CN118298666A - Unmanned vehicle parking method and device - Google Patents

Unmanned vehicle parking method and device Download PDF

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Publication number
CN118298666A
CN118298666A CN202410718400.XA CN202410718400A CN118298666A CN 118298666 A CN118298666 A CN 118298666A CN 202410718400 A CN202410718400 A CN 202410718400A CN 118298666 A CN118298666 A CN 118298666A
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China
Prior art keywords
parking
unmanned vehicle
spot
point
determining
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CN202410718400.XA
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Chinese (zh)
Inventor
李泽文
姚阔
李机智
林巧
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Beijing Yikong Zhijia Technology Co Ltd
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Beijing Yikong Zhijia Technology Co Ltd
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Publication of CN118298666A publication Critical patent/CN118298666A/en
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Abstract

The invention provides a parking method and device of an unmanned vehicle, wherein the method comprises the following steps: acquiring the position of an obstacle; determining a parking scene; determining a standard parking spot based on the parking scenario and the location of the obstacle; planning a parking area between the standard parking spot and the current position of the unmanned vehicle based on the parking scenes, wherein the lengths of the parking areas corresponding to different parking scenes are different; determining a final parking spot of the unmanned vehicle in the parking area based on the current speed of the unmanned vehicle; and controlling the unmanned vehicle to park according to the final parking spot. The technical problem of the fixed procedure's parking method leads to unmanned vehicles parking inefficiency among the prior art is solved.

Description

Unmanned vehicle parking method and device
Technical Field
The invention relates to the technical field of intelligent driving and unmanned vehicles, in particular to a parking method and device of an unmanned vehicle.
Background
In the running process of the unmanned vehicle based on the automatic driving technology, decision planning is carried out on the driving track according to surrounding obstacle information, for example, parking points are planned in the driving track, so that the driving safety or service requirements of the unmanned vehicle are ensured.
It should be noted that, in the prior art, when the unmanned vehicle encounters an obstacle, a parking spot is often directly planned regardless of a parking scene of the unmanned vehicle, and then the unmanned vehicle is controlled to park at the parking spot.
In view of this, the present invention has been proposed.
Disclosure of Invention
The invention provides a parking method and device of an unmanned vehicle, which are used for solving the technical problem of low parking efficiency of the unmanned vehicle caused by a parking method with a fixed program in the prior art.
According to a first aspect of the present invention, there is provided a method of parking an unmanned vehicle, comprising: acquiring the position of an obstacle; determining a parking scene; determining a standard parking spot based on the parking scenario and the location of the obstacle; planning a parking area between the standard parking spot and the current position of the unmanned vehicle based on the parking scenes, wherein the lengths of the parking areas corresponding to different parking scenes are different; determining a final parking spot of the unmanned vehicle in the parking area based on the current speed of the unmanned vehicle; and controlling the unmanned vehicle to park according to the final parking spot.
Further, determining a final parking spot of the unmanned vehicle in the parking area based on the current speed of the unmanned vehicle comprises determining a comfortable deceleration of the unmanned vehicle, wherein when the unmanned vehicle is in deceleration parking based on the comfortable deceleration, a real-time state parameter of the unmanned vehicle accords with a target range; determining a comfort parking spot based on the current vehicle speed and the comfort deceleration; a final stopping point of the unmanned vehicle is determined in the parking area based on the comfortable stopping point.
Further, determining a final parking spot of the unmanned vehicle in the parking area based on the comfortable parking spot comprises: planning a designed parking point and a preset parking point in the parking area, wherein the designed parking point is the nearest point to the current position of the unmanned vehicle in the parking area, and the preset parking point is the point which is a first preset distance from the designed parking point or a second preset distance from the standard parking point in the parking area; and determining a final parking point of the unmanned vehicle in the parking area based on the position relation among the current position, the comfortable parking point, the designed parking point and the standard parking point of the unmanned vehicle.
Further, in a case that the current position of the unmanned vehicle is outside the parking area, determining a final parking point of the unmanned vehicle in the parking area based on a positional relationship among the current position of the unmanned vehicle, a comfortable parking point, a designed parking point, and a standard parking point, includes: if the comfortable parking spot is between the preset parking spot and the standard parking spot, determining the comfortable parking spot as a final parking spot of the unmanned vehicle; or if the comfortable parking spot is between the designed parking spot and the preset parking spot, determining the preset parking spot as the final parking spot of the unmanned vehicle; or if the distance between the comfortable parking spot and the unmanned vehicle is longer than the distance between the standard parking spot and the unmanned vehicle, determining the standard parking spot as the final parking spot of the unmanned vehicle.
