A method and device for inclined parking of an autonomous vehicle

Abstract

The application discloses a method and device for automatic driving vehicle parking into an inclined parking space, the method comprising: judging whether to acquire an anti-collision signal in a vehicle parking process, if yes, acquiring basic data of the vehicle; calculating a difference between a parking space heading angle and a predicted parking space heading angle of a to-be-stopped parking space according to the basic data of the vehicle; judging whether the difference between the parking space heading angle and the predicted parking space heading angle of the to-be-stopped parking space is greater than a preset angle threshold, if yes, re-planning a parking path of the vehicle parking into the to-be-stopped parking space according to the basic data of the vehicle and the difference between the parking space heading angle and the predicted parking space heading angle of the to-be-stopped parking space; and parking the vehicle into the to-be-stopped parking space according to the parking path. The application improves the parking success rate and space utilization of the inclined parking space by repositioning the inclined parking space and globally planning for the parking space to complete the parking into the inclined parking space.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, specifically to a method and device for tilting parking spaces for autonomous vehicles. Background Technology

[0002] Autonomous parking primarily utilizes sensors distributed throughout the vehicle and its surrounding environment to measure the relative distance, speed, and angle between the vehicle and surrounding objects. Then, an onboard computing platform or cloud computing platform calculates the operational process and controls the vehicle's steering and acceleration / deceleration to achieve automatic parking, exiting the parking space, and some driving functions. Current parking systems have a relatively low recognition rate for angled parking spaces, often mistaking them for perpendicular spaces. For parking systems lacking local planning algorithms, this can lead to parking failures, poor parking results, or even vehicle scratches. Furthermore, existing algorithms for angled parking at the front of the vehicle sometimes neglect corner points or fail to utilize space efficiently. Summary of the Invention

[0003] The purpose of this invention is to provide a method and device for tilting parking spaces for autonomous vehicles, so as to solve at least one of the above-mentioned technical problems.

[0004] This invention provides the following solution:

[0005] According to one aspect of the present invention, a method for tilting a parking space for an autonomous vehicle is provided, comprising:

[0006] Determine whether a collision avoidance signal was received during the vehicle's parking process; if so, then...

[0007] Obtain the basic data of the vehicle;

[0008] Calculate the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space based on the basic data of the vehicle.

[0009] Determine whether the difference between the heading angle of the parking space to be parked and the predicted heading angle is greater than a preset angle threshold. If so, then...

[0010] Based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space, the parking path of the vehicle into the parking space is replanned.

[0011] Park the vehicle in the designated parking space according to the parking path.

[0012] Optionally, obtaining the basic data of the vehicle includes:

[0013] Obtain the position information of the vehicle when it comes to a stop to avoid a collision during parking;

[0014] Establish a relative coordinate system based on the braking position information;

[0015] Obtain the vehicle body width data;

[0016] Obtain the width and length data of the parking space to be parked, as measured by the vehicle.

[0017] Acquire the left front radar data, left rear radar data, right front radar data, and right rear radar data of the vehicle at the braking position.

[0018] Optionally, calculating the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space based on the basic data of the vehicle includes:

[0019] The difference between the heading angle of the parking space and the predicted heading angle is calculated based on the left and right rear radar data of the vehicle at the braking position, the width data of the parking space, and the vehicle body width data. The calculation formula is as follows:

[0020] Leftdis2+Rightdis2+VehW*cosθ=GarXLen*cosθ,

[0021] cosθ=(Leftdis2+Rightdis2) / (GarXLen-VehW),

[0022] θ = acos(cosθ), where,

[0023] Leftdis2 is the data for the left rear radar, Rightdis2 is the data for the right rear radar, VehW is the data for the vehicle's width, and GarXLen is the data for the width of the parking space.

[0024] Optionally, the step of replanning the parking path for the vehicle to enter the parking space based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space includes:

[0025] Obtain the coordinates of the left and right corner points of the parking space to be parked;

[0026] Determine which of the following radar data points—left front radar data, left rear radar data, right front radar data, and right rear radar data—is less than a preset vehicle distance threshold when the vehicle is at a stopped position.

[0027] If either the left front radar data or the left rear radar data is less than the preset vehicle distance threshold, then obtain the coordinates of the left corner of the parking space.

[0028] If either the right front radar data or the right rear radar data is less than the preset vehicle distance threshold, then obtain the coordinates of the right corner of the parking space.

