Parking Control Method, Device, Vehicle and Storage Medium for Autonomous Driving Vehicle

Abstract

The present invention discloses a parking control method, device, vehicle and storage medium for an autonomous vehicle. The method includes: after the parking control condition is satisfied, acquiring a parking point on the current driving path; determining a target parking control strategy according to the interval distance from the current driving position to the parking point in the current control cycle; and performing parking control on the vehicle in the current control cycle according to the target parking control strategy. By calculating the interval distance between the current driving position and the parking point, a suitable target parking control strategy is determined, realizing the dynamic adjustment of the target parking control strategy, enabling the vehicle to perform parking control according to different target parking control strategies, avoiding the problem of poor passenger experience caused by large speed changes during parking while ensuring the parking accuracy, and improving the passenger experience.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving control, and particularly to a parking control method, device, vehicle and storage medium for autonomous vehicles. Background Art

[0002] Autonomous vehicles can rely on the collaborative cooperation of artificial intelligence, visual computing, radar, monitoring devices, etc. to automatically and safely control autonomous vehicles. During the driving process of autonomous vehicles, there are significant differences between the parking stage and the driving stage. The control accuracy requirements for autonomous vehicles are higher during the parking stage.

[0003] In the prior art, when controlling the vehicle speed during the parking stage, the change in the adjustment of the deceleration during the entire control process is relatively large, resulting in uneven parking braking, poor stability of the vehicle body, and poor passenger experience. Summary of the Invention

[0004] The present invention provides a parking control method, device, vehicle and storage medium for autonomous vehicles, which realizes the control of the parking stage to solve the problem of uneven braking during the parking stage.

[0005] According to a first aspect of the present invention, there is provided a parking control method for an autonomous vehicle, the method comprising:

[0006] After meeting the parking control conditions, obtaining a parking point on the current driving path;

[0007] Determining a target parking control strategy according to the interval distance from the current driving position to the parking point in the current control cycle;

[0008] Performing parking control on the vehicle in the current control cycle according to the target parking control strategy.

[0009] According to a second aspect of the present invention, there is provided a parking control device for an autonomous vehicle, comprising:

[0010] A parking point acquisition module, configured to obtain a parking point on the current driving path after meeting the parking control conditions;

[0011] A control strategy determination module, configured to determine a target parking control strategy according to the interval distance from the current driving position to the parking point in the current control cycle;

[0012] A parking control module, configured to perform parking control on the vehicle in the current control cycle according to the target parking control strategy.

[0013] According to a third aspect of the present invention, there is provided a vehicle, comprising:

[0014] One or more controllers;

[0015] A memory communicatively connected to the at least one controller; wherein,

[0016] The memory stores a computer program executable by the at least one controller, and when the computer program is executed by the at least one controller, the at least one controller is enabled to execute the parking control method of the autonomous vehicle according to any embodiment of the present invention.

[0017] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a controller to implement the parking control method of the autonomous vehicle according to any embodiment of the present invention when executed.

[0018] The technical solution of the embodiment of the present invention determines a suitable target parking control strategy by calculating the distance between the current driving position and the parking point, realizes the dynamic adjustment of the target parking control strategy, enables the vehicle to perform parking control according to different target parking control strategies, and on the premise of ensuring the parking accuracy, avoids the problem that the large change in speed during parking causes poor body feeling of passengers, and improves the experience of passengers.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0021] Figure 1 is a flowchart of a parking control method for an autonomous vehicle according to Embodiment 1 of the present invention;

[0022] Figure 2 is a flowchart of a parking control method for an autonomous vehicle according to Embodiment 2 of the present invention;

[0023] Figure 3 is an example flowchart of a second driving control strategy in a control cycle of a parking control method for an autonomous vehicle according to Embodiment 2 of the present invention;

[0024] Figure 4It is a schematic structural diagram of a parking control device for an autonomous vehicle provided in Embodiment 3 of the present invention;

[0025] Figure 5 It is a schematic structural diagram of a vehicle provided in Embodiment 4 of the present invention. Detailed implementation manners

[0026] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1

[0029] Figure 1 This is a flowchart of a parking control method for an autonomous vehicle provided in Embodiment 1 of the present invention. This embodiment is applicable to the dynamic control situation during the parking stage of an autonomous vehicle. This method can be executed by a parking control device of an autonomous vehicle. The parking control device of the autonomous vehicle can be implemented in the form of hardware and / or software, and the parking control device of the autonomous vehicle can be configured in a vehicle. As Figure 1 shown, this method includes:

[0030] S110. After the parking control condition is satisfied, obtain a parking point on the current driving path.

[0031] In this embodiment, the parking control condition can be understood as a parking demand signal sent by the driver to the controller through vehicle controls, such as shifting the gear to the parking gear. The driving path can be understood as the path that the vehicle is to drive according to the parking positions available around the vehicle. The parking point can be understood as the position where the vehicle can park that is closest to the current position of the vehicle.