Further, in a case where the current position of the unmanned vehicle is within a parking area, determining a final parking point of the unmanned vehicle in the parking area based on a positional relationship among the current position of the unmanned vehicle, a comfortable parking point, a designed parking point, and a standard parking point, includes: if the distance between the comfortable parking spot and the unmanned vehicle is closer than the distance between the standard parking spot and the unmanned vehicle, determining the comfortable parking spot as a final parking spot of the unmanned vehicle; and if the distance between the comfortable parking spot and the unmanned vehicle is longer than the distance between the standard parking spot and the unmanned vehicle, determining the standard parking spot as the final parking spot of the unmanned vehicle.
Further, determining a comfortable deceleration of the drone includes: the comfortable deceleration of the unmanned vehicle is determined based on one or more of the current speed of the unmanned vehicle, the current mass of the unmanned vehicle, wet skid parameters of the road conditions on which the unmanned vehicle is traveling, the current wear degree of the tires of the unmanned vehicle, and the type of medium in which the unmanned vehicle carries cargo.
Further, the parking scenario is related to at least one of the following information: the type of obstacle; a service type; the type of the driving road section; parking accuracy requirements.
Further, planning a parking area between the standard parking spot and the current location of the unmanned vehicle based on the parking scenario includes: determining a target length according to the parking scene; and taking the target length as the length of the parking area, and taking the standard parking point as the end point of the parking area so as to plan and obtain the parking area.
Further, determining a standard parking spot based on the parking scenario and the location of the obstacle, comprising: determining a parking safety distance threshold corresponding to the parking scene; and determining the standard parking point according to the parking safety distance threshold value and the position of the obstacle.
According to a second aspect of the present invention there is provided a parking apparatus for an unmanned vehicle, the apparatus comprising: an acquisition unit configured to acquire a position of an obstacle; a first determination unit configured to determine a parking scene; a second determination unit configured to determine a standard parking spot based on the parking scene and the position of the obstacle; the planning unit is used for planning a parking area between the standard parking point and the current position of the unmanned vehicle based on the parking scenes, wherein the lengths of the parking areas corresponding to different parking scenes are different; a third determining unit configured to determine a final parking spot of the unmanned vehicle in the parking area based on a current vehicle speed of the unmanned vehicle; and the control unit is used for controlling the unmanned vehicle to park according to the final parking spot.
The invention provides a parking method and device of an unmanned vehicle, wherein the method comprises the following steps: acquiring the position of an obstacle; determining a parking scene; determining a standard parking spot based on the parking scenario and the location of the obstacle; planning a parking area between the standard parking spot and the current position of the unmanned vehicle based on the parking scenes, wherein the lengths of the parking areas corresponding to different parking scenes are different; determining a final parking spot of the unmanned vehicle in the parking area based on the current speed of the unmanned vehicle; and controlling the unmanned vehicle to park according to the final parking spot. The technical problem of the fixed procedure's parking method leads to unmanned vehicles parking inefficiency among the prior art is solved.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a parking method of an unmanned vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a planned parking area provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of planning and designing parking points and preset parking points in a parking area according to an embodiment of the present invention; and
Fig. 4 is a schematic view of a parking apparatus for an unmanned vehicle according to an embodiment of the present invention.
Detailed Description
To further clarify the above and other features and advantages of the present invention, a further description of the invention will be rendered by reference to the appended drawings. It should be understood that the specific embodiments presented herein are for purposes of explanation to those skilled in the art and are intended to be illustrative only and not limiting.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the specific details need not be employed to practice the present invention. In other instances, well-known steps or operations have not been described in detail in order to avoid obscuring the invention.
Example 1
The invention provides a parking method of an unmanned vehicle, as shown in fig. 1, the method can comprise the following steps:
step S11, the position of the obstacle is obtained.
