A vertical parking method and device

Abstract

The present application discloses a method and device for vertical parking provided by an embodiment of the present application, which first makes the left front corner point of the vehicle reach the safety critical line. Then, it is determined whether the minimum value and the maximum value of the horizontal coordinate of the initial rear axle center horizontal coordinate of the rear axle center of the vehicle meet the preset conditions and whether the initial rear axle center horizontal coordinate meets the target range. If all conditions are met, the steering wheel angle of the vehicle is adjusted so that the vehicle heading angle of the vehicle is adjusted from the initial vehicle heading angle to the limit heading angle. The limit heading angle is the maximum angle that the vehicle can reach during the dynamic adjustment stage to ensure that the right rear corner point and the left rear corner point of the vehicle are in a safe state. Subsequent warehousing is completed on the basis of the limit heading angle, which can reduce the requirements for the width of the garage and ensure one-time parking. On the basis of reaching the limit heading angle, the steering wheel angle of the vehicle is adjusted until the vehicle heading angle is adjusted from the limit heading angle to the warehousing heading angle, and the vehicle is controlled to continue to complete the warehousing, thereby improving the success rate of vertical parking of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a perpendicular parking method and device. Background Art

[0002] With the development of vehicle intelligence, automatic parking systems are widely used in vehicles. Automatic parking systems rely on automatic parking methods to achieve automatic parking of vehicles.

[0003] At present, the vertical parking method in the automatic parking method has strict requirements on lane width, parking space, etc., resulting in parking failure in many working conditions. Summary of the invention

[0004] In order to solve the above technical problems, the present application provides a vertical parking method for planning vertical parking of vehicles and improving the success rate of vertical parking of vehicles.

[0005] In order to achieve the above purpose, the technical solutions provided by the embodiments of the present application are as follows:

[0006] The present application provides a vertical parking method, which includes:

[0007] Adjusting the vehicle according to the steering wheel angle so that the vehicle reaches an initial state; the initial state is that the left front corner of the vehicle reaches a safety critical line; the safety critical line is the outermost limit that the left front corner of the vehicle can reach;

[0008] Obtaining an initial vehicle heading angle when the vehicle reaches an initial state;

[0009] Acquire the initial vehicle rear axle center coordinates when the vehicle reaches an initial state; the initial vehicle rear axle center coordinates include an initial rear axle center horizontal coordinate and an initial rear axle center vertical coordinate;

[0010] Determining an analysis result based on the initial vehicle heading angle and the initial vehicle rear axle center coordinates;

[0011] Determine the target range of the initial rear axle center horizontal coordinate according to the analysis result; the target range of the initial rear axle center horizontal coordinate includes a minimum horizontal coordinate value and a maximum horizontal coordinate value;

[0012] Determining whether the minimum abscissa value and the maximum abscissa value of the initial rear axle center abscissa satisfy a preset condition;

[0013] When the preset condition is not met, adjusting the steering wheel angle of the vehicle according to a preset planning method, re-performing the step of adjusting the vehicle according to the steering wheel angle, so that the vehicle reaches an initial state and subsequent steps;

[0014] When the preset condition is met, determining whether the initial rear axle center horizontal coordinate meets the target range;

[0015] When the target range is not met, adjusting the steering wheel angle of the vehicle according to a preset planning method, re-executing the step of adjusting the vehicle according to the steering wheel angle, so that the vehicle reaches an initial state and subsequent steps;

[0016] When the target range is met, adjusting the steering wheel angle of the vehicle to make the heading angle of the vehicle reach a limit heading angle;

[0017] When the vehicle heading angle is the limit heading angle, the vehicle is adjusted according to the limit steering wheel angle of the vehicle, so that the vehicle heading angle is adjusted from the limit heading angle to the parking heading angle, so as to control the parking of the vehicle.

[0018] Optionally, determining the analysis result based on the initial vehicle heading angle and the initial vehicle rear axle center coordinates includes:

[0019] Acquire a first vehicle heading angle and a second vehicle heading angle of the vehicle according to the initial vehicle heading angle and the initial rear axle center longitudinal coordinate of the vehicle; the first vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition at the right rear corner point of the vehicle; the second vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition at the left rear corner point of the vehicle;

[0020] The first vehicle heading angle, the second vehicle heading angle and a limit heading angle are analyzed to determine an analysis result; the limit heading angle is obtained according to a minimum vehicle turning radius of the vehicle.

[0021] Optionally, determining a target range of the initial rear axle center horizontal coordinate according to the analysis result includes:

[0022] Obtaining a target minimum horizontal coordinate value and a target maximum horizontal coordinate value of the initial rear axle center horizontal coordinate according to the analysis result, the safety condition of the right rear corner point of the vehicle, and the safety condition of the left rear corner point of the vehicle;

[0023] The target range is determined according to the target horizontal coordinate minimum value and the target horizontal coordinate maximum value.

[0024] Optionally, the obtaining a target minimum horizontal coordinate value and a target maximum horizontal coordinate value of the initial rear axle center horizontal coordinate according to the analysis result, the safety condition of the right rear corner point of the vehicle, and the safety condition of the left rear corner point of the vehicle includes:

[0025] Obtaining a preselected target range of the initial rear axle center horizontal coordinate; the preselected target range includes a preselected horizontal coordinate minimum value and a preselected horizontal coordinate maximum value; the preselected target range of the initial rear axle center horizontal coordinate is obtained based on the safety condition of the right rear corner point of the vehicle and the safety condition of the left rear corner point of the vehicle;

[0026] When the analysis result is that the first vehicle heading angle is less than the second vehicle heading angle, and the second vehicle heading angle is less than the limit heading angle, determining the preselected minimum horizontal coordinate value and the preselected maximum horizontal coordinate value to be a target minimum horizontal coordinate value and a target maximum horizontal coordinate value, respectively;

[0027] When the analysis result is that the first vehicle heading angle is less than the limit heading angle, and the limit heading angle is less than the second vehicle heading angle, determining the preselected horizontal coordinate maximum value as the target horizontal coordinate maximum value; and re-determining the target horizontal coordinate minimum value according to the safety condition of the left rear corner point of the vehicle;

[0028] When the analysis result is that the limit heading angle is smaller than the first vehicle heading angle, and the first vehicle heading angle is smaller than the second vehicle heading angle, the target horizontal coordinate minimum value and the target horizontal coordinate maximum value are re-determined based on the safety conditions of the right rear corner point of the vehicle and the safety conditions of the left rear corner point of the vehicle.

[0029] Optionally, when the vehicle heading angle is the limit heading angle, adjusting the vehicle according to the limit steering wheel angle of the vehicle so that the vehicle heading angle is adjusted from the limit heading angle to the parking heading angle to control the vehicle parking, includes:

[0030] The vehicle is adjusted according to the extreme steering wheel angle of the vehicle so that the vehicle heading angle is adjusted from the extreme heading angle to the parking heading angle, the vehicle is controlled to enter the parking lot and adjustments are performed within the parking lot to control the parking of the vehicle.