[0032] Specifically, the driver can shift the gear to the parking gear. The controller receives the parking demand signal, plans the driving route according to the surrounding road conditions, determines the positions where the vehicle can park on the current driving route, calculates the distances between the current position of the vehicle and multiple parking positions, and takes the parking position closest to the current position of the vehicle as the parking point.

[0033] S120. Determine the target parking control strategy according to the interval distance from the current driving position in the current control cycle to the parking point.

[0034] In this embodiment, the controller is associated with the positioning module. The positioning module is used to obtain the current state information of the vehicle, which may include information such as the current driving position of the vehicle, the current speed of the vehicle, the current acceleration of the vehicle, and the current orientation of the vehicle. The controller receives the current state information of the vehicle in the positioning module.

[0035] In this embodiment, the control cycle can be understood as setting a time duration, and the corresponding target parking control strategy is executed within the corresponding time duration. For example, it can be set to 10 ms. The driving position can be understood as the position where the vehicle is currently located obtained in real time through radar positioning or other positioning methods. The interval distance can be understood as the distance between the current position where the vehicle is located and the nearest parking point. The target parking control strategy can be understood as the strategy used to control the vehicle to reach the parking point, such as setting different accelerations or decelerations for the vehicle.

[0036] Specifically, the controller compares the interval distance from the current driving position to the parking point with a set threshold, determines the target parking control strategy according to the comparison result, sets different accelerations or decelerations for the vehicle. As the driving position changes continuously, the interval distance also changes accordingly, and the comparison is performed in real time. When the current comparison result is not satisfied, this control cycle ends, and the next control cycle is entered. Then, the target parking control strategy is determined according to the comparison result at this time until the vehicle reaches the set parking point.

[0037] S130. Perform parking control on the vehicle according to the target parking control strategy in the current control cycle.

[0038] In this embodiment, the controller is associated with the vehicle chassis by - wire system, and is used to transmit the instructions related to the target parking control strategy to the vehicle chassis by - wire system. The vehicle chassis by - wire system performs parking control on the vehicle according to the corresponding instructions.

[0039] Specifically, the controller transmits the target parking control strategy in the current control cycle to the vehicle chassis by - wire system in the form of a target acceleration instruction. The vehicle chassis by - wire system accelerates or decelerates the vehicle according to the instruction until the vehicle reaches the set parking point, realizing the parking control of the vehicle.

[0040] The parking control method for an autonomous vehicle provided in the first embodiment of the present invention determines a suitable target parking control strategy by calculating the interval distance between the current driving position and the parking point, realizes the dynamic adjustment of the target parking control strategy, enables the vehicle to perform parking control according to different target parking control strategies, and avoids the problem of the jerky feeling of passengers during parking while ensuring the parking accuracy, thereby enhancing the passenger experience.

[0041] As the first alternative embodiment of the first embodiment of the present invention, on the basis of the above embodiment, after performing parking control on the vehicle according to the target parking control strategy in the current control cycle, it further includes:

[0042] Taking the next control cycle as the new current control cycle, and returning to continue executing the operation of determining the target parking control strategy.

[0043] Specifically, during the parking process, the driving position continuously changes, and the interval distance also changes accordingly. When the interval distance reaches the next range, it immediately enters the next control cycle, and takes this control cycle as the new current control cycle. It is necessary to determine the target parking control strategy according to the changed interval distance, and perform parking control on the vehicle with different target parking control strategies and control cycles.

[0044] Through such a setting, the first alternative embodiment of the first embodiment of the present invention determines different target parking control strategies according to different control cycles, realizes the dynamic adjustment of the target parking control strategy, and enables the vehicle to perform parking control according to different target parking control strategies.

[0045] Embodiment 2

[0046] Figure 2 The flowchart of the parking control method for an autonomous vehicle provided in the second embodiment of the present invention further refines the technical solution of this embodiment on the basis of the above technical solution. As Figure 2 shown, the method includes:

[0047] S201. Obtain the parking point on the current driving path.

[0048] S202. Determine the target parking control strategy according to the interval distance from the current driving position to the parking point in the current control cycle.

[0049] Among them, this embodiment can further specify the above steps as:

[0050] a1. Obtain the current driving position of the vehicle in the current control cycle.

[0051] Specifically, in the current control cycle, the controller can obtain the current position of the vehicle through radar positioning or other positioning methods as the current driving position.

[0052] b2. Determine the distance between the current driving position and the parking point.

[0053] Specifically, the controller plans a driving path from the current driving position to the parking point and calculates the distance between the current driving position and the parking point according to the driving path.

[0054] c3. If the distance is greater than the set distance threshold, then use the first driving control strategy of the vehicle as the target parking control strategy.

[0055] In this embodiment, the set distance threshold is used to distinguish different driving control strategies and the requirement of parking accuracy needs to be considered. The first driving control strategy can be understood as a strategy that provides speed change control instructions for the vehicle.