Specifically, the unmanned vehicle may be an unmanned mining card, and the scheme may be executed by a local decision module (local controller), a remote decision module (remote server) or other devices with data processing and analysis functions of the unmanned vehicle. The above-mentioned obstacle can be the dynamic obstacle (people, car, animal) or the static obstacle (falling stone or barricade) that the unmanned aerial vehicle appears in the en route of traveling, and the unmanned aerial vehicle can discover the positional information (such as longitude and latitude) of obstacle based on self perception module, then need control unmanned aerial vehicle and park in order to guarantee safety.
Step S13, determining a parking scene.
Specifically, the parking scenario may be related to at least one of the following information:
(1) Types of different obstacles: for example, dynamic obstacles such as people, vehicles, animals, etc., or static obstacles such as falling rocks and retaining walls.
(2) Different service types are executed by the unmanned vehicle: for example, the unmanned vehicle is required to park based on an obstacle when performing a road driving task, for example, the unmanned vehicle is required to park based on an obstacle when performing a loading task of a loading position (the obstacle may be a retaining wall of the loading position at this time), and for example, the unmanned vehicle is required to park based on an obstacle when performing an unloading task of an unloading position (the obstacle may be a crushing station or a retaining wall of the unloading position at this time).
(3) Different types of road segments where obstacles are located, such as road areas, intersection areas, loading location areas, unloading location areas, etc.
(4) Parking accuracy requirements.
The parking scenes can also be parking scenes with different parking precision requirements. The parking accuracy requirements may be preset based on business requirements. For example, road travel, work station parking, etc. may correspond to different parking accuracy requirements.
And step S15, determining a standard parking spot based on the parking scene and the position of the obstacle.
Specifically, the scheme can initially determine a standard parking point based on a parking scene and the position of an obstacle, and it is required to be noted that the standard parking point can ensure that an unmanned vehicle can avoid the obstacle and/or avoid the obstacle with a certain preset requirement.
Step S17, referring to fig. 2, a parking area is planned between the standard parking spot and the current position of the unmanned vehicle based on the parking scenes, wherein the lengths of the parking areas corresponding to different parking scenes are different.
Specifically, when the parking scene is an obstacle type, for example, when parking, the obstacle type is other vehicles, the parking area may be 5m, for example, when the unmanned vehicle performs a loading task of the loading site based on the obstacle to be parked (the obstacle may be a retaining wall of the loading site at this time), the parking area may be 0.3m.
And step S19, determining a final parking point of the unmanned vehicle in the parking area based on the current speed of the unmanned vehicle.
And S21, controlling the unmanned vehicle to park according to the final parking spot.
Specifically, after the parking area is planned, the final parking spot planned in the parking area based on the current speed of the unmanned vehicle is the final actual parking position of the unmanned vehicle, that is, the standard parking spot is not necessarily the final actual parking position of the unmanned vehicle.
Here, the longer the parking accuracy is, the longer the length of the parking area may be set, and the shorter the length of the parking area may be set, the higher the parking accuracy is.
The technical effects of the above embodiment are schematically described below:
On the one hand, the scheme is different from the prior art, after an obstacle is determined, a parking position is directly planned to control the unmanned vehicle to park, but before a parking space is planned, different parking scenes are considered to correspond to different parking precision, so that the scheme is based on different parking lots Jing Gui to mark out parking areas with different lengths, then the position where the unmanned vehicle is finally actually parked is planned in the parking areas, the longer the length of the parking areas is, the lower the representative parking precision is, the shorter the length of the parking areas is, the higher the representative parking precision is, that is, the parking precision of the unmanned vehicle is controlled under different parking scenes, and the parking efficiency is improved under the condition of ensuring the obstacle avoidance safety of the unmanned vehicle. On the other hand, the final parking point of the unmanned vehicle is determined in the parking area based on the current speed of the unmanned vehicle, so that the unmanned vehicle can be stably parked at the final parking point to avoid sudden braking, and the parking safety of the unmanned vehicle is improved.
Optionally, step S19 determines a final parking spot of the unmanned vehicle in the parking area based on the current speed of the unmanned vehicle, including:
step S191, determining a comfortable deceleration of the unmanned vehicle, where the real-time state parameter of the unmanned vehicle accords with a target range when the unmanned vehicle performs deceleration parking based on the comfortable deceleration.
