WO2022217916A1 - 车辆停靠的方法、装置、电子设备和可读存储介质 - Google Patents

车辆停靠的方法、装置、电子设备和可读存储介质 Download PDF

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Publication number
WO2022217916A1
WO2022217916A1 PCT/CN2021/131514 CN2021131514W WO2022217916A1 WO 2022217916 A1 WO2022217916 A1 WO 2022217916A1 CN 2021131514 W CN2021131514 W CN 2021131514W WO 2022217916 A1 WO2022217916 A1 WO 2022217916A1
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WIPO (PCT)
Prior art keywords
vehicle
platform
control
preset
determined
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PCT/CN2021/131514
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English (en)
French (fr)
Chinese (zh)
Inventor
于宁
庄登祥
王泽旭
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阿波罗智联(北京)科技有限公司
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Priority to JP2022536534A priority Critical patent/JP7327725B2/ja
Priority to KR1020227020846A priority patent/KR20220144355A/ko
Publication of WO2022217916A1 publication Critical patent/WO2022217916A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/181—Preparing for stopping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0025—Planning or execution of driving tasks specially adapted for specific operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/10—Buses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/805—Azimuth angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/20—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/60—Azimuth angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/14—Trucks; Load vehicles, Busses
    • B60Y2200/143—Busses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/06—Automatic manoeuvring for parking

Definitions

  • the present disclosure relates to the technical field of data processing, and in particular, to the technical field of automatic driving and intelligent transportation.
  • a method, apparatus, electronic device and readable storage medium for vehicle parking are provided.
  • Self-driving vehicles have the need to park at stops, such as self-driving buses stopping at platforms to pick up passengers. Therefore, autonomous vehicles require high parking accuracy.
  • positioning methods such as GPS, GNSS, and point cloud are usually used to complete the docking, or sensors are used to identify the reference of the platform to complete the docking.
  • sensors are used to identify the reference of the platform to complete the docking.
  • problems such as interference of the positioning signal and occlusion of the reference object, which leads to the technical problem that the parking accuracy of the autonomous vehicle is low.
  • the present disclosure provides a method, device, electronic device and readable storage medium for vehicle parking, which are used to simplify the parking steps of the vehicle and improve the parking accuracy of the vehicle.
  • a method for parking a vehicle comprising: in response to detecting that a vehicle is approaching a platform, issuing a first control instruction to control a first connection device on the vehicle to connect to the platform obtain the extension length of the first connection device; when it is determined that the extension length meets the preset requirement, issue a second control instruction to control the vehicle to stop and complete the parking.
  • an apparatus for parking a vehicle comprising: a first control unit for, in response to detecting that the vehicle is approaching a platform, issuing a first control command to control a first connection on the vehicle the device is connected to the second connection device on the platform; the processing unit is used to obtain the extension length of the first connection device; the second control unit is used to determine that the extension length meets the preset requirement, A second control command is issued to control the vehicle to stop to complete the stop.
  • an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores information that can be used by the at least one processor Instructions that are executed, the instructions being executed by the at least one processor to enable the at least one processor to perform the method as described above.
  • a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause the computer to perform the method as described above.
  • a computer program product comprising a computer program which, when executed by a processor, implements the method as described above.
  • the extension length of the connecting device is used to complete the parking, which does not need to rely on GPS signals for positioning, and is not affected by obstructions, which reduces the accuracy requirements of the vehicle when planning the parking trajectory, simplifies the parking steps of the vehicle, and improves the vehicle. the docking accuracy.
  • FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure
  • FIG. 2 is a schematic diagram according to a second embodiment of the present disclosure.
  • FIG. 3 is a schematic diagram according to a third embodiment of the present disclosure.
  • FIG. 4 is a schematic diagram according to a fourth embodiment of the present disclosure.
  • FIG. 5 is a schematic diagram according to a fifth embodiment of the present disclosure.
  • FIG. 6 is a schematic diagram according to a sixth embodiment of the present disclosure.
  • FIG. 7 is a block diagram of an electronic device used to implement the method for parking a vehicle according to an embodiment of the present disclosure.
  • FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure. As shown in FIG. 1 , the method for parking a vehicle in this embodiment may specifically include the following steps:
  • the extension length when the two connecting devices are connected to complete the parking does not need to rely on the GPS signal for positioning, and is not affected by the obstruction, which reduces the accuracy requirements for the vehicle when planning the parking trajectory, simplifies the parking steps of the vehicle, and improves the performance of the vehicle.
