CN117302189A - Automatic parking method, device and system for space oblique parking space and storage medium - Google Patents
Automatic parking method, device and system for space oblique parking space and storage medium Download PDFInfo
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- CN117302189A CN117302189A CN202210702501.9A CN202210702501A CN117302189A CN 117302189 A CN117302189 A CN 117302189A CN 202210702501 A CN202210702501 A CN 202210702501A CN 117302189 A CN117302189 A CN 117302189A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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Abstract
The invention discloses a method, a device, a system and a storage medium for automatic parking in a space oblique parking space, wherein the method comprises the following steps: in the parking space detection mode, the front side ultrasonic radar works in a short-distance detection mode and is used for detecting the parking space width of a target parking space, and the rear side ultrasonic radar works in a long-distance detection mode and is used for detecting the parking space depth of the target parking space; judging whether the target parking space is an available parking space or not according to the detected parking space width and parking space depth; when the available parking space is detected, the parking space is switched to a parking space mode, and at the moment, the front side ultrasonic radar and the rear side ultrasonic radar are both operated in a short-distance detection mode and are used for detecting distance information of a current vehicle and obstacle vehicles on two sides of the available parking space, calculating the inclination angle of the available parking space and adjusting the posture of a vehicle body in real time according to the inclination angle and the distance information. Compared with the prior art, the automatic parking system for the space oblique parking space is realized by utilizing the pure ultrasonic radar automatic parking system.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method, a device, a system and a storage medium for automatic parking in a space oblique parking space.
Background
As the amount of the reserved cars continues to rise, parking lots in cities are increasingly crowded, parking spaces are becoming narrower, parking is inconvenient, and safety accidents caused by parking occur. For many drivers, especially novice drivers, parking is a painful experience, and automatically driving a vehicle into a small space has become the direction of research by all automatic parking system developers.
Research shows that the efficiency of the current common parallel and vertical grid-shaped parking lot is not high, and parking spaces arranged at 45 degrees in an inclined direction can effectively avoid the congestion of the parking lot. The parking spaces which are vertically arranged are required to be turned by 90 degrees when the vehicle is backed up and put in storage, so that the traffic lane space of the parking lot must be wide enough to enable the vehicle to be turned by 90 degrees. However, if the parking spaces are arranged in an inclined manner, the left parking space or the right parking space is obliquely opposite to the vehicle, so that the vehicle is convenient to park, and the traffic lane can be designed to be narrower to increase more parking spaces. A large parking lot adopts an inclined 45-degree parking space, and the efficiency of the parking lot can be increased by 23%. In addition, the parking lot with the parking spaces obliquely arranged can be changed into one-way running, so that the traffic flow is more conveniently dredged. So that the oblique angle parking spaces are more and more in life, and the oblique angle parking spaces are more and more common.
The automatic parking is to utilize the ultrasonic radar sensor or the camera around the automobile body to discern suitable parking stall, and the driver only need be according to the suggestion switching gear after confirming the parking stall, and the system just can park the car into the parking stall. At present, in an automatic parking system based on an ultrasonic radar sensor, an ultrasonic radar transmits an ultrasonic signal, the transmitted ultrasonic wave returns an echo signal after encountering an obstacle, and the ultrasonic radar detects a parking space based on the received echo signal. However, because the range of ultrasonic signals in space radiation is very wide, only vertical space and horizontal space can be identified well, and for oblique angle space in space, the entry points A and B of oblique angle space in space are difficult to identify accurately, and the angle of the oblique space cannot be detected when the space is detected, so that the existing pure ultrasonic radar system cannot support parking in the space angle space, the application scene of an automatic parking system is limited, and accidents caused by collision with other vehicles are easy to happen when the oblique space is mistakenly identified as the vertical space or the horizontal space in space.
Disclosure of Invention
In view of the foregoing, it is necessary to provide a method, a device, a system and a storage medium for automatic parking in a space oblique parking space, so as to solve the technical problem that the automatic parking system for the pure ultrasonic radar in the prior art cannot realize parking in the space oblique parking space.
In order to achieve the above object, an embodiment of the present invention provides an automatic parking method for a space oblique parking space, which is suitable for an automatic parking system of an ultrasonic radar, wherein the automatic parking system of the ultrasonic radar comprises a front ultrasonic radar and a rear ultrasonic radar, and the automatic parking method for the space oblique parking space comprises the following steps:
the automatic parking function is started and then enters a parking space detection mode, in the parking space detection mode, the front side ultrasonic radar works in a short-distance detection mode and is used for detecting the parking space width of a target parking space, and the rear side ultrasonic radar works in a long-distance detection mode and is used for detecting the parking space depth of the target parking space;
judging whether the target parking space is an available parking space or not according to the detected parking space width and parking space depth;
when the target parking space is an available parking space, switching from the parking space detection mode to a parking space entering mode, wherein in the parking space entering mode, the front side ultrasonic radar and the rear side ultrasonic radar both work in the short-distance detection mode, and the front side ultrasonic radar and the rear side ultrasonic radar are used for detecting distance information between a current vehicle and obstacle vehicles at two sides of the available parking space in the parking space entering process;
And calculating the inclination angle of the available parking space according to the distance information detected by the front side ultrasonic radar or the rear side ultrasonic radar, and adjusting the posture of the vehicle body in real time according to the inclination angle and the distance information so as to control the current vehicle to stop in the available parking space.
