CN117842182A

CN117842182A - Parallel parking space parking method and device and electronic equipment

Info

Publication number: CN117842182A
Application number: CN202410037958.1A
Authority: CN
Inventors: 刘清宇; 杜建宇; 曹天书; 王恒凯; 李超; 黄显晴; 吴岗岗; 王皓南
Original assignee: Faw Nanjing Technology Development Co ltd; FAW Group Corp
Current assignee: Faw Nanjing Technology Development Co ltd; FAW Group Corp
Priority date: 2024-01-10
Filing date: 2024-01-10
Publication date: 2024-04-09

Abstract

The invention discloses a parking method and device for parallel parking spaces and electronic equipment, and relates to the technical field of automatic driving, comprising the following steps: responding to a parking request of a parallel parking space, and acquiring environment information of a target vehicle; if the pose of the target vehicle is determined to meet the preset condition, determining the total distance between the target vehicle and the front and rear vehicles according to the environmental information, and determining the parking direction of the target vehicle according to the environmental information; determining a target berthing scheme according to the total distance and the berthing direction; and controlling the target vehicle to be parked out of the parking space according to the target parking scheme. The scheme can determine the target berthing scheme through the total distance and the berthing direction, and a berthing path is not required to be planned by utilizing dynamic constraint. Therefore, the scheme has small calculated amount and short calculation time, and can improve the parking success rate to a certain extent under the condition that the parking space is too narrow.

Description

Parallel parking space parking method and device and electronic equipment

Technical Field

The invention relates to the technical field of automatic driving, in particular to a parking method and device for parallel parking spaces and electronic equipment.

Background

With the development of automobile technology, four-wheel steering technology is applied. Four-wheel steering refers to the process that front and rear wheels can deflect relative to a vehicle body at the same time in the steering process of an automobile. Parallel parking refers to parking in a parallel parking space scene. Parallel parking space means that there is a vehicle on both the front and rear sides of the target vehicle, and at most one on the left and right sides of the target vehicle. Compared with the method that only the front wheels can deflect relative to the vehicle body, the four-wheel steering technology is utilized to realize parallel parking, and better parking effect can be realized. Parallel parking includes parking in and parking out of parallel parking spaces.

In the related art, when a four-wheel steering technology is used to realize the parking of parallel parking spaces, a parking path is generally planned by utilizing the kinematic constraint of a vehicle, and then the parking of the parallel parking spaces is carried out according to the parking path.

However, the above method is large in calculation amount, long in calculation time, and prone to failure in parking with a certain probability in case of too narrow parking space.

Disclosure of Invention

The invention provides a parking method, a device and electronic equipment for parallel parking spaces, and aims to solve the problems that in the prior art, when parking of the parallel parking spaces is realized by utilizing a four-wheel steering technology, the calculated amount is large, the calculated time is long, and a certain probability of parking failure is easy to generate under the condition that the parking spaces are too narrow.

According to an aspect of the present invention, there is provided a parking method for a four-wheel steering vehicle, the method including:

responding to a parking request of a parallel parking space, and acquiring environment information of a target vehicle;

if the pose of the target vehicle is determined to meet the preset condition, determining the total distance between the target vehicle and the distance between the front vehicle and the rear vehicle according to the environmental information, and determining the parking direction of the target vehicle according to the environmental information;

determining a target berthing scheme according to the total distance and the berthing direction;

and controlling the target vehicle to be parked out of the vehicle position according to the target parking scheme.

According to another aspect of the present invention, there is provided a parking apparatus for a four-wheel-steering vehicle, the apparatus comprising:

the acquisition unit is used for responding to the parallel parking space parking request and acquiring the environment information of the target vehicle;

the determining unit is used for determining the total distance between the target vehicle and the distance between the front vehicle and the rear vehicle according to the environment information and determining the parking direction of the target vehicle according to the environment information if the pose of the target vehicle is determined to meet the preset condition;

The determining unit is further configured to determine a target payout scheme according to the total distance and the payout direction;

and the control unit is used for controlling the target vehicle to be parked out of the vehicle position according to the target parking scheme.