  • the parking accuracy of the vehicle does not need to rely on the GPS signal for positioning, and is not affected by the obstruction, which reduces the accuracy requirements for the vehicle when planning the parking trajectory, simplifies the parking steps of the vehicle, and improves the performance of the vehicle.
  • the executive body of this embodiment is located in a vehicle, for example, a planning module in the vehicle for planning a route, and the vehicle may be a shuttle bus, a bus, etc., which have automatic driving capability and are used for picking up passengers.
  • the first connecting device is a connecting rod with a changeable length that is deployed on the top of the vehicle, such as a foldable or retractable connecting rod; this embodiment does not carry out the number of connecting rods included in the first connecting device.
  • the limitation may be one or multiple.
  • the first connecting device in this embodiment includes two connecting rods, specifically a first connecting rod located at the head of the vehicle and a second connecting rod located at the rear of the vehicle.
  • the second connecting device is a guide rail disposed on the top of the platform and parallel to the road boundary. Therefore, after the first connecting device in this embodiment is connected with the second connecting device, it can move along the horizontal direction of the second connecting device.
  • This embodiment executes the first control instruction issued by S101, for controlling the first connecting device to be connected to the second connecting device after stretching, and the first connecting device connected to the second connecting device is movable, that is, the first connecting device is movable.
  • a connecting device can move on the second connecting device as the vehicle travels.
  • a first control instruction may be issued after it is detected that the vehicle completes the planning of the parking path, for example, when it is detected that the vehicle selects or changes lanes through a fork, switch to a lane close to the platform and decelerate After driving, the first control command is issued.
  • the vehicle Under normal circumstances, after the vehicle completes the planning of the parking path, there will still be a long distance between the vehicle and the platform. If the first connecting device is controlled to extend prematurely, other vehicles or pedestrians may be affected. , resulting in traffic accidents.
  • the optional optional The implementation is as follows: obtaining the distance between the vehicle and the platform, for example, obtaining the straight-line distance between the vehicle and the platform; when it is determined that the obtained distance is lower than a preset distance threshold, a first control instruction is issued.
  • the execution of the first control instruction issued by S101 may be an instruction for controlling the first connecting device to continuously stretch with a preset stretching step, until it is determined that the connection with the second connecting device stops stretching, That is, it is connected to the second connecting device through multiple stretches; this embodiment executes the first control command issued by S101, which can also be a command to control the first connecting device to stretch according to the distance between the vehicle and the first connecting device, that is, Attached to the second attachment means by one stretch.
  • S102 is executed to obtain the extension length of the first connection device.
  • the posture of the vehicle will be adjusted continuously, and the extension length of the first connecting device connected with the second connecting device will also change continuously. Therefore, in this embodiment, by obtaining the extension length of the first connecting device, the accuracy of obtaining the extension length can be improved, and the efficiency of the vehicle when it is accurately parked can be further improved.
  • first connecting device in this embodiment includes one connecting rod
  • this embodiment executes S102, only the extension length of one connecting rod is obtained; if the first connecting device in this embodiment includes multiple connecting rods, then this embodiment For example, when S102 is executed, the stretched lengths of each connecting rod, such as the stretched length of the first connecting rod and the stretched length of the second connecting rod, are obtained respectively.
  • S103 is executed to issue a second control instruction to control the vehicle to stop and complete the parking when it is determined that the stretched length meets the preset requirement.
  • the first connecting device in this embodiment includes a connecting rod
  • the docking distance is set, so that a second control command is issued under the condition that the extension length of the one connecting rod is determined to be equal to the preset docking distance.
  • the first connecting device in this embodiment includes a plurality of connecting rods, for example, two connecting rods
  • the two connecting rods may be determined for Whether the extension length of the two connecting rods is equal to the preset docking distance, so that the second control command is issued under the condition that the extension length of the two connecting rods is equal to the preset docking distance.
  • the second control instruction issued may also include an instruction to lock the first connection device, so that the second control instruction is connected to the second control device.
  • the first connecting device to which the devices are connected does not expand or contract with the running of the vehicle, so that the facing angle of the vehicle is restricted to remain unchanged.
  • this embodiment may further include the following content: after it is detected that the vehicle is ready to leave the platform, a third control command is issued to control the first connection device to be separated from the second connection device and retracted to the top of the vehicle ; When it is determined that the first connecting device has been retracted to the top of the vehicle, a fourth control command is issued to control the vehicle to start and leave the platform.
  • the extension length of the connecting device is used to complete the purpose of parking, and it is no longer strictly dependent on GPS positioning, and it will not be interfered with the positioning signal by obstructions, thereby reducing the accuracy requirements of the vehicle when planning the parking trajectory, and simplifying the vehicle at the parking platform.