Specifically, when the unmanned vehicle is decelerating and stopping, the real-time state parameter meeting the target range may be any one of the following: the shaking condition of goods in the vehicle during braking is within a certain range; the loss degree of the vehicle tyre is within a certain range during braking; the load of the vehicle braking system during braking is within a certain range. If the unmanned vehicle is decelerated and stopped according to the comfortable deceleration, the real-time state parameters of the vehicle are not influenced, namely, the real-time state parameters of the vehicle are ensured to be in a reasonable target range. If the unmanned vehicle does not decelerate in accordance with the comfortable deceleration, the real-time state of the vehicle may exceed the target range due to sudden braking. For example, when the unmanned vehicle suddenly brakes, goods in the vehicle shake or overflow, for example, the unmanned vehicle suddenly brakes to cause the tire to wear out beyond a certain range, for example, the unmanned vehicle suddenly brakes from the current faster speed to cause the overload operation of the braking system of the unmanned vehicle. In an alternative embodiment, the comfort deceleration may be 0.8m/s 2.
Step S193, determining a comfort parking point based on the current vehicle speed and the comfort deceleration.
In this step, the comfortable parking spot is a parking spot that can be obtained by decelerating based on the comfortable deceleration of the unmanned vehicle. The comfort deceleration is the deceleration determined based on the vehicle body performance parameters and/or the current road conditions, and corresponds to the situation that the loss of parts of the unmanned vehicle is minimum or the energy loss of the unmanned vehicle is minimum or the stability of the vehicle is kept or the performance of the vehicle is kept to be optimal.
Specifically, the distance between the comfortable parking spot and the unmanned vehicle can be calculated based on the following uniform deceleration formula：
Is the current speed of the unmanned vehicle,Is the comfortable deceleration.
Step S195, determining a final parking spot of the unmanned vehicle in the parking area based on the comfortable parking spot.
In particular, the solution can determine the final parking spot of the unmanned vehicle based on the position of the comfortable parking spot in the parking area.
Optionally, step S195, determining a final parking spot of the unmanned vehicle in the parking area based on the comfortable parking spot includes:
In step S1951, as shown in fig. 3, a designed parking spot a and a preset parking spot Y are planned in the parking area, wherein the designed parking spot a is a point closest to the current position of the unmanned vehicle in the parking area, and the preset parking spot Y is a point in the parking area at a first preset distance from the designed parking spot a or a second preset distance from the standard parking spot C. In an alternative embodiment, the first preset distance is a distance of one fifth of the parking area, and the second preset distance is a distance of four fifth of the parking area.
Step S1952, determining a final parking spot of the unmanned vehicle in the parking area based on the positional relationship among the current position of the unmanned vehicle, the comfortable parking spot, the designed parking spot, and the standard parking spot.
Here, the positions of the comfortable parking spot, the designed parking spot and the standard parking spot in the scheme can be represented by the distance between the vehicle and the unmanned vehicle.
Optionally, in a case that the current position of the unmanned vehicle is outside the parking area, step S1952 determines a final parking point of the unmanned vehicle in the parking area based on a positional relationship among the current position of the unmanned vehicle, a comfortable parking point, a designed parking point, and a standard parking point, including:
If the comfortable parking spot is between the preset parking spot and the standard parking spot, determining the comfortable parking spot as a final parking spot of the unmanned vehicle; or alternatively
If the comfortable parking spot is between the designed parking spot and the preset parking spot, determining the preset parking spot as a final parking spot of the unmanned vehicle; or alternatively
And if the distance between the comfortable parking point and the unmanned vehicle is longer than the distance between the standard parking point and the unmanned vehicle, determining the standard parking point as the final parking point of the unmanned vehicle.
Specifically, referring to fig. 3, when the unmanned vehicle is outside the parking area, if the comfortable parking spot is between the set parking spot Y and the standard parking spot C, the comfortable parking spot is selected to be determined as the final parking spot of the unmanned vehicle, if the comfortable parking spot is between the designed parking spot a and the preset parking spot C, the preset parking spot Y is determined to be the final parking spot of the unmanned vehicle, and if the distance between the comfortable parking spot and the unmanned vehicle is longer than the distance between the standard parking spot C and the unmanned vehicle, the standard parking spot C is determined to be the final parking spot of the unmanned vehicle.