Optionally, the step of detecting the parking space width of the target parking space by the front side ultrasonic radar includes:
periodically transmitting ultrasonic waves and receiving echo signals;
determining two end points of the parking space entrance according to the echo distance carried in the echo signal;
and taking the distance between two endpoints of the parking space entrance as the parking space width of the target parking space.
Optionally, the step of determining whether the target parking space is an available parking space according to the detected parking space width and parking space depth includes:
when the parking space width meets a first preset range and the parking space depth meets a second preset range, the target parking space is judged to be an available parking space.
Optionally, the first preset range is [ (w+w0)/sin α1, (w+w0)/sin α2], and the second preset range is [ L1-Ln, L1-Lm ]; wherein W is the width redundancy value of the current vehicle, W0 is the maximum value of the inclination angle of the space oblique parking space, alpha 1 is the minimum value of the inclination angle of the space oblique parking space, L1 is the detection distance of the rear side ultrasonic radar in a long-distance detection mode, ln is the maximum value of the distance between the rear side ultrasonic radar and the parking space when the parking space is detected, and Lm is the minimum value of the distance between the rear side ultrasonic radar and the parking space when the parking space is detected.
Optionally, the rear side ultrasonic radar is further used for detecting obstacle information of the target parking space in a parking space detection mode;
correspondingly, the method for judging the available parking spaces further comprises the following steps:
when the parking space width of the target parking space meets a first preset range, the parking space depth meets a second preset range, and the obstacle information characterizes that no obstacle exists in the target parking space, the target parking space is judged to be an available parking space.
Optionally, the step of calculating the inclination angle of the available parking space according to the distance information detected by the rear side ultrasonic radar includes:
fitting parking oblique lines of the obstacle vehicles according to a plurality of distance values between the rear side ultrasonic radar and the obstacle vehicles in the distance information;
and calculating the inclination angle of the available parking space according to the included angle between the parking oblique line of the obstacle vehicle and the current vehicle advancing direction.
Optionally, the automatic parking system of ultrasonic radar further includes a front ultrasonic radar and a rear ultrasonic radar, and in the parking space detection mode and the parking mode, the front ultrasonic radar and the rear ultrasonic radar operate in a second short range detection mode and are used for detecting obstacle information in front of and behind a vehicle, and the second short range detection mode is different from the short range detection mode.
The invention provides a space oblique parking space automatic parking device which is suitable for an ultrasonic radar automatic parking system, wherein the ultrasonic radar automatic parking system comprises a front side ultrasonic radar and a rear side ultrasonic radar, and the space oblique parking space automatic parking device comprises a mode control module, a parking space detection module and a parking space entering module, wherein:
the mode control module is used for controlling the ultrasonic radar automatic parking system to enter a parking space detection mode after the automatic parking function is started, and controlling the ultrasonic radar automatic parking system to switch from the parking space detection mode to a parking space entering mode when the parking space detection module detects an available parking space;
the parking space detection module is used for detecting the parking space width of a target parking space through the front side ultrasonic radar working in the short distance detection mode and detecting the parking space depth of the target parking space through the rear side ultrasonic radar working in the long distance detection mode in the parking space detection mode, and judging whether the target parking space is an available parking space according to the detected parking space width and parking space depth;
the parking space module is used for detecting distance information between a current vehicle and obstacle vehicles on two sides of the available parking space in the parking space process through a front side ultrasonic radar and a rear side ultrasonic radar which work in the short-distance detection mode in the parking space mode, calculating the inclination angle of the available parking space according to the distance information detected by the front side ultrasonic radar or the rear side ultrasonic radar, and adjusting the vehicle body posture in real time according to the inclination angle and the distance information so as to control the current vehicle to stop in the available parking space.
Another embodiment of the present invention provides an ultrasonic radar automatic parking system, including a front-side ultrasonic radar, a rear-side ultrasonic radar, and a parking controller for implementing the steps of the spatial oblique parking space automatic parking method as described above.
Another embodiment of the present invention provides a computer-readable storage medium having stored therein at least one instruction loaded and executed by a processor to implement the steps of the method for automatic parking of a space-oriented parking spot as described above.