[0029] Optionally, the step of replanning the parking path for the vehicle to enter the parking space based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space includes:

[0030] The target position for the vehicle to park is calculated based on the difference between the heading angle of the parking space and the predicted heading angle, the corner coordinates of the parking space, the diagonal of the parking space, the width of the parking space, and the length of the parking space. The calculation formula is as follows:

[0031] θ1=arctan(GarYLen / GarXLen),

[0032] angle = θ1 + θ

[0033] R=sqrt(GarXLen^2+GarYLen^2) / 2,

[0034] Target = [cos(angle)sin(angle); -sin(angle)cos(angle)]*[R; 0]+[P(1),P(2)], where,

[0035] θ1 is the inverse function of the difference θ between the heading angle of the parking space to be parked and the heading angle of the predicted parking space, GarYLen is the length data of the parking space to be parked, angle is the rotation angle of the target position relative to the heading angle of the predicted parking space, R is the diagonal of the parking space to be parked / 2, [P(1),P(2)] is the coordinate of the left or right corner of the parking space to be parked, and Target is the target position.

[0036] Optionally, the step of replanning the parking path for the vehicle to enter the parking space based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space includes:

[0037] Based on the target location of the vehicle entering the parking space, a reverse calculation is performed to obtain the parking path of the vehicle into the parking space.

[0038] Optionally, the step of reverse-engineering the parking path of the vehicle into the parking space based on the target location of the vehicle parking in the parking space includes:

[0039] The final rotation center when the vehicle is parked in the parking space is obtained based on the target location.

[0040] Calculate the next path for the vehicle to move forward in forward mode based on the final rotation center;

[0041] After the vehicle moves forward along the next path based on the final rotation center, determine whether the front corner of the vehicle intersects with the preset reverse protection zone. If so, then...

[0042] Obtain the current rotation center of the vehicle;

[0043] The rear axle center path point of the vehicle is calculated based on the intersection of the front corner point of the vehicle and the preset reverse protection zone.

[0044] The next rotation center of the vehicle is calculated based on the current rotation center of the vehicle and the path point of the rear axle center of the vehicle, wherein,

[0045] Next rotation center = 2 * vehicle rear axle center path point - current rotation center;

[0046] The reverse parking path of the vehicle is obtained based on multiple rotation centers obtained through calculation.

[0047] Optionally, the step of reverse-engineering the parking path of the vehicle into the parking space based on the target location of the vehicle parking in the parking space includes:

[0048] Based on the vehicle's reverse parking path, when the vehicle moves backward in reverse mode, if the rear of the vehicle intersects with the left or right corner of the parking space, then...

[0049] Obtain the current rotation center of the vehicle;

[0050] Obtain the current rear axle center path point of the vehicle;

[0051] The next rotation center of the vehicle is calculated based on the current rear axle center path point and the current rotation center, wherein,

[0052] Next rotation center = 2 * vehicle rear axle center path point - current rotation center;

[0053] The parking path for the vehicle to park in the parking space is obtained based on the reverse parking path of the vehicle and the calculated multiple rotation centers.

[0054] Optionally, parking the vehicle into the parking space according to the parking path includes:

[0055] Park the vehicle in the target location of the parking space according to the parking path of the parking space.

[0056] The present invention also provides a tilting parking device for autonomous vehicles, comprising:

[0057] The collision avoidance signal acquisition and determination module is used to determine whether a collision avoidance signal has been acquired during the vehicle parking process. If so, then...

[0058] A basic data acquisition module, which is used to acquire basic data of the vehicle;

[0059] The difference calculation module is used to calculate the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space based on the basic data of the vehicle.

[0060] The difference judgment module is used to determine whether the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space is greater than a preset angle threshold. If so, then...

[0061] A parking path planning module is used to replan the parking path of the vehicle into the parking space based on the basic data of the vehicle and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space.

[0062] A parking module is used to park the vehicle into the parking space according to the parking path.

[0063] Compared with the prior art, the present invention has the following advantages:

[0064] This invention identifies the collision avoidance signal triggered after a vehicle enters a parking space, and uses radar data to reposition the parking space into a more accurate inclined parking space. Based on the vehicle's current position, it performs global planning for the parking space to obtain the parking path for the vehicle to enter the parking space, thereby completing the parking of the inclined parking space. This improves the success rate of parking in inclined parking spaces and the space utilization rate, making autonomous driving more intelligent and convenient, enhancing the user experience, and avoiding collisions or scrapes during the parking process of autonomous vehicles. Attached Figure Description

[0065] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0066] Figure 1 This is a flowchart illustrating a method for tilting a parking space for an autonomous vehicle according to an embodiment of the present invention.

[0067] Figure 2This is a schematic diagram of an inclined parking space for an autonomous vehicle parking method according to an embodiment of the present invention.