[0031] The present application also provides a vertical parking device, which includes:

[0032] A first adjustment unit is used to adjust the vehicle according to the steering wheel angle so that the vehicle reaches an initial state; the initial state is that the left front corner point of the vehicle reaches a safety critical line; the safety critical line is the outermost limit that the left front corner point of the vehicle can reach;

[0033] A first acquisition unit, used to acquire an initial vehicle heading angle when the vehicle reaches an initial state;

[0034] A second acquisition unit is used to acquire the initial vehicle rear axle center coordinates when the vehicle reaches an initial state; the initial vehicle rear axle center coordinates include an initial rear axle center horizontal coordinate and an initial rear axle center vertical coordinate;

[0035] A first determining unit, configured to determine an analysis result based on the initial vehicle heading angle and the initial vehicle rear axle center coordinates;

[0036] A second determining unit is used to determine a target range of the initial rear axle center horizontal coordinate according to the analysis result; the target range of the initial rear axle center horizontal coordinate includes a minimum horizontal coordinate value and a maximum horizontal coordinate value;

[0037] A first judging unit, configured to judge whether the minimum abscissa value and the maximum abscissa value of the initial rear axle center abscissa satisfy a preset condition;

[0038] A first loop unit, configured to adjust the steering wheel angle of the vehicle according to a preset planning method when the result of the first judgment unit is that the preset condition is not met, and re-execute the step of adjusting the vehicle according to the steering wheel angle to make the vehicle reach an initial state and subsequent steps;

[0039] a second judgment unit, configured to judge whether the initial rear axle center horizontal coordinate meets the target range when the result of the first judgment unit satisfies the preset condition;

[0040] A second loop unit is used for adjusting the steering wheel angle of the vehicle according to a preset planning method when the target range is not met, and re-executing the step of adjusting the vehicle according to the steering wheel angle so that the vehicle reaches an initial state and subsequent steps;

[0041] A second adjustment unit is used to adjust the steering wheel angle of the vehicle to make the heading angle of the vehicle reach a limit heading angle when the target range is met;

[0042] The third adjustment unit is used to adjust the vehicle according to the limit steering wheel angle of the vehicle when the vehicle heading angle is the limit heading angle, so that the vehicle heading angle is adjusted from the limit heading angle to the parking heading angle, so as to control the parking of the vehicle.

[0043] Optionally, the first determining unit includes:

[0044] A first acquisition subunit is used to acquire a first vehicle heading angle of the vehicle and a second vehicle heading angle of the vehicle according to the initial vehicle heading angle and the initial rear axle center longitudinal coordinate of the vehicle; the first vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition at the right rear corner point of the vehicle; the second vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition at the left rear corner point of the vehicle;

[0045] The first determination subunit is used to analyze the first vehicle heading angle, the second vehicle heading angle and a limit heading angle to determine an analysis result; the limit heading angle is obtained according to a minimum vehicle turning radius of the vehicle.

[0046] Optionally, the second determining unit includes:

[0047] A second acquisition subunit is used to acquire a target minimum horizontal coordinate value and a target maximum horizontal coordinate value of the initial rear axle center horizontal coordinate according to the analysis result, the safety condition of the right rear corner point of the vehicle, and the safety condition of the left rear corner point of the vehicle;

[0048] The second determining subunit is used to determine the target range according to the minimum target horizontal coordinate value and the maximum target horizontal coordinate value.

[0049] Optionally, the second acquiring subunit includes:

[0050] A third acquisition subunit is used to acquire a preselected target range of the initial rear axle center horizontal coordinate; the preselected target range includes a preselected horizontal coordinate minimum value and a preselected horizontal coordinate maximum value; the preselected target range of the initial rear axle center horizontal coordinate is obtained according to the safety condition of the right rear corner point of the vehicle and the safety condition of the left rear corner point of the vehicle;

[0051] a third determining subunit, configured to determine, when the analysis result shows that the first vehicle heading angle is less than the second vehicle heading angle, and the second vehicle heading angle is less than the limit heading angle, that the preselected minimum horizontal coordinate value and the preselected maximum horizontal coordinate value are target minimum horizontal coordinate value and target maximum horizontal coordinate value, respectively;

[0052] a fourth determination subunit, configured to determine the preselected maximum horizontal coordinate value as the target horizontal coordinate maximum value when the analysis result shows that the first vehicle heading angle is less than the limit heading angle, and the limit heading angle is less than the second vehicle heading angle; and to re-determine the target horizontal coordinate minimum value according to the safety condition of the left rear corner point of the vehicle;

[0053] The fifth determination subunit is used to redetermine the minimum target horizontal coordinate and the maximum target horizontal coordinate according to the safety conditions of the right rear corner point of the vehicle and the safety conditions of the left rear corner point of the vehicle when the analysis result is that the limit heading angle is smaller than the first vehicle heading angle and the first vehicle heading angle is smaller than the second vehicle heading angle.

[0054] Optionally, the third adjustment unit is specifically used to adjust the vehicle according to the extreme steering wheel angle of the vehicle, so that the vehicle heading angle is adjusted from the extreme heading angle to the parking heading angle, control the vehicle to enter the parking lot and perform adjustments within the parking lot to control the parking of the vehicle.

[0055] Through the above technical solution, it can be seen that the present application has the following beneficial effects:

[0056] The embodiment of the present application provides a vertical parking method and device. Through the vertical parking method provided by the embodiment of the present application, the left front corner point of the vehicle is first made to reach the outermost limit that the left front corner point can reach on the lane, that is, the safety critical line, so as to make full use of the width of the lane where the vehicle is located. Then, it is determined whether the minimum and maximum values ​​of the horizontal coordinates of the initial rear axle center horizontal coordinates of the rear axle center of the vehicle meet the preset conditions and whether the initial rear axle center horizontal coordinates meet the target range. When all conditions are met, it is determined that the planning is successful and the vehicle is dynamically adjusted, that is, while ensuring that the left front corner point of the vehicle is at the outermost limit, the steering wheel angle of the vehicle is adjusted so that the vehicle heading angle of the vehicle is adjusted from the initial vehicle heading angle to the limit heading angle. The limit heading angle is the maximum angle that the vehicle can reach in the dynamic adjustment stage to ensure that the right rear corner point and the left rear corner point of the vehicle are in a safe state. The subsequent warehousing is completed on the basis of the limit heading angle, which can reduce the requirements for the width of the garage and ensure one-time parking. On the basis of reaching the limit heading angle, the steering wheel angle of the vehicle is adjusted until the vehicle heading angle is adjusted from the limit heading angle to the warehousing heading angle. At this time, the vehicle can be controlled to continue to complete the warehousing. The method provided in the embodiment of the present application is used to plan vertical parking of a vehicle, thereby improving the success rate of vertical parking of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0058] Figure 1 A flow chart of a vertical parking method provided in an embodiment of the present application;

[0059] Figure 2 A schematic diagram of vehicle parameters provided in an embodiment of the present application;

[0060] Figure 3 A schematic diagram of a vertical parking of a vehicle provided in an embodiment of the present application;

[0061] Figure 4 A schematic diagram of the C-point safety coordinate system provided in an embodiment of the present application;

[0062] Figure 5 A schematic diagram of a vertical parking device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0064] See also Figure 1 , Figure 1 A flow chart of a vertical parking method provided in an embodiment of the present application. Figure 1 As shown, the method includes S101-S111:

[0065] It should be noted that in order for the vehicle to successfully park vertically, the vehicle must first undergo a pre-parking planning phase. During the planning phase, the range of the vehicle's heading angle during the dynamic adjustment phase, as well as the target range that the vehicle's initial rear axle center horizontal coordinate needs to meet, are determined. After successful planning, the vehicle enters the dynamic adjustment phase, and the steering wheel angle of the vehicle is adjusted so that the vehicle's heading angle changes from the initial vehicle heading angle to the extreme heading angle. After the dynamic adjustment phase ends, that is, when the vehicle's heading angle is at the extreme heading angle, the vehicle is adjusted according to the vehicle's extreme steering wheel angle so that the vehicle's heading angle is adjusted from the extreme heading angle to the warehousing heading angle, so that the vehicle can be parked successfully in one go.

[0066] It should also be noted that when it is determined from S101 to S110 that the initial rear axle center horizontal coordinate meets the target range, it is the planning stage of the vertical parking of the vehicle. Adjusting the steering wheel angle of the vehicle to the limit heading angle from S110 is the dynamic adjustment stage of the vehicle. After the dynamic adjustment stage is completed, S111 is the parking stage of the vehicle, in which the vehicle heading angle is adjusted from the limit heading angle to the parking heading angle to control the parking of the vehicle.