[0056] Exemplarily, the set distance threshold is 0.5 meters, and the distance between the current driving position and the parking point is 1 meter, that is, the distance is greater than the set distance threshold. At this time, the first driving control strategy of the vehicle should be used as the target parking control strategy.

[0057] d4. If the distance is less than or equal to the set distance threshold, then use the second driving control strategy of the vehicle as the target parking control strategy.

[0058] In this embodiment, the second driving control strategy can be understood as another strategy that provides speed change control instructions for the vehicle.

[0059] Wherein, the first driving control strategy and the second driving control strategy are different driving control strategies.

[0060] Exemplarily, the set distance threshold is 0.5 meters, and the distance between the current driving position and the parking point is 0.4 meters, that is, the distance is less than the set distance threshold. At this time, the second driving control strategy of the vehicle should be used as the target parking control strategy.

[0061] S203. When the target parking control strategy is the first driving control strategy, perform parking control on the vehicle according to the target parking control strategy in the current control cycle.

[0062] Exemplarily, when the set distance threshold is 0.5 meters and the distance is 1 meter, in the current control cycle, parking control is performed on the vehicle according to the control instructions generated by the first driving control strategy. When the distance becomes 0.5 meters, the distance is equal to the set distance threshold, then enter the next control cycle and re-determine the driving control strategy.

[0063] Among them, this embodiment can further specify the above steps as follows:

[0064] a2. In the pre-planned driving path information, determine the target tracking point information corresponding to the current driving moment.

[0065] In this embodiment, the controller is associated with the planning module. The planning module is used to pre-plan the path to the parking point, the vehicle speed and vehicle acceleration at different positions in the path. The controller receives the driving path information transmitted by the planning module.

[0066] In this embodiment, the pre-planned driving path information can be understood as the path from the current driving position to the parking point, and it is necessary to plan the vehicle speed and vehicle acceleration at different positions in the path so that the vehicle can reach the parking point and stop. The target tracking point information can be understood as the information of the point closest to the current time on the planned path, that is, the position that the vehicle is about to reach when driving according to the planned driving path, which may include the planned vehicle position, planned vehicle speed, and planned vehicle acceleration.

[0067] Specifically, the controller obtains the pre-planned driving path information transmitted by the planning module, selects the point closest to the current time on the planned path as the target tracking point, and determines the target tracking point information corresponding to the current driving moment.

[0068] b2. According to the target tracking point information and the current driving information of the vehicle, determine the target acceleration of the vehicle in the current control cycle, and denote it as the first target acceleration.

[0069] In this embodiment, the current driving information can be obtained through the positioning module and may include the current driving position of the vehicle, the current vehicle speed, the current vehicle acceleration, etc. The first target acceleration can be an acceleration or a deceleration.

[0070] Exemplarily, the controller obtains the current driving information of the vehicle transmitted by the positioning module and the target tracking point information transmitted by the planning module, calculates the position difference between the planned vehicle position in the target tracking point information and the current driving position of the vehicle in the current driving information, calculates the speed difference between the planned vehicle speed and the current vehicle speed, substitutes the position difference and the speed difference into the position and speed double-loop PID controller to obtain the deviation correction acceleration, and takes the sum of the deviation correction acceleration and the planned vehicle acceleration as the first target acceleration in the current control cycle.

[0071] c3. Feed back the first target acceleration processed according to the set processing rules to the vehicle chassis by-wire system to control the vehicle to drive in the current control cycle through the vehicle chassis by-wire system.

[0072] Further, the set processing rules include:

[0073] Filter the target acceleration; and, limit the target acceleration according to the maximum acceleration and minimum acceleration of the vehicle; the target acceleration is the first target acceleration or the second target acceleration.

[0074] In this embodiment, the maximum acceleration of the vehicle can be understood as the maximum acceleration calculated based on the time of the vehicle's zero-to-hundred-kilometer acceleration (acceleration from 0 to 100 km / h) when it leaves the factory. The maximum deceleration can be understood as the ability of the vehicle to quickly reduce its driving speed until it stops during driving, and can be obtained according to different vehicle brands and models.

[0075] Specifically, the controller filters the first target acceleration. Among them, the filtering process can select filtering methods such as low-pass filtering, so that there are no jump points in the first target acceleration, that is, no points with too large change amplitudes. Compare the filtered first target acceleration with the maximum acceleration and the maximum deceleration. When the filtered first target acceleration reaches the maximum acceleration or the maximum deceleration, replace the original filtered first target acceleration with the maximum acceleration or the maximum deceleration; when the filtered first target acceleration does not reach the maximum acceleration or the maximum deceleration, keep the original filtered first target acceleration. Feed the processed first target acceleration to the vehicle chassis by-wire system in the form of a control command, so as to control the vehicle to drive in the current control cycle through the vehicle chassis by-wire system.

[0076] S204. When the target parking control strategy is the second driving control strategy, perform vehicle parking control according to the target parking control strategy.