Compared with the prior art, in the space oblique parking space automatic parking method provided by the embodiment of the invention, in the parking space detection mode, the front side ultrasonic radar works in the short-distance detection mode and is used for detecting the parking space width of a target parking space, the rear side ultrasonic radar works in the long-distance detection mode and is used for detecting the parking space depth of the target parking space, then whether the target parking space is an available parking space or not is judged according to the detected parking space width and the detected parking space depth, if the target parking space is the available parking space, the parking space is in the parking space entering mode, the front side ultrasonic radar and the rear side ultrasonic radar both work in the short-distance detection mode, the distance information of obstacle vehicles at two sides of a current vehicle and the available parking space can be detected through higher detection precision, meanwhile, the inclination angle of the available parking space can be calculated through the distance information detected by the front side ultrasonic radar or the rear side ultrasonic radar, and the vehicle body posture is adjusted in real time according to the calculated inclination angle and the distance information of obstacle vehicles at two sides of the current vehicle and the available parking space so as to control the current vehicle to be parked into the available parking space.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
FIG. 1 is a schematic diagram of one embodiment of an ultrasonic radar auto-park system of the present invention;
FIG. 2 is a schematic diagram of an embodiment of the automatic parking system for ultrasonic radar according to the present invention applied to a space-oriented parking space;
FIG. 3 is a flow chart of an embodiment of the method for automatically parking a space-variant parking space according to the present invention;
FIG. 4 is a schematic diagram of an embodiment of a target parking space;
FIG. 5 is a schematic diagram of the detection of parking space width by front side ultrasonic radar;
FIG. 6 is a schematic diagram illustrating a setting principle of a first preset range and a second preset range according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of the rear ultrasonic radar detecting the inclination angle of the available vehicle according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a final parking position of a space-variant parking space according to an embodiment of the present invention;
fig. 9 is a schematic structural view of an embodiment of the spatial oblique parking space automatic parking device of the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiments of the invention are described in further detail below with reference to the drawings. It is to be understood that the embodiments described herein are for illustration and explanation of the invention only and are not intended to limit the invention.
The method, the device, the system and the storage medium for automatically parking the space inclined parking space, which are provided by the embodiments of the invention, are mainly used for solving the technical problem that a pure ultrasonic radar automatic parking system in the prior art cannot realize space angle parking.
In the embodiment of the invention, in order to realize automatic parking, an ultrasonic radar automatic parking system comprises a parking controller, a front ultrasonic radar and a rear ultrasonic radar, wherein the front ultrasonic radar comprises a left front ultrasonic radar and a right front ultrasonic radar, and the rear ultrasonic radar comprises a left rear ultrasonic radar and a right rear ultrasonic radar. Ultrasonic radars are arranged at the left front side, the left rear side, the right front side and the right rear side of the vehicle, and the parking controller is used for controlling the four side radars to detect, so that parking space detection and parking and warehousing actions of a space oblique parking space can be realized.
In some embodiments, in order to avoid occurrence of detection blind areas in front of and behind a vehicle during automatic parking, resulting in safety accidents such as collision, in some embodiments, ultrasonic radars may be further disposed in front of and behind the vehicle for detecting obstacles in front of and behind the vehicle. At this time, the ultrasonic radar automatic parking system may further include a front ultrasonic radar and a rear ultrasonic radar. When the vehicle bumper is specifically applied, the front side ultrasonic radar and the rear side ultrasonic radar are both installed on the side edge of the vehicle bumper, the front ultrasonic radar is installed on the front edge of the vehicle head bumper, and the rear ultrasonic radar is installed on the rear edge of the vehicle tail bumper. The number of the front ultrasonic radars and the rear ultrasonic radars can be selected according to the front-rear detection range of the vehicle and the detection range of the radar. Such as: in some embodiments, in order to achieve full coverage of the front and rear detection ranges of the vehicle, the occurrence of detection dead zones is avoided, and the number of front ultrasonic radars and rear ultrasonic radars is set to 4.
Referring to fig. 1, fig. 1 is a schematic diagram of an embodiment of an automatic parking system for an ultrasonic radar according to the present invention, and as shown in fig. 1, the automatic parking system for an ultrasonic radar includes a front ultrasonic radar: fuss_1, fuss_6, rear side ultrasonic radar: russ_1, RUSS_6, front ultrasonic radar: fuss_2, fuss_3, fuss_4, fuss_5, rear ultrasonic radar: the mounting positions and coverage areas of the respective ultrasonic radars are shown in fig. 1, and the russ_2, russ_3, russ_4, russ_5, and a parking controller (not shown). Referring to fig. 2 in combination, fig. 2 is a schematic diagram of an embodiment of the ultrasonic radar automatic parking system of the present invention when applied to a space oblique parking space, as shown in fig. 2, the space oblique parking space refers to an angular oblique empty parking space formed by placing two vehicles in a parallelogram, a space oblique parking space is formed between a vehicle 1 and a vehicle 2 in fig. 2, corresponding space oblique parking space automatic parking refers to that when a vehicle runs in a parking space with a space oblique parking space, the vehicle detects an available parking space in the parking space by means of its automatic parking system, and then the vehicle is automatically parked in the space oblique parking space and parallel to the vehicles on both sides by controlling components such as a brake, an accelerator, a steering wheel, a gear, etc., that is, the vehicle 3 in fig. 2 searches the parking space by its own ultrasonic radar automatic parking system and automatically controls the vehicle to park at the parking space oblique parking space, thus completing the automatic parking of the space oblique parking space.
The following describes the implementation flow of the method for automatically parking a space-oblique parking space by taking the embodiment shown in fig. 1 and fig. 2 as an example.
Referring to fig. 3, fig. 3 is a flowchart of an embodiment of a method for automatic parking in a space oblique parking space, which is applicable to an automatic parking system of an ultrasonic radar, wherein the automatic parking system of the ultrasonic radar comprises a front ultrasonic radar and a rear ultrasonic radar. Specifically, as shown in fig. 3, the automatic parking method for the space oblique parking space comprises the following steps:
step S101, after the automatic parking function is started, a parking space detection mode is entered, in the parking space detection mode, the front side ultrasonic radar works in a short distance detection mode and is used for detecting the parking space width of a target parking space, and the rear side ultrasonic radar works in a long distance detection mode and is used for detecting the parking space depth of the target parking space.
