A parking method, device and system with front-end parking

Abstract

The present application discloses a front-end parking method, device and system for efficiently and accurately completing parking. The method comprises: collecting parking data, the parking data comprising part or all of vehicle posture information, obstacle position information, target parking space information and passable area position information; estimating the driving direction based on the parking data, and determining at least one parking unit; using a step-by-step algorithm to sequentially determine the parking trajectory of each parking unit to obtain at least one initial parking trajectory; based on the posture of the vehicle at the end point of the initial parking trajectory, determining the evaluation value of each initial parking trajectory, and determining the optimal parking trajectory based on the evaluation value; and parking according to the optimal parking trajectory. The method adopts a step-by-step algorithm for parking trajectory planning, which can effectively reduce the trajectory search time, efficiently and quickly generate a highly reliable parking trajectory, and the planning time is short, meeting the real-time requirements.

Description

[0001] This application claims the priority of the Chinese patent application filed with the China Patent Office on December 31, 2020, with application number 202011633813.6 and application name “A parking method, device and system with front-end entry”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present invention relates to the field of automobile technology, and in particular to a front-end first parking method, device and system. Background Art

[0003] How to park a vehicle quickly and easily when parking space is limited has always been a problem for drivers. Especially when parking with the front of the vehicle in the first position, the vehicle body will swing sideways during the turning process, and the driver's field of vision is limited. It is often necessary to adjust the plan several times before parking smoothly. In the process of parking, the vehicle may even scratch other vehicles due to improper parking.

[0004] In summary, the current parking method using the front of the car first is difficult, the parking process is time-consuming, and the success rate is low. Summary of the invention

[0005] The present application provides a front-end-first parking method, device and system for efficiently and accurately completing front-end-first parking.

[0006] It should be understood that the front-end-first parking method provided in the embodiments of the present application may be implemented by a front-end-first parking device.

[0007] The front-end first parking system comprises a collection device, a processing device and an execution device.

[0008] The processing device may be a server with processing functions, such as a central processing unit, or a processing chip in the server, which is not limited in the specific embodiments of the present application.

[0009] It should be understood that there are many types of acquisition devices provided in the embodiments of the present application, which may be a single device or a combination of at least two devices, including a camera device, a radar device, a sensor device, etc.

[0010] In a possible implementation, the collection device in the embodiment of the present application may be integrated in the vehicle, or may be a device capable of communicating with the vehicle. For example, the collection device is a road side unit (RSU).

[0011] In a first aspect, an embodiment of the present application provides a parking method with the front of the vehicle entering first, comprising:

[0012] Collecting parking data, the parking data including part or all of vehicle posture information, obstacle position information, target parking space information, and passable area position information; estimating the driving direction based on the vehicle posture information and the target parking space information, and determining at least one parking unit; using a step-by-step algorithm, sequentially determining the parking trajectory of each parking unit to obtain at least one initial parking trajectory; determining an evaluation value of each initial parking trajectory in the parking unit based on the posture of the vehicle at the end point of the initial parking trajectory, and determining an optimal parking trajectory from the at least one initial parking trajectory according to the evaluation value; and performing head-first parking according to the optimal parking trajectory.

[0013] Based on the above method, the step-by-step algorithm is used for parking trajectory planning, which can effectively reduce the trajectory search time, efficiently and quickly generate a reliable parking trajectory, and the planning time is short, meeting the real-time requirements. In addition, from the at least one parking trajectory obtained, the optimal parking trajectory is selected for parking, which can effectively improve the success rate of parking.

[0014] In a possible implementation, based on the parking data and the initial posture of entering the parking unit, a step-by-step algorithm is used to sequentially determine the parking trajectory of each parking unit to obtain at least one initial parking trajectory.

[0015] In a possible implementation, the sum of the lateral deviations between the center of the front of the vehicle and the center of the rear axle, and the angular deviation value between the vehicle body and the central axis of the parking space are determined according to the posture of the vehicle at the end point of the initial parking trajectory; and the evaluation value corresponding to the initial parking trajectory is determined according to the sum of the lateral deviations between the center of the front of the vehicle and the center of the rear axle, and the angular deviation value between the vehicle body and the central axis of the parking space.

[0016] Based on the above method, an embodiment of the present application provides a method for determining an optimal parking trajectory, that is, according to the sum of the lateral deviations between the center of the vehicle head and the center of the rear axle, and the angular deviation value between the vehicle body and the central axis of the parking space, an evaluation value corresponding to the initial parking trajectory is determined, and then the initial parking trajectory with the smallest evaluation value is determined as the optimal initial parking trajectory.

[0017] In a possible implementation, when the vehicle is performing front-end parking according to the optimal parking trajectory, after determining that there is a risk of collision with an obstacle and the parking route can be replanned to avoid the obstacle, the parking route is replanned and front-end parking is performed according to the newly planned parking route.

[0018] Based on the above method, an embodiment of the present application provides a solution for handling obstacles encountered during actual parking.

[0019] In a possible implementation, after the vehicle reaches the end point of the optimal parking trajectory, a target turning angle of the vehicle's front wheels is determined; after the vehicle adjusts the front wheels to the target turning angle, front-first parking is performed.

[0020] In a possible implementation, it is determined whether the vehicle can enter the parking space by adjusting the front wheel angle according to the vehicle posture at the current position and the position of the target parking space.

[0021] In a possible implementation, an actual posture of a vehicle at a current position and a target posture corresponding to the current position in the optimal parking trajectory are determined; a parking error is determined based on the actual posture and the target posture; and the posture of the vehicle is adjusted based on the parking error.

[0022] Based on the above method, the embodiment of the present application performs error adjustment when parking, which can increase the success rate of parking and make the parking position of the vehicle more standardized after parking.

[0023] In a possible implementation, the first turning angle of the vehicle's front wheels and the front wheel safety turning angle are determined according to the posture of the vehicle's current position and the position of the target parking space; and the intersection of the first turning angle and the front wheel safety turning angle is determined as the target turning angle for adjusting the vehicle's front wheels.

[0024] Based on the above method, the embodiment of the present application performs safety protection when determining the front wheel turning angle, making the parking process safer.

[0025] In a second aspect, an embodiment of the present application further provides a parking device with the front of the vehicle entering first, which can be used to perform the operations in the first aspect. For example, the device may include a module or unit for performing each operation in the first aspect or any possible implementation of the first aspect. For example, it includes a collection module and a processing module.

[0026] In a third aspect, an embodiment of the present application provides a chip system, including a processor and optionally a memory; wherein the memory is used to store computer programs, and the processor is used to call and run the computer programs from the memory, so that a front-end parking device equipped with the chip system executes any method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0027] In a fourth aspect, an embodiment of the present application provides a vehicle, at least one camera, at least one memory, at least one transceiver and at least one processor;

[0028] The camera is used to collect parking data, wherein the parking data includes part or all of the data information of the vehicle posture, the data information of the obstacle position, the data information of the target parking space and the data information of the passable area position;

[0029] The memory is used to store one or more programs and data information; wherein the one or more programs include instructions;

[0030] The processor is used to determine an initial parking trajectory according to the parking data; perform a step-by-step search on the initial parking trajectory to determine a target parking trajectory; and drive into the target parking space according to the target parking trajectory.

