Vertical parking space parking method, device and equipment and storage medium
A parking space and parking technology, which is applied in the fields of devices, vertical parking space parking methods, equipment and storage media, can solve problems such as poor universality, prone to errors, and complex hybrid A* algorithms, so as to improve universality and improve The effect of real-time and accuracy
Pending Publication Date: 2021-09-24
CHINA AUTOMOTIVE INNOVATION CORP
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[0003] However, the three-point vertical parking trajectory planning method requires that the heading of the vehicle at the initial position is parallel to the horizontal direction of the parking space, and the initial position must be within a specific range, which restricts the initial position and heading of the vehicle, which is not universal; *The algorithm is relatively complex and requires high computing power of the controller. It is difficult to meet the real-time performance required by the automatic parking function and is prone to errors. Therefore, it is necessary to provide a more effective technical solution
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[0039] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.
[0040] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein can be practiced in sequences other than those illustrated or des...
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The invention discloses a vertical parking space parking method, device and equipment and a storage medium, and the method comprises the steps: responding to a parking instruction based on a target vertical parking space, and generating a parking map of a target vehicle based on a target coordinate system; based on the parking map, obtaining an initial position of a target vehicle and a position of a target vertical parking space; based on the minimum turning radius of the target vehicle and a tracking control algorithm, controlling the target vehicle to advance from the initial position to a first final position; based on the longitudinal center line position and the minimum turning radius, controlling the target vehicle to transversely retreat to a second final position; based on the longitudinal center line position and the transverse front side line position, controlling the target vehicle to retreat to a third final position at the maximum steering wheel angle; and controlling the target vehicle to retreat to the parking point position based on the transverse rear side line position and a tracking control algorithm. By using the technical scheme provided by the invention, the initial position and course of the target vehicle do not need to be restrained, so that the universality of the vertical parking space parking method is improved.
Description
technical field [0001] The present application relates to the technical field of automatic driving, in particular to a vertical parking space parking method, device, equipment and storage medium. Background technique [0002] The existing automatic parking methods for vertical parking spaces mainly include: a three-point vertical parking trajectory planning method and a parking trajectory planning method based on a hybrid A* algorithm. The three-point vertical parking trajectory planning method is to calculate and execute the steering wheel angle based on the parking space position and the initial vehicle position. When the vehicle heading is parallel to the vertical centerline of the parking space, the steering wheel is returned to the center line and continues to control the vehicle to retreat to the end point; while based on the hybrid A *The algorithmic parking trajectory planning method does not require the starting point of the vehicle to be parked parallel to the park...
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IPC IPC(8): B60W30/06B60W60/00
CPCB60W30/06B60W60/001B60W2554/20B60W2556/40
Inventor 李丰军周剑光侯发伟
Owner CHINA AUTOMOTIVE INNOVATION CORP