[0067] S101: Adjust the vehicle according to the steering wheel angle so that the vehicle reaches an initial state; the initial state is that the left front corner of the vehicle reaches a safety critical line; the safety critical line is the outermost limit that the left front corner of the vehicle can reach.

[0068] The vehicle is adjusted to move according to the steering wheel angle of the vehicle so that the vehicle reaches the initial state, which is to make the left front corner of the vehicle reach the safety critical line. The safety critical line is the outermost limit that the left front corner of the vehicle can reach. It should be noted that the outermost limit that the left front corner of the vehicle can reach is the limit after considering the safety distance based on the limit corresponding to the obstacle outside the lane.

[0069] See also Figure 2 and Figure 3 , Figure 2 A schematic diagram of vehicle parameters provided in an embodiment of the present application, Figure 3 A schematic diagram of vertical parking of a vehicle provided in an embodiment of the present application.

[0070] like Figure 2 As shown, the vehicle is simplified into a rectangular shape, and A, B, C, and D are the left front corner, right front corner, right rear corner, and left rear corner of the vehicle respectively. fis the vehicle's front overhang length, i.e. the longitudinal distance from the front axle to the front end of the vehicle. L is the vehicle's wheelbase. r L is the rear overhang length of the vehicle, i.e. the longitudinal distance from the rear axle to the rear end of the vehicle. k is the vehicle width, O is the vehicle turning center (ignoring the side slip characteristics of the rear axle at low speeds), and R is the vehicle turning radius, i.e., the distance from the center of the rear axle G to the turning center O.

[0071] like Figure 3 As shown, L1 is the boundary corresponding to the obstacle on the outside of the lane, also known as the outer lane boundary line, and L2 is the boundary corresponding to the obstacle on the inside of the lane, also known as the inner lane boundary line. Ls_A is the outermost boundary that vehicle point A can reach after considering the safety distance based on L1. Edge0 and edge1 are the right and left boundaries of the garage respectively. θ is the vehicle heading angle, which defines the vehicle coordinate system. The vehicle heading angle θ is the angle between the horizontal axis in the vehicle coordinate system and the center line of the lane or L1. The vehicle is defined as yaw to the left as positive. It can be understood that the vehicle is moving from Figure 3 Start backing up from the right side of the center lane until you enter the garage.

[0072] In specific implementation, in order to make full use of the lane space, the vehicle must be brought to the initial state, that is, the vehicle is adjusted according to the steering wheel angle according to the current state of the vehicle. Among them, adjusting the vehicle according to the steering wheel angle specifically means adjusting the vehicle according to a fixed steering wheel angle until the left front corner point A of the vehicle reaches the safety critical line. It can be understood that in the planning stage before parking the vehicle, when the vehicle is adjusted for the first time with a fixed steering wheel angle, the fixed steering wheel angle is the limit value of the vehicle's steering wheel angle. By setting the steering wheel angle to the limit value, the vehicle can quickly reach the initial state.

[0073] S102: Acquire the initial vehicle heading angle when the vehicle reaches the initial state.

[0074] When the vehicle reaches the initial state, the initial vehicle heading angle when the vehicle reaches the initial state is obtained.

[0075] In specific implementation, when the vehicle reaches the initial state, the initial vehicle heading angle θ is obtained. 1 ,θ 1 It is related to the initial state of the vehicle and the turning radius of the vehicle. In the process of vehicle parking planning, ensure that θ 1 Is positive.

[0076] S103: Acquire the initial vehicle rear axle center coordinates when the vehicle reaches the initial state; the initial vehicle rear axle center coordinates include the initial rear axle center horizontal coordinate and the initial rear axle center vertical coordinate.

[0077] When the vehicle reaches the initial state, the initial vehicle rear axle center coordinates when the vehicle reaches the initial state are obtained; the initial vehicle rear axle center coordinates include the initial rear axle center horizontal coordinate and the initial rear axle center vertical coordinate.

[0078] exist Figure 3 The coordinate system is established in , with the intersection of L2 and edge0 as the origin of the coordinate system, L2 to the right is the positive direction of the X axis, and edge0 upward is the positive direction of the Y axis. In specific implementation, when the vehicle reaches the initial state, the initial vehicle rear axle center coordinate obtained is G 0 (X 0 ,Y 0 ), where X 0 is the initial rear axle center horizontal coordinate, Y 0 is the initial rear axle center ordinate. 0 Can be determined according to lane width and vehicle size, X 0 It is related to the initial state of the vehicle and the turning radius of the vehicle.

[0079] S104: Determine the analysis result based on the initial vehicle heading angle and the initial vehicle rear axle center coordinates.

[0080] After obtaining the initial vehicle heading angle and the initial vehicle rear axle center coordinates of the vehicle when the vehicle reaches the initial state, the analysis result is determined according to the obtained initial vehicle heading angle and the initial vehicle rear axle center coordinates.

[0081] In specific implementation, the analysis results are determined by the initial vehicle heading angle and the initial vehicle rear axle center coordinates, including:

[0082] The first vehicle heading angle of the vehicle and the second vehicle heading angle of the vehicle are obtained according to the initial vehicle heading angle and the initial rear axle center longitudinal coordinate of the vehicle; the first vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition of the right rear corner point of the vehicle; the second vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition of the left rear corner point of the vehicle.

[0083] The first vehicle heading angle, the second vehicle heading angle and the limit heading angle are analyzed to determine an analysis result. The limit heading angle is obtained according to a minimum vehicle turning radius of the vehicle.

[0084] It should be noted that the first vehicle heading angle of the vehicle and the second vehicle heading angle of the vehicle are obtained according to the initial vehicle heading angle and the initial rear axle center longitudinal coordinate of the vehicle, specifically, the first vehicle heading angle of the vehicle and the second vehicle heading angle of the vehicle are obtained by searching a three-dimensional table according to the initial vehicle heading angle and the initial rear axle center longitudinal coordinate of the vehicle. Among them, the three-dimensional table when obtaining the first vehicle heading angle of the vehicle is a correspondence table of the initial vehicle heading angle, the initial rear axle center longitudinal coordinate of the vehicle and the preset heading angle obtained under the safety condition of point C, and the first vehicle heading angle of the vehicle is a value of the preset heading angle in the correspondence table; the three-dimensional table when obtaining the second vehicle heading angle of the vehicle is a correspondence table of the initial vehicle heading angle, the initial rear axle center longitudinal coordinate of the vehicle and the preset heading angle obtained under the safety condition of point D, and the second vehicle heading angle of the vehicle is a value of the preset heading angle in the correspondence table.

[0085] It should also be noted that the analysis result is the result obtained by comparing the magnitude relationship between the first vehicle heading angle, the second vehicle heading angle and the limit heading angle. For example, the first vehicle heading angle is smaller than the second vehicle heading angle, and the second vehicle heading angle is smaller than the limit heading angle; the first vehicle heading angle is smaller than the limit heading angle, and the limit heading angle is smaller than the second vehicle heading angle; the limit heading angle is smaller than the first vehicle heading angle, and the first vehicle heading angle is smaller than the second vehicle heading angle.

[0086] Specifically, in the planning stage of vehicle parking, the vehicle heading angle θ has two constraints. On the one hand, the vehicle heading angle has a maximum value, that is, the limit course angle; on the other hand, there is a first vehicle heading angle and a second vehicle heading angle. Among them, the first vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition of the right rear corner point of the vehicle; the second vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition of the left rear corner point of the vehicle. The limit course angle of the vehicle, the first vehicle course angle, and the second vehicle heading angle will be described in detail below.