[0031] In a possible implementation, the vehicle further includes a display screen and a voice broadcast device;

[0032] The display screen is used to display the target parking trajectory;

[0033] The voice broadcasting device is used to broadcast the target parking trajectory.

[0034] Among them, the camera described in the embodiments of the present application can be a camera of a driver monitoring system, a cockpit camera, an infrared camera, a driving recorder (i.e., a recording terminal), a reversing image camera, etc., and is not limited to the specific embodiments of the present application.

[0035] The shooting area of ​​the camera may be the external environment of the vehicle. For example, when the vehicle is moving forward, the shooting area is the area in front of the front of the vehicle; when the vehicle is reversing, the shooting area is the area behind the rear of the vehicle; when the camera is a 360-degree multi-angle camera, the shooting area may be the 360-degree area around the vehicle, etc.

[0036] The sensor described in the embodiments of the present application can be one or more of a photoelectric sensor, a photosensitive sensor, an ultrasonic sensor, a sound sensor, a ranging sensor, a visual sensor, and an image sensor.

[0037] In a fifth aspect, an embodiment of the present application provides a parking system with a front-end first-entry, the system comprising a collection device, a processing device, and an execution device;

[0038] The acquisition device mainly includes an ultrasonic radar and a fisheye camera, and is used to acquire vehicle data, obstacle data, parking space data, and passable area data;

[0039] The processing device is used to process the data collected by the collecting device to obtain the target parking trajectory.

[0040] The execution device is used to park the vehicle according to the parking instruction sent by the processing device.

[0041] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes: a computer program code, and when the computer program code is executed by a computer, the device for processing reported information executes any method in the above-mentioned first aspect or any possible implementation method of the first aspect.

[0042] In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a program, and the program enables a computer to execute any method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of a front-end first-entry parking system provided in an embodiment of the present application;

[0044] Figure 2 A schematic diagram of the first system architecture provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of a second system architecture provided in an embodiment of the present application;

[0046] Figure 4 A schematic diagram of segmented trajectories of a front-end-first parking method provided in an embodiment of the present application;

[0047] Figure 5 A schematic diagram of a process flow of a front-end-first parking method provided in an embodiment of the present application;

[0048] Figure 6 A schematic diagram of a parking trajectory of the first part provided in an embodiment of the present application;

[0049] Figure 7 A schematic diagram of a target vehicle posture and a target parking space midline angle provided in an embodiment of the present application;

[0050] Figure 8 A schematic diagram of the first application scenario provided in the embodiment of the present application;

[0051] Fig. 9 A parking unit division diagram provided in an embodiment of the present application;

[0052] Fig.10 A schematic diagram of a connection point between parking units provided in an embodiment of the present application;

[0053] Fig.11 A schematic diagram of a trajectory generated by a first parking unit provided in an embodiment of the present application;

[0054] Fig.12A schematic diagram of a step-by-step optimal posture determination process provided in an embodiment of the present application;

[0055] Fig.13 A schematic diagram of a second application scenario provided in an embodiment of the present application;

[0056] Fig.14 A schematic diagram of a first-entry parking device provided in the present application;

[0057] Fig.15 A schematic diagram of a second front-entry parking device provided in the present application. DETAILED DESCRIPTION

[0058] When parking space is limited, how to park the vehicle quickly and easily has always been a problem for drivers. Especially when parking the vehicle head-first, due to the large lateral swing of the vehicle body during the forward turning process and the limited vision of the driver, it is often necessary to adjust the plan several times before parking smoothly. Parking takes a long time and the success rate is low. Even during the parking process, due to improper parking, the vehicle may scratch other vehicles, causing economic losses.

[0059] In summary, the current parking method using the front of the car first is difficult, the parking process is time-consuming, and the success rate is low.

[0060] To solve this problem, the embodiments of the present application provide a front-end-first parking method and device, so as to provide an efficient, convenient and accurate front-end-first parking solution.

[0061] The technical solution of the embodiment of the present application can be applied to various vehicle-mounted systems. In the embodiment of the present application, mainly in the process of front-end parking, according to the collected vehicle information, surrounding environment information and parking space information, a step-by-step search method is used to find a trajectory with simplified planning actions and optimal posture adjustment. In addition, in the embodiment of the present application, when the vehicle enters the parking space, the position and size of the parking space are continuously detected, the parking space information is fed back in real time, a reasonable and safe front wheel turning angle is output, the error is corrected, and the parking accuracy is improved.

[0062] To facilitate understanding of the embodiments of the present application, the embodiments of the present application provide a parking system for vehicle head-first entry, such as Figure 1 As shown, the hardware device of the parking system includes an ultrasonic radar 100 (eg, a 12-channel ultrasonic radar), a camera 110 (eg, a four-channel fisheye camera), an image processor 120, a CPU 130 and a controller 140.

[0063] The ultrasonic radar 100 is mainly responsible for collecting information about the distance between the obstacles around the vehicle and the vehicle.

[0064] The camera 110 is mainly responsible for collecting images of the vehicle body's surrounding environment.

[0065] The image processor 120 is mainly responsible for completing parking space recognition, obstacle recognition, passable area recognition, etc. from the image data.

[0066] CPU130 is mainly responsible for module scheduling and receiving ultrasonic radar data, image processing data, completing data information fusion, determining planning schemes, generating and outputting planning instructions, etc.

[0067] According to an optional solution of an embodiment of the present application, when the vehicle is manually driven, the CPU 130 may send planning instructions to the vehicle display screen to prompt the driver how to operate the vehicle.

[0068] According to another optional solution of the embodiment of the present application, when the vehicle is driving automatically, the CPU 130 may send planning instructions to the controller so that the controller controls the movement of the vehicle to realize automatic parking of the vehicle.

[0069] The controller 140 is used to control the movement of the vehicle according to the planning instructions of the CPU to realize automatic parking of the vehicle.

[0070] Furthermore, the system architecture of the embodiment of the present application according to the above hardware device can be as follows: Figure 2 As shown, it can be specifically divided into acquisition system, processing system and execution system.

[0071] Among them, the collection system described in the embodiment of the present application mainly includes an ultrasonic radar and a fisheye camera, which are used to acquire vehicle data, obstacle data, parking space data, and passable area data.

[0072] The processing system described in the embodiments of the present application is as follows: Figure 3 As shown, it can be further divided into identification and monitoring layer and decision-making and planning layer.

[0073] Among them, in an optional method of the embodiment of the present application, the recognition and monitoring layer mainly uses an image processor to perform vehicle / pedestrian recognition and passable area recognition on the images captured by the fisheye camera; performs distance monitoring on obstacles based on the data collected by the ultrasonic radar; and combines the fisheye camera and the ultrasonic radar to perform parking space recognition, etc.