In some embodiments, to implement on-off control of the automatic parking system of the vehicle, a physical key is typically provided on the vehicle, or a virtual key is provided in the central control screen, and the vehicle user may turn on or off the automatic parking system by operating the physical key or the virtual key. Since two phases are required to achieve automatic parking: 1. identifying a library position; 2. the parking space detection mode and the parking space entering mode are set for the ultrasonic radar automatic parking system in the embodiment of the invention, the ultrasonic radars at all positions work in different states in different modes, and different functions are realized. Specifically, after the automatic parking system is started, the automatic parking system passes self-checking and automatically triggers to enter a parking space detection mode, wherein the automatic parking system is used for detecting available parking spaces in the parking space detection mode.
In order to realize that each side ultrasonic radar (including a front side ultrasonic radar and a rear side ultrasonic radar) can work in different states and realize different functions in a parking space detection mode and a parking space entering mode, in the embodiment of the invention, two working modes, namely a long-distance detection mode and a short-distance detection mode, are arranged for the front side ultrasonic radar and the rear side ultrasonic radar. In a long-range detection mode, the wave generation period and the Field of View (FOV) of the side ultrasonic radar are relatively large, and the detection distance can reach 5 meters; compared with the long-range detection mode, the short-range detection mode has the advantages that the wave generation period of the side ultrasonic radar is reduced, the angle of view is reduced, the sampling rate of echo signals is improved, the detection range is between 0.1 and 3 meters, and the detection precision is relatively high.
Under the parking space detection mode, the parking controller carries out different detection mode configurations on the front side ultrasonic radar and the rear side ultrasonic radar, and different functions are realized. Specifically, the front side ultrasonic radar is configured to be in a short-distance detection mode and used for detecting the parking space width of a target parking space, the rear side ultrasonic radar is configured to be in a long-distance detection mode and used for detecting the parking space depth of the target parking space, and the front side ultrasonic radar and the rear side ultrasonic radar are matched with each other to obtain the size information of the parking space, so that parking space detection is realized.
Referring to fig. 4 and 5, fig. 4 is a schematic diagram of an embodiment of a target parking space, as shown in fig. 4, a parking space width of the target parking space is a distance between two end points A, B at a parking space entrance, denoted as SW, a parking space depth is SD, and fig. 5 is a schematic diagram of parking space width detection by a front side ultrasonic radar. Specifically, the step of detecting the parking space width of the target parking space by the front side ultrasonic radar comprises the following steps: periodically transmitting ultrasonic waves and receiving echo signals; determining two end points of the parking space entrance according to the echo distance carried in the echo signal; and taking the distance between two endpoints of the parking space entrance as the parking space width of the target parking space. Namely: under the parking stall detection mode, preceding side ultrasonic radar can periodic transmission ultrasonic signal, and the ultrasonic wave meets the barrier and can return echo signal, and radar controller handles the echo signal of receiving and can acquire effectual parking stall entry endpoint A and B, and the length between two parking stall entry endpoints A and B is parking stall width SW promptly. As shown in fig. 5, the identification of the endpoint a specifically includes: the characteristic of the echo signal is from near to far (the transverse distance between the echo point and the vehicle is from small to large), and at the moment when the transverse distance (echo distance value) between the echo point and the vehicle is suddenly changed to relatively far, the echo point at that time is judged as a point a, and similarly, the identification of the endpoint B is specifically: the echo signal is characterized in that the echo point is determined to be the point B when the echo distance value becomes relatively close and the transverse distance value is approximately equal to the transverse distance of the point A by combining the transverse distance of the point A with the distance from the echo point to the vehicle from far to near (from large to small). In order to ensure accurate detection of parking space entrance endpoints A and B, the front side ultrasonic radar is set to work in a short-range detection mode, and in the short-range detection mode, the wave generation period and the view angle of the front side ultrasonic radar are smaller, so that the problem that judgment of the point A and the point B is inaccurate due to the fact that the wave generation period is too large and the view angle is too large when a vehicle passes through the point A and the point B can be effectively avoided.
In the parking space detection mode, the rear side ultrasonic radar works in a long-distance detection mode, in the mode, the rear side ultrasonic radar periodically transmits ultrasonic signals, ultrasonic waves encounter obstacles and return echo signals, and the radar controller processes the received echo signals to obtain the depth SD of the parking space. Specifically, the radar controller initially identifies parking space entry points a and B through echo signals, and then makes a difference between the lateral distance between other echo points and the vehicle and the lateral distance between the point a (or the point B) and the vehicle based on the distance between the point a and the point B, wherein the difference can be used as the parking space depth SD.
And step S102, judging whether the target parking space is an available parking space according to the detected parking space width and parking space depth.