[0087] like Figure 3 As shown in the figure, vertical parking belongs to low-speed conditions. When turning, the side slip effect of the rear axle tire of the vehicle is small and can be ignored. The vehicle turning center O is considered to be on the extension line of the rear axle of the vehicle. At this time, if it is assumed that the trajectory of the left front corner point A of the vehicle is parallel to the outer lane boundary line L1, then the line connecting the left front corner point A of the vehicle and the vehicle turning center O must always be perpendicular to the outer lane boundary line L1, that is, there is formula (1).

[0088]

[0089] On the one hand, it can be seen from formula (1) that the vehicle heading angle θ is related to the vehicle geometric parameters L, L f and L k, and the vehicle turning radius R, where the vehicle geometry is fixed, and R has a minimum value, so the vehicle heading angle θ has a maximum value θ R It can be understood that the maximum value of the vehicle heading angle θ R That is the limit heading angle. As shown in formula (2), where R min is the minimum turning radius, R min When taking the value, a certain threshold is reserved relative to the actual minimum turning radius, for example, the threshold is set to 5m.

[0090]

[0091] On the other hand, the first vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition of the right rear corner point of the vehicle. Specifically, the first vehicle heading angle of the vehicle is denoted as θ C , is the initial position of the vehicle G 0 And the safety condition of the right rear corner point C of the vehicle.

[0092] Define the safety coordinate system of the right rear corner point C of the vehicle. Figure 4 , Figure 4 A schematic diagram of the C-point safety coordinate system provided in an embodiment of the present application. Figure 4 The dangerous point at point C is taken as the coordinate origin, and the dangerous point at point C corresponds to Figure 3 It can be understood that when the vehicle point C is at Figure 4 When the vehicle is in area 1, area 2 and area 3, there is no collision risk at point C. When point C is in area 4, the vehicle will collide with the right front corner of the garage (i.e. the coordinate origin).

[0093] Assume that in the dynamic adjustment stage, the vehicle is adjusted from the initial vehicle heading angle to the preset vehicle heading angle, that is, from the initial vehicle rear axle center coordinate G 0 It can be understood that the maximum value of the preset vehicle heading angle is the vehicle's limit heading angle θ R .

[0094] The increment of the center coordinate of the rear axle of the vehicle is shown in equation (3). From equations (1) and (3), we can get equation (4), where the initial vehicle heading angle θ is 1 That is, the yaw angle at the beginning of the vehicle dynamic adjustment, and the preset vehicle heading angle θ 2 It is currently undetermined. 2 This is the yaw angle at the end of dynamic adjustment.

[0095]

[0096]

[0097] Where V is the speed of the vehicle, dθ / dt is the angular velocity of the vehicle. ΔX is the heading angle of the vehicle, which is calculated from θ 1 becomes θ 2 When the center coordinate of the rear axle of the vehicle increases on the horizontal axis, ΔY is the change of the vehicle heading angle from θ 1 becomes θ 2 The increment of the center coordinate of the vehicle's rear axle on the vertical axis.

[0098] For the right rear corner point C of the vehicle, when the vehicle has no yaw angle, the vector from point G to point C The vehicle yaw angle is θ 2 hour is formula (5). The horizontal coordinate of point G is G X =X 0 -ΔX, the vertical coordinate of point G is G Y =Y 0 -ΔY, the horizontal coordinate of point C is The ordinate of point C is in, is the formula (5) The horizontal axis of is the formula (5) The vertical coordinate of point C is shown in formula (6).

[0099]

[0100]

[0101] Safety conditions of point C, the right rear corner of the vehicle:

[0102] like Figure 3 and Figure 4 As shown, L2 is the inner lane boundary line, edge0 is the right boundary of the garage, Figure 3 The X axis in the coordinate system coincides with L2, and the vehicle's forward direction is positive. The Y axis coincides with edge0, and the direction pointing to the outside of the lane is positive. During the reversing process, consider the safety distance D inside the garage. s Afterwards, when point C falls in area 1, area 2, and area 3, point C meets the safety condition; when point C falls in area 4, point C does not meet the safety condition.

[0103] Condition 1: When C Y When <0, it indicates that point C has entered area 3. At this time, it is guaranteed that point C X +D s <0 to ensure a safe distance from point C to edge0.

[0104] Condition 2: When C X >0, indicating that point C is in area 1, and this ensures that C Y -D s>0 to ensure a safe distance from point C to L2.

[0105] It can be understood that during the vehicle reversing process, the coordinate of point C decreases monotonically with the increase of the vehicle heading angle θ. When both conditions 1 and 2 are met, the coordinate of point C in other cases is just Figure 3 Region 2 in also meets the conditions.

[0106] According to condition 1 and formula (6), we can obtain X 0 The maximum value X 0max1 . Because C X and C Y are monotonic with respect to θ, so according to condition 2 and equation (6), we can also obtain X 0 A maximum value X 0max2 , take the minimum value of the two as X 0 The maximum value X 0maxc , and the corresponding θ in condition 1 (i.e. point C falls into region 3) 2 Denoted as θ C , that is, the first vehicle heading angle.

[0107] It should be noted that when solving the inequalities in conditions 1 and 2, since they are monotonic functions, we can first use the C in equation (6) according to the equation relationship. Y Formula to obtain C Y =0 and C Y =D s θ 2 Since (6) is a transcendental equation, it is impossible to directly obtain an analytical solution. We can use the bisection method to traverse the corresponding θ offline. 1 , Y 0 and θ 2 The corresponding relationship table is generated by using the corresponding relationship between the three. When the initial vehicle heading angle θ is obtained 1 and the vehicle's initial rear axle center ordinate Y 0 Afterwards, the corresponding θ can be obtained through the correspondence table 2 . From the obtained θ 2 The first vehicle heading angle θ can be determined C Understandably, D s Relatively fixed, and need not be considered as a variable.

[0108] It can be understood that the horizontal coordinate of the rear axle center of the vehicle is from X 0 When it continues to increase, point C will collide with edge0. According to the safety condition of point C, we can determine X 0 The above analysis determines the maximum value of X 0maxc It is understandable that the value at this time is X 0maxcThe initial value of is the value obtained by the first calculation. 0 When the value continues to decrease, point D will collide with edge1. Then, according to the safety condition of point D of the vehicle, we can determine X 0 The minimum value of .

[0109] The second vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition of the left rear corner point of the vehicle. Specifically: the second vehicle heading angle of the vehicle is recorded as θ D .

[0110] For the left rear corner point D of the vehicle, when the vehicle has no yaw angle, the vector from point G to point D The vehicle yaw angle is θ 2 hour is formula (7). The coordinates of point D are is the formula (7) The horizontal axis of is the formula (7) The vertical coordinate of point D is shown in formula (8).

[0111]

[0112]

[0113] Where D X is the horizontal coordinate of point D, Y is the ordinate of point D. X is the horizontal coordinate of point G, G Y is the vertical coordinate of point G.

[0114] Safety conditions for the vehicle's left rear corner point D:

[0115] Similar to the safety condition analysis method of vehicle point C, the safety coordinate system of point D is established with the dangerous point at point D as the coordinate origin. The safety coordinate system of point D also includes area 1, area 2, area 3 and area 4. Among them, the coordinate origin of the safety coordinate of point D is the intersection of L2 and edge1. During the reversing process, the safety distance D inside the garage is considered. s After that, the safety area of ​​point D is area 1, area 2 and area 4. When point D falls in area 3, the safety condition is not met. Specifically, the following two conditions must be met:

[0116] Condition 1: When D Y When <0, it indicates that point D has entered area 4. At this time, it is guaranteed that D X +W s >D s , to ensure the safe distance from point D to edge1, where W sIt is the distance from edge0 to edge1, that is, the width of the parking space.