[0077] Exemplarily, when the set distance threshold is 150 meters and the interval distance is 100 meters, perform vehicle parking control on the vehicle according to the control command generated by the second driving control strategy in the current control cycle.

[0078] Among them, this embodiment can further specify the above steps as follows:

[0079] a3. Obtain the current driving information of the vehicle at the current driving moment.

[0080] Exemplarily, the controller obtains the current driving information at the driving moment transmitted by the positioning module, including: the current driving position, the current vehicle speed, the current vehicle acceleration, etc.

[0081] b3. Determine the candidate acceleration of the vehicle in the current control cycle according to the preset first parking acceleration and second parking acceleration, in combination with the current driving acceleration in the current driving information.

[0082] In this embodiment, the first parking acceleration and the second parking acceleration can be understood as instructions for using different parking accelerations under different current driving accelerations to control the vehicle chassis by wire system, so that the controlled vehicle can decelerate smoothly. The selection of their values should be combined with the actual debugging of the specific vehicle model. The candidate acceleration can be understood as a value that may not be the final instruction to be transmitted to the vehicle chassis by wire system and needs further calibration.

[0083] Specifically, the controller compares the current driving acceleration in the current driving information with the preset first parking acceleration and second parking acceleration to determine the candidate acceleration of the vehicle in the current cycle.

[0084] c3. Calibrate the candidate acceleration according to the current vehicle position or the current vehicle tire steering in the current driving information.

[0085] In this embodiment, the vehicle tire steering is used to represent the driving direction of the vehicle. If the wheel steering is forward, it means the vehicle is driving forward; if the wheel steering is backward, it means the vehicle is driving backward.

[0086] Specifically, the controller receives the current driving information transmitted by the positioning module and calibrates the candidate acceleration according to the current vehicle position or the current tire steering therein to obtain an acceleration more suitable for the current vehicle speed.

[0087] d3. Use the calibrated candidate acceleration as the target acceleration of the vehicle in the current control cycle, denoted as the second target acceleration.

[0088] Specifically, the controller uses the calibrated candidate acceleration as the final acceleration that can be transmitted to the vehicle chassis control system in the current control cycle, i.e., the second target acceleration.

[0089] e3. Feed back the second target acceleration processed according to the set processing rules to the vehicle chassis by wire system to control the vehicle driving in the current control cycle through the vehicle chassis by wire system.

[0090] Specifically, the controller performs filtering and amplitude limiting processing on the second acceleration, and sends the processed second target acceleration to the vehicle chassis by wire system in the form of an instruction, so that the vehicle can drive according to the second target acceleration in the current cycle.

[0091] S205. Extract the current driving information.

[0092] Specifically, the controller obtains the current driving information at the driving moment transmitted by the positioning module, which may include extracting the current driving acceleration in the current driving information.

[0093] S206. If the current driving acceleration is greater than the preset first stopping acceleration, then determine the first stopping acceleration as the candidate acceleration of the vehicle in the current control cycle.

[0094] Exemplarily, set the first stopping acceleration to -0.3 m / s 2 , and the current driving acceleration is -0.1 m / s 2 . At this time, the current driving acceleration is greater than the first driving acceleration, so the first stopping acceleration of -0.3 m / s 2 is used as the candidate acceleration in the current control cycle. For the convenience of subsequent description, it is denoted as the first control cycle. Compare the current driving acceleration with the first stopping acceleration in real time. If the current driving acceleration is greater than the preset second stopping acceleration, then end the current cycle and enter the next cycle.

[0095] S207. When the current driving acceleration is greater than the preset second stopping acceleration, determine the candidate acceleration of the vehicle in the current control cycle based on the target acceleration of the previous control cycle.

[0096] Specifically, when the current driving acceleration is greater than the preset second stopping acceleration, the target acceleration of the previous control cycle plus the preset deceleration increase rate can be used as the candidate acceleration in the current control cycle. Among them, the preset deceleration increase rate is used to balance the parking comfort and parking accuracy and needs to be changed in combination with the actual debugging of the specific vehicle model.

[0097] Exemplarily, set the second stopping acceleration to -1 m / s 2 , set the deceleration increase rate to -0.005 m / s 2 , and the current driving acceleration is -0.4 m / s 2 . At this time, the current driving acceleration is greater than the preset second stopping acceleration. Based on the target acceleration of -0.3 m / s in the first control cycle 2 plus the set deceleration increase rate, the candidate acceleration at this time is -0.305 m / s 2 .

[0098] S208. When the current driving acceleration is less than or equal to the second stopping acceleration, determine the target acceleration of the previous control cycle as the candidate acceleration of the vehicle in the current control cycle.

[0099] Exemplarily, in a certain cycle, the current driving acceleration is -1.1 m / s 2 , which is less than the second stopping acceleration of -1 m / s 2 . If the target acceleration of the previous control cycle is -1.1 m / s 2 , then -1.1 m / s 2 is used as the candidate acceleration in the current control cycle.