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

at least one processor; and

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

the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method for parking parallel parking spaces according to any embodiment of the present invention.

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

According to the technical scheme provided by the embodiment of the invention, the target parking scheme can be determined through the total distance between the target vehicle and the front vehicle and the rear vehicle and the parking direction of the target vehicle, and the target parking scheme is utilized to control the target vehicle to park the parking space, so that the dynamic constraint of the target vehicle is not required to be utilized to plan the parking path. Therefore, the parking method for the parallel parking spaces is small in calculated amount and short in calculation time, and the parking success rate can be improved to a certain extent under the condition that the parking spaces are too narrow.

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

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of a parking method for parallel parking spaces according to a first embodiment of the present invention;

fig. 2 is a flowchart of a parking method for parallel parking spaces according to a second embodiment of the present invention;

fig. 3 is a scene diagram of controlling a target vehicle to be parked out of a parking space by applying a first parking scheme according to a second embodiment of the present invention;

fig. 4 is a scene diagram of controlling a target vehicle to be parked out of a parking space by applying a second parking scheme according to a second embodiment of the present invention;

fig. 5 is a scene diagram of controlling a target vehicle to be parked out of a parking space by applying a third parking scheme according to a second embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a parking device for parallel parking spaces according to a third embodiment of the present invention;

fig. 7 is a schematic structural diagram of an electronic device for implementing a parking method for parallel parking spaces according to an embodiment of the present invention.

Detailed Description

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

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

Example 1

Fig. 1 is a flowchart of a parking method for a parallel parking space according to an embodiment of the present invention, and the embodiment is applicable to a parking scenario for a four-wheel steering vehicle. As shown in fig. 1, the method includes:

and step 101, responding to a parking request of the parallel parking spaces, and acquiring the environment information of the target vehicle.

The parallel parking space refers to that vehicles are arranged on the front side and the rear side of the target vehicle, and at most one side is arranged on the left side and the right side of the target vehicle.

The environmental information of the target vehicle may include other vehicle information, obstacle information, parking space line information, and the like near the periphery of the target vehicle. The environmental information may be acquired by a sensor provided in the target vehicle. The other vehicle information may include location information of other vehicles, among others.

Specifically, a parking request of a parallel parking space can be received, and environmental information of a target vehicle can be acquired in response to the parking request of the parallel parking space.

Step 102, if it is determined that the pose of the target vehicle meets the preset condition, determining the total distance between the target vehicle and the front and rear vehicles according to the environmental information, and determining the parking direction of the target vehicle according to the environmental information.

The preset conditions are preset according to actual conditions.

Wherein, the total distance refers to the distance between the target vehicle and the front vehicle plus the distance between the target vehicle and the rear vehicle.

Specifically, whether the pose of the target vehicle meets the preset condition can be judged, and if the pose of the target vehicle meets the preset condition, the distance between the target vehicle and the front vehicle and the distance between the target vehicle and the rear vehicle can be determined according to the position information of the target vehicle and the position information of the front vehicle and the rear vehicle included in the environment information. The distance between the target vehicle and the front vehicle plus the distance between the target vehicle and the rear vehicle is the total distance.

Meanwhile, the parking direction can be determined according to other vehicle conditions on the left side and the right side of the target vehicle in the environment information. For example, if the environmental information characterizes that there is a vehicle on the left side of the target vehicle and there is no obstacle on the right side of the target vehicle, the right side of the target vehicle may be determined as the parking direction; if the environment information indicates that the right side of the target vehicle is provided with a vehicle and the left side of the target vehicle is free of an obstacle, the left side of the target vehicle can be determined to be a parking direction; if the environmental information characterizes that there is no vehicle on both the left and right sides of the target vehicle and there is no obstacle, one of the left and right sides of the target vehicle may be arbitrarily selected to be determined as the parking direction.

And step 103, determining a target berthing scheme according to the total distance and the berthing direction.