[0117] Condition 2: When D X +W s When <0, it indicates that point D has entered area 2. At this time, D Y -D s >0 to ensure a safe distance from point D to L2.

[0118] It can be seen that according to condition 1 and formula (8), it can be determined that when point D enters area 4, X 0 The minimum value of X 0minD , at this time, the corresponding θ 2 Denoted as θ D According to condition 2 and formula (8), we can determine that when point D enters area 2, X 0 The maximum value X 0maxD When point D enters area 2, since point A has reached the critical safety condition, the storage operation cannot be performed at this time. Therefore, point D entering area 2 means that the storage has failed and is not considered here. The above analysis determines that X 0minD It is understandable that the value at this time is X 0minD The initial value of , that is, the value obtained by the first calculation.

[0119] It should be noted that, similar to the analysis method in the safety condition of point C, the corresponding θ is solved offline by using equation (8) and the bisection method. 1 , Y 0 and θ 2 , and use the correspondence between the three to generate a correspondence table. When the initial vehicle heading angle θ is obtained 1 and the vehicle's initial rear axle center ordinate Y 0 Afterwards, the corresponding θ can be obtained through the correspondence table 2 . From the obtained θ 2 The second vehicle heading angle θ can be determined D .

[0120] S105: Determine a target range of the initial rear axle center horizontal coordinate according to the analysis result; the target range of the initial rear axle center horizontal coordinate includes a minimum horizontal coordinate value and a maximum horizontal coordinate value.

[0121] After obtaining the analysis results, the target range of the initial rear axle center horizontal coordinate is determined according to the analysis results; the target range of the initial rear axle center horizontal coordinate includes the minimum horizontal coordinate value and the maximum horizontal coordinate value, and the target range of the initial rear axle center horizontal coordinate is the range between the minimum horizontal coordinate value and the maximum horizontal coordinate value.

[0122] In specific implementation, the target range of the initial rear axle center horizontal coordinate is determined according to the analysis results, including:

[0123] Obtaining a target minimum horizontal coordinate value and a target maximum horizontal coordinate value of the initial rear axle center horizontal coordinate according to the analysis result, the safety condition of the right rear corner point of the vehicle, and the safety condition of the left rear corner point of the vehicle;

[0124] The target range is determined according to the minimum value of the target horizontal coordinate and the maximum value of the target horizontal coordinate.

[0125] Wherein, the minimum target horizontal coordinate value and the maximum target horizontal coordinate value of the initial rear axle center horizontal coordinate are obtained according to the analysis result, the safety condition of the right rear corner point of the vehicle, and the safety condition of the left rear corner point of the vehicle, including:

[0126] Obtaining a preselected target range of the initial rear axle center horizontal coordinate; the preselected target range includes a preselected horizontal coordinate minimum value and a preselected horizontal coordinate maximum value; the preselected target range of the initial rear axle center horizontal coordinate is obtained according to the safety condition of the right rear corner point of the vehicle and the safety condition of the left rear corner point of the vehicle;

[0127] When the analysis result shows that the first vehicle heading angle is less than the second vehicle heading angle, and the second vehicle heading angle is less than the limit heading angle, the preselected minimum horizontal coordinate value and the preselected maximum horizontal coordinate value are determined to be the target minimum horizontal coordinate value and the target maximum horizontal coordinate value, respectively;

[0128] When the analysis result shows that the first vehicle heading angle is less than the limit heading angle, and the limit heading angle is less than the second vehicle heading angle, the preselected horizontal coordinate maximum value is determined as the target horizontal coordinate maximum value; and the target horizontal coordinate minimum value is re-determined according to the safety condition of the left rear corner point of the vehicle;

[0129] When the analysis result is that the limit heading angle is less than the first vehicle heading angle, and the first vehicle heading angle is less than the second vehicle heading angle, the target horizontal coordinate minimum value and the target horizontal coordinate maximum value are re-determined according to the safety conditions of the right rear corner point of the vehicle and the safety conditions of the left rear corner point of the vehicle.

[0130] It can be understood that the preselected target range of the initial rear axle center horizontal coordinate calculated according to the safety condition of the right rear corner point of the vehicle and the safety condition of the left rear corner point of the vehicle corresponds to the first vehicle heading angle and the second vehicle heading angle of the vehicle obtained in S104. That is, the minimum value of the preselected horizontal coordinate in the preselected target range corresponds to the second vehicle heading angle, and the maximum value of the preselected horizontal coordinate corresponds to the first vehicle heading angle.

[0131] Specifically, in S104, the first vehicle heading angle θ is obtained. C , the second vehicle heading angle θ D and the limit heading angle θ R When X 0 The maximum value of the preselected horizontal coordinate, that is, X 0maxc The initial value of the horizontal axis; pre-select the minimum value of the horizontal axis, that is, X 0minD The initial value of θC <θ D , therefore, there are three situations:

[0132] Case 1: θ C <θ D <θ R , at this time θ C and θ D Determine the minimum value of the preselected horizontal coordinate and the maximum value of the preselected horizontal coordinate respectively as the minimum value of the target horizontal coordinate X 0min and the target horizontal coordinate maximum value X 0max ;

[0133] Case 2: θ C <θ R <θ D , at this time θ C can be achieved, but θ D At this time, the pre-selected maximum horizontal coordinate value is determined as the target maximum horizontal coordinate value X 0max According to θ 2 =θ R , recalculate the X increment of point D using the safety condition of the left rear corner of the vehicle, and add θ R The X increment at 90 degrees is used to re-determine the X 0minD , and the X at this time 0minD Determine as X 0min .

[0134] Case 3: θ R <θ C <θ D , at this time θ C and θ D In this case, it is necessary to follow θ 2 =θ R , recalculate the X increments of points C and D using the safety conditions of the right rear corner of the vehicle and the safety conditions of the left rear corner of the vehicle, and add θ R The X increment at 90 degrees is used to re-determine the X 0maxc and X 0minD , and the X at this time 0maxc and X 0minD Determine as X 0max and x 0min Among them, θ R The X increment when reaching 90 degrees is R[1-cos(90-θ R )].

[0135] It should be noted that the initial rear axle center horizontal coordinate X 0 There may be a target range or a specific target value. For example, when the width of the garage is large enough, you can set X 0 The target value of X.0 The conditions that meet the requirements can be determined based on the actual conditions such as the width of the garage and the width of the driveway. It can be understood that by adjusting the initial rear axle center horizontal coordinate X 0 The value can control the X-direction position of the vehicle after entering the warehouse. 0 Distance X 0max When the vehicle is close, the distance between point C and edge0 is smaller after entering the parking space, and the space on the passenger side of the vehicle is smaller. 0 Distance X 0min When it is close, the distance between point D and edge1 is smaller after entering the parking space, and the space on the driver's side of the vehicle is smaller.

[0136] S106: Determine whether the minimum abscissa value and the maximum abscissa value of the initial rear axle center abscissa satisfy a preset condition.

[0137] After obtaining the minimum and maximum values ​​of the abscissa of the initial rear axle center abscissa, it is determined whether the minimum and maximum values ​​of the abscissa meet the preset conditions. The preset condition is that the minimum value of the abscissa is less than the maximum value of the abscissa. That is, it is determined whether the minimum value of the abscissa is less than the maximum value of the abscissa. Specifically, it is determined whether X 0min <X 0max Is it true?

[0138] S107: When the preset conditions are not met, the steering wheel angle of the vehicle is adjusted according to a preset planning method, and S101 and subsequent steps are re-executed.

[0139] When the minimum value of the horizontal coordinate is greater than the maximum value of the horizontal coordinate, the preset condition is not met, and the steering wheel angle of the vehicle is adjusted according to the preset planning method, that is, the vehicle is readjusted to the front of the lane ( Figure 3 It should be noted that the preset planning method is not limited. After the vehicle is readjusted, S101 and subsequent steps are re-executed.

