Automatic parking method and device
An automatic parking and vehicle technology, applied in the automotive field, can solve problems such as long time, error, and unsuccessful parking
Active Publication Date: 2021-10-01
HUAWEI TECH CO LTD
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However, the same method is used for planning the route for the first time and re-planning the route, resulting in a long time-consuming re-planning route, low real-time performance, and degraded user experience
Moreover, because re-planning the route will take a long time, and the speed of the vehicle is usually not 0, it is easy to introduce errors due to low real-time performance, resulting in unsuccessful parking
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[0087] The following will 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 this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0088] The automatic parking method provided in the embodiment of the present application can be applied to various parking scenarios. Exemplarily, the present application can be applied to the scene of controlling the vehicle to perform automatic parking, or the automatic parking method provided in the present application can be executed by the vehicle. In addition, the present application can also be applied to scenarios where various types of robots are parked in or out, such as cargo robots, detection...
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The invention discloses an automatic parking method and an automatic parking device in the field of intelligent driving or unmanned driving, which are applied to an automatic parking scene and are used for planning an optimal driving path through an optimization search algorithm and planning a deviation correction path in real time by using a geometric algorithm, so that a vehicle is parked from a current position to a target position, and the optimality of the driving path and the real-time performance of deviation correction path planning are both considered. The method comprises the following steps: acquiring information of the target position and the real-time position information of the vehicle; obtaining the driving path from the vehicle to the target position by optimizing the search algorithm, the information of the target position and the real-time position information of the vehicle; according to the driving path, instructing the vehicle to drive to the target location according to the driving path, if the distance of the vehicle deviating from the driving path exceeds a deviation correction threshold value, obtaining a deviation correction path according to the current position of the vehicle and the driving path, and instructing the vehicle to drive back to the driving path according to the deviation correction path.
Description
technical field [0001] The present application relates to the field of automobiles, in particular to an automatic parking method and device. Background technique [0002] With the development of automobile intelligence, automatic parking assistance system (Auto Parking Assist, APA) has become one of the must-have features of many best-selling models. [0003] In APA, when the vehicle speed is 0, the path planning algorithm that takes a long time can be used to plan the driving path of the vehicle to the target location, and then park according to the driving path. After the vehicle deviates from the driving path, the path planning algorithm is used to plan the path to the target position again, and then the vehicle is driven to the target position according to the replanned path. However, the same method is used for planning the route for the first time and re-planning the route, which results in a long time-consuming for re-planning the route, low real-time performance, an...
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IPC IPC(8): B60W30/06
CPCB60W30/06Y02T10/40
Inventor 揭皓翔包晗赵培龙
Owner HUAWEI TECH CO LTD