Specifically, a mapping table among the total distance, the parking direction, and the target parking scheme may be preset. And inquiring the mapping table according to the total distance and the berthing direction to obtain a target berthing scheme.

And 104, controlling the target vehicle to be parked out of the parking space according to the target parking scheme.

Specifically, the running of the target vehicle can be controlled according to the target parking scheme, so that the target vehicle is parked out of the parking space.

Example two

Fig. 2 is a flowchart of a parking method for parallel parking spaces according to a second embodiment of the present invention, which refines step 103 in the first embodiment, and adds a technical feature of achieving a preset condition by adjusting the pose of a target vehicle when the pose of the target parking space does not meet the preset condition. As shown in fig. 2, the method includes:

In step 201, environmental information of a target vehicle is acquired in response to a parking request of a parallel parking space.

Specifically, the principle and implementation of step 201 are similar to those of step 101, and will not be described again.

Specifically, step 202, or step 203, may be performed after step 201.

Step 202, if the environmental information indicates that the pose of the target vehicle does not meet the preset condition, the pose of the target vehicle is adjusted so that the pose meets the preset condition.

Specifically, whether the pose of the target vehicle meets the preset condition can be judged, and if the pose of the target vehicle does not meet the preset condition, the pose of the target vehicle can be adjusted so as to meet the preset condition. For example, the preset condition may be a specific positional relationship between the target vehicle and the front vehicle or the rear vehicle, and the positions of the front vehicle and the rear vehicle may be acquired through environmental information. And then comparing the position of the target vehicle with the position of the front vehicle or the rear vehicle to obtain the actual position relation between the target vehicle and the front vehicle or the rear vehicle, and if the actual position relation does not meet the specific position relation, adjusting the pose of the target vehicle so that the adjusted actual position relation meets the specific position relation.

In one implementation, the pose of the target vehicle is adjusted such that the axle of the target vehicle is aligned with the axle of the lead vehicle.

Specifically, the preset condition may be that the axle of the target vehicle and the axle of the preceding vehicle are on the same straight line.

Specifically, the position of the front vehicle included in the environmental information may be compared with the position of the target vehicle, and if it is determined that the axle of the target vehicle is not aligned with the axle of the front vehicle, the pose of the target vehicle may be adjusted so that the axle of the target vehicle is aligned with the axle of the front vehicle.

Further, the preset condition may be that the axle of the target vehicle and the axle of the preceding vehicle are aligned within a preset error range.

Step 203, if it is determined that the pose of the target vehicle meets the preset condition, determining the total distance between the target vehicle and the front and rear vehicles according to the environmental information, and determining the parking direction of the target vehicle according to the environmental information.

Specifically, the principle and implementation of step 203 are similar to those of step 102, and will not be described in detail.

Specifically, after step 203, step 204, or step 205, or step 206 may be performed.

Step 204, if the total distance is determined to be greater than or equal to the first preset threshold, determining a first parking scheme according to the parking direction; and determining the first payout scheme as the target payout scheme.

Specifically, step 207 may be performed after step 204.

The first preset threshold is preset according to actual conditions. For example, the first preset threshold may be set to 1.5 meters.

Specifically, a mapping table among the total distance, the parking direction, and the target parking scheme may be preset. And inquiring the mapping table according to the total distance which is greater than or equal to a first preset threshold value and the berthing direction to obtain a first berthing scheme, and determining the first berthing scheme as a target berthing scheme.

In one implementation, if it is determined that the total distance is greater than or equal to the first preset threshold, the front and rear wheels of the target vehicle are controlled to be in the same direction in a direction opposite to the parking direction, the rotation angles of the front and rear wheels are adjusted to the maximum possible rotation angle, and the target vehicle is controlled to reverse.

Wherein the front and rear wheels are the same direction indicating that the deflection directions of the four wheels of the target vehicle are the same relative to the vehicle body.

Specifically, the mechanical structure of the target vehicle may be utilized in conjunction with the wheel yaw direction of the target vehicle to determine the maximum possible turning angle of each wheel of the target vehicle.

