WO2018233298A1

WO2018233298A1 - Method and device enabling automatic driving of vehicle into parking space

Info

Publication number: WO2018233298A1
Application number: PCT/CN2018/075483
Authority: WO
Inventors: 丁晨曦; 章健勇; 付晶玮
Original assignee: 蔚来汽车有限公司
Priority date: 2017-06-22
Filing date: 2018-02-06
Publication date: 2018-12-27
Also published as: CN109109855A; CN109109855B

Abstract

The present invention relates to automatic driving techniques, and more particularly, relates to a method for determining a driving path along which a vehicle enters a parking space, a method enabling automatic driving of a vehicle into a parking space, a vehicle controller for realizing the method, and a computer readable storage medium. The method for determining a driving path along which a vehicle enters a parking space comprises the following steps: determining location information of a vehicle, the location information comprising relative locations of the vehicle, a parking space and obstacles around the parking space; and generating, according to the location information, a driving path along which the vehicle enters the parking space, wherein the driving path comprises multiple arc segments.

Description

Method and apparatus for automatically driving a vehicle into a parking space

Technical field

The present invention relates to autonomous driving techniques, and more particularly to a method for determining a trajectory of a vehicle entering a parking space, a method of automatically driving a vehicle into a parking space, and a vehicle controller and computer readable storage medium implementing the method.

Background technique

Self-driving cars rely on artificial intelligence. The vision computing, radar, monitoring devices and global positioning system work together to automatically and safely operate the motor vehicle without human active operation. With the expansion of the city's scale, roads and parking spaces are increasingly becoming scarce resources. Therefore, it is a feasible way to alleviate this problem by reasonably limiting the parking space area. But this will increase the difficulty of parking.

In car-assisted driving, the difficulty of fully-automatic parking is how to plan a reasonable avoidable vehicle trajectory. In the prior art, the trajectory planning adopts a method of reducing the target parking area, and the number of adjustment steps is large, and collision is very easy.

Summary of the invention

It is an object of the present invention to provide a method for determining a travel trajectory of a vehicle entering a parking space, which has the advantages of simple travel trajectory and high safety.

A method for determining a travel trajectory of a vehicle entering a parking space according to an aspect of the present invention includes the following steps:

Determining location information of the vehicle, the location information including a relative position of the vehicle and the parking space and an obstacle around the parking space;

A driving trajectory of the vehicle entering the parking space is generated according to the position information, wherein the driving trajectory comprises a plurality of arcs.

Preferably, in the above method, the step of determining location information of the vehicle comprises:

Acquiring an image including a parking space boundary line by using an image acquisition device and acquiring a detection signal of an obstacle around the parking space by using an onboard ultrasonic sensor or an onboard radar;

The relative position of the vehicle to the parking space is determined based on the image obtained by the image acquisition device and the relative position of the obstacle around the vehicle and the parking space is determined based on the detection signal of the onboard ultrasonic sensor or the onboard radar.

Preferably, in the above method, the longitudinal direction of the parking space is parallel to the road traveling direction.

Preferably, in the above method, the driving track comprises an S-shaped curve formed by splicing a first arc and a second arc.

Preferably, in the above method, the travel trajectory of the vehicle entering the parking space is generated in the following manner:

Determining the position of the vehicle when it is parked in the parking space according to the body size and the parking space boundary to obtain the position of the end point of the second arc;

Determining the center of the second arc, wherein the abscissa of the center of the second arc is the same as the abscissa of the end point, and the ordinate of the center of the second arc is selected such that the radius of the second arc is less than The sum of the vehicle body length and the preset first safety value and greater than the minimum turning radius of the vehicle;

Determining a position of a starting point of the first arc, the position of the starting point of the first arc is selected from a range determined according to the length of the vehicle body and the size of the parking space;

Determining the position of the center of the first arc, wherein the abscissa of the center of the first arc is the same as the abscissa of the starting point, and the ordinate of the center of the first arc is selected such that the first arc The radius is greater than the distance from the center of the circle to the dangerous point by a second safety value and the first arc has an intersection with the second arc, which is the first rectangular corner of the vehicle when the vehicle profile enters the parking space. Location; and

The intersection of the first arc and the second arc is determined as the end point of the first arc and the starting point of the second arc.

