes:

defining whether there is a collision risk in the vehicle movement direction as an event BE1;

when the obstacle exists in the preset range of the running direction of the vehicle, namely, the collision risk of the vehicle and the obstacle is judged, BE1 is 1, otherwise, the collision risk does not exist, and BE1 is 0.

In some embodiments, the selecting the current optimal vehicle behavior according to the upper layer state machine event and the driving lower layer state machine event includes:

in the driving process, the vehicle defaults to enter a normal driving state, in the normal driving state, the local path of the vehicle is a lane where the vehicle is positioned currently, and the target speed is the highest allowable speed of the current road section;

in the normal running state, when the principal object DE1 is 1, the vehicle jumps from the normal running state to the following running state, and in the following running state, the vehicle local planning path is taken as the current lane, and the target vehicle speed is set as the front obstacle vehicle speed;

In the normal running state, when the event DE3 is 1 and DE5 is 1, the vehicle jumps from the normal running state to lane change running, and when the vehicle is in the lane change running, a local path is planned into a lane change target lane, and the target vehicle speed is set to be the highest vehicle speed in the case of a curve;

in the normal running state, when the principal object DE6 is 1, the vehicle jumps from normal running to a braking running state, and in the braking running state, the local path of the vehicle is planned to be a current lane, and the target vehicle speed is set to be the product of the current vehicle speed minus a preset deceleration and a decision period;

in the following state, when the event DE3 is 1 and DE5 is 1, the vehicle jumps from the following running to the lane changing state, in the lane changing state, a local path is planned into a lane changing target lane, and the target vehicle speed is set to be the highest vehicle speed under the condition of a curve;

in the following state, when the event DE2 is 1 or DE6 is 1, the vehicle jumps from the following running state to the braking state;

in the following state, when the principal object DE1 is 0, the vehicle is shifted from the following state to the normal running state;

in the braking state, when the principal object DE2 is 0, the vehicle jumps from the braking state to the following state;

in the braking state, when the principal object DE1 is 0, the vehicle jumps from the braking state to the normal running state;

In the lane change state, when the event DE4 is 1 and DE1 is 0, the vehicle is transferred into the normal running state;

in the lane change state, when the event DE4 is 1 and DE1 is 1, the vehicle is transferred into a following vehicle driving state;

in the lane change state, when the principal DE2 is 1 or DE6 is 1, the vehicle jumps into the braking state.

In some embodiments, the selecting the current optimal vehicle behavior according to the upper layer state machine event and the parking lower layer state machine event includes:

after entering a parking state, the vehicle defaults to enter a parking initial state;

according to the current vehicle function, if the vehicle is a bus-substituting parking function, the vehicle enters a parking state from a parking initial state, and in the parking state, a parking track is planned according to different target parking spaces;

if the vehicle is in the fixed-point recall function, the vehicle jumps from the initial parking state to the out-of-parking state, and the track of the out-of-parking is planned;

when the vehicle is in the parking process, when the principle BE1 is 1, the vehicle jumps from a parking state to a parking brake state in which the vehicle target vehicle speed is 0;

when the vehicle is in a braking state, and when the event BE1 is 0 and E1 is 1, the vehicle is shifted from the parking brake to a parking state;

When the event BE1 is 1 during the parking process of the vehicle, the vehicle jumps from a parking state to a parking braking state;

when the vehicle is in a braking state, when event BE1 is 0 and E1 is 1, then the vehicle jumps from park braking to a park out state.

In a second aspect of the present invention, provided is a layered finite state machine-based device for parking a person in charge, comprising:

the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring running state information of a vehicle and surrounding vehicles and setting upper-layer state machine events of the vehicle in initial state, running state, parking state and ending state transition;

the processing unit is used for defining a driving and parking lower-layer state machine event according to the selection of a driver and according to the self vehicle information and the surrounding vehicle state information, and selecting the current optimal vehicle behavior according to the upper-layer state machine event and the driving and parking lower-layer state machine event;

and the operation unit is used for completing recall or parking of the own vehicle according to the current optimal vehicle behavior.

In a third aspect, there is provided a computer device comprising: a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program when executed by the processor implements the method of any of the first aspects.