Specifically, if it is determined that the total distance is greater than or equal to the first preset threshold, the front and rear wheels of the target vehicle may be controlled to be in the same direction, the yaw directions of the front and rear wheels are opposite to the parking direction, and the rotation angles of the front and rear wheels are adjusted to the maximum possible rotation angles, so that the target vehicle is controlled to reverse.

And if the distance between the target vehicle and the rear vehicle is detected to be smaller than the preset collision critical value, controlling the target vehicle to stop reversing.

The preset collision critical value is a distance value preset according to actual conditions.

Specifically, in the reversing process of the target vehicle, the distance between the target vehicle and the rear vehicle can be detected by using a sensor arranged on the target vehicle, and if the distance between the target vehicle and the rear vehicle is detected to be smaller than a preset collision critical value, the target vehicle can be controlled to stop reversing, so that the target vehicle and the rear vehicle are prevented from being collided.

And then, controlling the front wheels and the rear wheels to be in different directions, wherein the front wheels and the parking direction are the same, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angle, and controlling the target vehicle to enter the vehicle to exit the parking space.

The front wheels and the rear wheels are different in deflection directions relative to the vehicle body, the deflection directions of the two front wheels relative to the vehicle body are the same, and the deflection directions of the front wheels and the rear wheels relative to the vehicle body are different.

Specifically, the front and rear wheels can be controlled to be in different directions, the front wheels are identical to the parking direction, and the rotation angles of the front and rear wheels are adjusted to the maximum possible rotation angle, so that the target vehicle is controlled to enter the vehicle to exit the parking space in this way.

As shown in fig. 3, in the scenario diagram, the vehicle is controlled to be parked out of the parking space according to the corresponding first parking scheme, in which the total distance is greater than or equal to the first preset threshold, and the parking direction is the left side of the target vehicle. Wherein the rectangle above in fig. 3 represents the front vehicle and the rectangle below represents the rear vehicle. The vehicle control process using this first parking scheme is shown in turn from left to right in fig. 3.

Specifically, the first berthing scheme is suitable for scenes with larger total distance, and the berthing speed can be improved to a certain extent.

Step 205, if it is determined that the total distance is smaller than the first preset threshold and larger than the second preset threshold, determining a second parking scheme according to the parking direction; and determining the second payout scheme as the target payout scheme.

Specifically, step 207 may be performed after step 205.

The second preset threshold is preset according to actual conditions. For example, the second preset threshold may be set to 0.5 meters.

Specifically, a mapping table among the total distance, the parking direction, and the target parking scheme may be preset. And according to the total distance smaller than the first preset threshold value and larger than the second preset threshold value and the berthing direction, inquiring the mapping table to obtain a second berthing scheme, and determining the second berthing scheme as a target berthing scheme.

In one implementation, if it is determined that the total distance is smaller than the first preset threshold and larger than the second preset threshold, the front and rear wheels of the target vehicle are controlled to be in the same direction in a direction opposite to the parking direction, the rotation angles of the front and rear wheels are adjusted to the maximum possible rotation angle, and the target vehicle is controlled to reverse.

Specifically, if it is determined that the total distance is smaller than the first preset threshold and greater than the second preset threshold, the front and rear wheels of the target vehicle can be controlled to be in the same direction, the deflection directions of the front and rear wheels are opposite to the parking direction, and the rotation angles of the front and rear wheels are adjusted to the maximum possible rotation angles, so that the target vehicle is controlled to reverse.

And if the distance between the target vehicle and the rear vehicle is detected to be smaller than the preset collision critical value, controlling the target vehicle to stop reversing, controlling the front wheels and the rear wheels to be in different directions, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angles, and controlling the target vehicle to enter.

Specifically, in order to prevent the target vehicle from colliding with the rear vehicle during the reversing process, if the distance between the target vehicle and the rear vehicle is detected to be smaller than the preset collision critical value, the target vehicle is controlled to stop reversing. And controls the front and rear wheels to be in different directions, the front wheel and the parking direction are the same, and adjusts the rotation angle of the front and rear wheels to the maximum rotation angle possible, in this way, the target vehicle is controlled to enter.