[0074] In an optional manner of the embodiment of the present application, the decision-making planning layer mainly processes the information obtained by the identification and monitoring layer through a CPU to obtain a parking path plan.

[0075] The execution system described in the embodiment of the present application mainly includes a controller, which is used to park the vehicle according to the parking instruction issued by the processing system.

[0076] Furthermore, the parking instructions described in the embodiments of the present application include but are not limited to the following: vehicle longitudinal control instructions and vehicle lateral control instructions.

[0077] Among them, the vehicle control can be divided into vehicle longitudinal control, such as vehicle speed control, and vehicle lateral control, such as vehicle steering wheel rotation angle control, gear position, etc.

[0078] The system architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Furthermore, it is known to those skilled in the art that with the evolution of vehicle architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems. It should be understood that Figures 1 to 3 This is a simplified schematic diagram for ease of understanding only. The system architecture may further include other devices or other unit modules.

[0079] Among them, the process of parking by the front-end first approach in the embodiment of the present application can be divided into two parts, that is, it can be understood as dividing the parking trajectory of the front-end first approach into two sections.

[0080] For example, Figure 4 As shown, the first part of the trajectory is Figure 4 The AB segment trajectory shown in the figure, the second segment trajectory is Figure 4 The BC segment trajectory shown in . Among them, point A described in the embodiment of the present application is the starting position of the target vehicle parking by the front-end first approach; point B is the position after the target vehicle adjusts the front end to the threshold angle of the target parking space, at which time the front end of the target vehicle is between the rear end of the target vehicle and the target parking space; point C is the parking position of the target vehicle after parking in the parking space in the embodiment of the present application, that is, the end point of the entire parking trajectory.

[0081] Below, as Figure 5 As shown, based on the two parking trajectories introduced above, the processes of the front-first parking method described in the embodiments of the present application are introduced respectively.

[0082] Part 1: The first part of the trajectory (i.e., the AB segment trajectory) for parking by the front-end first approach.

[0083] S500: A collection device in the vehicle collects parking data.

[0084] The parking data in the embodiment of the present application includes part or all of the following:

[0085] Data information on vehicle location, obstacle location, parking space, and passable area location, etc.

[0086] For example, the parking data includes the location of the target vehicle (i.e., the vehicle that needs to be parked), the size and location of the target parking space, the location and size of the passable area around the target vehicle, the location of obstacles around the target vehicle and the distance from the target vehicle, etc.

[0087] The acquisition device includes but is not limited to a camera, a sensor, ultrasound, a radar, etc.

[0088] S501. The collection device in the vehicle sends the parking data to the processing device in the vehicle.

[0089] S502: The processing device in the vehicle obtains at least one first partial trajectory through a step-by-step algorithm according to the parking data.

[0090] For example, it is assumed that the processing device in the embodiment of the present application obtains the following information based on the parking data through a step-by-step algorithm: Figure 6 The three first part tracks shown are three AB segment tracks.

[0091] S503: The processing device in the vehicle determines an evaluation value of each first partial trajectory.

[0092] In an optional manner of the embodiment of the present application, the evaluation value of the first part of the trajectory may be determined in the following manner.

[0093] First, an AB segment trajectory is selected from at least one AB segment trajectory obtained, and the target vehicle is simulated to travel along the AB segment trajectory. When the target vehicle travels to point B, the simulated position and posture of the target vehicle at point B is obtained.

[0094] Then, according to the simulated posture of the target vehicle at point B of the AB trajectory, Figure 7 As shown, the sum of the lateral deviations between the center of the head and the center of the rear axle when the target vehicle is at point B (i.e. Figure 7 Angle 1 + Angle 2 in the figure), and determine the angle deviation between the target vehicle body and the center axis of the parking space (i.e. Figure 7 Angle in 2).

[0095] Finally, the evaluation value of the AB trajectory is determined according to the sum of the lateral deviations between the center of the head of the target vehicle and the center of the rear axle when the target vehicle is at point B, and the angular deviation between the body of the target vehicle and the center axis of the parking space.

[0096] S504: The processing device in the vehicle determines the first partial trajectory with the smallest evaluation value as the target parking trajectory.

[0097] S505: The vehicle drives according to the target parking trajectory.

[0098] Optionally, the processing device in the vehicle determines a parking plan according to the target parking trajectory and generates a parking instruction. The processing device in the vehicle sends the parking instruction to the vehicle execution device. The parking instruction includes a target speed, a gear position, and a steering wheel rotation angle. The execution device in the vehicle drives according to the parking instruction.

[0099] S506. During the parking process of the vehicle according to the target parking trajectory, determine whether there is a risk of collision with an obstacle. If so, execute S507; if not, execute S508.

[0100] Among them, in an optional manner of an embodiment of the present application, when the execution module is parking according to the parking instruction, the collection device in the vehicle continues to collect data on the surrounding environment of the target vehicle and uploads the data to the processing device in the vehicle; the processing device in the vehicle analyzes and determines whether the target vehicle is at risk of colliding with an obstacle based on the surrounding environment data received from the collection device.

[0101] S507. The processing device in the vehicle determines whether obstacle avoidance can be achieved through re-planning according to the current position and posture of the target vehicle. If so, execute S502; if not, execute S509.

[0102] S508 . The control module in the vehicle reaches an end point of the target parking trajectory according to the target parking trajectory, and continues to execute S512 .

[0103] S509: The target vehicle stops and waits for the obstacle to leave, and then continues to execute S508.

[0104] S510. The processing device in the vehicle determines whether the waiting time has expired. If so, execute S511; if not, execute S509.

[0105] S511. Parking terminated.

[0106] Part 2: The second part of the parking trajectory using the front-end-first parking method.

[0107] S512: The processing device in the vehicle determines whether the front of the vehicle can enter the parking space. If so, execute S513; if not, execute S514.

[0108] In an optional manner in the embodiment of the present application, the acquisition device in the vehicle acquires the current position information of the vehicle, the distance information between the vehicle and the target parking space, etc., and uploads the acquired information to the processing device in the vehicle. The processing device in the vehicle determines whether the vehicle can enter the parking space by adjusting the front wheel angle according to the information uploaded by the acquisition device.

[0109] S513: The control device in the vehicle performs error adjustment and then drives into the parking space, and parking is completed.

[0110] Among them, in an optional manner of an embodiment of the present application, after the control device determines that the target vehicle can enter the parking space, in order to effectively ensure that the vehicle enters the parking space safely and accurately, the processing device in the vehicle can also control the execution device to perform forward / backward adjustment of the closed-loop error dynamic trajectory.

[0111] S514: The control device in the vehicle adjusts the position by reversing back and forth to enter the parking space.

[0112] In order to more clearly demonstrate the technical solution provided by the present application, the front-end first parking method provided by the present application is described below through an embodiment.