Specifically, for any target vehicle, the vehicle can be parked as an available parking space when the width and depth of the parking space meet certain conditions. In this embodiment, in order to realize available vehicle position detection, a vehicle position width range and a vehicle position depth range are preset and respectively recorded as a first preset range and a second preset range, and when a target vehicle position meeting the first preset range and the second preset range is detected in a vehicle position detection mode, the target vehicle position is identified as an available vehicle position. The range intervals of the first preset range and the second preset range are determined according to redundancy of the width of the parking space and the inclination angle range of the space oblique parking space in the automatic parking industry. Meanwhile, for vehicles of different brands and different models, the vehicle width and the vehicle length are also different, and the size of the available parking space meeting the parking requirement of the vehicle is also different, so that the range intervals of the first preset range and the second preset range can be further determined by combining the size parameters (including the vehicle width and the vehicle length) of the vehicle.
In one embodiment, step S102 is specifically: when the parking space width of the target parking space meets the first preset range and the parking space depth of the target parking space meets the second preset range, the target parking space is judged to be an available parking space. In some embodiments, the first preset range is [ (w+w0)/sin α1, (w+w0)/sin α2], and the second preset range is [ l×sin α2, l×sin α1], where W is the vehicle width of the current vehicle, W0 is a preset parking space width redundancy value, L is the vehicle length of the current vehicle, α1 is the maximum value of the spatial oblique parking space inclination angle, and α2 is the minimum value of the spatial oblique parking space inclination angle. In some embodiments, the value of W0 is 0.8m, and the inclination angle of the space oblique parking space is generally 30-60 degrees, that is, the value of α1 is 60 degrees, and the value of α2 is 30 degrees.
Referring to fig. 6, fig. 6 is a schematic diagram illustrating a setting principle of the first preset range and the second preset range in the embodiment of the invention. As shown in fig. 6, for a space oblique parking space, the actual width SW0 of the parking space is the vertical distance between two adjacent parking spaces, in the automatic parking industry, the actual width SW0 of the parking space is generally (vehicle width w+0.8) m, and as can be seen from fig. 6, for a space oblique parking space, sw0=swsin α, so the parking space width sw=sw0/sin α at the parking space entry point A, B, therefore, the larger the inclination angle α of the space oblique parking space, the smaller SW, because the inclination angle α of the space oblique parking space is generally between 30 degrees and 60 degrees, the value range of the parking space width SW is: when the value of W0 is 0.8m, the first preset range to be satisfied by the parking space width SW is [1.1547 x (w+0.8m) to 2 x (w+0.8m) ], wherein the vehicle width W is written into the space oblique parking space automatic parking method as an inherent technical parameter, and is known for a certain vehicle, so the first preset range is also known. According to the embodiment of the invention, the actual width SW0 of the parking space is converted into the width SW of the parking space at the entrance of the parking space, so that the actual width SW0 of the detected parking space is replaced by the width SW of the parking space at the entrance of the parking space detected by the front side ultrasonic radar in the parking space detection mode, and the width SW of the parking space can be used for representing the width of the parking space in the oblique space.
Referring to fig. 6, for a space oblique parking space, the parking space depth sd=l×sin α, L is the vehicle length, and the larger the inclination angle α of the space oblique parking space is, the larger the parking space depth SD is. And because the inclination angle α of the space oblique parking space is generally between 30 degrees and 60 degrees, the second preset range that needs to be satisfied by the parking space depth SD is [ l×sin30, l×sin 60], that is, the parking space depth SD is between [0.5×l,0.866×l ], where the vehicle length L is written as an inherent technical parameter into the space oblique parking space automatic parking method, and is known for a certain vehicle, so the second preset range is also known. Typically, the vehicle length is 2 to 5 meters, and when l=5 meters, the parking space depth SD is between [2.5m,4.33m ]. Thus, [2.5m,4.33m ] may be set to the second preset range based on the uncertainty of the vehicle length.
In another preferred embodiment, a second preset range may be further set to [ L1-Ln, L1-Lm ], where L1 represents a detection distance of the rear-side ultrasonic radar in the long-range detection mode, l1=5m in this embodiment; ln represents the maximum value of the distance between the side ultrasonic radar and the parking space during parking space detection, lm represents the minimum value of the distance between the side ultrasonic radar and the parking space during parking space detection, namely the distance range between the side ultrasonic radar and the parking space during parking space detection is [ Lm, ln ], most of [ Lm, ln ] in the current industry is positioned to be 0.5 m-1.5 m, and few customers define 1.8m or 2m. Taking [ Lm, ln ] = [0.5m,1.5m ] as an example, at this time, the second preset range is [3.5m,5m ], which is larger than the parking space depth range [2.5m,4.33m ] when the vehicle length L is 5m, so that the second preset range is set to [3.5m,5m ] directly in consideration of the uncertainty of the vehicle length L and the certainty of the parking space detection time [ Lm, ln ] to satisfy the requirement of the parking space depth SD, and when the rear side ultrasonic radar detects the parking space depth SD at [3.5m,5m ], the parking space depth can be determined to satisfy the second preset range. Step S103, when the target parking space is an available parking space, switching from a parking space detection mode to a parking space entering mode, wherein in the parking space entering mode, both the front side ultrasonic radar and the rear side ultrasonic radar work in a short-distance detection mode, and the front side ultrasonic radar and the rear side ultrasonic radar are used for detecting distance information between a current vehicle and obstacle vehicles at two sides of the available parking space in the parking space entering process.