And if the distance between the target vehicle and the front vehicle is detected to be smaller than the preset collision critical value, controlling the target vehicle to stop entering, controlling the front wheels and the rear wheels to be in different directions, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angles, and controlling the target vehicle to reverse.

Specifically, in order to prevent the target vehicle from colliding with the preceding vehicle during the vehicle entering process, the target vehicle is controlled to stop advancing when the distance between the target vehicle and the preceding vehicle is detected to be smaller than a preset collision threshold value. And controls the opposite direction of the front and rear wheels, the same as the parking direction of the rear wheels, and adjusts the rotation angle of the front and rear wheels to the maximum possible rotation angle, in such a way as to control the reversing of the target vehicle.

And if the distance between the target vehicle and the rear vehicle is detected to be smaller than the preset collision critical value, controlling the target vehicle to stop reversing, controlling the front wheels and the rear wheels to be in different directions, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angles, and controlling the target vehicle to enter the vehicle to drive out of the parking space.

Specifically, in order to prevent the target vehicle from colliding with the rear vehicle during the reversing process, if the distance between the target vehicle and the rear vehicle is detected to be smaller than the preset collision critical value, the target vehicle is controlled to stop reversing. And the front wheels and the rear wheels are controlled to be in different directions, the front wheels and the parking direction are the same, the rotation angles of the front wheels and the rear wheels are adjusted to the maximum possible rotation angles, and the target vehicle is controlled to enter the vehicle to drive out of the parking space in the mode.

As shown in fig. 4, in the scene graph, the parking space of the vehicle is controlled by using the corresponding second parking scheme with the total distance smaller than the first preset threshold and larger than the second preset threshold and the parking direction being the left side of the target vehicle. Wherein the rectangle above in fig. 4 represents the front vehicle and the rectangle below represents the rear vehicle. Fig. 4 shows the vehicle control process using this second parking scheme in order from the center left to the right.

Specifically, the second berthing scheme is suitable for scenes with smaller total distances, and the berthing speed can be improved to a certain extent.

Specifically, the second parking scheme combines the forward and backward wheel opposite directions and the forward and backward wheel same direction, so that the parking speed and the parking success rate can be improved to a certain extent.

Step 206, if the total distance is less than or equal to the second preset threshold, determining a third parking scheme according to the parking direction; and determining the third payout scheme as the target payout scheme.

Specifically, a mapping table among the total distance, the parking direction, and the target parking scheme may be preset. And according to the total distance smaller than or equal to the second preset threshold value and the berthing direction, inquiring the mapping table to obtain a third berthing scheme, and determining the third berthing scheme as a target berthing scheme.

In one implementation, if the total distance is determined to be less than or equal to the second preset threshold, the front and rear wheels of the target vehicle are controlled to be in the same direction in a direction opposite to the parking direction, the rotation angle of the front and rear wheels is adjusted to the maximum possible rotation angle, and the target vehicle is controlled to reverse.

Specifically, if it is determined that the total distance is less than or equal to the second preset threshold, the front and rear wheels of the target vehicle can be controlled to be in the same direction, the deflection directions of the front and rear wheels are opposite to the parking direction, and the rotation angles of the front and rear wheels are adjusted to the maximum possible rotation angles, so that the target vehicle is controlled to reverse.

And if the distance between the target vehicle and the rear vehicle is detected to be smaller than the preset collision critical value, controlling the target vehicle to stop reversing, controlling the front wheels and the rear wheels to be in the same direction, adjusting the rotation angle of the front wheels and the rear wheels to the maximum possible rotation angle, and controlling the target vehicle to enter.