Optionally, in the case that the current position of the unmanned vehicle is in a parking area, determining the final parking point of the unmanned vehicle in the parking area based on the positional relationship among the current position of the unmanned vehicle, a comfortable parking point, a designed parking point and a standard parking point includes:
If the distance between the comfortable parking spot and the unmanned vehicle is closer than the distance between the standard parking spot and the unmanned vehicle, determining the comfortable parking spot as a final parking spot of the unmanned vehicle;
and if the distance between the comfortable parking spot and the unmanned vehicle is longer than the distance between the standard parking spot and the unmanned vehicle, determining the standard parking spot as the final parking spot of the unmanned vehicle.
Specifically, if the current position of the unmanned vehicle is in the parking area, if the distance between the comfortable parking spot and the unmanned vehicle is closer than the distance between the standard parking spot and the unmanned vehicle, the comfortable parking spot is determined to be the final parking spot of the unmanned vehicle by the scheme. If the distance between the comfortable parking spot and the unmanned vehicle is longer than the distance between the standard parking spot and the unmanned vehicle, the scheme determines the standard parking spot as the final parking spot of the unmanned vehicle.
In an alternative embodiment, the final parking spot planning may follow the following principles: the final parking spot is in the parking area and cannot be far away from the standard parking spot set in the parking scene; when the vehicle is far from the parking area, the final parking spot is ensured to be in the parking area instead of the edge of the parking area; when the comfortable parking spot is within the parking area, the position of the comfortable parking spot is prioritized.
Optionally, step S191 determines a comfortable deceleration of the unmanned vehicle, including:
The comfortable deceleration of the unmanned vehicle is determined based on one or more of the current speed of the unmanned vehicle, the current mass of the unmanned vehicle, wet skid parameters of the road conditions on which the unmanned vehicle is traveling, the current wear degree of the tires of the unmanned vehicle, and the type of medium in which the unmanned vehicle carries cargo.
Optionally, when the unmanned vehicle is in the different states, the planned comfortable deceleration of the unmanned vehicle is different. The scheme determines the comfortable deceleration of the unmanned vehicle based on one or more states of the unmanned vehicle, so that real-time state parameters of the unmanned vehicle meet a target range when the unmanned vehicle is in deceleration parking.
Optionally, the parking scenario is related to at least one of the following information:
types of obstacles, such as humans, vehicles, animals, and further such as dynamic obstacles, static obstacles, etc.;
Traffic types, such as road driving task (parking based on front obstacle), loading position loading task (parking based on loading position retaining wall), unloading position unloading task (parking based on crushing station or unloading position retaining wall);
The type of the traveling road section, such as a road area, an intersection area, a loading location area, an unloading location area, and the like; and
Parking accuracy requirements.
Optionally, step S17 plans a parking area between the standard parking spot and the current position of the unmanned vehicle based on the parking scene, including:
step S171, determining the target length according to the parking scene.
And step S172, taking the target length as the length of the parking area, and taking the standard parking point as the end point of the parking area so as to plan and obtain the parking area.
Specifically, in this embodiment, the target lengths associated with different parking scenes are different, for example, when the parking scene is a static obstacle, the length of the parking area may be set to 5m, for example, when the parking scene is a road driving task, the parking area may be set to 100m.
Optionally, step S15 determines a standard parking spot based on the parking scenario and the position of the obstacle, including:
step S151, determining a parking safety distance threshold corresponding to the parking scene.
And step S152, determining the standard parking point according to the parking safety distance threshold value and the position of the obstacle.
Specifically, the parking safety distance threshold can ensure that the unmanned vehicle can sufficiently avoid the obstacle when being at a standard parking point.
The parking method of the unmanned vehicle provided by the embodiment comprises the following steps: acquiring the position of an obstacle; determining a parking scene; determining a standard parking spot based on the parking scenario and the location of the obstacle; planning a parking area between the standard parking spot and the current position of the unmanned vehicle based on the parking scenes, wherein the lengths of the parking areas corresponding to different parking scenes are different; determining a final parking spot of the unmanned vehicle in the parking area based on the current speed of the unmanned vehicle; and controlling the unmanned vehicle to park according to the final parking spot. The technical problem of the fixed procedure's parking method leads to unmanned vehicles parking inefficiency among the prior art is solved.