When the available parking space is detected, the parking controller controls the ultrasonic radar automatic parking system to switch from the parking space detection mode to the parking space entering mode. Specifically, in the parking mode, both the front-side ultrasonic radar and the rear-side ultrasonic radar operate in the short-range detection mode. In the short-range detection mode, the wave generation period and the field angle of the front side ultrasonic radar and the rear side ultrasonic radar are kept at lower levels, the sampling rate of echo signals is kept at higher levels, the detection accuracy of the radar is higher at the moment, and the distance information of the current vehicle and obstacle vehicles on two sides of the available vehicle can be accurately detected.
Step S104, calculating the inclination angle of the available parking space according to the distance information detected by the front side ultrasonic radar or the rear side ultrasonic radar, and adjusting the posture of the vehicle body in real time according to the inclination angle and the distance information so as to control the current vehicle to stop in the available parking space.
Specifically, in the parking mode, the inclination angle of the available parking space can be calculated according to the distance information detected by the front-side ultrasonic radar or the rear-side ultrasonic radar. In the parking mode, if the tail of the vehicle enters the available parking space first and is in a reversing and warehousing condition, calculating the inclination angle of the available parking space according to the distance information detected by the rear ultrasonic radar; if the vehicle head enters the available parking space first and is in a forward warehouse-in condition, the inclination angle of the available parking space is calculated according to the distance information detected by the ultrasonic radar at the front side. Specifically, the step of calculating the inclination angle of the available parking space according to the distance information detected by the rear side ultrasonic radar includes: and fitting an obstacle parking oblique line according to a plurality of distance values between the rear side ultrasonic radar and the obstacle vehicle in the distance information, and calculating the inclination angle of the available parking space according to the included angle between the obstacle parking oblique line and the current vehicle advancing direction. Referring to fig. 7, fig. 7 is a schematic diagram illustrating a principle of detecting an available vehicle inclination angle by the rear ultrasonic radar. As shown in fig. 7, when the vehicle tail enters the available parking space, the principle of calculating the inclination angle of the available parking space according to the rear side ultrasonic radar is as follows: in the whole parking process, the rear side ultrasonic radar periodically transmits ultrasonic waves and receives echo signals, the echo signals can carry distance information of obstacle vehicles, such as different distance values L1, L2, L3 and L4 in fig. 7, after the radar controller processes the echo signals to obtain the distance information, an oblique line is virtually obtained through the different distance values L1, L2, L3 and L4, and then the slope of the oblique line can be calculated through a right triangle, so that the inclination angle alpha of the available parking space can be obtained. Similarly, in the case of forward warehouse entry, the principle of the step of calculating the inclination angle of the available parking space according to the distance information detected by the front side ultrasonic radar is the same as that described above, and will not be described in detail here.
In the parking mode, the parking controller can adjust the vehicle body posture in real time according to the inclination angle of the available parking space and the distance information of the current vehicle and the obstacle vehicles at two sides detected by the front side ultrasonic radar and the rear side ultrasonic radar, and finally the parking of the parking space with the space angle is realized, wherein the final parking posture is shown in fig. 8. In some embodiments, the automatic parking controller may adjust the posture of the vehicle body by controlling the structure of the brake, the accelerator, the steering wheel, the gear, etc. of the vehicle, which belongs to the prior art in the field of automatic parking, and the embodiment of the present invention does not limit the process.
Compared with the prior art, in the space oblique parking space automatic parking method, in the parking space detection mode, the front side ultrasonic radar works in the short-distance detection mode and is used for detecting the parking space width of a target parking space, the rear side ultrasonic radar works in the long-distance detection mode and is used for detecting the parking space depth of the target parking space, then whether the target parking space is an available parking space or not is judged according to the detected parking space width and the detected parking space depth, if the target parking space is the available parking space, the parking space entering mode is entered, in the parking space entering mode, the front side ultrasonic radar and the rear side ultrasonic radar both work in the short-distance detection mode, distance information of a current vehicle and obstacle vehicles at two sides of the available parking space can be detected through higher detection precision, meanwhile, the inclination angle of the available parking space can be calculated through the distance information detected by the front side ultrasonic radar or the rear side ultrasonic radar, and the vehicle body posture can be adjusted in real time according to the calculated inclination angle and the distance information of the obstacle vehicles at two sides of the available parking space, in the parking space entering mode is controlled, in the parking space automatic parking space detection mode is achieved through the fact that the parking space is arranged in different parking space detection modes.
In addition, for the front ultrasonic radar and the rear ultrasonic radar, in the parking space detection mode and the parking space entry mode, the front ultrasonic radar and the rear ultrasonic radar are each configured to operate in a second short-range detection mode, which is different from the short-range detection mode of the side ultrasonic radar described above, and also serves to realize different functions. In some embodiments, the second short range detection mode differs from the short range detection mode in that it includes a detection distance and a field angle. Specifically, in the second short-range detection mode, the detection ranges of the front ultrasonic radar and the rear ultrasonic radar are 0.1-1.5 m, and the angles of view of the front ultrasonic radar and the rear ultrasonic radar are far greater than those of the side ultrasonic radar in the short-range detection mode. The front ultrasonic radar and the rear ultrasonic radar are mainly used for automatically measuring the obstacles at the front and rear of the current vehicle in the whole automatic parking process (comprising a parking space detection stage and a parking and warehousing stage), so that safety accidents such as collision and the like are avoided.