Specifically, in order to prevent the target vehicle from colliding with the rear vehicle during the reversing process, if the distance between the target vehicle and the rear vehicle is detected to be smaller than the preset collision critical value, the target vehicle is controlled to stop reversing. And controlling the front and rear wheels to be in the same direction as the parking direction, and adjusting the rotation angles of the front and rear wheels to the maximum possible rotation angle, in this way, controlling the target vehicle to enter.

And if the distance between the target vehicle and the front vehicle is detected to be smaller than the preset collision critical value, controlling the target vehicle to stop entering, continuously executing the steps of controlling the front wheels and the rear wheels of the target vehicle to be in the same direction in the direction opposite to the parking direction, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angle, and controlling the target vehicle to reverse, until the target vehicle drives out of the parking space without touching the front vehicle and the rear vehicle.

Specifically, in order to prevent the target vehicle from colliding with the preceding vehicle during the vehicle entering process, if the distance between the target vehicle and the preceding vehicle is detected to be smaller than the preset collision threshold value, the target vehicle may be controlled to stop entering. If the target vehicle cannot be guaranteed to leave the parking space without touching the front vehicle and the rear vehicle, continuously executing the steps of controlling the front wheels and the rear wheels of the target vehicle to be in the same direction according to the direction opposite to the parking direction, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angle, and controlling the target vehicle to reverse until the target vehicle leaves the parking space without touching the front vehicle and the rear vehicle.

In particular, the maximum possible rotation angle of the rear wheels of different vehicles is not the same. The scheme provided by the invention is suitable for vehicles with different maximum possible angles of rotation of the rear wheels. In particular, the parking effect is better when the maximum possible rotation angle of the rear wheel is less than or equal to 8 degrees.

As shown in fig. 5, in the scenario where the total distance is smaller than the second preset threshold and the parking direction is the left side of the target vehicle, the parking space of the vehicle is controlled according to the corresponding third parking scheme. The upper rectangle in fig. 5 represents the front vehicle, and the lower rectangle represents the rear vehicle. The vehicle control process using this third parking scheme is shown in turn from left to right in fig. 5.

Specifically, the third berthing scheme is suitable for scenes with extremely narrow total distance, and can improve berthing speed and berthing success rate to a certain extent.

Specifically, the scheme divides the total distance into three sections according to actual conditions, and each section corresponds to different parking schemes so as to control the vehicle to park out of the parking space. The sectional control mode can improve the berthing speed and the berthing success rate to a certain extent.

Step 207, controlling the target vehicle to be parked out of the parking space according to the target parking scheme.

Specifically, the principle and implementation of step 207 are similar to those of step 104, and will not be described again.

Example III

Fig. 6 is a schematic structural diagram of a parking device for parallel parking spaces according to a third embodiment of the present invention. The device is applied to four-wheel steering vehicles. As shown in fig. 6, the apparatus 600 includes:

An acquiring unit 610, configured to acquire environmental information of a target vehicle in response to a parallel parking space parking request;

a determining unit 620, configured to determine a total distance between the target vehicle and the front and rear vehicles according to the environmental information and determine a parking direction of the target vehicle according to the environmental information if it is determined that the pose of the target vehicle satisfies the preset condition;

a determining unit 620, configured to determine a target payout scheme according to the total distance and the payout direction;

the control unit 630 is configured to control the target vehicle to be parked out of the parking space according to the target parking scheme.

The determining unit 620 is specifically configured to determine, according to the payout direction, a first payout scheme if it is determined that the total distance is greater than or equal to a first preset threshold; and determining the first payout scheme as a target payout scheme;

if the total distance is determined to be smaller than the first preset threshold value and larger than the second preset threshold value, determining a second berthing scheme according to the berthing direction; and determining the second payout scheme as the target payout scheme;

if the total distance is smaller than or equal to the second preset threshold value, determining a third berthing scheme according to the berthing direction; and determining the third payout scheme as the target payout scheme.