[0140] S108: When the preset conditions are met, determine whether the initial rear axle center horizontal coordinate meets the target range.

[0141] When the preset conditions are met, that is, X 0min <X 0max , determine whether the initial rear axle center horizontal coordinate meets the target range. 0min <X 0 <X 0max Is it true?

[0142] S109: When the target range is not met, the steering wheel angle of the vehicle is adjusted according to a preset planning method, and S101 and subsequent steps are re-executed.

[0143] When the target range is not met, that is, X 0min<X 0 <X 0max If it is not true, the vehicle's steering wheel angle is adjusted according to the preset planning method, that is, the vehicle is readjusted to the front of the lane ( Figure 3 It should be noted that the preset planning method is not limited. After the vehicle is readjusted, S101 and subsequent steps are re-executed.

[0144] It should be noted that the initial rear axle center horizontal coordinate X 0 There are two specific situations where the target range is not met. One is X 0 <X 0min , the second is X 0 >X 0max In both cases, parking planning is unsuccessful. In the second case, when returning to S101, the reversing parameter can be adjusted. The reversing parameter is a fixed steering wheel angle, that is, when returning to S101, the vehicle is adjusted with a fixed steering wheel angle less than the steering wheel angle limit value.

[0145] S110: When the target range is met, adjust the steering wheel angle of the vehicle to make the vehicle heading angle reach a limit heading angle.

[0146] When the target range is met, X is satisfied. 0min <X 0 <X 0max Specifically, the driver can be prompted through the human-machine interface that the planning is successful.

[0147] At this time, the driver can be prompted to stop the car and start perpendicular parking. When parking perpendicularly, the steering wheel angle of the vehicle is adjusted according to the heading angle of the vehicle to make the vehicle heading angle reach the limit heading angle. It can be understood that at this time, the preset vehicle heading angle θ 2 The value is the vehicle's limit heading angle θ R .

[0148] During specific implementation, while ensuring that the left front corner point of the vehicle is at the outermost limit, the steering wheel angle of the vehicle is adjusted according to the heading angle of the vehicle, and the steering wheel angle of the vehicle is adjusted so that the vehicle heading angle is adjusted from the initial vehicle heading angle to the limit heading angle.

[0149] Specifically, the real-time steering wheel angle is calculated according to the real-time heading angle of the vehicle as follows:

[0150] From formula (1), we can get formula (9):

[0151]

[0152] Since the vehicle steering center is on the extension line of the rear axle, according to the steering geometry, we have formula (10):

[0153]

[0154] Where i is the ratio of the steering wheel angle to the front wheel angle, i.e. the steering gear ratio, δ sw is the steering wheel angle.

[0155] From equations (9) and (10), we can get the steering wheel angle δ sw The calculation of is shown in formula (11):

[0156]

[0157] It should be noted that the steering transmission ratio i is obtained by looking up a relationship table, and the relationship table is specifically a relationship table between the front wheel angle and the steering wheel angle of the vehicle.

[0158] S111: When the vehicle heading angle is at a limit heading angle, the vehicle is adjusted according to a limit steering wheel angle of the vehicle, so that the vehicle heading angle is adjusted from the limit heading angle to a parking heading angle, so as to control the parking of the vehicle.

[0159] When the vehicle heading angle reaches the limit heading angle, the vehicle is adjusted according to the limit steering wheel angle of the vehicle, so that the vehicle heading angle is adjusted from the limit heading angle to the parking heading angle, so as to control the parking of the vehicle. The parking heading angle is a vehicle heading angle of 90 degrees. It can be understood that when the vehicle heading angle reaches 90 degrees, the vehicle can be directly controlled to drive backwards so that the vehicle is completely parked.

[0160] Specifically, adjusting the vehicle according to the extreme steering wheel angle of the vehicle so that the vehicle heading angle is adjusted from the extreme heading angle to the parking heading angle to control the parking of the vehicle, including:

[0161] The vehicle is adjusted according to the vehicle's extreme steering wheel angle so that the vehicle's heading angle is adjusted from the extreme heading angle to the parking heading angle, the vehicle is controlled to enter the parking lot and adjustments are made within the parking lot to control the vehicle's parking.

[0162] The in-warehouse adjustment is to adjust the position of the vehicle in the X and Y directions after the vehicle enters the warehouse so that the vehicle is in the expected position of the driver. Specifically, the in-warehouse adjustment can be made according to the actual real-time state of the vehicle after entering the warehouse and the expected position of the driver, which is not limited here.

[0163] Through the vertical parking method provided by the embodiment of the present application, the left front corner point of the vehicle is first made to reach the outermost limit that the left front corner point can reach on the lane, that is, the safety critical line, so as to make full use of the width of the lane where the vehicle is located. Then, it is determined whether the minimum and maximum values ​​of the abscissa of the initial rear axle center abscissa of the vehicle rear axle center meet the preset conditions and whether the initial rear axle center abscissa meets the target range. When all conditions are met, it is determined that the planning is successful and the vehicle is dynamically adjusted, that is, while ensuring that the left front corner point of the vehicle is at the outermost limit, the steering wheel angle of the vehicle is adjusted so that the vehicle heading angle of the vehicle is adjusted from the initial vehicle heading angle to the limit heading angle. The limit heading angle is the maximum angle that the vehicle can reach in the dynamic adjustment stage to ensure that the right rear corner point and the left rear corner point of the vehicle are in a safe state. The subsequent warehousing is completed on the basis of the limit heading angle, which can reduce the requirements for the width of the garage and ensure one-time parking. On the basis of reaching the limit heading angle, the steering wheel angle of the vehicle is adjusted until the vehicle heading angle is adjusted from the limit heading angle to the warehousing heading angle. At this time, the vehicle can be controlled to continue to complete the warehousing. The method provided in the embodiment of the present application is used to plan vertical parking of a vehicle, which can improve the success rate of vertical parking of the vehicle.

[0164] The present application also provides a vertical parking device, which includes:

[0165] The first adjustment unit 501 is used to adjust the vehicle according to the steering wheel angle so that the vehicle reaches an initial state; the initial state is that the left front corner point of the vehicle reaches a safety critical line; the safety critical line is the outermost limit that the left front corner point of the vehicle can reach;

[0166] A first acquisition unit 502 is used to acquire an initial vehicle heading angle when the vehicle reaches an initial state;

[0167] The second acquisition unit 503 is used to acquire the initial vehicle rear axle center coordinates when the vehicle reaches the initial state; the initial vehicle rear axle center coordinates include the initial rear axle center horizontal coordinate and the initial rear axle center vertical coordinate;

[0168] A first determining unit 504, configured to determine an analysis result based on the initial vehicle heading angle and the initial vehicle rear axle center coordinates;

[0169] A second determining unit 505 is used to determine a target range of the initial rear axle center horizontal coordinate according to the analysis result; the target range of the initial rear axle center horizontal coordinate includes a minimum horizontal coordinate value and a maximum horizontal coordinate value;

[0170] A first judging unit 506, configured to judge whether the minimum abscissa value and the maximum abscissa value of the initial rear axle center abscissa satisfy a preset condition;

[0171] A first loop unit 507, configured to adjust the steering wheel angle of the vehicle according to a preset planning method when the result of the first judgment unit is that the preset condition is not met, and re-execute the step of adjusting the vehicle according to the steering wheel angle to make the vehicle reach an initial state and subsequent steps;

[0172] A second judgment unit 508, configured to judge whether the initial rear axle center horizontal coordinate meets the target range when the result of the first judgment unit meets the preset condition;

[0173] A second loop unit 509 is used for adjusting the steering wheel angle of the vehicle according to a preset planning method when the target range is not met, and re-executing the step of adjusting the vehicle according to the steering wheel angle to make the vehicle reach an initial state and subsequent steps;

[0174] A second adjustment unit 510 is used to adjust the steering wheel angle of the vehicle to make the vehicle heading angle reach a limit heading angle when the target range is met;

[0175] The third adjustment unit 511 is used to adjust the vehicle according to the limit steering wheel angle of the vehicle when the vehicle heading angle is the limit heading angle, so that the vehicle heading angle is adjusted from the limit heading angle to the parking heading angle, so as to control the parking of the vehicle.