[0068] Figure 3 This is a schematic diagram of the rotation angle for a tilted parking method for autonomous vehicles according to an embodiment of the present invention.

[0069] Figure 4 This is a schematic diagram of the final rotation center of a tilting parking method for autonomous vehicles according to an embodiment of the present invention.

[0070] Figure 5 This is a schematic diagram of a preset reverse protection zone for a tilting parking method for autonomous vehicles according to an embodiment of the present invention.

[0071] Figure 6 This is a parking collision diagram of a tilting parking method for autonomous vehicles according to an embodiment of the present invention.

[0072] Figure 7 This is a schematic diagram of the tilting parking device for autonomous vehicles according to an embodiment of the present invention.

[0073] Figure 8 This is a structural diagram of an electronic device that enables the tilting parking method for autonomous vehicles according to the present invention. Detailed Implementation

[0074] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0075] Figure 1 This is a flowchart illustrating a method for tilting a parking space for an autonomous vehicle according to an embodiment of the present invention.

[0076] like Figure 1 As shown, a method for tilting a parking space for an autonomous vehicle includes:

[0077] Step 1: Determine if a collision avoidance signal was received during the vehicle's parking process. If so, then...

[0078] Step 2: Obtain basic vehicle data;

[0079] Step 3: Calculate the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space based on the vehicle's basic data;

[0080] Step 4: Determine if the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space is greater than a preset angle threshold. If so, then...

[0081] Step 5: Based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space, replan the parking path for the vehicle to enter the parking space.

[0082] Step 6: Park the vehicle in the designated parking space according to the parking route.

[0083] This invention identifies the collision avoidance signal triggered after a vehicle enters a parking space, and uses radar data to reposition the parking space into a more accurate inclined parking space. Based on the vehicle's current position, it performs global planning for the parking space to obtain the parking path for the vehicle to enter the parking space, thereby completing the parking of the inclined parking space. This improves the success rate of parking in inclined parking spaces and the space utilization rate, making autonomous driving more intelligent and convenient, enhancing the user experience, and avoiding collisions or scrapes during the parking process of autonomous vehicles.

[0084] It is understandable that obtaining collision avoidance signals during vehicle parking involves the driver entering the parking interface when preparing to park, driving the vehicle past available parking spaces, and selecting the identified available parking space.

[0085] The driver clicks the "Start Parking" button, and the vehicle begins to park. When the vehicle detects an obstacle, it will brake suddenly. At this time, this method can be used to reposition the parking space and plan the parking path, and then continue parking according to the parking path.

[0086] The predicted parking space heading angle is the predicted parking space heading angle before the vehicle is parked normally;

[0087] In this embodiment, obtaining basic vehicle data includes:

[0088] Obtain the vehicle's position information during parking to avoid a collision and bring it to a stop;

[0089] Establish a relative coordinate system based on the braking position information;

[0090] Obtain vehicle body width data;

[0091] Obtain the width and length data of the parking space to be parked, as measured by the vehicle.

[0092] Acquire the left front radar data, left rear radar data, right front radar data, and right rear radar data when the vehicle is stopped.

[0093] Specifically, it can be understood that at the current position of reversing and braking to a stop, the obstacle distance information LeftDis1 from the front ultrasonic radar of the left vehicle and LeftDis2 from the rear ultrasonic radar of the left vehicle, as well as the obstacle distance information RightDis1 and RightDis2 from the front ultrasonic radar of the right vehicle, are recorded. These four values ​​are then compared with a preset distance threshold SDis. If the obstacle distance information of any ultrasonic radar is less than this value, it indicates that the vehicle is attempting to avoid a side collision. Currently, there is no solution for the side collision avoidance problem, so parking is terminated.

[0094] Establish a relative coordinate system based on the current position of the vehicle when it stops in reverse, and reposition the target position based on the vehicle's ultrasonic radar information; record the obstacle distance data of the two side radars behind the vehicle at the current position; and calculate the tilting angle of the repositioned parking space based on the data of the two side radars, the width of the parking space, and the width of the vehicle body.

[0095] The system compares the predicted parking space heading angle input during parking with the new parking space heading angle calculated using data from two rear side radars. If the difference is less than 3 degrees, the current planning continues (a 3-degree deviation can be considered the same as vertical planning). If the difference is greater than 3 degrees, global planning for parking into the waiting space is performed. Parking replanning involves geometric parking replanning based on the target position calculated by repositioning and the pose information of the current position.

[0096] Figure 2 This is a schematic diagram of an inclined parking space for an autonomous vehicle parking method according to an embodiment of the present invention.