The determining unit 620 is specifically configured to, if it is determined that the total distance is greater than or equal to the first preset threshold, control the front and rear wheels of the target vehicle to be in the same direction in a direction opposite to the parking direction, adjust the rotation angle of the front and rear wheels to the possible maximum rotation angle, and control the target vehicle to reverse;

If the distance between the target vehicle and the rear vehicle is detected to be smaller than a preset collision critical value, controlling the target vehicle to stop reversing;

the front wheel and the rear wheel are controlled to be in different directions, the front wheel and the parking direction are the same, the rotation angle of the front wheel and the rear wheel is adjusted to the maximum possible rotation angle, and the target vehicle is controlled to enter the vehicle to drive out of the parking space.

The determining unit 620 is specifically configured to, if it is determined that the total distance is smaller than the first preset threshold and larger than the second preset threshold, control the front and rear wheels of the target vehicle to be in the same direction in a direction opposite to the parking direction, adjust the rotation angles of the front and rear wheels to the maximum possible rotation angle, and control the target vehicle to reverse;

if the distance between the target vehicle and the rear vehicle is detected to be smaller than the preset collision critical value, the target vehicle is controlled to stop reversing, the front wheels and the rear wheels are controlled to be in different directions, the front wheels and the parking direction are the same, the rotation angles of the front wheels and the rear wheels are adjusted to the maximum possible rotation angles, and the target vehicle is controlled to enter the vehicle;

if the distance between the target vehicle and the front vehicle is detected to be smaller than the preset collision critical value, the target vehicle is controlled to stop entering, the front wheels and the rear wheels are controlled to be in different directions, the rear wheels are in the same direction as the parking direction, the rotation angles of the front wheels and the rear wheels are adjusted to the maximum possible rotation angles, and the target vehicle is controlled to reverse;

If the distance between the target vehicle and the rear vehicle is detected to be smaller than the preset collision critical value, the target vehicle is controlled to stop reversing, the front wheels and the rear wheels are controlled to be in different directions, the front wheels and the parking direction are the same, the rotation angles of the front wheels and the rear wheels are adjusted to the maximum possible rotation angles, and the target vehicle is controlled to enter the vehicle to drive out of the parking space.

The determining unit 620 is specifically configured to control the front and rear wheels of the target vehicle to be in the same direction in a direction opposite to the parking direction, adjust the rotation angle of the front and rear wheels to the maximum possible rotation angle, and control the target vehicle to reverse if the total distance is determined to be less than or equal to the second preset threshold;

if the distance between the target vehicle and the rear vehicle is detected to be smaller than the preset collision critical value, the target vehicle is controlled to stop reversing, the front wheels and the rear wheels are controlled to be in the same direction as the parking direction, the rotation angles of the front wheels and the rear wheels are adjusted to the maximum possible rotation angles, and the target vehicle is controlled to enter the vehicle;

if the distance between the target vehicle and the front vehicle is detected to be smaller than the preset collision critical value, the target vehicle is controlled to stop entering, the front wheels and the rear wheels of the target vehicle are controlled to be in the same direction in the opposite direction to the parking direction, the rotation angles of the front wheels and the rear wheels are adjusted to the maximum possible rotation angle, and the target vehicle is controlled to reverse, until the target vehicle exits from the parking space under the condition of not touching the front vehicle and the rear vehicle.

The determining unit 620 is further configured to adjust the pose of the target vehicle so that the pose meets the preset condition if the environmental information indicates that the pose of the target vehicle does not meet the preset condition.

The determining unit 620 is further configured to adjust the pose of the target vehicle such that the axle of the target vehicle and the axle of the preceding vehicle are aligned.

The parking device for the parallel parking spaces provided by the embodiment of the invention can execute the parking method for the parallel parking spaces provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the parking method for the parallel parking spaces.

Example IV

Fig. 7 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 7, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

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

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

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

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

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

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

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

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

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

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

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

Claims

1. A method for parking parallel parking spaces applied to four-wheel steering vehicles, comprising the following steps:

2. The method of claim 1, wherein the determining a target payout scheme based on the total distance and the payout direction comprises:

if the total distance is determined to be greater than or equal to a first preset threshold value, a first berthing scheme is determined according to the berthing direction; and determining the first payout scheme as the target payout scheme;

if the total distance is determined to be smaller than the first preset threshold value and larger than a second preset threshold value, a second berthing scheme is determined according to the berthing direction; and determining the second payout scheme as the target payout scheme;

if the total distance is smaller than or equal to the second preset threshold value, a third berthing scheme is determined according to the berthing direction; and determining the third payout scheme as the target payout scheme.