[0100] S209. Correct the candidate acceleration according to the current vehicle position or the current vehicle tire steering in the current driving information.

[0101] In this embodiment, the vehicle tire steering is used to represent the driving direction of the vehicle. If the wheel steering is forward, it means the vehicle is moving forward; if the wheel steering is backward, it means the vehicle is moving backward.

[0102] Specifically, the controller obtains the current driving information of the vehicle transmitted by the positioning module, extracts the current vehicle position or the current vehicle tire steering in the current driving information, and corrects the candidate acceleration.

[0103] Among them, this embodiment can further specify the above steps as follows:

[0104] a4. Extract the current driving vehicle position and the current vehicle tire steering in the current driving information.

[0105] b4. If the distance between the current vehicle position and the parking point is less than the preset emergency stopping distance, or if the current vehicle tire steering is backward, then use the preset third stopping acceleration as the new candidate acceleration; otherwise, keep the candidate acceleration unchanged.

[0106] In this embodiment, the emergency stopping distance can be understood as the closest distance at which the vehicle can be stopped, and its value can be changed according to the range requirements of the parking accuracy. The third stopping acceleration is different from the first acceleration and the second acceleration, and is used to ensure that the vehicle can reduce its speed to zero.

[0107] Exemplarily, set the third stopping acceleration to -3 m / s 2 , when the vehicle tire steering is backward or the distance is less than the preset emergency stopping distance, that is, corresponding to the situation where the vehicle is slipping backward or approaching the parking point and cannot stop the vehicle with the current stopping acceleration, make the candidate acceleration at this time -3 m / s 2 , otherwise, keep the candidate acceleration of the previous cycle unchanged.

[0108] Specifically, when the above candidate acceleration reaches the maximum acceleration or the maximum deceleration, replace the original candidate acceleration with the maximum acceleration or the maximum deceleration; when the candidate acceleration does not reach the maximum acceleration or the maximum deceleration, then keep the original candidate acceleration. Feed the final candidate acceleration to the vehicle chassis by-wire system in the form of a control command to control the vehicle to drive in the current control cycle through the vehicle chassis by-wire system.

[0109] The parking control method for an autonomous vehicle provided in the second embodiment differentiates between the first driving control strategy or the second driving control strategy as the target parking control strategy by setting a distance threshold, and then refines the first driving control strategy and the second driving control strategy. The first driving control strategy is determined based on the vehicle's current driving information and the target tracking point information transmitted by the planning module, and the second driving control strategy is determined based on the current driving information and the set first parking acceleration, second parking acceleration, and third parking acceleration, realizing the dynamic adjustment of the driving control strategy. Finally, the determined target acceleration is processed according to the set processing rules to make the target acceleration smoother, solving the problem of poor passenger experience caused by a sudden change in a certain target acceleration and improving the passenger experience.

[0110] To better understand the technical solution of this embodiment, the following gives a description of the implementation of an exemplary parking control method for an autonomous vehicle:

[0111] Figure 3 It is an example flowchart of the second driving control strategy in a control cycle of a parking control method for an autonomous vehicle provided in the second embodiment of the present invention. As Figure 3 shown, the second embodiment of the present invention implements the parking control of the autonomous vehicle by the following steps.

[0112] S301. Obtain the parking point on the current driving path;

[0113] S302. Determine whether the current driving acceleration is greater than the preset first parking acceleration. If so, jump to S304; if not, jump to S303;

[0114] S303. Determine whether the current driving acceleration is greater than the preset second parking acceleration. If so, jump to S306; if not, jump to S305;

[0115] S304. Determine the first parking acceleration as the candidate acceleration of the vehicle in the current control cycle;

[0116] S305. Add the preset deceleration increase rate to the target acceleration of the previous control cycle as the candidate acceleration of the current control cycle;

[0117] S306. Determine the target acceleration of the previous control cycle as the candidate acceleration of the vehicle in the current control cycle;

[0118] S307. Determine whether the interval distance is less than the preset emergency parking distance. If so, jump to S313; if not, jump to S308;

[0119] S308. Whether the current vehicle tire is steering backward. If so, jump to S313; if not, jump to S309;

[0120] S309. Keep the current candidate acceleration unchanged;

[0121] S310. Whether the current candidate acceleration reaches the maximum deceleration or the maximum acceleration. If so, jump to S312; if not, jump to S311;

[0122] S311. Keep the current candidate acceleration unchanged;

[0123] S312. Set the maximum deceleration as the candidate acceleration;

[0124] S313. Use the preset third parking acceleration as the new candidate acceleration.

[0125] Embodiment III

[0126] Figure 4 It is a schematic structural diagram of a parking control device for an autonomous vehicle provided by Embodiment III of the present invention. As Figure 4 shown, the device includes: a parking point acquisition module 41, a control strategy determination module 42, and a parking control module 43.