[0113] It should be noted that the following introduction is only an enumeration of the technical solutions provided in the present application and does not constitute a limitation of the technical solutions provided in the present application. Any combination and variation of the following embodiments to obtain a method for solving the technical problems of the present application falls within the scope of protection of the present application.

[0114] Combine the following Figure 8 The scenario shown is used to explain the solution described in the embodiment of the present application in stages.

[0115] For example, assume that in the current parking scene, the target vehicle is vehicle A, and there is an obstacle 1 (e.g., a pedestrian) 5 meters in front of the target vehicle A. There is a target parking space A below the target vehicle A, wherein the target parking space A is between parking space 1 and parking space 2, and vehicle 1 is parked in parking space 1, and vehicle 2 is parked in parking space 2.

[0116] Phase 1: Parking Data Collection

[0117] This module is specifically used to receive parking data from collection devices such as cameras, ultrasonic radars and sensors.

[0118] For example, in this scenario, this stage mainly uses camera and ultrasonic radar data to identify parking spaces in the environment, namely, target parking space A; uses camera data to identify vehicles / pedestrians and other targets and their locations in the environment, namely, obstacle 1; uses camera and ultrasonic radar data to identify passable areas in the environment, namely, Figure 8 The twill area in the

[0119] For example, during the parking data collection phase, the parking data information obtained by the vehicle is as follows:

[0120] (1) Parking space information:

[0121] Formula 1: Slot = {P1, P2, P3, P4}

[0122] Among them, Slot represents the target vehicle, P1 represents the coordinates of the upper left corner of the parking space, P2 represents the coordinates of the upper right corner of the parking space, P3 represents the coordinates of the lower left corner of the parking space, and P4 represents the coordinates of the lower right corner of the parking space.

[0123] (2) Pedestrian / vehicle targets:

[0124] Formula 2: Objects={Object1,Object2,...,Object n}; Object = {P1,P2,P3,P4}

[0125] Among them, Objects represents pedestrians, Object1 represents the coordinates of the upper left corner of the pedestrian, Object2 represents the coordinates of the upper right corner of the pedestrian, Object3 represents the coordinates of the lower left corner of the pedestrian, and Object4 represents the coordinates of the lower right corner of the pedestrian.

[0126] Among them, Object represents other vehicles, P1 represents the coordinates of the upper left corner of the parking space, P2 represents the coordinates of the upper right corner of the parking space, P3 represents the coordinates of the lower left corner of the parking space, and P4 represents the coordinates of the lower right corner of the parking space.

[0127] (3) Passable area:

[0128] Formula 3: Freespace = {P1, P2, P3, ..., P n}

[0129] Among them, Freespace represents the traversable area, P1, P2, P3, ..., P n Indicates the coordinates of the traversable area.

[0130] Phase 2: Generation and tracking of the first part of the trajectory during parking

[0131] According to the above parking data information, the optimal trajectory is obtained.

[0132] In an optional manner of the embodiment of the present application, after the parking data information is sent to a processing device in the vehicle, the processing process performed in the processing device may be as follows:

[0133] In the embodiment of the present application, after the collection device in the target vehicle collects the parking data, the processing device in the target vehicle can determine the approximate direction of the vehicle during the parking process and the parking area based on the parking data.

[0134] Furthermore, the target vehicle in the embodiment of the present application can divide the parking process into at least one parking unit according to the general direction of the vehicle and the parking area during the parking process.

[0135] For example, assuming that the target vehicle is parking and the target parking space is on the right side of the vehicle, the general direction of the vehicle is as follows: Fig. 9 Then, the parking process can be divided into four parking units. For example, the first parking unit of the parking process is as follows: Fig. 9 As shown in (b) of FIG. 1 , the second parking unit of the parking process is as follows: Fig. 9 As shown in (c) of FIG. 1 , the third unit of the parking process is as follows: Fig. 9 As shown in (d) in FIG. 1 , the fourth unit of the parking process is as follows: Fig. 9 As shown in (e) in the figure, the trajectory planned from the first parking unit to the third parking unit is the AB segment trajectory described above, and the trajectory planned for the fourth parking unit is the BC segment trajectory described above.

[0136] It should be noted that in the embodiment of the present application, there are many ways to determine the general direction of the vehicle during the parking process and the division of the parking units during the parking process, which are not limited in the embodiment of the present application. For example, the embodiment of the present application can determine the general direction of the parking process and the parking units during the parking process based on the prior trajectory model of the previous parking process. The prior trajectory model is obtained based on geometric analysis and a large number of experimental proofs.

[0137] Furthermore, the processing device in the vehicle may plan the parking trajectory based on each parking unit. That is, the entire parking trajectory during the parking process is composed of several parking unit trajectories.

[0138] In one optional manner of an embodiment of the present application, the processing device in the vehicle uses a step-by-step algorithm to generate the trajectory in each parking unit.

[0139] It is understandable that during the driving process of the vehicle, a trajectory may include a straight trajectory and an arc trajectory. Therefore, the trajectory in the parking unit in the embodiment of the present application can be understood as being composed of several straight trajectory and / or several arc trajectory.

[0140] In the parking unit trajectory, both the arc and the straight line play an important role. For example, the arc can flexibly adjust the direction of the vehicle; the straight line can adjust the position of the vehicle and smoothly connect the two arcs, making it easier for the system to track the generated trajectory.

[0141] It should be noted that the minimum parking unit described in the embodiment of the present application may only contain straight line tracks or arc tracks, and the sequence of arc tracks and straight line tracks is not limited in the embodiment of the present application. Any method that can be combined into the minimum unit parking track is applicable to the embodiment of the present application.

[0142] In the embodiment of the present application, when determining the trajectory of the parking unit, if Fig.10 As shown, the first parking unit takes point A as the calculation starting point, and then determines the parking trajectory in the first parking unit according to the step-by-step algorithm, and obtains the trajectory end point in the first parking unit, for example, point Q1 is the end point of the trajectory of the first parking unit.

[0143] Furthermore, the second parking unit uses the end point of the parking trajectory planned in the first parking unit (i.e., Q1) as the starting point of the parking trajectory planning in the second parking unit, and then determines the parking trajectory in the second parking unit according to the step-by-step algorithm, and obtains the end point of the trajectory in the second parking unit, for example, point Q2 is the end point of the trajectory of the second parking unit, and so on, until the entire parking trajectory planning is completed.

[0144] That is to say, when performing step-by-step route determination, the starting point of each step-by-step route is the route end point obtained during the previous step-by-step route determination.

[0145] In the following, for ease of understanding, the present embodiment assumes that each parking unit trajectory is composed of a straight line trajectory and an arc trajectory, and the straight line trajectory is before the arc trajectory, and the content of step-by-step determination of the parking unit trajectory is introduced:

[0146] It is assumed that the posture information of the starting point posture after each step algorithm is:

[0147] Formula 4: Position 车 ={x 车 ,y 车 ,θ 车}.