Example two
The present disclosure further provides a parking apparatus for an unmanned vehicle, where the apparatus may be configured to perform the method of the first embodiment, or may be configured to be performed in an unmanned vehicle or a server, and in conjunction with fig. 4, the apparatus includes: an acquisition unit 40 for acquiring a position of an obstacle; a first determining unit 42 for determining a parking scene; a second determining unit 44 for determining a standard parking spot based on the parking scene and the position of the obstacle; a planning unit 46, configured to plan a parking area between the standard parking spot and a current position of the unmanned vehicle based on the parking scenes, where different parking scenes correspond to different lengths of the parking area; a third determining unit 48 for determining a final parking spot of the unmanned vehicle in the parking area based on a current vehicle speed of the unmanned vehicle; and the control unit 50 controls the unmanned vehicle to park according to the final parking spot.
On the one hand, unlike the prior art, after determining an obstacle, the present embodiment directly plans a parking position to control the unmanned vehicle to stop, but before planning a parking space, the present embodiment considers that different parking scenes should correspond to different parking precision, so the present embodiment plans a parking area with different lengths based on different parking lots Jing Gui, and then plans a position where the unmanned vehicle is actually stopped in the parking area, the longer the length of the parking area is, the lower the representative parking precision is, the shorter the length of the parking area is, the higher the representative parking precision is, that is, under different parking scenes, the parking precision of the unmanned vehicle is controlled according to the present embodiment is also different, and the parking efficiency is improved under the condition of ensuring the obstacle avoidance safety of the unmanned vehicle. On the other hand, the final parking point of the unmanned vehicle is determined in the parking area based on the current speed of the unmanned vehicle, so that the unmanned vehicle can be parked stably at the final parking point to avoid sudden braking, and the parking safety of the unmanned vehicle is improved.
Optionally, the above apparatus may further execute the following logic flow:
Determining comfortable deceleration of the unmanned vehicle, wherein when the unmanned vehicle decelerates and stops based on the comfortable deceleration, the real-time state parameter of the unmanned vehicle accords with a target range;
Determining a comfort parking spot based on the current vehicle speed and the comfort deceleration;
a final stopping point of the unmanned vehicle is determined in the parking area based on the comfortable stopping point.
Optionally, the above apparatus may further execute the following logic flow:
planning a designed parking point and a preset parking point in the parking area, wherein the designed parking point is the nearest point to the current position of the unmanned vehicle in the parking area, and the preset parking point is the point which is a first preset distance from the designed parking point or a second preset distance from the standard parking point in the parking area;
and determining a final parking point of the unmanned vehicle in the parking area based on the position relation among the current position, the comfortable parking point, the designed parking point and the standard parking point of the unmanned vehicle.
Optionally, the above apparatus may further execute the following logic flow:
Determining a final parking spot of the unmanned vehicle in the parking area based on a positional relationship among the current position of the unmanned vehicle, a comfortable parking spot, a designed parking spot, and a standard parking spot, in a case where the current position of the unmanned vehicle is outside the parking area, comprising:
If the comfortable parking spot is between the preset parking spot and the standard parking spot, determining the comfortable parking spot as a final parking spot of the unmanned vehicle; or alternatively
If the comfortable parking spot is between the designed parking spot and the preset parking spot, determining the preset parking spot as a final parking spot of the unmanned vehicle; or alternatively
And if the distance between the comfortable parking point and the unmanned vehicle is longer than the distance between the standard parking point and the unmanned vehicle, determining the standard parking point as the final parking point of the unmanned vehicle.
Optionally, the above apparatus may further execute the following logic flow:
Determining a final parking spot of the unmanned vehicle in the parking area based on a positional relationship among the current position of the unmanned vehicle, a comfortable parking spot, a designed parking spot, and a standard parking spot, in the parking area, if the current position of the unmanned vehicle is within the parking area, comprising:
If the distance between the comfortable parking spot and the unmanned vehicle is closer than the distance between the standard parking spot and the unmanned vehicle, determining the comfortable parking spot as a final parking spot of the unmanned vehicle;
and if the distance between the comfortable parking spot and the unmanned vehicle is longer than the distance between the standard parking spot and the unmanned vehicle, determining the standard parking spot as the final parking spot of the unmanned vehicle.
Optionally, the above apparatus may further execute the following logic flow:
The comfortable deceleration of the unmanned vehicle is determined based on one or more of the current speed of the unmanned vehicle, the current mass of the unmanned vehicle, wet skid parameters of the road conditions on which the unmanned vehicle is traveling, the current wear degree of the tires of the unmanned vehicle, and the type of medium in which the unmanned vehicle carries cargo.