In a fourth aspect, a computer readable storage medium is provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method according to any one of the first aspects.

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

the method comprises the steps of obtaining running state information of a vehicle and surrounding vehicles, and setting upper-layer state machine events for the transition of the vehicle in an initial state, a running state, a parking state and an ending state; defining driving and parking lower-layer state machine events according to the self-vehicle information and surrounding vehicle state information and driver selection, and selecting current optimal vehicle behaviors according to the upper-layer state machine events and driving and parking lower-layer state machine events; according to the current optimal vehicle behavior, the recall or parking of the vehicle is finished, and the technical problem that the safety of the vehicle in the running process cannot be ensured in the complex and changeable environment facing the parking lot in the prior art is solved.

Drawings

FIG. 1 is a schematic flow chart of a method for parking a person by person based on a hierarchical finite state machine according to the present application;

FIG. 2 is a schematic diagram of state transitions of a valet parking hierarchy state machine according to the present application;

FIG. 3 is a schematic view of an obstacle vehicle during driving in accordance with the present application;

FIG. 4 is a schematic view of a parking area according to the present application;

FIG. 5 is a schematic view of a recall point region in accordance with the present application;

FIG. 6 is a schematic view of a parking maneuver obstacle according to the present application;

FIG. 7 is a schematic diagram of a device for parking a vehicle based on a hierarchical finite state machine according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application 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 application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The terms "comprising" and "having" and any variations thereof in the description and claims of the application and in the foregoing drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus. The terms "first," "second," and "third," etc. are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order, and are not limited to the fact that "first," "second," and "third" are not identical.

In describing embodiments of the present application, "exemplary," "such as," or "for example," etc., are used to indicate by way of example, illustration, or description. Any embodiment or design described herein as "exemplary," "such as" or "for example" is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "such as" or "for example," etc., is intended to present related concepts in a concrete fashion.

In the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; the text "and/or" is merely an association relation describing the associated object, and indicates that three relations may exist, for example, a and/or B may indicate: the three cases where a exists alone, a and B exist together, and B exists alone, and furthermore, in the description of the embodiments of the present application, "plural" means two or more than two.

In some of the processes described in the embodiments of the present application, a plurality of operations or steps occurring in a particular order are included, but it should be understood that the operations or steps may be performed out of the order in which they occur in the embodiments of the present application or in parallel, the sequence numbers of the operations merely serve to distinguish between the various operations, and the sequence numbers themselves do not represent any order of execution. In addition, the processes may include more or fewer operations, and the operations or steps may be performed in sequence or in parallel, and the operations or steps may be combined.

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.

In a first aspect, a method for parking a person by using a layered finite state machine is provided, referring to fig. 1, fig. 1 is a flow chart of a method for parking a person by using a layered finite state machine according to the present application, as shown in fig. 1, a method for parking a person by using a layered finite state machine includes:

s1, acquiring running state information of a vehicle and surrounding vehicles, and setting upper-layer state machine events of the vehicle in the initial state, the running state, the parking state and the ending state;

s2, defining a driving and parking lower-layer state machine event according to the selection of a driver and according to the self vehicle information and the surrounding vehicle state information, and selecting the current optimal vehicle behavior according to the upper-layer state machine event and the driving and parking lower-layer state machine event;

s3, according to the current optimal vehicle behavior, the recall or parking of the vehicle is completed.

In the embodiment, the upper-layer state machine event of the vehicle in the initial state, the driving state, the parking state and the ending state transition is set by acquiring the driving state information of the vehicle and the surrounding vehicles; defining driving and parking lower-layer state machine events according to the self-vehicle information and surrounding vehicle state information and driver selection, and selecting current optimal vehicle behaviors according to the upper-layer state machine events and driving and parking lower-layer state machine events; according to the current optimal vehicle behavior, the recall or parking of the vehicle is finished, and the technical problem that the safety of the vehicle in the running process cannot be ensured in the complex and changeable environment facing the parking lot in the prior art is solved.

The self vehicle information and the surrounding vehicle state information comprise a self vehicle, a front vehicle, a rear vehicle, a left front vehicle, a left rear vehicle, a right front vehicle, a right rear vehicle position and a vehicle speed.