[0148] For a straight line trajectory, each step length is d step_line , then the step sizes in the x and y directions are:

[0149] Formula 5:

[0150] During the straight line trajectory search, the end point pose is updated after each step algorithm as follows:

[0151] Formula 6:

[0152] Furthermore, after the vehicle completes the number of straight-line threshold steps, it generates Fig.11 A straight line trajectory shown in (a).

[0153] For the arc trajectory, in order to simplify the calculation and meet the most concise trajectory to complete the direction adjustment of the vehicle, the minimum turning radius of the vehicle is used as the fixed turning radius r of the arc trajectory. The center position of the arc trajectory can be calculated according to the current position of the vehicle:

[0154] Formula 7:

[0155] Where, Formula 8:

[0156] During the trajectory search, the arc step length is d step_arc , then the corner step length is:

[0157] Formula 9: θ step_arc =d step_arc / r.

[0158] Therefore, during the arc trajectory search process, the end point posture is updated as follows after each step algorithm:

[0159] Formula 10:

[0160] Where, Formula 11:

[0161] Furthermore, after the vehicle completes the number of straight-line threshold steps, it generates Fig.11 A circular arc trajectory shown in (b).

[0162] The angle in the formula in the embodiment of the present application is a variable, and when generating a straight line trajectory, multiple straight line trajectories can be generated by adjusting the angle. When generating an arc trajectory, multiple arc trajectories can be generated by adjusting the angle, so at least one parking unit trajectory can be obtained in each parking unit.

[0163] It should be noted that the value range of the angle in the embodiment of the present application can be determined according to existing methods, and the embodiment of the present application is not limited.

[0164] By adding the step search algorithm to the parking trajectory model, the trajectory search time can be greatly reduced while ensuring high-quality and concise search results. It also has a high tolerance for perception errors at a distance. When approaching obstacles, it can make fast and reasonable re-planning strategies based on more accurate perception detection.

[0165] Further, such as Fig.12 As shown, the embodiment of the present application provides a flowchart for step-by-step determination of the optimal posture for each parking unit, as follows:

[0166] It is assumed that the parking trajectory in the parking unit is determined by a straight line trajectory and an arc trajectory, and the straight line trajectory is executed first.

[0167] S1200: Determine a straight line step length for generating a straight line trajectory.

[0168] S1201, selecting a first angle for performing linear trajectory stepping, and generating a linear trajectory according to the first angle and the linear step length.

[0169] S1202, determine whether the generated straight line trajectory has a risk of colliding with an obstacle, if so, execute S1203, if not, execute S1204.

[0170] S1203, returning to the starting point of the parking unit trajectory planning, changing the first angle, re-stepping the straight line trajectory, and continuing to execute S1202.

[0171] S1204, determine whether the number of linear steps required for stepping along the linear trajectory has been reached, if so, execute S1205, if not, execute S1201.

[0172] S1205. Determine the arc step length for generating the arc trajectory.

[0173] S1206, selecting a second angle for performing arc trajectory stepping, and generating an arc trajectory according to the second angle and the arc step length.

[0174] S1207, determine whether the generated arc trajectory has the risk of colliding with an obstacle, if so, execute S1208, if not, execute S1209.

[0175] S1208, return to the starting point of the arc trajectory of the previous step, change the second angle, re-step the arc trajectory, and continue to execute S1207.

[0176] S1209, determine whether the arc trajectory has reached the number of arc steps for stepping, if so, execute S1210, if not, execute S1206.

[0177] S1210, ending the trajectory generation of the unit.

[0178] Furthermore, in the embodiment of the present application, after the first parking unit trajectory, the second parking unit trajectory and the third parking unit trajectory are connected by the above-mentioned step-by-step algorithm, a first partial parking trajectory is obtained.

[0179] Stage 3: Posture Evaluation

[0180] In the embodiment of the present application, after the second stage trajectory generation and tracking is completed, at least one first part parking trajectory is obtained. Then, in this stage, trajectory evaluation is performed on the at least one first part parking trajectory obtained, and an evaluation (cost) value corresponding to each first part trajectory is obtained, and the quality of each first part trajectory is judged according to the size of the cost.

[0181] Among them, an optional method of the embodiment of the present application can be combined with the following two aspects for evaluation when performing posture evaluation:

[0182] Evaluation Aspect 1: The sum of the lateral deviations between the center of the front of the vehicle and the center of the rear axle (e rear_distance +e front_distance );

[0183] The vehicle head center and rear axle center described in the first evaluation aspect are the vehicle head center and rear axle center corresponding to the target vehicle when it is simulated at the end of the route planned by the third parking unit.

[0184] Second aspect of evaluation: Angle deviation between the vehicle body and the center axis of the parking space.

[0185] Among them, the center axis of the vehicle body and the parking space described in the second evaluation aspect is the center axis of the vehicle body and the parking space corresponding to when the target vehicle is simulated at the end of the route planned by the third parking unit.

[0186] Exemplarily, the specific formula for determining the evaluation value (cost) is as follows:

[0187] Formula 12: Cost = (1.0 + k1 × (e θ ) 2 )×(1.0+k2×(e rear_distance +e front_distance ) 2 )

[0188] Where k1 and k2 are the proportions of angular deviation and lateral deviation in the loss function respectively.

[0189] Furthermore, in the embodiment of the present application, after determining the evaluation value of at least one first portion of parking trajectory generated in the second stage, the first portion of parking trajectory with the smallest evaluation value is determined as the optimal parking trajectory, that is, the trajectory with the smallest evaluation value is determined as the target parking trajectory used by the vehicle during parking.

[0190] Stage 4: Dynamic fine-tuning of the trajectory

[0191] In this stage four, the embodiment of the present application mainly determines whether the target vehicle can enter the parking space at the end point (i.e., point B) of the target parking trajectory after the target vehicle drives according to the target parking trajectory obtained in the third stage.

[0192] When the processing device in the vehicle determines that the front of the vehicle cannot enter the target parking space according to the data information collected by the collection device, the position and posture can be adjusted through a plurality of arc curves. When the processing device in the vehicle determines that the front of the vehicle can enter the parking space according to the data information collected by the collection device, dynamic fine-tuning planning is started.

[0193] Furthermore, due to various error factors such as parking space detection error, positioning error, planning error and control error, there is still a large error between the vehicle and the target position when the vehicle enters the parking space. Therefore, it is necessary to make dynamic adjustment planning based on the vehicle's posture to make the parking position of the vehicle in the parking space more standardized.

[0194] To this end, an optional method of an embodiment of the present invention adopts a closed-loop error planning method to directly determine the front wheel angle based on the error between the vehicle posture and the target posture.

[0195] The embodiment of the present application uses the above-mentioned dynamic fine-tuning to determine the posture error from the vehicle posture and the target posture, and directly generates control instructions based on the determined posture error. The closed-loop effect is the fastest, eliminating the problem of untimely closed-loop response in the process from error elimination intention to trajectory generation and then to trajectory tracking.