[0176] Optionally, in some implementations of the embodiments of the present application, the first determining unit 504 includes:

[0177] A first acquisition subunit is used to acquire a first vehicle heading angle of the vehicle and a second vehicle heading angle of the vehicle according to the initial vehicle heading angle and the initial rear axle center longitudinal coordinate of the vehicle; the first vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition at the right rear corner point of the vehicle; the second vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition at the left rear corner point of the vehicle;

[0178] The first determination subunit is used to analyze the first vehicle heading angle, the second vehicle heading angle and a limit heading angle to determine an analysis result; the limit heading angle is obtained according to a minimum vehicle turning radius of the vehicle.

[0179] Optionally, in some implementations of the embodiments of the present application, the second determining unit 505 includes:

[0180] A second acquisition subunit is used to acquire a target minimum horizontal coordinate value and a target maximum horizontal coordinate value of the initial rear axle center horizontal coordinate according to the analysis result, the safety condition of the right rear corner point of the vehicle, and the safety condition of the left rear corner point of the vehicle;

[0181] The second determining subunit is used to determine the target range according to the minimum target horizontal coordinate value and the maximum target horizontal coordinate value.

[0182] Optionally, in some implementations of the embodiments of the present application, the second acquisition subunit includes:

[0183] A third acquisition subunit is used to acquire a preselected target range of the initial rear axle center horizontal coordinate; the preselected target range includes a preselected horizontal coordinate minimum value and a preselected horizontal coordinate maximum value; the preselected target range of the initial rear axle center horizontal coordinate is obtained according to the safety condition of the right rear corner point of the vehicle and the safety condition of the left rear corner point of the vehicle;

[0184] a third determining subunit, configured to determine, when the analysis result shows that the first vehicle heading angle is less than the second vehicle heading angle, and the second vehicle heading angle is less than the limit heading angle, that the preselected minimum horizontal coordinate value and the preselected maximum horizontal coordinate value are target minimum horizontal coordinate value and target maximum horizontal coordinate value, respectively;

[0185] a fourth determination subunit, configured to determine the preselected maximum horizontal coordinate value as the target horizontal coordinate maximum value when the analysis result shows that the first vehicle heading angle is less than the limit heading angle, and the limit heading angle is less than the second vehicle heading angle; and to re-determine the target horizontal coordinate minimum value according to the safety condition of the left rear corner point of the vehicle;

[0186] The fifth determination subunit is used to redetermine the minimum target horizontal coordinate and the maximum target horizontal coordinate according to the safety conditions of the right rear corner point of the vehicle and the safety conditions of the left rear corner point of the vehicle when the analysis result is that the limit heading angle is smaller than the first vehicle heading angle and the first vehicle heading angle is smaller than the second vehicle heading angle.

[0187] Optionally, in some implementations of the embodiments of the present application, the third adjustment unit 511 is specifically used to adjust the vehicle according to the extreme steering wheel angle of the vehicle, so that the vehicle heading angle is adjusted from the extreme heading angle to the warehousing heading angle, control the vehicle to enter the warehouse and perform adjustments within the warehouse to control the parking of the vehicle.

[0188] Through the vertical parking device provided by the embodiment of the present application, the left front corner point of the vehicle is first made to reach the outermost limit that the left front corner point can reach on the lane, that is, the safety critical line, so as to make full use of the width of the lane where the vehicle is located. Then, it is determined whether the minimum value and the maximum value of the horizontal coordinate of the initial rear axle center horizontal coordinate of the rear axle center of the vehicle meet the preset conditions and whether the initial rear axle center horizontal coordinate meets the target range. When all are satisfied, it is determined that the planning is successful and the vehicle is dynamically adjusted, that is, while ensuring that the left front corner point of the vehicle is at the outermost limit, the steering wheel angle of the vehicle is adjusted so that the vehicle heading angle of the vehicle is adjusted from the initial vehicle heading angle to the limit heading angle. The limit heading angle is the maximum angle that the vehicle can reach in the dynamic adjustment stage to ensure that the right rear corner point and the left rear corner point of the vehicle are in a safe state. The subsequent warehousing is completed on the basis of the limit heading angle, which can reduce the requirements for the width of the garage and ensure one-time parking. On the basis of reaching the limit heading angle, the steering wheel angle of the vehicle is adjusted until the vehicle heading angle is adjusted from the limit heading angle to the warehousing heading angle. At this time, the vehicle can be controlled to continue to complete the warehousing. The method provided in the embodiment of the present application is used to plan vertical parking of a vehicle, which can improve the success rate of vertical parking of the vehicle.

[0189] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the method disclosed in the embodiment, since it corresponds to the system disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the system part description.

[0190] It should also be noted that, in this article, the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of more restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0191] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vertical parking method, characterized in that: The method comprises: Adjusting the vehicle according to the steering wheel angle so that the vehicle reaches an initial state; the initial state is that the left front corner of the vehicle reaches a safety critical line; the safety critical line is the outermost limit that the left front corner of the vehicle can reach; Obtaining an initial vehicle heading angle when the vehicle reaches an initial state; Acquire the initial vehicle rear axle center coordinates when the vehicle reaches an initial state; the initial vehicle rear axle center coordinates include an initial rear axle center horizontal coordinate and an initial rear axle center vertical coordinate; Determining an analysis result based on the initial vehicle heading angle and the initial vehicle rear axle center coordinates; Determine the target range of the initial rear axle center horizontal coordinate according to the analysis result; the target range of the initial rear axle center horizontal coordinate includes a minimum horizontal coordinate value and a maximum horizontal coordinate value; Determining whether the minimum abscissa value and the maximum abscissa value of the initial rear axle center abscissa satisfy a preset condition; When the preset condition is not met, adjusting the steering wheel angle of the vehicle according to a preset planning method, re-performing the step of adjusting the vehicle according to the steering wheel angle, so that the vehicle reaches an initial state and subsequent steps; When the preset condition is met, determining whether the initial rear axle center horizontal coordinate meets the target range; When the target range is not met, adjusting the steering wheel angle of the vehicle according to a preset planning method, re-executing the step of adjusting the vehicle according to the steering wheel angle, so that the vehicle reaches an initial state and subsequent steps; When the target range is met, adjusting the steering wheel angle of the vehicle to make the heading angle of the vehicle reach a limit heading angle; When the vehicle heading angle is the limit heading angle, the vehicle is adjusted according to the limit steering wheel angle of the vehicle, so that the vehicle heading angle is adjusted from the limit heading angle to the parking heading angle, so as to control the parking of the vehicle.

2. The method according to claim 1, characterized in that The determining of the analysis result based on the initial vehicle heading angle and the initial vehicle rear axle center coordinates includes: Acquire a first vehicle heading angle and a second vehicle heading angle of the vehicle according to the initial vehicle heading angle and the initial rear axle center longitudinal coordinate of the vehicle; the first vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition at the right rear corner point of the vehicle; the second vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition at the left rear corner point of the vehicle; The first vehicle heading angle, the second vehicle heading angle and a limit heading angle are analyzed to determine an analysis result; the limit heading angle is obtained according to a minimum vehicle turning radius of the vehicle.