  • the steps at the same time ensure the accuracy of the vehicle when it stops at the platform.
  • FIG. 2 is a schematic diagram of a second embodiment according to the present disclosure. As shown in Figure 2, this embodiment may further include the following steps after performing S102 "obtaining the stretched length of the first connection device":
  • the stretched length of the first connecting device can also be used as auxiliary information to adjust the attitude of the vehicle, so that the vehicle can be oriented parallel to the road as soon as possible, so as to drive along a straight line, thereby further lifting the vehicle Speed when making precise stops.
  • ⁇ represents the angle between the road and the vehicle orientation
  • Lf represents the extension length of the second connecting rod
  • Le represents the extension length of the first connecting rod
  • H represents the vehicle length.
  • the preset angle in this embodiment may be 0°, that is, the adjustment is stopped after the vehicle orientation is determined to be parallel to the road according to the angle. It can be understood that, the preset angle in this embodiment may also be other values, which are not limited in the present disclosure.
  • FIG. 3 is a schematic diagram of a third embodiment according to the present disclosure. As shown in FIG. 3 , when executing S103 “send a second control instruction when it is determined that the stretched length meets the preset requirement” in this embodiment, the following steps may be specifically included:
  • this embodiment in addition to determining whether the stretch length meets the preset requirement, it also determines whether the vehicle has reached a preset parking point, so that the vehicle can be parked at a specific position, and the parking accuracy of the vehicle is further improved.
  • the preset parking point obtained by executing S301 in this embodiment is obtained from the parking trajectory planned by the vehicle, that is, when the vehicle plans the parking trajectory, the vehicle will plan the specific position when the vehicle stops.
  • an optional implementation manner that may be adopted is: obtaining the position of the geometric center of the vehicle; when determining that the position of the geometric center of the vehicle reaches the position of the preset parking point Next, determine where the vehicle arrives at the preset stop.
  • FIG. 4 is a schematic diagram of a fourth embodiment according to the present disclosure.
  • Figure 4 shows a schematic diagram of the vehicle when it is parked near the platform: wherein the second connecting device deployed on the platform is a guide rail, and the first connecting device deployed on the vehicle includes a first connecting rod and a second connecting rod;
  • the extension length of a connecting rod connected to the guide rail is Le
  • the extension length of the second connecting rod connected to the guide rail is Lf
  • the vehicle length is H
  • the angle between the road and the vehicle orientation is ⁇ .
  • FIG. 5 is a schematic diagram of a fifth embodiment according to the present disclosure.
  • Fig. 5 shows a schematic diagram when the first connecting device on the vehicle is connected with the second connecting device on the platform, the vehicle is connected with the guide rail on the platform through the first connecting rod and the second connecting rod, and the connecting rod can follow the The vehicle moves horizontally on the guide rail.
  • FIG. 6 is a schematic diagram of a sixth embodiment according to the present disclosure.
  • the apparatus 600 for parking a vehicle in this embodiment includes:
  • a first control unit 601 configured to issue a first control instruction in response to detecting that the vehicle is approaching a platform, so as to control the first connection device on the vehicle to be connected to the second connection device on the platform;
  • a processing unit 602 configured to acquire the stretched length of the first connection device
  • the second control unit 603 is configured to issue a second control instruction to control the vehicle to stop to complete the parking when it is determined that the stretched length meets a preset requirement.
  • the first connecting device is a connecting rod with a changeable length that is deployed on the top of the vehicle, such as a foldable or retractable connecting rod; this embodiment does not carry out the number of connecting rods included in the first connecting device.
  • the limitation may be one or multiple.
  • the first connecting device in this embodiment includes two connecting rods, specifically a first connecting rod located at the head of the vehicle and a second connecting rod located at the rear of the vehicle.
  • the second connecting device is a guide rail disposed on the top of the platform and parallel to the road boundary. Therefore, after the first connecting device in this embodiment is connected with the second connecting device, it can move along the horizontal direction of the second connecting device.
  • the first control command sent by the first control unit 601 is used to control the first connecting device to be connected to the second connecting device after stretching, and the first connecting device connected to the second connecting device is movable, that is, the first connecting device is movable.
  • a connecting device can move on the second connecting device as the vehicle travels.
  • the first control unit 601 may issue a first control instruction after detecting that the vehicle completes the planning of the parking path, for example, after detecting that the vehicle switches to a lane close to the platform by selecting or changing lanes through a fork, and then drives at a reduced speed, A first control command is issued.
  • the vehicle Under normal circumstances, after the vehicle completes the planning of the parking path, there will still be a long distance between the vehicle and the platform. If the first connecting device is controlled to extend prematurely, other vehicles or pedestrians may be affected. , resulting in traffic accidents.