[0196] Among them, an optional method of an embodiment of the present application is that in the dynamic fine-tuning stage, the dimension selected when determining the error between the posture of the vehicle and the target parking space is the same as the dimension considered when performing posture evaluation in the above-mentioned stage three.

[0197] That is, the sum of the lateral deviations between the center of the front of the vehicle and the center of the rear axle (e rear_distance +e front_distance ) and the angle deviation between the vehicle body and the center axis of the parking space determine the error between the vehicle and the target parking space. For example, it is assumed that the model used in the closed-loop error planning of the embodiment of the present application is the following closed-loop control PID model.

[0198] Formula 13:

[0199] The sum of the lateral deviations between the center of the vehicle head and the center of the rear axle and the angular deviation between the vehicle body and the center axis of the parking space are taken as e(t) and substituted into the above formula 13 to obtain the error value y between the vehicle and the target parking space.

[0200] Furthermore, if safety protection is not taken into consideration when planning a small parking space and only closed-loop error control is used, there is a risk of scratching obstacles next to the parking space.

[0201] Therefore, an optional method of the embodiment of the present application is to perform safety protection constraints on the output front wheel steering angle when determining the front wheel steering angle based on the error between the vehicle posture and the target posture.

[0202] Specifically, before generating a control instruction according to the determined front wheel turning angle, the embodiment of the present application performs safety protection constraints on the front wheel turning angle, so that the trajectory indicated by the obtained control instruction can be made safer.

[0203] An optional method of the embodiment of the present application provides a calculation method for performing safety protection constraints on the front wheel turning angle:

[0204] For example, when the vehicle enters a parking space, in order to avoid collision between the vehicle and obstacles on both sides of the parking space, the front wheel steering angle adjustment range needs to be constrained.

[0205] Among them, assuming that the maximum front wheel turning angle of the vehicle is max_front_wheel_angle, the front wheel turning angle value range is [-max_front_wheel_angle, max_front_wheel_angle], turning left is positive, and turning right is negative.

[0206] like Fig.13 As shown, the distance between line segment V0V1 and line segment S2S3 is distance1, and the distance between line segment V2V3 and line segment S0S1 is distance2.

[0207] In order to ensure that the line segment V2V3 and the line segment S0S1 maintain a minimum distance greater than min_obstacle_distance, it is necessary to limit the right turn of the vehicle, that is, constrain the minimum value of the output front wheel turning angle. The following formula 14 is given:

[0208] min_angle=-max_front_wheel_angle×min(max(distance2-min_obstacle_distance,0)×k,1.0)

[0209] Among them, k is the distance constraint coefficient. The larger k is, the faster the vehicle needs to turn, and the more flexible the space can be used to correct the vehicle's posture.

[0210] In addition, it can be seen from the formula that when distance2 is smaller, min_angle is larger. When distance2≤min_obstacle_distance, min_angle can only be 0, that is, the vehicle can only move forward in a straight line, thereby avoiding the possibility of collision between line segment V2V3 and line segment S0S1.

[0211] In order to ensure that the line segment V0V1 and the line segment S2S3 maintain a minimum distance greater than min_obstacle_distance, it is necessary to limit the extent of the vehicle turning left, that is, constrain the maximum value of the output front wheel turning angle.

[0212] Considering the extreme case, when distance2 = min_obstacle_distance, in order to ensure that distance2 ≥ min_obstacle_distance at the next moment, when max_angle takes the maximum value, the turning radius OV1 should be perpendicular to S2S3.

[0213] Among them, because the direction angle of S2S3 is known, the direction angle of OV1 can be obtained, and then according to the V1 coordinate, the straight line equation of OV1 can be calculated.

[0214] The line segment OC is the turning radius of the vehicle and is perpendicular to the direction of the vehicle's posture. Therefore, the OC direction angle is known. According to the coordinates of point C, i.e. the position of the vehicle, the straight line equation of OC can be calculated. The straight line equations of OV1 and OC are combined to calculate the position of the turning circle center O. The radius of the turning circle is:

[0215] Formula 15:

[0216] According to the Ackerman steering model, the front wheel steering angle can be calculated as:

[0217] Formula 16:

[0218] The maximum front wheel turning angle is given by the following formula 17:

[0219]

[0220] Where k is the distance constraint coefficient.

[0221] In addition, it can be seen from the formula that when distance1 is smaller, max_angle is smaller. When distance2≤min_obstacle_distance, max_angle takes boundary_angle, that is, the vehicle drives to ensure that distance1 increases, thereby avoiding the possibility of collision between line segment V0V1 and line segment S2S3.

[0222] In summary, based on geometric calculation constraints, dynamic fine-tuning is guaranteed to output lateral control instructions safely and efficiently within the movable space.

[0223] Through the front-first parking method described in the embodiment of the present application, during the parking process, a step-by-step search path planning is performed, and the planned trajectory is concise and effective, which ensures that the vehicle is adjusted to the optimal parking position while reducing the number of gear switching times and driving distance. The planning time is short and the real-time requirements are met.

[0224] On the other hand, the present invention proposes to make further safe and fast fine-tuning based on more accurate perception information when the vehicle enters the parking space, quickly converge the error, and improve the parking accuracy.

[0225] Among them, the term "at least one" in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. The following at least one item (items) or similar expressions refer to any combination of these items, including any combination of single items (items) or plural items (items). For example, at least one item (items) of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0226] Unless otherwise stated, ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects and are not used to limit the order, timing, priority or importance of multiple objects. In addition, the terms "including" and "having" in the embodiments of the present application, the claims and the drawings are not exclusive. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or modules, and may also include steps or modules that are not listed.

[0227] Through the above introduction to the scheme of the present application, it can be understood that, in order to realize the above functions, the above-mentioned implementation devices include hardware structures and / or software units corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0228] like Fig.14 As shown, an embodiment of the present invention provides a parking device with a front-end first-entry, the device comprising a processor 1400, a memory 1401 and a transceiver 1402;

[0229] The processor 1400 is responsible for managing the bus architecture and general processing, and the memory 1401 can store data used by the processor 1400 when performing operations. The transceiver 1402 is used to receive and send data under the control of the processor 1400 to perform data communication with the memory 1401.

[0230] The bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 1400 and memory represented by memory 1401. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. Processor 1400 is responsible for managing the bus architecture and general processing, and memory 1401 may store data used by processor 1400 when performing operations.

[0231] The process disclosed in the embodiment of the present invention can be applied to the processor 1400, or implemented by the processor 1400. In the implementation process, each step of the parking process with the front of the vehicle entering first can be completed by the hardware integrated logic circuit or software instructions in the processor 1400. The processor 1400 can be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, and can implement or execute the disclosed methods, steps and logic block diagrams in the embodiment of the present invention. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0232] The steps of the method disclosed in the embodiment of the present invention can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 1401, and the processor 1400 reads the information in the memory 1401 and completes the steps of the signal processing flow in combination with its hardware.