[0097] like Figure 2 As shown, in this embodiment, when the vehicle is reversing, it avoids an obstacle and obtains radar data on the left side of the vehicle that is less than a preset vehicle distance threshold. Therefore, it is necessary to calculate the heading angle of the parking space and compare the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space.

[0098] The difference between the heading angle of the parking space to be parked and the predicted heading angle is calculated based on the vehicle's basic data, including:

[0099] The difference between the actual and predicted heading angles of the parking space is calculated based on the left and right rear radar data, the width of the parking space, and the vehicle's width data when the vehicle is at a stopped position. The calculation formula is as follows:

[0100] Leftdis2+Rightdis2+VehW*cosθ=GarXLen*cosθ,

[0101] cosθ=(Leftdis2+Rightdis2) / (GarXLen-VehW),

[0102] θ = acos(cosθ), where,

[0103] Leftdis2 is the data for the left rear radar, Rightdis2 is the data for the right rear radar, VehW is the data for the vehicle's width, and GarXLen is the data for the width of the parking space.

[0104] Figure 2 The solid box represents the actual parking space line, and the dashed box represents the identified spatial parking space line. Since the spatial parking space identification strategy is to give the positions of two corner points, we can obtain the value of GarXLen, which is the width of the parking space. Through the geometric relationship in the figure, we can know that the new parking space width is GarXLen*cosθ. Within the parking space, it can be converted into the sum of the radar distances on the left and right sides plus the projection of the vehicle width in the direction of the new parking space, which is VehW*cosθ. Then we can get Leftdis2+Rightdis2+VehW*cosθ=GarXLen*cosθ;

[0105] After obtaining the above relationships, the value of θ can be obtained simply by deriving the equation;

[0106] In this embodiment, the parking path for the vehicle to enter the parking space is replanned based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space.

[0107] Obtain the coordinates of the left and right corner points of the parking space to be parked;

[0108] Determine which of the following radar data points—left front radar data, left rear radar data, right front radar data, and right rear radar data—is less than a preset distance threshold when the vehicle is at a stopped position.

[0109] If either the left front radar data or the left rear radar data is less than the preset vehicle distance threshold, then obtain the coordinates of the left corner of the parking space.

[0110] If either the right front radar data or the right rear radar data is less than the preset vehicle distance threshold, then obtain the coordinates of the right corner of the parking space.

[0111] Figure 3 This is a schematic diagram of the rotation angle for a tilted parking method for autonomous vehicles according to an embodiment of the present invention.

[0112] like Figure 3As shown, the new target position can be obtained by rotating the left corner point of the parking space. This is achieved by rotating a point on the same vertical axis as the left corner point and at a distance R from the right side of the left corner point clockwise by an angle θ1 + θ. Here, R is half of the diagonal of the parking space, and θ1 can be obtained by the inverse function of tanθ of that angle.

[0113] In this embodiment, the parking path for the vehicle to enter the parking space is replanned based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space.

[0114] The target position for parking a vehicle is calculated based on the difference between the heading angle of the parking space and the predicted heading angle, the coordinates of the corner points of the parking space, the diagonal of the parking space, the width of the parking space, and the length of the parking space. The calculation formula is as follows:

[0115] θ1=arctan(GarYLen / GarXLen),

[0116] angle = θ1 + θ

[0117] R=sqrt(GarXLen^2+GarYLen^2) / 2,

[0118] Target = [cos(angle)sin(angle); -sin(angle)cos(angle)]*[R; 0]+[P(1),P(2)], where,

[0119] θ1 is the inverse function of the difference θ between the heading angle of the parking space to be parked and the heading angle of the predicted parking space, GarYLen is the length data of the parking space to be parked, angle is the rotation angle of the target position relative to the heading angle of the predicted parking space, R is the diagonal of the parking space to be parked / 2, [P(1),P(2)] is the coordinate of the left or right corner of the parking space to be parked, and Target is the target position.

[0120] In this embodiment, the parking path for the vehicle to enter the parking space is replanned based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space.

[0121] The parking path for a vehicle to park in a parking space is calculated by reverse derivation based on the target location of the vehicle.

[0122] Figure 4 This is a schematic diagram of the final rotation center of a tilting parking method for autonomous vehicles according to an embodiment of the present invention.

[0123] Figure 5This is a schematic diagram of a preset reverse protection zone for a tilting parking method for autonomous vehicles according to an embodiment of the present invention.