Preferably, in the above method, the end point of the second arc of the arc corresponds to the position of the reference point on the vehicle when the vehicle is parked in the parking space, the reference point being located in the area where the vehicle profile first enters the parking space.

It is still another object of the present invention to provide a method for automatically driving a vehicle into a parking space, which has the advantages of simple guidance and high safety.

A method for automatically driving a vehicle into a parking space in accordance with an aspect of the present invention includes the following steps:

Determining whether there is a trigger condition for starting the operation of automatically driving the vehicle into the parking space;

If there is a trigger condition, the method for generating a travel trajectory is used to generate a travel trajectory of the vehicle entering the parking space;

If a corresponding travel trajectory can be generated, the vehicle is guided into the parking space along the travel trajectory.

It is still another object of the present invention to provide a vehicle controller that can guide a vehicle to automatically enter a parking space in a simple and safe manner.

A vehicle controller in accordance with another aspect of the present invention includes a memory, a processor, and a computer program stored on the memory and operative on the processor, wherein the program is executed to implement the following steps:

It is still another object of the present invention to provide means for automatically driving a vehicle into a parking space that can guide the vehicle into the parking space automatically and in a simple and safe manner.

An apparatus for automatically driving a vehicle into a parking space in accordance with an aspect of the present invention includes:

a first module for determining whether there is a trigger condition for starting the operation of automatically driving the vehicle into the parking space;

a second module, for the presence of a trigger condition, generating a travel trajectory of the vehicle entering the parking space using the method as described above;

The third module is configured to guide the vehicle into the parking space along the driving trajectory if a corresponding driving trajectory can be generated.

It is still another object of the present invention to provide a computer readable storage medium that can guide a vehicle into a parking space in a simple and safe manner.

A computer readable storage medium according to another aspect of the present invention, wherein a computer program is stored thereon, the program being executed by the processor to implement the following steps:

DRAWINGS

The above and/or other aspects and advantages of the present invention will be more clearly understood and understood from The drawings include:

1 is a flow chart of a method for determining a travel trajectory of a vehicle entering a parking space, in accordance with one embodiment of the present invention.

2 is a flow chart of a method of determining location information applied to the embodiment of FIG. 1.

3 is a flow chart of a method of generating a travel trajectory for a vehicle entering a parking space as applied to the embodiment of FIG. 1.

FIG. 4 exemplarily shows a travel trajectory when the vehicle enters the parking space.

5 is a flow chart of a method for automatically driving a vehicle into a parking space in accordance with another embodiment of the present invention.

Figure 6 is a schematic block diagram of a vehicle controller in accordance with yet another embodiment of the present invention.

Figure 7 is a schematic block diagram of an apparatus for automatically driving a vehicle into a parking space in accordance with yet another embodiment of the present invention.

Detailed ways

The invention will be described more fully hereinafter with reference to the accompanying drawings in which FIG. However, the invention may be embodied in different forms and should not be construed as limited to the various embodiments presented herein. The various embodiments are presented to be complete and complete in order to convey the scope of the present invention to those skilled in the art.

In the present specification, the terms "including" and "including" are used to mean that the present invention does not exclude the direct Or the case of other units and steps that are expressly stated.

Terms such as "first" and "second" do not denote the order of the elements in terms of time, space, size, etc., but merely for distinguishing the units.

As shown in FIG. 1, at step 110, a device for controlling travel, such as a vehicle controller, determines position information of the vehicle in response to a user input command to park the vehicle into a designated parking space. The location information described herein includes at least the relative position of the vehicle to the parking space and the relative position of the vehicle to the obstacle around the parking space. Preferably, in this step, the command input by the user is only one of the conditions for triggering the operation of determining the vehicle position information, and the other conditions may include, for example, the vehicle speed being lower than the set speed threshold or the vehicle is continuously decelerating or the like.