It is worth to say that, in order to meet the functions of parking for a person and fixed-point recall, and to ensure the safety of the vehicle in the driving process, and each state transition, the vehicle should be equipped with corresponding sensing sensors such as laser radar, ultrasonic radar and camera, and meanwhile, have a vehicle-mounted GPS to obtain vehicle positioning information, and be equipped with a vehicle-mounted MCU as a computing unit, and the vehicle has a drive-by-wire chassis for controlling the front wheel rotation angle and the vehicle speed of the vehicle.

In some embodiments, the setting an upper layer state machine event includes:

Referring to fig. 2, fig. 2 is a schematic state transition diagram of a layer state machine for parking a vehicle, wherein the jump steps in the upper layer state machine of the vehicle are as follows:

defining a vehicle upper layer machine event, which mainly comprises a vehicle function, whether the vehicle is in a parking area, whether the vehicle is in a recall area, whether the parking is completed and whether the parking is completed;

according to the current function of the vehicle, a driver inputs information of a target parking space or recall point to the vehicle;

according to the input target point parameters, calculating corresponding parking areas and recall point areas of the vehicle, and providing a global path from the current position of the vehicle to the target area by a vehicle-mounted map;

if the current function is to park the bus, the vehicle enters a driving state from an initial state in an upper state machine; if the current function is fixed-point recall, the vehicle enters a parking state from an initial state.

defining whether an obstacle exists in the following range as an event DE1;

According to the formula:

L _f ＝τv+s

determining a following range L _f Wherein tau is the time interval of the workshop, v is the speed of the vehicle, and s is the minimumA distance threshold;

defining whether a collision risk exists in a front vehicle as an event DE2;

according to the formula:

defining whether a lane change requirement exists as an event DE3;

Defining whether the lane change of the vehicle is completed as an event DE4;

according to the formula:

judging whether the inequality is satisfied, wherein Deltal is the transverse direction of the center line of the own vehicle and the target laneThe difference in the direction of the values,the heading difference between the own vehicle and the target lane;

defining whether the vehicle is allowed to change lanes as an event DE5;

wherein the TTC threshold is selected according to specific conditions, and the TTC threshold allowed in general is 2-3s.

Defining whether the vehicle enters the target area as an event DE6;

referring to fig. 4 and 5, according to the formula:

according to the formula:

W＝w _lane ×n

referring to fig. 6, when there is an obstacle in the preset range of the vehicle traveling direction, that is, it is determined that there is a collision risk between the vehicle and the obstacle, BE1 is 1, otherwise there is no collision risk, and BE1 is 0.

The preset range is generally a rectangular range which is 10m in front of and behind the road and is equal to the road in width.

In the driving state, under the Frenet coordinate system, the vehicles are divided into a front vehicle, a rear vehicle, a left front vehicle, a left rear vehicle, a right front vehicle and a right rear vehicle according to the lanes where surrounding obstacle vehicles are located and the position relation between the vehicles, as shown in fig. 3;

Defining a driving state main event according to the classification of the obstacle vehicles and the corresponding information thereof, wherein the driving state main event comprises whether a front vehicle is in a following range, whether the front vehicle is in a braking range, whether a lane change requirement exists, whether lane change is completed, whether lane change is allowed and whether the vehicle enters a target area, and judging the driving event true value according to the current road condition, the surrounding vehicle state and the information;

and according to the event truth value, deciding the current optimal behavior of the vehicle in the running process of the vehicle.

In a parking state, under a vehicle coordinate system, according to the vehicle movement direction, the vehicle speed and the vehicle parameter information, an obstacle entering a certain rectangular area in the vehicle direction is regarded as having collision risk;

and deciding the optimal behavior of the vehicle in the parking state according to whether collision risks exist or not and the current vehicle function.

Referring to fig. 7, in a second aspect, there is provided a layered finite state machine-based proxy parking apparatus, including:

The function implementation of each module in the device for parking the bus based on the layered finite state machine corresponds to each step in the embodiment of the method for parking the bus based on the layered finite state machine, and the function and implementation process of the function are not described in detail herein.