3. The method according to claim 2, characterized in that Determining the target range of the initial rear axle center horizontal coordinate according to the analysis result includes: Obtaining a target minimum horizontal coordinate value and a target maximum horizontal coordinate value of the initial rear axle center horizontal coordinate according to the analysis result, the safety condition of the right rear corner point of the vehicle, and the safety condition of the left rear corner point of the vehicle; The target range is determined according to the target horizontal coordinate minimum value and the target horizontal coordinate maximum value.

4. The method according to claim 3, characterized in that: The step of obtaining a target minimum horizontal coordinate value and a target maximum horizontal coordinate value of the initial rear axle center horizontal coordinate according to the analysis result, the safety condition of the right rear corner point of the vehicle, and the safety condition of the left rear corner point of the vehicle includes: Obtaining a preselected target range of the initial rear axle center horizontal coordinate; the preselected target range includes a preselected horizontal coordinate minimum value and a preselected horizontal coordinate maximum value; the preselected target range of the initial rear axle center horizontal coordinate is obtained based on the safety condition of the right rear corner point of the vehicle and the safety condition of the left rear corner point of the vehicle; When the analysis result is that the first vehicle heading angle is less than the second vehicle heading angle, and the second vehicle heading angle is less than the limit heading angle, determining the preselected minimum horizontal coordinate value and the preselected maximum horizontal coordinate value to be a target minimum horizontal coordinate value and a target maximum horizontal coordinate value, respectively; When the analysis result is that the first vehicle heading angle is less than the limit heading angle, and the limit heading angle is less than the second vehicle heading angle, determining the preselected horizontal coordinate maximum value as the target horizontal coordinate maximum value; and re-determining the target horizontal coordinate minimum value according to the safety condition of the left rear corner point of the vehicle; When the analysis result is that the limit heading angle is smaller than the first vehicle heading angle, and the first vehicle heading angle is smaller than the second vehicle heading angle, the target horizontal coordinate minimum value and the target horizontal coordinate maximum value are re-determined based on the safety conditions of the right rear corner point of the vehicle and the safety conditions of the left rear corner point of the vehicle.

5. The method according to claim 1, characterized in that When the vehicle heading angle is the limit heading angle, adjusting the vehicle according to the limit steering wheel angle of the vehicle so that the vehicle heading angle is adjusted from the limit heading angle to the parking heading angle to control the vehicle parking, includes: The vehicle is adjusted according to the extreme steering wheel angle of the vehicle so that the vehicle heading angle is adjusted from the extreme heading angle to the parking heading angle, the vehicle is controlled to enter the parking lot and adjustments are performed within the parking lot to control the parking of the vehicle.

6. A vertical parking device, characterized in that: The device comprises: A first adjustment unit is used to adjust the vehicle according to the steering wheel angle so that the vehicle reaches an initial state; the initial state is that the left front corner point of the vehicle reaches a safety critical line; the safety critical line is the outermost limit that the left front corner point of the vehicle can reach; A first acquisition unit, used to acquire an initial vehicle heading angle when the vehicle reaches an initial state; A second acquisition unit is used to acquire the initial vehicle rear axle center coordinates when the vehicle reaches an initial state; the initial vehicle rear axle center coordinates include an initial rear axle center horizontal coordinate and an initial rear axle center vertical coordinate; A first determining unit, configured to determine an analysis result based on the initial vehicle heading angle and the initial vehicle rear axle center coordinates; A second determining unit is used to determine a target range of the initial rear axle center horizontal coordinate according to the analysis result; the target range of the initial rear axle center horizontal coordinate includes a minimum horizontal coordinate value and a maximum horizontal coordinate value; A first judging unit, configured to judge whether the minimum abscissa value and the maximum abscissa value of the initial rear axle center abscissa satisfy a preset condition; A first loop unit, configured to adjust the steering wheel angle of the vehicle according to a preset planning method when the result of the first judgment unit is that the preset condition is not met, and re-execute the step of adjusting the vehicle according to the steering wheel angle to make the vehicle reach an initial state and subsequent steps; a second judgment unit, configured to judge whether the initial rear axle center horizontal coordinate meets the target range when the result of the first judgment unit satisfies the preset condition; A second loop unit is used for adjusting the steering wheel angle of the vehicle according to a preset planning method when the target range is not met, and re-executing the step of adjusting the vehicle according to the steering wheel angle so that the vehicle reaches an initial state and subsequent steps; A second adjustment unit is used to adjust the steering wheel angle of the vehicle to make the heading angle of the vehicle reach a limit heading angle when the target range is met; The third adjustment unit is used to adjust the vehicle according to the limit steering wheel angle of the vehicle when the vehicle heading angle is the limit heading angle, so that the vehicle heading angle is adjusted from the limit heading angle to the parking heading angle, so as to control the parking of the vehicle.

7. The device according to claim 6, characterized in that The first determining unit includes: A first acquisition subunit is used to acquire a first vehicle heading angle of the vehicle and a second vehicle heading angle of the vehicle according to the initial vehicle heading angle and the initial rear axle center longitudinal coordinate of the vehicle; the first vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition at the right rear corner point of the vehicle; the second vehicle heading angle of the vehicle is the vehicle heading angle under the safety condition at the left rear corner point of the vehicle; The first determination subunit is used to analyze the first vehicle heading angle, the second vehicle heading angle and a limit heading angle to determine an analysis result; the limit heading angle is obtained according to a minimum vehicle turning radius of the vehicle.

8. The device according to claim 7, characterized in that The second determining unit includes: A second acquisition subunit is used to acquire a target minimum horizontal coordinate value and a target maximum horizontal coordinate value of the initial rear axle center horizontal coordinate according to the analysis result, the safety condition of the right rear corner point of the vehicle, and the safety condition of the left rear corner point of the vehicle; The second determining subunit is used to determine the target range according to the minimum target horizontal coordinate value and the maximum target horizontal coordinate value.

9. The device according to claim 8, characterized in that The second acquisition subunit includes: A third acquisition subunit is used to acquire a preselected target range of the initial rear axle center horizontal coordinate; the preselected target range includes a preselected horizontal coordinate minimum value and a preselected horizontal coordinate maximum value; the preselected target range of the initial rear axle center horizontal coordinate is obtained according to the safety condition of the right rear corner point of the vehicle and the safety condition of the left rear corner point of the vehicle; a third determining subunit, configured to determine, when the analysis result shows that the first vehicle heading angle is less than the second vehicle heading angle, and the second vehicle heading angle is less than the limit heading angle, that the preselected minimum horizontal coordinate value and the preselected maximum horizontal coordinate value are target minimum horizontal coordinate value and target maximum horizontal coordinate value, respectively; a fourth determination subunit, configured to determine the preselected maximum horizontal coordinate value as the target horizontal coordinate maximum value when the analysis result shows that the first vehicle heading angle is less than the limit heading angle, and the limit heading angle is less than the second vehicle heading angle; and to re-determine the target horizontal coordinate minimum value according to the safety condition of the left rear corner point of the vehicle; The fifth determination subunit is used to redetermine the minimum target horizontal coordinate and the maximum target horizontal coordinate according to the safety conditions of the right rear corner point of the vehicle and the safety conditions of the left rear corner point of the vehicle when the analysis result is that the limit heading angle is smaller than the first vehicle heading angle and the first vehicle heading angle is smaller than the second vehicle heading angle.

10. The device according to claim 6, characterized in that The third adjustment unit is specifically used to adjust the vehicle according to the extreme steering wheel angle of the vehicle, so that the vehicle heading angle is adjusted from the extreme heading angle to the parking heading angle, control the vehicle to enter the parking lot and perform in-parking adjustment to control the vehicle parking.

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