In the present embodiment, the method shown in FIG. 2 can be employed to determine the position information of the vehicle. Specifically, as shown in FIG. 2, in step 210, in response to the various trigger conditions described above or a combination of the trigger conditions, the device for controlling travel acquires an image including a parking space boundary line using an image acquisition device (eg, an in-vehicle camera). The vehicle ultrasonic sensor or the vehicle radar is used to obtain the detection signal of the obstacle around the parking space. Then, proceeding to step 220, the device for controlling driving determines the relative position of the vehicle and the parking space according to the image obtained by the image acquiring device and determines the relative position of the obstacle around the vehicle and the parking space according to the detection signal of the vehicle-mounted ultrasonic sensor or the vehicle-mounted radar.

After performing step 110, the method shown in FIG. 1 proceeds to step 120. In this step, the means for controlling the travel generates a travel trajectory of the vehicle entering the parking space based on the position information determined in step 110.

The process of generating a travel trajectory of a vehicle entering a parking space is described in detail below with reference to FIGS. 3 and 4, wherein FIG. 3 is a flow chart of a method for generating a travel trajectory of a vehicle entering a parking space applied to the embodiment shown in FIG. 1, which is exemplarily The trajectory of the vehicle as it enters the parking space is shown.

Illustratively, the longitudinal direction (horizontal direction in the drawing) of the parking space (the recessed area in the drawing) shown in FIG. 4 is parallel to the road traveling direction, and the parking space is rectangular, and the periphery of the rectangle constitutes the boundary of the obstacle.

In this embodiment, exemplarily, the traveling track of the vehicle includes an S-shaped curve formed by splicing the first arc and the second arc, wherein the starting point and the ending point of the first arc are respectively P1 and P2 The center of the circle is O1, the starting and ending points of the second arc are P2 and P3, respectively, and the center of the circle is O2. In the example of FIG. 4, the position at which the rectangular apex angle that first passes when the vehicle profile is driven into the parking space is defined as the dangerous point C. To describe the position of each of the above points, the Cartesian coordinate system shown in FIG. 4 is exemplarily used herein, wherein the origin of the coordinate system is located at the lower left corner of the parking space, and the X-axis and the Y-axis are parallel and perpendicular to the longitudinal direction of the parking space, respectively.

As shown in FIG. 3, in step 310, the device for controlling the running determines the position of the vehicle when it is parked in the parking space according to the vehicle body size and the parking space boundary, and thereby obtains the abscissa x3 and the longitudinal direction of the end point of the second arc. Coordinate y3. Preferably, the end point of the second arc of the arc corresponds to the position of the reference point W on the vehicle when the vehicle is parked in the parking space, the reference point W being located in the area where the vehicle profile first enters the parking space, such as the vehicle right shown in FIG. Rear wheel (exemplarily, the vehicle in Figure 4 retreats into the garage).

Then, proceeding to step 320, the means for controlling the travel determines the center O2 of the second arc of the arc. In the present embodiment, the abscissa xO2 of the center O2 is the same as the abscissa x3 of the end point, so once the ordinate YO2 of the center of the second arc is determined, the radius R2 of the arc is also determined (which is equal to the center of the circle) The distance from O2 to the end point P3). In the present embodiment, the ordinate YO2 is selected such that the radius R2 of the second arc of the arc is smaller than the sum of the vehicle body length L and the preset first safety value T1 and greater than the minimum turning radius of the vehicle, wherein the first safety value T1 This is equivalent to ensuring that the vehicle does not rub against obstacles, which can be obtained experimentally.

At step 330, the means for controlling the travel determines the abscissa x1 and the ordinate y1 of the starting point P1 of the first arc of the arc. In the present embodiment, the position of the starting point P1 can be selected from a range determined according to the length of the vehicle body and the size of the parking space.