Example 2
In the present embodiment, compared with embodiment 1, in the parking space detection mode, in identifying the available parking space, it is necessary to further integrate the obstacle information in the target parking space in addition to the size information such as the parking space depth and the parking space width of the target parking space. When the parking space depth and the parking space width of the target parking space meet the size requirement of the available parking space, if the target parking space is directly identified as the available parking space, at the moment, if an obstacle exists in the target parking space, the vehicle cannot stop in the available parking space, and the user experience is affected. Therefore, in this embodiment, when identifying the available parking space, the obstacle information in the target parking space is further considered, if the obstacle exists in the target parking space, the target parking space cannot be identified as the available parking space, and only when the parking space width of the target parking space meets the first preset range and the parking space width meets the second preset range, and the obstacle information in the target parking space characterizes that the obstacle does not exist in the target parking space, the target parking space is judged to be the available parking space.
Specifically, obstacle detection is performed by the rear-side ultrasonic radar. That is, in the parking space detection mode, the rear side ultrasonic radar is used not only for detecting the parking space depth of the target parking space, but also for detecting the obstacle information of the target parking space. In particular, when the rear side ultrasonic radar works in a long-range detection mode, in the mode, ultrasonic signals can be periodically transmitted, the ultrasonic waves can return echo signals when encountering obstacles, and the radar controller can acquire obstacle information by processing the received echo signals.
Example 3
The embodiment discloses a space oblique parking space automatic parking device, which is suitable for the ultrasonic radar automatic parking system described above, and the ultrasonic radar automatic parking system comprises a front side ultrasonic radar and a rear side ultrasonic radar. As shown in fig. 9, the spatial oblique parking space automatic parking device 100 includes a mode control module 12, a parking space detection module 14, and a parking space entering module 16, wherein:
the mode control module 12 is used for controlling the ultrasonic radar automatic parking system to enter a parking space detection mode after the automatic parking function is started, and controlling the ultrasonic radar automatic parking system to be switched from the parking space detection mode to a parking space entering mode when the parking space detection module detects an available parking space;
The parking space detection module 14 is used for detecting the parking space width of a target parking space through the front side ultrasonic radar working in the short distance detection mode and detecting the parking space depth of the target parking space through the rear side ultrasonic radar working in the long distance detection mode in the parking space detection mode, and judging whether the target parking space is an available parking space according to the detected parking space width and parking space depth;
the parking space module 16 detects distance information between a current vehicle and obstacle vehicles on two sides of the available space in the parking space process through a front side ultrasonic radar and a rear side ultrasonic radar working in the short-distance detection mode in the parking space mode, calculates an inclination angle of the available space according to the distance information detected by the front side ultrasonic radar or the rear side ultrasonic radar, plans a parking path according to the inclination angle and the distance information, and controls the current vehicle to park in the available space according to the parking path.
It should be noted that, in the spatial oblique parking space automatic parking device 100 of the present invention, the spatial oblique parking space automatic parking method described in the above embodiments 1 to 2 may be implemented through the mode control module 12, the parking space detection module 14 and the parking space entering module 16, and the detailed description of the specific implementation process of each module is omitted.
Example 4
The embodiment of the invention provides a parking controller, which comprises a memory and a processor, wherein the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to realize the steps of the automatic parking method for the space oblique parking space as described in the embodiment 1 or 2.
Example 5
The embodiment of the invention provides an ultrasonic radar automatic parking system, which comprises a front side ultrasonic radar, a rear side ultrasonic radar and a parking controller, wherein the parking controller is used for realizing the steps of the automatic parking method for the space oblique parking space as described in the embodiment 1 or 2.
In addition, in other embodiments, the ultrasonic radar automatic parking system may further include a front ultrasonic radar mounted to a front edge of the vehicle head bumper, and a rear ultrasonic radar mounted to a rear edge of the vehicle tail bumper. For the front ultrasonic radar and the rear ultrasonic radar, in the parking space detection mode and the parking space mode, the front ultrasonic radar and the rear ultrasonic radar are configured to operate in a second short-range detection mode, which is different from the short-range detection mode of the side ultrasonic radar described above, and is also used for realizing different functions. In some embodiments, the detection distance between the front ultrasonic radar and the rear ultrasonic radar is generally between 15 cm and 250cm, and the detection distance is mainly used for automatically measuring the obstacles in front of and behind the current vehicle in the whole automatic parking process (including a parking space detection stage and a parking and warehousing stage), so that safety accidents such as collision and the like are avoided.