  • the first control unit 601 can use an optional implementation when issuing the first control command in response to detecting that the vehicle is approaching the platform
  • the method is as follows: obtaining the distance between the vehicle and the platform; when it is determined that the obtained distance is lower than a preset distance threshold, a first control instruction is issued.
  • the first control instruction sent by the first control unit 601 may be an instruction to control the first connecting device to perform continuous stretching with a preset stretching step, until it is determined to be connected to the second connecting device and stop stretching, That is, it is connected to the second connecting device through multiple stretches;
  • the first control command issued by the first control unit 601 may also be a command for controlling the first connecting device to extend according to the distance between the vehicle and the first connecting device, that is, Attached to the second attachment means by one stretch.
  • the processing unit 602 acquires the extension length of the first connection device.
  • the processing unit 602 can improve the accuracy of acquiring the extension length, and further improve the efficiency when the vehicle is accurately parked.
  • the processing unit 602 only obtains the extension length of one connecting rod; if the first connecting device in this embodiment includes multiple connecting rods, the processing unit 602 obtains the extension length Obtain the stretched lengths of each connecting rod, such as the stretched length of the first connecting rod and the stretched length of the second connecting rod.
  • the processing unit 602 may further perform the following: determine the direction between the road and the vehicle according to the stretched length of the first connecting rod and the stretched length of the second connecting rod in the first connecting device. The angle between them; adjust the attitude of the vehicle according to the angle until the determined angle is the preset angle.
  • the processing unit 602 can also use the extension length of the first connecting device as auxiliary information to adjust the posture of the vehicle, so that the vehicle can be oriented parallel to the road as soon as possible, so as to drive along a straight line, thereby further lifting the vehicle Speed when making precise stops.
  • the preset angle in the processing unit 602 may be 0°, that is, the adjustment is stopped after the vehicle orientation is determined to be parallel to the road according to the angle. It can be understood that, the preset angle in the processing unit 602 may also be other values, which are not limited in the present disclosure.
  • the second control unit 603 sends a second control instruction to control the vehicle to stop and complete the parking when it is determined that the extension length meets the preset requirement.
  • the second control unit 603 determines whether the extension length of the first connection device satisfies the preset condition, it specifically determines whether the extension length of the first connection device is equal to the preset docking distance.
  • the second control unit 603 may determine whether the stretched length of the one connecting rod is equal to the predetermined stretched length.
  • the docking distance is set, so that a second control command is issued under the condition that the extension length of the one connecting rod is determined to be equal to the preset docking distance.
  • the second control unit 603 may determine the two connecting rods when determining that the acquired stretched length meets the preset requirement. Whether the extension length of the two connecting rods is equal to the preset docking distance, so that the second control command is issued under the condition that the extension length of the two connecting rods is equal to the preset docking distance.
  • the second control command issued by the second control unit 603 may also include a command to lock the first connection device, so that the second control command is connected to the second control device.
  • the first connecting device to which the devices are connected does not expand or contract with the running of the vehicle, so that the facing angle of the vehicle is restricted to remain unchanged.
  • the second control unit 603 determines that the stretch length meets the preset requirement, when issuing the second control command, the following methods may also be used: acquiring the position of the preset parking point; When the stretched length meets the preset requirement, a second control command is issued.
  • the second control unit 603 in addition to determining whether the stretch length meets the preset requirement, the second control unit 603 also determines whether the vehicle has reached a preset parking point, so that the vehicle can be parked at a specific position, which further improves the accuracy when the vehicle is parked .
  • the preset parking point acquired by the second control unit 603 is acquired from the planned parking trajectory of the vehicle, that is, when the vehicle plans the parking trajectory, the vehicle will plan the specific position when the vehicle stops.
  • an optional implementation manner that may be adopted is: obtaining the position of the geometric center of the vehicle; when determining that the position of the geometric center of the vehicle reaches the position of the preset parking point Next, determine the position where the vehicle arrives at the preset stop.
  • the apparatus 600 for parking a vehicle in this embodiment further includes a third control unit 604, which is configured to execute the following content: after detecting that the vehicle is ready to leave the platform, issue a third control instruction to control the first connecting device to disengage from the first connecting device.
  • the second connecting device is retracted to the top of the vehicle; when it is determined that the first connecting device has been retracted to the top of the vehicle, a fourth control command is issued to control the vehicle to start and leave the platform.
  • the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.
  • FIG. 7 it is a block diagram of an electronic device of a method for parking a vehicle according to an embodiment of the present disclosure.
  • Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers.
  • Electronic devices may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices.
  • the components shown herein, their connections and relationships, and their functions are by way of example only, and are not intended to limit implementations of the disclosure described and/or claimed herein.
  • the device 700 includes a computing unit 701 that can be executed according to a computer program stored in a read only memory (ROM) 702 or loaded into a random access memory (RAM) 703 from a storage unit 708 Various appropriate actions and handling. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored.
  • the computing unit 701, the ROM 702, and the RAM 703 are connected to each other through a bus 704.
  • An input/output (I/O) interface 705 is also connected to bus 704 .
  • Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706, such as a keyboard, mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a magnetic disk, an optical disk, etc. ; and a communication unit 709, such as a network card, a modem, a wireless communication transceiver, and the like.
  • the communication unit 709 allows the device 700 to exchange information/data with other devices through a computer network such as the Internet and/or various telecommunication networks.
  • Computing unit 701 may be various general-purpose and/or special-purpose processing components with processing and computing capabilities. Some examples of computing units 701 include, but are not limited to, central processing units (CPUs), graphics processing units (GPUs), various specialized artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processing processor (DSP), and any suitable processor, controller, microcontroller, etc.
  • the computing unit 701 performs the various methods and processes described above, such as the method of vehicle parking.
  • the method of parking a vehicle may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 708 .
  • part or all of the computer program may be loaded and/or installed on device 700 via ROM 702 and/or communication unit 709 .
  • ROM 702 and/or communication unit 709 When a computer program is loaded into RAM 703 and executed by computing unit 701, one or more steps of the above-described method of parking a vehicle may be performed.
  • the computing unit 701 may be configured to perform the method of vehicle parking by any other suitable means (eg, by means of firmware).
  • Various implementations of the systems and techniques described herein 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 a chip System (SOC), Complex Programmable Logic Device (CPLD), computer hardware, firmware, software, and/or combinations thereof.
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • ASSPs application specific standard products
  • SOC system on a chip System
  • CPLD Complex Programmable Logic Device
  • computer hardware firmware, software, and/or combinations thereof.
  • These various embodiments may include being implemented in one or more computer programs executable and/or interpretable on a programmable system including at least one programmable processor that
  • the processor which may be a special purpose or general-purpose programmable processor, may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device an output device.
  • Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer or other programmable data processing apparatus, such that the program code, when executed by the processor or controller, performs the functions/functions specified in the flowcharts and/or block diagrams. Action is implemented.
  • the program code may execute entirely on the machine, partly on the machine, partly on the machine and partly on a remote machine as a stand-alone software package or entirely on the remote machine or server.
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with the instruction execution system, apparatus or device.
  • the machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include one or more wire-based electrical connections, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), fiber optics, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
  • RAM random access memory
  • ROM read only memory
  • EPROM or flash memory erasable programmable read only memory
  • CD-ROM compact disk read only memory
  • magnetic storage or any suitable combination of the foregoing.
  • the systems and techniques described herein may be implemented on a computer having a display device (eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user ); and a keyboard and pointing device (eg, a mouse or trackball) through which a user can provide input to the computer.
  • a display device eg, a CRT (cathode ray tube) or LCD (liquid crystal display) monitor
  • a keyboard and pointing device eg, a mouse or trackball
  • Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (eg, visual feedback, auditory feedback, or tactile feedback); and can be in any form (including acoustic input, voice input, or tactile input) to receive input from the user.
  • the systems and techniques described herein may be implemented on a computing system that includes back-end components (eg, as a data server), or a computing system that includes middleware components (eg, an application server), or a computing system that includes front-end components (eg, a user's computer having a graphical user interface or web browser through which a user may interact with implementations of the systems and techniques described herein), or including such backend components, middleware components, Or any combination of front-end components in a computing system.
  • the components of the system may be interconnected by any form or medium of digital data communication (eg, a communication network). Examples of communication networks include: Local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
  • a computer system can include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server arises by computer programs running on the respective computers and having a client-server relationship to each other.
  • the server can be a cloud server, also known as a cloud computing server or a cloud host. It is a host product in the cloud computing service system to solve the traditional physical host and VPS service ("Virtual Private Server", or "VPS" for short) , there are the defects of difficult management and weak business expansion.
  • the server can also be a server of a distributed system, or a server combined with a blockchain.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Train Traffic Observation, Control, And Security (AREA)
  • Motorcycle And Bicycle Frame (AREA)
PCT/CN2021/131514 2021-04-16 2021-11-18 车辆停靠的方法、装置、电子设备和可读存储介质 WO2022217916A1 (zh)

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