[0127] Among them, the parking point acquisition module 41 is used to acquire the parking point on the current driving path after the parking control condition is satisfied;

[0128] The control strategy determination module 42 is used to determine the target parking control strategy according to the interval distance from the current driving position to the parking point in the current control cycle;

[0129] The parking control module 43 is used to perform parking control on the vehicle in the current control cycle according to the target parking control strategy.

[0130] Optionally, the control strategy determination module 42 includes:

[0131] The first acquisition unit is used to acquire the current driving position of the vehicle in the current control cycle.

[0132] The interval distance determination unit is used to determine the interval distance between the current driving position and the parking point.

[0133] The first judgment unit is used to, if the interval distance is greater than the set distance threshold, use the first driving control strategy of the vehicle as the target parking control strategy; otherwise, use the second driving control strategy of the vehicle as the target parking control strategy.

[0134] Optionally, the parking control module 43 includes:

[0135] When the target parking control strategy is the first driving control strategy, vehicle parking control is performed according to the target parking control strategy in the current control cycle, including:

[0136] An information determination unit for determining target tracking point information corresponding to the current driving moment in the pre-planned driving path information.

[0137] A first determination unit for determining the target acceleration of the vehicle in the current control cycle according to the target tracking point information and the current driving information of the vehicle, and denoting it as the first target acceleration;

[0138] A first feedback and control unit for feeding back the first target acceleration processed according to the set processing rules to the vehicle chassis by-wire system, so as to control the vehicle to drive in the current control cycle through the vehicle chassis by-wire system.

[0139] When the target parking control strategy is the second driving control strategy, vehicle parking control is performed according to the target parking control strategy, including:

[0140] An information acquisition unit for acquiring the current driving information of the vehicle at the current driving moment.

[0141] A second determination unit for determining the candidate acceleration of the vehicle in the current control cycle according to the preset first parking acceleration and second parking acceleration, in combination with the current driving acceleration in the current driving information.

[0142] Further, the second determination unit is specifically used for:

[0143] Extracting the current driving acceleration in the current driving information; if the current driving acceleration is greater than the preset first parking acceleration, then determining the first parking acceleration as the candidate acceleration of the vehicle in the current control cycle; otherwise, when the current driving acceleration is greater than the preset second parking acceleration, determining the candidate acceleration of the vehicle in the current control cycle based on the target acceleration of the previous control cycle; when the current driving acceleration is less than or equal to the second parking acceleration, determining the target acceleration of the previous control cycle as the candidate acceleration of the vehicle in the current control cycle.

[0144] A first correction unit for correcting the candidate acceleration according to the current vehicle position or the current vehicle tire steering in the current driving information.

[0145] Further, the first correction unit is specifically used for:

[0146] Extract the current vehicle position and the current vehicle tire steering in the current driving information; if the distance between the current vehicle position and the parking point is less than a preset emergency stopping distance, or if the current vehicle tire steering is backward, then use the preset third stopping acceleration as the new candidate acceleration; otherwise, keep the candidate acceleration unchanged.

[0147] A third determination unit, configured to use the corrected candidate acceleration as the target acceleration of the vehicle in the current control cycle, and denote it as the second target acceleration.

[0148] A second control and feedback unit, configured to feedback the second target acceleration processed according to the set processing rules to the vehicle chassis by - wire system, so as to control the vehicle to drive in the current control cycle through the vehicle chassis by - wire system.

[0149] Further, after performing parking control on the vehicle in the current control cycle according to the target parking control strategy, it further includes:

[0150] A return module, configured to use the next control cycle as the new current control cycle, and return to continue executing the determination operation of the target parking control strategy.

[0151] The parking control device of the autonomous vehicle provided by the embodiment of the present invention determines a suitable target parking control strategy by calculating the distance between the current driving position and the parking point, realizes the dynamic adjustment of the target parking control strategy, enables the vehicle to perform parking control according to different target parking control strategies, and on the premise of ensuring the parking accuracy, avoids the problem of the jerky feeling of passengers during the parking process, and improves the experience of passengers. By setting a distance threshold to distinguish whether to use the first driving control strategy or the second driving control strategy as the target parking control strategy, and then refining the first driving control strategy and the second driving control strategy, the first driving control strategy is determined according to the current driving information of the vehicle and the target tracking point information transmitted by the planning module, and the second driving control strategy is determined according to the current driving information and the set first stopping acceleration, second stopping acceleration and third stopping acceleration, so as to realize the dynamic adjustment of the driving control strategy. Finally, the determined target acceleration is processed according to the set processing rules to make the target acceleration smoother, solves the problem of poor passenger experience caused by the sudden change of a certain target acceleration, and improves the experience of passengers.