Then, proceeding to step 340, the means for controlling the travel determines the position of the center O1 of the first arc of the arc. In the present embodiment, the abscissa xO1 of the center O1 is the same as the abscissa x1 of the starting point P1, so that once the ordinate YO1 of the center O1 of the first arc is determined, the radius R1 of the arc is also determined (its It is equal to the distance from the center O1 to the starting point P1). On the other hand, once the arc radius R1 is determined, the ordinate YO1 is also determined. In the present embodiment, the ordinate YO1 is selected such that the radius R1 of the first segment of the arc is greater than the distance from the center of the circle O1 to the dangerous point C by a second safety value T2 and the first segment of the arc and the second segment of the circle The arc has intersections. The second safety value T2 is equivalent to a redundant amount that ensures that the vehicle does not rub against the obstacle, which can be obtained experimentally.

Preferably, in this step, the ordinate YO1 of the center O1 can be selected according to the following iterative process:

1) An attempt value of radius R1 is given which is greater than the distance from the center of the circle O1 to the dangerous point C by a second safety value T2.

2) An attempt value of the ordinate of the center O1 is calculated from the ordinate of the point P1 and the trial value of the radius R1.

3) Determine whether the first arc and the second arc have intersections.

4) If there is an intersection, the trial value of the ordinate in step 2) is determined as the ordinate of the center O1.

5) If there is no intersection, the radius R1 is increased by a preset step value to obtain a new trial value.

6) If the new attempt value of radius R1 exceeds the preset upper limit (for example, 10 meters) or the number of iterations exceeds the upper limit, the iterative process is terminated, otherwise it returns to step 2).

At step 350, the means for controlling the travel determines the intersection P2 of the first arc of the arc and the arc of the second arc as the end point of the first arc and the starting point of the second arc.

Finally, in step 360, an S-shaped curve formed by splicing the first arc and the second arc is generated as a trajectory of the vehicle.

It should be pointed out that there are usually a plurality of driving tracks capable of driving the vehicle into the parking space and following the above-mentioned constraints, and the device for controlling the driving only needs to select one of the driving tracks to complete the automatic parking of the vehicle.

As shown in FIG. 5, at step 510, the means for controlling travel determines whether there is a condition that triggers an automatic parking operation. If there is a trigger condition, then step 520 is entered, otherwise, the method flow is exited. In the present embodiment, the triggering conditions include, for example, but are not limited to, a user input command to park the vehicle into the designated parking space, presence of available parking spaces, vehicle speed below a set speed threshold, vehicle deceleration, etc., and combinations of these triggering conditions.

At step 520, the means for controlling the travel utilizes the method described above with reference to Figures 1-4 to generate a travel trajectory for the vehicle to enter the parking space.

After completing step 520, the method illustrated in FIG. 5 proceeds to step 530. In this step, the means for controlling the travel guides the vehicle into the parking space along the travel trajectory determined in step 520.

The vehicle controller 60 shown in FIG. 6 includes a memory 610, a processor 620, and a computer program 630 stored on the memory 610 and operable on the processor 620, wherein the executing computer program 630 can implement the above described with reference to FIG. A method for automatically driving a vehicle into a parking space.

The apparatus 70 shown in FIG. 7 includes a first module 710, a second module 720, and a third module 730. In the present embodiment, the first module 710 is configured to determine whether there is a condition for triggering an automatic parking operation; and the second module 720 is configured to: if there is a condition for triggering an automatic parking operation, the vehicle for making the vehicle described with reference to FIG. The method of automatically entering the parking space generates a driving trajectory of the vehicle entering the parking space; and the third module 730 is configured to guide the vehicle to enter the parking space along the driving trajectory if a corresponding driving trajectory can be generated.

According to another aspect of the present invention, there is also provided a computer readable storage medium having stored thereon a computer program executable by the processor to effect automatic driving of the vehicle into the parking space as described above with reference to FIG. method.

The embodiments and examples set forth herein are provided to best illustrate the embodiments of the present invention and the specific application thereof, and thereby enabling those skilled in the art to make and use the invention. However, those skilled in the art will appreciate that the above description and examples are provided for ease of illustration and illustration. The descriptions are not intended to cover the various aspects of the invention or to limit the invention to the precise forms disclosed.

In view of the above, the scope of the present disclosure is determined by the following claims.