It should be noted that, step numbers of each step in the embodiment of the present application are not limited to the order of each operation in the technical solution of the present application.

It should be noted that, for convenience and brevity of description, the specific working process of the apparatus and each unit described above may refer to the corresponding process in the foregoing embodiment of the method for parking a person by person based on a hierarchical finite state machine, which is not described herein.

The apparatus provided by the above embodiments may be implemented in the form of a computer program which may be run on a computer device as shown in fig. 8.

The embodiment of the application also provides computer equipment, which comprises: the system comprises a memory, a processor and a network interface which are connected through a system bus, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor so as to realize all or part of the steps of the bus parking method based on the hierarchical finite state machine.

Wherein the network interface is used for network communication, such as sending assigned tasks, etc. It will be appreciated by those skilled in the art that the structure shown in FIG. 8 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

The processor may be a CPU, but may also be other general purpose processors, DSPs (Digital Signal Processor, digital signal processors), ASICs (Application Specific Integrated Circuit, application specific integrated circuits), FPGAs (Field Programmable Gate Array, field programmable gate arrays) or other programmable logic devices, discrete gate or transistor logic device discrete hardware components, etc. A general purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like, that is a control center of a computer device, with various interfaces and lines connecting various parts of the entire computer device.

The memory may be used to store computer programs and/or modules, and the processor implements various functions of the computer device by running or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs required for at least one function (such as a video playing function, an image playing function, etc.), and the like; the storage data area may store data (such as video data, image data, etc.) created according to the use of the cellular phone, etc. In addition, the memory may include high-speed random access memory, and may also include nonvolatile memory, such as a hard disk, memory, plug-in hard disk, SMC (Smart Media Card), SD (Secure digital) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.

The embodiment of the application also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, all or part of the steps of the method for parking the bus based on the hierarchical finite state machine are realized.

The foregoing all or part of the flow may be implemented by a computer program for instructing the relevant hardware, and the computer program may be stored in a computer readable storage medium, where the computer program when executed by a processor may implement the steps of each method described above. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a ROM (Read-Only memory), a RAM (Random Access memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, server, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The foregoing is only a specific embodiment of the application to enable those skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The method for parking the passengers based on the layered finite state machine is characterized by comprising the following steps of:

2. The method for parking a vehicle by using a layered finite state machine according to claim 1, wherein the acquiring of the information of the vehicle and the surrounding vehicle state information includes the vehicle, the front vehicle, the rear vehicle, the left front vehicle, the left rear vehicle, the right front vehicle, the right rear vehicle and the vehicle speed.

3. The method for parking a vehicle based on a hierarchical finite state machine according to claim 2, wherein said setting up upper state machine events comprises:

4. A layered finite state machine-based proxy parking method according to claim 3, wherein defining a driving lower layer state machine event based on the own vehicle information and surrounding vehicle state information comprises:

defining whether an obstacle exists in the following range as an event DE1;

according to the formula:

L _f ＝τv+s

defining whether a collision risk exists in a front vehicle as an event DE2;

according to the formula:

defining whether a lane change requirement exists as an event DE3;

defining whether the lane change of the vehicle is completed as an event DE4;

According to the formula:

defining whether the vehicle is allowed to change lanes as an event DE5;

defining whether the vehicle enters the target area as an event DE6;

according to the formula:

W＝w _lane ×n

5. The method for parking a vehicle by a proxy based on a hierarchical finite state machine of claim 4, wherein said defining a parking lower layer state machine event based on said own vehicle information and surrounding vehicle state information comprises:

6. The method for parking a vehicle based on a hierarchical finite state machine according to claim 5, wherein selecting the current optimal vehicle behavior based on the upper layer state machine event and the lower layer machine event comprises:

7. The method of claim 5, wherein selecting the current optimal vehicle behavior based on the upper level state machine event and the lower level state machine event comprises:

8. A layered finite state machine-based proxy parking device, comprising:

9. A computer device comprising a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program when executed by the processor performs the steps of any of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when being executed by a processor, implements the steps of the method according to any of claims 1 to 7.