[0152] The parking control device of the autonomous vehicle provided by the embodiment of the present invention can execute the parking control method of the autonomous vehicle provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0153] Embodiment 4

[0154] Figure 5A schematic structural diagram of a vehicle provided by Embodiment 4 of the present invention is shown as Figure 5 shown. The vehicle includes a controller 51, a memory 52, an input device 53, and an output device 54. The number of the controller 51 and the memory 52 can be one or more. Figure 5 Here, one controller 51 and one memory 52 are taken as an example; the controller 51 and the memory 52 in the vehicle can be connected through a bus or other means. Figure 5 Here, connection through a bus is taken as an example. Among them, the controller is also associated with a positioning module, a planning module, and a vehicle chassis by-wire system. The positioning module is used for current driving information, and the planning module is used for pre-planning the path to the parking point, the vehicle speed and vehicle acceleration at different positions in the path, etc. The vehicle chassis by-wire system is used to control the vehicle.

[0155] The memory 52, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the parking control method of the autonomous driving vehicle in the embodiment of the present invention (for example, the parking point acquisition module 41, the control strategy determination module 42, and the parking control module 43 in the parking control device of the autonomous driving vehicle). The controller 51 executes various functional applications and data processing of the vehicle by running the software programs, instructions, and modules stored in the memory 52, that is, implements the above-mentioned obstacle vehicle driving behavior prediction method.

[0156] The memory 52 may mainly include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the terminal, etc. In addition, the memory 52 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some instances, the memory 52 may further include a memory remotely set relative to the controller 51, and these remote memories can be connected to the vehicle through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0157] The input device 53 can be used to receive digital or character information, and generate key signal inputs related to vehicle user settings and function controls. The output device 54 may include a display device such as a display screen.

[0158] Embodiment 5

[0159] Embodiment 5 of the present invention further provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute the parking control method of the autonomous driving vehicle when executed by a computer controller. The method includes:

[0160] After meeting the parking control conditions, obtain the parking points on the current driving path;

[0161] Determine the target parking control strategy according to the interval distance from the current driving position in the current control cycle to the parking point;

[0162] Perform parking control on the vehicle in the current control cycle according to the target parking control strategy.

[0163] Of course, for a storage medium containing computer-executable instructions provided by an embodiment of the present invention, the computer-executable instructions are not limited to the method operations described above, and can also execute related operations in the parking control method of an autonomous vehicle provided by any embodiment of the present invention.

[0164] From the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by means of software and necessary general-purpose hardware. Of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as a floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk, or optical disc of a computer, etc., including several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0165] It should be noted that in the embodiments of the above-mentioned parking control device for an autonomous vehicle, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the present invention.

[0166] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0167] To provide for interaction with a user, the systems and techniques described herein can be implemented on a vehicle that includes: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0168] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0169] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs that run on respective computers and have a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0170] It should be understood that various forms of processes shown above can be used, steps can be reordered, added or deleted. For example, the steps described in the present invention can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0171] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A parking control method for an autonomous vehicle, characterized in that, the method includes: After meeting the parking control conditions, obtain the parking point on the current driving path; Determine the target parking control strategy according to the interval distance from the current driving position to the parking point in the current control cycle; Perform parking control on the vehicle in the current control cycle according to the target parking control strategy; Among them, the determining the target parking control strategy according to the interval distance from the current driving position to the parking point in the current control cycle includes: Obtain the current driving position of the vehicle in the current control cycle; Determine the interval distance between the current driving position and the parking point; If the interval distance is greater than the set distance threshold, use the first driving control strategy of the vehicle as the target parking control strategy; otherwise, Use the second driving control strategy of the vehicle as the target parking control strategy; Among them, the first driving control strategy and the second driving control strategy are different driving control strategies; Among them, when the target parking control strategy is the first driving control strategy, the performing parking control on the vehicle in the current control cycle according to the target parking control strategy includes: In the pre-planned driving path information, determine the target tracking point information corresponding to the current driving moment; According to the target tracking point information and the current driving information of the vehicle, determine the target acceleration of the vehicle in the current control cycle, and record it as the first target acceleration; Feed back the first target acceleration processed according to the set processing rules to the vehicle chassis by-wire system to control the vehicle to drive in the current control cycle through the vehicle chassis by-wire system; Among them, when the target parking control strategy is the second driving control strategy, the performing parking control of the vehicle according to the target parking control strategy includes: Obtain the current driving information of the vehicle at the current driving moment; According to the preset first parking acceleration and second parking acceleration, combine the current driving acceleration in the current driving information to determine the candidate acceleration of the vehicle in the current control cycle; Correct the candidate acceleration according to the current vehicle position or the current vehicle tire steering in the current driving information; Use the corrected candidate acceleration as the target acceleration of the vehicle in the current control cycle, and record it as the second target acceleration; Feed back the second target acceleration processed according to the set processing rules to the vehicle chassis by-wire system to control the vehicle to drive in the current control cycle through the vehicle chassis by-wire system; Among them, the determining the candidate acceleration of the vehicle in the current control cycle according to the preset first parking acceleration and second parking acceleration, and combining the current driving acceleration in the current driving information includes: Extract the current driving acceleration in the current driving information; If the current driving acceleration is greater than the preset first parking acceleration, determine the first parking acceleration as the candidate acceleration of the vehicle in the current control cycle; otherwise, When the current driving acceleration is greater than a preset second parking acceleration, the target acceleration of the previous control period is added with a preset deceleration increase rate to obtain the candidate acceleration for the current control period. The preset deceleration increase rate is changed based on the actual debugging of the specific vehicle model, and is used to balance parking comfort and parking accuracy; When the current driving acceleration is less than or equal to the second parking acceleration, the target acceleration of the previous control period is determined as the candidate acceleration of the vehicle for the current control period.