Claims

A method for determining a travel trajectory of a vehicle entering a parking space, comprising the steps of:

Determining location information of the vehicle, the location information including a relative position of the vehicle and the parking space and an obstacle around the parking space;

A driving trajectory of the vehicle entering the parking space is generated according to the position information, wherein the driving trajectory comprises a plurality of arcs.
The method of claim 1 wherein the determining the location information of the vehicle comprises:

Acquiring an image including a parking space boundary line by using an image acquisition device and acquiring a detection signal of an obstacle around the parking space by using an onboard ultrasonic sensor or an onboard radar;

The relative position of the vehicle and the parking space is determined according to the image obtained by the image acquiring device, and the relative position of the obstacle around the vehicle and the parking space is determined according to the detection signal of the onboard ultrasonic sensor or the onboard radar.
The method of claim 1 wherein the longitudinal direction of the parking space is parallel to the direction of travel of the road.
The method of claim 3, wherein the travel trajectory comprises an S-shaped curve formed by splicing a first arc and a second arc.
The method of claim 4, wherein the parking space is rectangular, the periphery of the rectangle forming a boundary of the obstacle, and the driving trajectory of the vehicle entering the parking space is generated in the following manner:

Determining the position of the vehicle when it is parked in the parking space according to the body size and the parking space boundary to obtain the position of the end point of the second arc;

Determining the center of the second arc, wherein the abscissa of the center of the second arc is the same as the abscissa of the end point, and the ordinate of the center of the second arc is selected such that the radius of the second arc is less than The sum of the vehicle body length and the preset first safety value and greater than the minimum turning radius of the vehicle;

Determining a position of a starting point of the first arc, the position of the starting point of the first arc is selected from a range determined according to the length of the vehicle body and the size of the parking space;

Determining the position of the center of the first arc, wherein the abscissa of the center of the first arc is the same as the abscissa of the starting point, and the ordinate of the center of the first arc is selected such that the first arc The radius is greater than the distance from the center of the circle to the dangerous point by a second safety value and the first arc has an intersection with the second arc, which is the first rectangular corner of the vehicle when the vehicle profile enters the parking space. Location; and

The intersection of the first arc and the second arc is determined as the end point of the first arc and the starting point of the second arc.
The method of claim 5 wherein the end point of the second arc of the arc corresponds to the position of the reference point on the vehicle when the vehicle is parked in the parking space, the reference point being located in the area where the vehicle profile first entered the parking space.
A method for automatically driving a vehicle into a parking space, comprising the steps of:

Determining whether there is a trigger condition for starting the operation of automatically driving the vehicle into the parking space;

If there is a condition of the trigger, the method of any one of claims 1-6 is used to generate a travel trajectory of the vehicle entering the parking space;

If a corresponding travel trajectory can be generated, the vehicle is guided into the parking space along the travel trajectory.
A vehicle controller includes a memory, a processor, and a computer program stored on the memory and operative on the processor, wherein the program is executed to implement the following steps:

Determining whether there is a trigger condition for starting the operation of automatically driving the vehicle into the parking space;

If there is a trigger condition, the method of any one of claims 1-6 is used to generate a travel trajectory of the vehicle entering the parking space;

If a corresponding travel trajectory can be generated, the vehicle is guided into the parking space along the travel trajectory.
A device for automatically driving a vehicle into a parking space, comprising:

a first module, configured to determine whether there is a trigger condition for starting the operation of automatically driving the vehicle into the parking space;

a second module for generating a travel trajectory of the vehicle entering the parking space by using the method of any one of claims 1-6 if there is a trigger condition;

The third module is configured to guide the vehicle into the parking space along the driving trajectory if a corresponding driving trajectory can be generated.
A computer readable storage medium having stored thereon a computer program, wherein the program is executed by a processor to implement the following steps:

Determining whether there is a trigger condition for starting the operation of automatically driving the vehicle into the parking space;

If there is a trigger condition, the method of any one of claims 1-6 is used to generate a travel trajectory of the vehicle entering the parking space;

If a corresponding travel trajectory can be generated, the vehicle is guided into the parking space along the travel trajectory.