Optionally, the parking scenario is related to at least one of the following information: the type of obstacle; a service type; the type of the driving road section; parking accuracy requirements.
Optionally, the above apparatus may further execute the following logic flow:
Determining a target length according to the parking scene;
And taking the target length as the length of the parking area, and taking the standard parking point as the end point of the parking area so as to plan and obtain the parking area.
Optionally, the above apparatus may further execute the following logic flow:
determining a parking safety distance threshold corresponding to the parking scene;
And determining the standard parking point according to the parking safety distance threshold value and the position of the obstacle.
The parking equipment of unmanned vehicles that this embodiment provided includes: an acquisition unit 50 for acquiring a position of an obstacle; a first determining unit 52 for determining a parking scene; a second determining unit 54 for determining a standard parking spot based on the parking scene and the position of the obstacle; a planning unit 56, configured to plan a parking area between the standard parking spot and a current position of the unmanned vehicle based on the parking scenes, where different parking scenes correspond to different lengths of the parking area; a third determining unit 58 for determining a final parking spot of the unmanned vehicle in the parking area based on a current vehicle speed of the unmanned vehicle; and the control unit 60 controls the unmanned vehicle to park according to the final parking spot. The technical problem of the fixed procedure's parking method leads to unmanned vehicles parking inefficiency among the prior art is solved.
It is to be understood that the specific features, operations and details described herein before with respect to the method of the invention may be similarly applied to the apparatus and system of the invention, or vice versa. In addition, each step of the method of the present invention described above may be performed by a corresponding component or unit of the apparatus or system of the present invention.
It is to be understood that the various modules/units of the apparatus of the invention may be implemented in whole or in part by software, hardware, firmware, or a combination thereof. The modules/units may each be embedded in a processor of the computer device in hardware or firmware or separate from the processor, or may be stored in a memory of the computer device in software for invocation by the processor to perform the operations of the modules/units. Each of the modules/units may be implemented as a separate component or module, or two or more modules/units may be implemented as a single component or module.
In one embodiment, a computer device is provided that includes a memory and a processor having stored thereon computer instructions executable by the processor, which when executed by the processor, instruct the processor to perform the steps of the method of embodiments of the present invention. The computer device may be broadly a server, a terminal, or any other electronic device having the necessary computing and/or processing capabilities. In one embodiment, the computer device may include a processor, memory, network interface, communication interface, etc. connected by a system bus. The processor of the computer device may be used to provide the necessary computing, processing and/or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. The non-volatile storage medium may have an operating system, computer programs, etc. stored therein or thereon. The internal memory may provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the computer device may be used to connect and communicate with external devices via a network. Which when executed by a processor performs the steps of the method of the invention.
The present invention may be implemented as a computer readable storage medium having stored thereon a computer program which, when executed by a processor, causes steps of a method of an embodiment of the present invention to be performed. In one embodiment, the computer program is distributed over a plurality of computer devices or processors coupled by a network such that the computer program is stored, accessed, and executed by one or more computer devices or processors in a distributed fashion. A single method step/operation, or two or more method steps/operations, may be performed by a single computer device or processor, or by two or more computer devices or processors. One or more method steps/operations may be performed by one or more computer devices or processors, and one or more other method steps/operations may be performed by one or more other computer devices or processors. One or more computer devices or processors may perform a single method step/operation or two or more method steps/operations.
Those of ordinary skill in the art will appreciate that the method steps of the present invention may be implemented by a computer program, which may be stored on a non-transitory computer readable storage medium, to instruct related hardware such as a computer device or a processor, which when executed causes the steps of the present invention to be performed. Any reference herein to memory, storage, database, or other medium may include non-volatile and/or volatile memory, as the case may be. Examples of nonvolatile memory include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the description provided that such combinations are not inconsistent.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (10)

1. A method of parking an unmanned vehicle, the method comprising:
Acquiring the position of an obstacle;
determining a parking scene;
determining a standard parking spot based on the parking scenario and the location of the obstacle;
planning a parking area between the standard parking spot and the current position of the unmanned vehicle based on the parking scenes, wherein the lengths of the parking areas corresponding to different parking scenes are different;
Determining a final parking spot of the unmanned vehicle in the parking area based on the current speed of the unmanned vehicle;
And controlling the unmanned vehicle to park according to the final parking spot.