3. The method of claim 2, wherein if the total distance is determined to be greater than or equal to a first preset threshold, determining a first payout scheme according to the payout direction comprises:

If the total distance is determined to be greater than or equal to a first preset threshold value, controlling the front wheels and the rear wheels of the target vehicle to be in the same direction in the direction opposite to the parking direction, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angle, and controlling the target vehicle to reverse;

and controlling the front wheels and the rear wheels to be in different directions, wherein the front wheels and the parking direction are the same, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angle, and controlling the target vehicle to enter the vehicle so as to drive out of the parking space.

4. The method of claim 2, wherein the determining the payout direction if the total distance is determined to be less than the first preset threshold and greater than a second preset threshold comprises:

if the total distance is determined to be smaller than the first preset threshold value and larger than the second preset threshold value, controlling the front wheels and the rear wheels of the target vehicle to be in the same direction in the direction opposite to the parking direction, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angle, and controlling the target vehicle to reverse;

If the distance between the target vehicle and the rear vehicle is detected to be smaller than a preset collision critical value, controlling the target vehicle to stop reversing, controlling the front wheels and the rear wheels to be in different directions, adjusting the rotation angles of the front wheels and the rear wheels to the possible maximum rotation angles, and controlling the target vehicle to enter the vehicle;

if the distance between the target vehicle and the front vehicle is detected to be smaller than the preset collision critical value, controlling the target vehicle to stop entering, controlling the front wheels and the rear wheels to be in opposite directions, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angle, and controlling the target vehicle to reverse;

if the distance between the target vehicle and the rear vehicle is detected to be smaller than the preset collision critical value, the target vehicle is controlled to stop reversing, the front wheels and the rear wheels are controlled to be in different directions, the front wheels and the parking direction are the same, the rotation angles of the front wheels and the rear wheels are adjusted to the maximum possible rotation angles, and the target vehicle is controlled to enter the vehicle to drive out of a parking space.

5. The method of claim 2, wherein if the total distance is determined to be less than or equal to the second preset threshold, determining a third payout scheme according to the payout direction comprises:

If the total distance is determined to be smaller than or equal to the second preset threshold value, controlling the front wheels and the rear wheels of the target vehicle to be in the same direction in the opposite direction to the parking direction, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angle, and controlling the target vehicle to reverse;

if the distance between the target vehicle and the rear vehicle is detected to be smaller than a preset collision critical value, controlling the target vehicle to stop reversing, controlling the front wheels and the rear wheels to be in the same direction, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angles, and controlling the target vehicle to enter the vehicle;

and if the distance between the target vehicle and the front vehicle is detected to be smaller than the preset collision critical value, controlling the target vehicle to stop entering, continuously executing the steps of controlling the front wheels and the rear wheels of the target vehicle to be in the same direction in the direction opposite to the parking direction, adjusting the rotation angles of the front wheels and the rear wheels to the maximum possible rotation angle, and controlling the target vehicle to reverse, until the target vehicle drives out of a parking space without touching the front vehicle and the rear vehicle.

6. The method as recited in claim 1, further comprising:

And if the environmental information represents that the pose of the target vehicle does not meet the preset condition, adjusting the pose of the target vehicle so that the pose meets the preset condition.

7. The method of claim 6, wherein the adjusting the pose of the target vehicle to satisfy the preset condition comprises:

and adjusting the pose of the target vehicle so that the axle of the target vehicle and the axle of the front vehicle are on the same straight line.

8. A parking apparatus for a parallel parking space applied to a four-wheel steering vehicle, comprising:

9. An electronic device, the electronic device comprising:

at least one processor; and

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

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

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