[0233] In an optional manner of the present application, the processor 1400 is used to read the program in the memory 1401 and execute the following Figure 5 The method flow in S500-S514 shown in FIG. 10 ; or executing the method flow in S500-S514 shown in FIG. 10 ; Fig.12 The method flow in S1200-S1210 is shown.

[0234] like Fig.15 As shown, the present invention provides a parking device with the front of the vehicle entering first, and the device includes a collection module 1500 and a processing module 1501.

[0235] The acquisition module 1500 is used to acquire parking data, wherein the parking data includes part or all of vehicle posture information, obstacle position information, target parking space information, and passable area position information;

[0236] The processing module 1501 is used to determine at least one initial parking trajectory according to the parking data using a step-by-step algorithm; evaluate each initial parking trajectory to determine an optimal initial parking trajectory; determine the optimal initial parking trajectory as a target parking trajectory; and perform front-end first parking according to the target parking trajectory.

[0237] In one implementation, the processing module 1501 is specifically configured to:

[0238] The parking process is divided into at least one parking unit; a parking trajectory of each parking unit is determined in turn using a step-by-step algorithm to obtain at least one initial parking trajectory; wherein the end point of the trajectory in the previous parking unit is the starting point of the trajectory of the next parking unit.

[0239] In one implementation, the processing module 1501 is specifically configured to:

[0240] Determine the vehicle's position at the end of each initial parking trajectory;

[0241] The initial parking trajectory is evaluated according to the position and posture to determine an optimal initial parking trajectory.

[0242] In one implementation, the processing module 1501 is specifically configured to:

[0243] Determine the sum of the lateral deviations between the center of the vehicle head and the center of the rear axle, and the angular deviation between the vehicle body and the central axis of the parking space according to the posture of the vehicle at the end point of the initial parking trajectory;

[0244] Determine an evaluation value corresponding to the initial parking trajectory according to the sum of the lateral deviations between the center of the vehicle head and the center of the rear axle, and the angular deviation between the vehicle body and the central axis of the parking space;

[0245] The initial parking trajectory with the smallest evaluation value is determined as the optimal initial parking trajectory.

[0246] In one implementation, the processing module 1501 is further configured to:

[0247] When the vehicle is parking according to the target parking trajectory and it is determined that there is a risk of collision with an obstacle, determining whether the parking route can be replanned to avoid the obstacle;

[0248] If yes, re-plan the parking route and park according to the newly planned parking route; if no, wait for the obstacle to leave within the threshold time and continue to park according to the target parking trajectory.

[0249] In one implementation, the processing module 1501 is further configured to:

[0250] When the vehicle reaches the end point of the target parking trajectory, determining whether the vehicle can enter the parking space at the current position;

[0251] If so, determine the target turning angle of the vehicle's front wheels and drive into the parking space; if not, replan the parking route.

[0252] In one implementation, the processing module 1501 is specifically configured to:

[0253] According to the vehicle posture at the current position and the position of the target parking space, it is determined whether the vehicle can enter the parking space by adjusting the front wheel angle.

[0254] In one implementation, the processing module 1501 is further configured to:

[0255] Determine the actual posture of the vehicle at the current position and the target posture corresponding to the current position in the target parking trajectory;

[0256] Determining a parking error according to the actual posture and the target posture;

[0257] The position and posture of the vehicle is adjusted according to the parking error.

[0258] In one implementation, the processing module 1501 is specifically configured to:

[0259] Determining a first turning angle of the front wheels of the vehicle and a safe turning angle of the front wheels according to the posture of the current position of the vehicle and the position of the target parking space;

[0260] An intersection of the first turning angle and the front wheel safety turning angle is determined as a target turning angle for front wheel adjustment of the vehicle.

[0261] In some possible implementations, various aspects of the front-end parking method provided in the embodiments of the present invention may also be implemented in the form of a program product, which includes program code. When the program code is run on a computer device, the program code is used to enable the computer device to execute the steps of the front-end parking method according to various exemplary embodiments of the present invention described in this specification.

[0262] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0263] The parking program product for vehicle head first entry according to the embodiment of the present invention can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a server device. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by communication transmission, an apparatus or a device or used in combination with it.

[0264] The readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, wherein the readable program code is carried. Such propagated data signals may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium may also be any readable medium other than a readable storage medium, which may transmit, propagate, or transfer a program for use by or in conjunction with a periodic network action system, apparatus, or device.

[0265] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0266] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device.

[0267] The embodiment of the present application also provides a computing device readable storage medium for the front-end parking method, i.e., the content is not lost after power failure. The storage medium stores a software program, including program code, and when the program code is run on a computing device, the software program can implement any of the front-end parking solutions in the embodiment of the present application when read and executed by one or more processors.

[0268] The present application is described above with reference to the block diagrams and / or flow charts showing the methods, devices (systems) and / or computer program products according to the embodiments of the present application. It should be understood that a block of the block diagram and / or flow chart diagram and a combination of blocks of the block diagram and / or flow chart diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer and / or other programmable data processing device to produce a machine, so that the instructions executed by the computer processor and / or other programmable data processing device create a method for implementing the functions / actions specified in the block diagram and / or flow chart block.

[0269] Accordingly, the present application may also be implemented with hardware and / or software (including firmware, resident software, microcode, etc.). Furthermore, the present application may take the form of a computer program product on a computer-usable or computer-readable storage medium, which has a computer-usable or computer-readable program code implemented in the medium, for use by an instruction execution system or in conjunction with an instruction execution system. In the context of the present application, a computer-usable or computer-readable medium may be any medium that may contain, store, communicate, transmit, or convey a program for use by an instruction execution system, device, or apparatus, or in conjunction with an instruction execution system, device, or apparatus.

[0270] This application describes multiple embodiments in detail in conjunction with multiple flow charts, but it should be understood that these flow charts and the related descriptions of their corresponding embodiments are only examples for ease of understanding and should not constitute any limitation to this application. Each step in each flow chart is not necessarily required to be executed, for example, some steps can be skipped. In addition, the execution order of each step is not fixed and is not limited to that shown in the figure. The execution order of each step should be determined by its function and internal logic.

[0271] The multiple embodiments described in this application can be arbitrarily combined or the steps can be executed alternately. The execution order of each embodiment and the execution order between the steps of each embodiment are not fixed and are not limited to those shown in the figures. The execution order of each embodiment and the cross-execution order of each step of each embodiment should be determined by their functions and internal logic.