2. The method of claim 1, wherein determining a final stopping point of the drone in the parking area based on a current vehicle speed of the drone comprises:
Determining comfortable deceleration of the unmanned vehicle, wherein when the unmanned vehicle decelerates and stops based on the comfortable deceleration, the real-time state parameter of the unmanned vehicle accords with a target range;
Determining a comfort parking spot based on the current vehicle speed and the comfort deceleration;
a final stopping point of the unmanned vehicle is determined in the parking area based on the comfortable stopping point.
3. The method of claim 2, wherein determining a final stopping point of the unmanned vehicle in the parking area based on the comfortable stopping point comprises:
planning a designed parking point and a preset parking point in the parking area, wherein the designed parking point is the nearest point to the current position of the unmanned vehicle in the parking area, and the preset parking point is the point which is a first preset distance from the designed parking point or a second preset distance from the standard parking point in the parking area;
and determining a final parking point of the unmanned vehicle in the parking area based on the position relation among the current position, the comfortable parking point, the designed parking point and the standard parking point of the unmanned vehicle.
4. A method according to claim 3, wherein, in case the current position of the drone is outside the parking area, determining the final parking point of the drone in the parking area based on the positional relationship between the current position of the drone, the comfort parking point, the design parking point, the standard parking point, comprises:
If the comfortable parking spot is between the preset parking spot and the standard parking spot, determining the comfortable parking spot as a final parking spot of the unmanned vehicle; or alternatively
If the comfortable parking spot is between the designed parking spot and the preset parking spot, determining the preset parking spot as a final parking spot of the unmanned vehicle; or alternatively
And if the distance between the comfortable parking point and the unmanned vehicle is longer than the distance between the standard parking point and the unmanned vehicle, determining the standard parking point as the final parking point of the unmanned vehicle.
5. A method according to claim 3, wherein, in case the current position of the drone is within a parking zone, determining a final parking spot of the drone in the parking zone based on positional relationships between the current position of the drone, a comfortable parking spot, a design parking spot, a standard parking spot, comprises:
If the distance between the comfortable parking spot and the unmanned vehicle is closer than the distance between the standard parking spot and the unmanned vehicle, determining the comfortable parking spot as a final parking spot of the unmanned vehicle;
and if the distance between the comfortable parking spot and the unmanned vehicle is longer than the distance between the standard parking spot and the unmanned vehicle, determining the standard parking spot as the final parking spot of the unmanned vehicle.
6. The method of claim 2, wherein determining the comfort deceleration of the drone includes:
The comfortable deceleration of the unmanned vehicle is determined based on one or more of the current speed of the unmanned vehicle, the current mass of the unmanned vehicle, wet skid parameters of the road conditions on which the unmanned vehicle is traveling, the current wear degree of the tires of the unmanned vehicle, and the type of medium in which the unmanned vehicle carries cargo.
7. The method of claim 1, wherein the parking scenario is related to at least one of the following information:
The type of obstacle;
A service type;
The type of the driving road section;
Parking accuracy requirements.
8. The method of any of claims 1-7, wherein planning a parking area between the standard parking spot and a current location of the drone based on the parking scenario, comprises:
Determining a target length according to the parking scene;
And taking the target length as the length of the parking area, and taking the standard parking point as the end point of the parking area so as to plan and obtain the parking area.
9. The method of any of claims 1-7, wherein determining a standard parking spot based on the parking scenario and the location of the obstacle comprises:
determining a parking safety distance threshold corresponding to the parking scene;
And determining the standard parking point according to the parking safety distance threshold value and the position of the obstacle.
10. A parking apparatus for an unmanned vehicle, the apparatus comprising:
An acquisition unit configured to acquire a position of an obstacle;
A first determination unit configured to determine a parking scene;
A second determination unit configured to determine a standard parking spot based on the parking scene and the position of the obstacle;
the planning unit is used for planning a parking area between the standard parking point and the current position of the unmanned vehicle based on the parking scenes, wherein the lengths of the parking areas corresponding to different parking scenes are different;
a third determining unit configured to determine a final parking spot of the unmanned vehicle in the parking area based on a current vehicle speed of the unmanned vehicle;
And the control unit is used for controlling the unmanned vehicle to park according to the final parking spot.
CN202410718400.XA 2024-06-05 Unmanned vehicle parking method and device Pending CN118298666A (en)

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CN118298666A true CN118298666A (en) 2024-07-05

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