2. The method according to claim 1, wherein, the setting processing rules include: performing filtering processing on the target acceleration; and, performing limiting processing on the target acceleration according to the maximum acceleration and minimum acceleration of the vehicle; the target acceleration is the first target acceleration, or the second target acceleration.

3. The method according to claim 1, wherein, the correcting the candidate acceleration according to the current vehicle position or the current vehicle tire steering in the current driving information includes: extracting the current vehicle position and the current vehicle tire steering in the current driving information; if the distance between the current vehicle position and the parking point is less than a preset emergency parking distance, or if the current vehicle tire steering is backward, then using a preset third parking acceleration as the new candidate acceleration; otherwise, keeping the candidate acceleration unchanged.

4. The method according to claim 1, wherein, after performing parking control on the vehicle according to the target parking control strategy in the current control period, it further includes: taking the next control period as the new current control period, and returning to continue performing the determination operation of the target parking control strategy.

5. A parking control device for an autonomous vehicle, wherein, it includes: a parking point acquisition module, configured to acquire a parking point on the current driving path after meeting the parking control conditions; a control strategy determination module, configured to determine a target parking control strategy according to the distance between the current driving position and the parking point in the current control period; a parking control module, configured to perform parking control on the vehicle according to the target parking control strategy in the current control period; wherein, the control strategy determination module includes: a first acquisition unit, configured to acquire the current driving position of the vehicle in the current control period; an interval distance determination unit, configured to determine the distance between the current driving position and the parking point; a first judgment unit, configured to, if the interval distance is greater than a set distance threshold, use the first driving control strategy of the vehicle as the target parking control strategy; otherwise, use the second driving control strategy of the vehicle as the target parking control strategy; wherein, the parking control module includes: when the target parking control strategy is the first driving control strategy, the performing parking control on the vehicle according to the target parking control strategy in the current control period includes: an information determination unit, configured to determine the target tracking point information corresponding to the current driving moment in the pre-planned driving path information; A first determination unit, configured to determine a target acceleration of the vehicle in the current control period according to the target tracking point information and the current driving information of the vehicle, and denote it as the first target acceleration; A first feedback and control unit, configured to feedback the first target acceleration processed according to the set processing rule to the vehicle chassis by-wire system, so as to control the vehicle to drive in the current control period through the vehicle chassis by-wire system; When the target parking control strategy is the second driving control strategy, the parking control of the vehicle according to the target parking control strategy includes: An information acquisition unit, configured to acquire the current driving information of the vehicle at the current driving moment; A second determination unit, configured to determine a candidate acceleration of the vehicle in the current control period according to a preset first parking acceleration and a second parking acceleration, in combination with the current driving acceleration in the current driving information; A first correction unit, configured to correct the candidate acceleration according to the current vehicle position or the current vehicle tire steering in the current driving information; A third determination unit, configured to use the corrected candidate acceleration as the target acceleration of the vehicle in the current control period, and denote it as the second target acceleration; A second control and feedback unit, configured to feedback the second target acceleration processed according to the set processing rule to the vehicle chassis by-wire system, so as to control the vehicle to drive in the current control period through the vehicle chassis by-wire system; Wherein, the second determination unit is specifically configured to: Extract the current driving acceleration in the current driving information; If the current driving acceleration is greater than the preset first parking acceleration, determine the first parking acceleration as the candidate acceleration of the vehicle in the current control period; otherwise, When the current driving acceleration is greater than the preset second parking acceleration, use the target acceleration of the previous control period plus a preset deceleration increase rate as the candidate acceleration of the current control period, and the preset deceleration increase rate is changed based on the actual debugging of the specific vehicle model, and the preset deceleration increase rate is used to balance the parking comfort and the parking accuracy; When the current driving acceleration is less than or equal to the second parking acceleration, determine the target acceleration of the previous control period as the candidate acceleration of the vehicle in the current control period.

6. A vehicle, Characterized in that, It includes: At least one controller; A memory communicatively connected to the at least one controller; wherein, The memory stores a computer program executable by the at least one controller, and the computer program is executed by the at least one controller, so that the at least one controller can execute the parking control method of the autonomous vehicle according to any one of claims 1-4.

7. A computer-readable storage medium, Characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the parking control method of the autonomous vehicle according to any one of claims 1-4 when executed by a controller.

8. A computer program product, Characterized in that, The computer program product includes a computer program which, when executed by a controller, implements the parking control method of an autonomous vehicle according to any one of claims 1-4.

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