[0272] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A parking method with the front of the vehicle entering first, characterized in that: The method comprises: Collecting parking data, wherein the parking data includes part or all of vehicle posture information, obstacle location information, target parking space information, and passable area location information; Determining at least one parking unit based on the estimated driving direction of the vehicle posture information and the target parking space information; Using a step-by-step algorithm, the parking trajectory of each parking unit is determined in turn to obtain at least one initial parking trajectory; Determining an evaluation value of each initial parking trajectory in the parking unit based on the posture of the vehicle at the end point of the initial parking trajectory, and determining an optimal parking trajectory from the at least one initial parking trajectory according to the evaluation value; Performing front-end first parking according to the optimal parking trajectory; Determining an evaluation value of each initial parking trajectory in the parking unit based on the posture of the vehicle at the end point of the initial parking trajectory includes: Determine the sum of the lateral deviations between the center of the vehicle head and the center of the rear axle, and the angular deviation between the vehicle body and the central axis of the parking space according to the posture of the vehicle at the end point of the initial parking trajectory; An evaluation value corresponding to the initial parking trajectory is determined according to the sum of the lateral deviations between the center of the vehicle head and the center of the rear axle, and the angular deviation between the vehicle body and the central axis of the parking space.

2. The method according to claim 1, characterized in that Using a step-by-step algorithm, the parking trajectory of each parking unit is determined in turn to obtain at least one initial parking trajectory, including: Based on the parking data and the initial posture of entering the parking unit, a step-by-step algorithm is used to sequentially determine the parking trajectory of each parking unit to obtain at least one initial parking trajectory.

3. The method according to claim 1 or 2, characterized in that: Performing front-end first parking according to the optimal parking trajectory also includes: During the process of the vehicle performing front-end parking according to the optimal parking trajectory, after determining that there is a risk of collision with an obstacle and the parking route can be replanned to avoid the obstacle, the parking route is replanned and the front-end parking is performed according to the newly planned parking route.

4. The method according to claim 1 or 2, characterized in that: After performing front-end first parking according to the optimal parking trajectory, the method further includes: After the vehicle reaches the end point of the optimal parking trajectory, determining a target turning angle of the front wheels of the vehicle; After the vehicle adjusts the front wheels to the target turning angle, the vehicle performs front-first parking.

5. The method according to claim 4, characterized in that Determine the target turning angle of the vehicle's front wheels before entering the parking space, and also include: Determining an actual posture of the vehicle at the current position and a target posture corresponding to the current position in the optimal parking trajectory; Determining a parking error according to the actual posture and the target posture; The position and posture of the vehicle is adjusted according to the parking error.

6. The method according to claim 5, characterized in that Determine the target turning angle of the vehicle's front wheels, including: Determining a first turning angle of the front wheels of the vehicle and a safe turning angle of the front wheels according to the posture of the current position of the vehicle and the position of the target parking space; An intersection of the first turning angle and the front wheel safety turning angle is determined as a target turning angle for front wheel adjustment of the vehicle.

7. A parking device with the front of the vehicle entering first, characterized in that: include: A collection module, used to collect parking data, wherein the parking data includes part or all of vehicle posture information, obstacle position information, target parking space information, and passable area position information; A processing module, configured to estimate the driving direction based on the vehicle posture information and the target parking space information, and determine at least one parking unit; and adopt a step-by-step algorithm to sequentially determine the parking trajectory of each parking unit, and obtain at least one initial parking trajectory; Determining an evaluation value of each initial parking trajectory in the parking unit based on the posture of the vehicle at the end point of the initial parking trajectory, and determining an optimal parking trajectory from the at least one initial parking trajectory according to the evaluation value; performing front-end parking according to the optimal parking trajectory; The processing module is specifically used for: Determine the sum of the lateral deviations between the center of the vehicle head and the center of the rear axle, and the angular deviation between the vehicle body and the central axis of the parking space according to the posture of the vehicle at the end point of the initial parking trajectory; An evaluation value corresponding to the initial parking trajectory is determined according to the sum of the lateral deviations between the center of the vehicle head and the center of the rear axle, and the angular deviation between the vehicle body and the central axis of the parking space.

8. The parking device according to claim 7, characterized in that: The processing module is specifically used for: Based on the parking data and the initial posture of entering the parking unit, a step-by-step algorithm is used to sequentially determine the parking trajectory of each parking unit to obtain at least one initial parking trajectory.

9. The parking device according to claim 7 or 8, characterized in that: The processing module is also used for: During the process of the vehicle performing front-end parking according to the optimal parking trajectory, after determining that there is a risk of collision with an obstacle and the parking route can be replanned to avoid the obstacle, the parking route is replanned and the front-end parking is performed according to the newly planned parking route.

10. The parking device according to claim 7 or 8, characterized in that: The processing module is also used for: After the vehicle reaches the end point of the optimal parking trajectory, determining a target turning angle of the front wheels of the vehicle; After the vehicle adjusts the front wheels to the target turning angle, the vehicle performs front-first parking.

11. The parking device according to claim 10, characterized in that: The processing module is also used for: Determining an actual posture of the vehicle at the current position and a target posture corresponding to the current position in the optimal parking trajectory; Determining a parking error according to the actual posture and the target posture; The position and posture of the vehicle is adjusted according to the parking error.

12. The parking device according to claim 11, characterized in that: The processing module is specifically used for: Determining a first turning angle of the front wheels of the vehicle and a safe turning angle of the front wheels according to the posture of the current position of the vehicle and the position of the target parking space; An intersection of the first turning angle and the front wheel safety turning angle is determined as a target turning angle for front wheel adjustment of the vehicle.

13. A parking device with front-end first-entry, characterized in that: include: one or more processors; memory; Transceiver; The memory is used to store one or more programs and data information; wherein the one or more programs include instructions; The processor is configured to execute the method according to any one of claims 1 to 6 according to at least one or more programs in the memory.

14. A vehicle, characterized in that: include: at least one camera and / or sensor, at least one memory, and at least one processor; The camera and / or sensor is used to collect parking data, wherein the parking data includes part or all of vehicle posture information, obstacle position information, target parking space information, and passable area position information; The memory is used to store one or more programs and data information; wherein the one or more programs include instructions; The processor is used to estimate the driving direction based on the vehicle posture information and the target parking space information, and determine at least one parking unit; using a step-by-step algorithm, sequentially determine the parking trajectory of each parking unit to obtain at least one initial parking trajectory; Determining an evaluation value of each initial parking trajectory in the parking unit based on the posture of the vehicle at the end point of the initial parking trajectory, and determining an optimal parking trajectory from the at least one initial parking trajectory according to the evaluation value; performing front-end parking according to the optimal parking trajectory; The processor is specifically used for: Determine the sum of the lateral deviations between the center of the vehicle head and the center of the rear axle, and the angular deviation between the vehicle body and the central axis of the parking space according to the posture of the vehicle at the end point of the initial parking trajectory; An evaluation value corresponding to the initial parking trajectory is determined according to the sum of the lateral deviations between the center of the vehicle head and the center of the rear axle, and the angular deviation between the vehicle body and the central axis of the parking space.

15. A computer-readable storage medium, characterized in that: The method comprises computer instructions, and when the computer instructions are executed on a parking device with a front-end first entry, the parking device with a front-end first entry executes the method according to any one of claims 1 to 6.

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