Example 6
The embodiment of the invention provides a computer readable storage medium, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to realize the steps of the automatic parking method for the space oblique parking space as described in the embodiment 1 or 2.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. 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.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The automatic parking method for the space oblique parking space is suitable for an automatic parking system of an ultrasonic radar and is characterized by comprising a front side ultrasonic radar and a rear side ultrasonic radar, and comprises the following steps of:
the automatic parking function is started and then enters a parking space detection mode, in the parking space detection mode, the front side ultrasonic radar works in a short-distance detection mode and is used for detecting the parking space width of a target parking space, and the rear side ultrasonic radar works in a long-distance detection mode and is used for detecting the parking space depth of the target parking space;
judging whether the target parking space is an available parking space or not according to the detected parking space width and parking space depth;
when the target parking space is an available parking space, switching from the parking space detection mode to a parking space entering mode, wherein in the parking space entering mode, the front side ultrasonic radar and the rear side ultrasonic radar both work in the short-distance detection mode, and the front side ultrasonic radar and the rear side ultrasonic radar are used for detecting distance information between a current vehicle and obstacle vehicles at two sides of the available parking space in the parking space entering process;
And calculating the inclination angle of the available parking space according to the distance information detected by the front side ultrasonic radar or the rear side ultrasonic radar, and adjusting the posture of the vehicle body in real time according to the inclination angle and the distance information so as to control the current vehicle to stop in the available parking space.
2. The method for automatically parking a space-oriented parking space according to claim 1, wherein the step of detecting the parking space width of the target parking space by the front-side ultrasonic radar comprises:
periodically transmitting ultrasonic waves and receiving echo signals;
determining two end points of the parking space entrance according to the echo distance carried in the echo signal;
and taking the distance between two endpoints of the parking space entrance as the parking space width of the target parking space.
3. The method for automatically parking a space-oblique parking space according to claim 1, wherein the step of judging whether the target parking space is an available parking space based on the detected parking space width and parking space depth comprises:
when the parking space width meets a first preset range and the parking space depth meets a second preset range, the target parking space is judged to be an available parking space.
4. The method for automatically parking a space-oriented parking space according to claim 3, wherein the first preset range is [ (w+w0)/sin α1, (w+w0)/sin α2], and the second preset range is [ L1-Ln, L1-Lm ]; wherein W is the width redundancy value of the current vehicle, W0 is the maximum value of the inclination angle of the space oblique parking space, alpha 1 is the minimum value of the inclination angle of the space oblique parking space, L1 is the detection distance of the rear side ultrasonic radar in a long-distance detection mode, ln is the maximum value of the distance between the rear side ultrasonic radar and the parking space when the parking space is detected, and Lm is the minimum value of the distance between the rear side ultrasonic radar and the parking space when the parking space is detected.
5. The method for automatically parking a space-inclined parking space according to claim 3, wherein the rear-side ultrasonic radar is further used for detecting obstacle information of a target parking space in a parking space detection mode;
correspondingly, the method for judging the available parking spaces further comprises the following steps:
when the parking space width of the target parking space meets a first preset range, the parking space depth meets a second preset range, and the obstacle information characterizes that no obstacle exists in the target parking space, the target parking space is judged to be an available parking space.
6. The method for automatically parking a space-inclined parking space according to claim 1, wherein the step of calculating the inclination angle of the available parking space based on the distance information detected by the rear-side ultrasonic radar comprises:
fitting parking oblique lines of the obstacle vehicles according to a plurality of distance values between the rear side ultrasonic radar and the obstacle vehicles in the distance information;
and calculating the inclination angle of the available parking space according to the included angle between the parking oblique line of the obstacle vehicle and the current vehicle advancing direction.
7. The automatic parking method for a space-inclined parking space according to claim 1, wherein the automatic parking system for an ultrasonic radar further comprises a front ultrasonic radar and a rear ultrasonic radar, the front ultrasonic radar and the rear ultrasonic radar operate in a second short range detection mode and are used for detecting obstacle information in front of and behind a vehicle in the parking space detection mode and the parking space entry mode, and the second short range detection mode is different from the short range detection mode.
8. The utility model provides a device is parked in space slant parking stall automation, is applicable to ultrasonic radar automatic parking system, a serial communication port, ultrasonic radar automatic parking system includes preceding side ultrasonic radar and back side ultrasonic radar, the device is parked in space slant parking stall automation includes mode control module, parking stall detection module and parks into the module, wherein:
the mode control module is used for controlling the ultrasonic radar automatic parking system to enter a parking space detection mode after the automatic parking function is started, and controlling the ultrasonic radar automatic parking system to switch from the parking space detection mode to a parking space entering mode when the parking space detection module detects an available parking space;
the parking space detection module is used for detecting the parking space width of a target parking space through the front side ultrasonic radar working in the short distance detection mode and detecting the parking space depth of the target parking space through the rear side ultrasonic radar working in the long distance detection mode in the parking space detection mode, and judging whether the target parking space is an available parking space according to the detected parking space width and parking space depth;
the parking space module is used for detecting distance information between a current vehicle and obstacle vehicles on two sides of the available parking space in the parking space process through a front side ultrasonic radar and a rear side ultrasonic radar which work in the short-distance detection mode in the parking space mode, calculating the inclination angle of the available parking space according to the distance information detected by the front side ultrasonic radar or the rear side ultrasonic radar, and adjusting the vehicle body posture in real time according to the inclination angle and the distance information so as to control the current vehicle to stop in the available parking space.
9. An ultrasonic radar automatic parking system, comprising a front ultrasonic radar, a rear ultrasonic radar, and a parking controller for implementing the steps of the space-oblique-parking-spot automatic parking method according to any one of claims 1 to 7.
10. A computer readable storage medium having stored therein at least one instruction loaded and executed by a processor to implement the steps of the method for automatic parking of a space-inclined parking spot according to any one of claims 1 to 7.
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