[0124] like Figure 4 , Figure 5 As shown, in this embodiment, the parking path for the vehicle to park in the parking space is obtained by reverse calculation based on the target location of the vehicle parking in the parking space, including:

[0125] The final rotation center is obtained when the vehicle is parked in the target parking space based on the target location;

[0126] Calculate the next path the vehicle will take in forward mode based on the final rotation center;

[0127] Determine whether the front corner of the vehicle intersects with the preset reverse protection zone after moving forward along the next path from the final rotation center. If so, then...

[0128] Obtain the vehicle's current center of rotation;

[0129] Calculate the rear axle center path point of the vehicle based on the intersection of the front corner point of the vehicle and the preset reverse protection zone;

[0130] The next rotation center of the vehicle is calculated based on the path point of the vehicle's current rotation center and the center of the rear axle.

[0131] Next rotation center = 2 * vehicle rear axle center path point - current rotation center;

[0132] The reverse parking path of the vehicle is obtained based on multiple rotation centers obtained through calculation.

[0133] Specifically, in order to avoid parking space corners and not violate the preset reverse protection zone, and to ensure that vehicles can be accurately parked in the target position, the global planning of tilted parking spaces needs to adopt a reverse derivation calculation starting from the target position:

[0134] First, calculate the final rotation center of the vehicle entering the parking space, such as... Figure 4 As shown, the rotation center in this step needs to satisfy the following conditions: the trajectory of the rear center of the vehicle is tangent to the center line of the target parking space, and the minimum distance between the side of the vehicle and the right corner of the parking space is greater than the safe distance safedis. In other words, the final rotation center is on a straight line parallel to the center line of the parking space and a minimum turning radius VehMinR to the right of the center line of the parking space. At the same time, the final rotation center is no more than VehMinR-safedis-VehW / 2 from the right corner of the parking space.

[0135] After finding the final rotation center of the last arc, the next path is calculated backward from the last parking position, which is the path in the vehicle's forward mode. The vehicle is rotated based on the final rotation center obtained in the previous step. When the front left corner of the vehicle intersects the preset reverse protection zone (5.5 meters according to the iVista standard), this is the end point of this step. The path point of the rear axle center is deduced from the intersection of the front left corner of the vehicle and the reverse protection zone. Then, the coordinates of the rotation center of the next step are derived from the relationship that the sum of the two centers (the rotation center of this step and the rotation center of the next step) is twice the path point. It can be understood that if the front left corner does not collide with the preset reverse protection zone, the planning can be considered complete.

[0136] Figure 6 This is a parking collision diagram of a tilting parking method for autonomous vehicles according to an embodiment of the present invention.

[0137] like Figure 6 As shown, in this embodiment, the parking path for the vehicle to park in the parking space is obtained by reverse calculation based on the target location of the vehicle parking in the parking space, including:

[0138] Calculate the vehicle's reverse parking path. When the vehicle moves backward in reverse mode, if the rear of the vehicle intersects with the left corner of the parking space, this point can be recorded as the end point of the step, and the current rotation center of the vehicle can be obtained.

[0139] Obtain the current rear axle center path point of the vehicle;

[0140] Similarly, the coordinates of the next rotation center are derived by using the relationship that the sum of the two rotation centers is twice that of the path point; specifically, the vehicle's next rotation center is calculated based on the current rear axle center path point and the current rotation center.

[0141] Next rotation center = 2 * vehicle rear axle center path point - current rotation center;

[0142] The parking path for the vehicle to park in the parking space is obtained based on the vehicle's reverse parking path and multiple calculated rotation centers.

[0143] Specifically, the reverse parking path of the vehicle and the calculated multiple rotation centers are spliced ​​together to obtain the parking path of the vehicle into the parking space.

[0144] In this embodiment, parking the vehicle into the parking space according to the parking path includes:

[0145] Park the vehicle in the target location of the parking space according to the parking path of the parking space.

[0146] Figure 7This is a schematic diagram of the tilting parking device for autonomous vehicles according to an embodiment of the present invention.

[0147] like Figure 7 As shown, the present invention also provides a tilting parking device for autonomous vehicles, including a collision avoidance signal acquisition and judgment module, a basic data acquisition module, a difference calculation module, a difference judgment module, a parking path planning module, and a parking module; wherein,

[0148] The collision avoidance signal acquisition and judgment module is used to determine whether a collision avoidance signal has been acquired during the vehicle parking process. If so, then...

[0149] The basic data acquisition module is used to acquire basic vehicle data;

[0150] The difference calculation module is used to calculate the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space based on the basic data of the vehicle.

[0151] The difference judgment module is used to determine whether the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space is greater than a preset angle threshold. If so, then...

[0152] The parking path planning module is used to replan the parking path of the vehicle into the parking space based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space.

[0153] The parking module is used to park vehicles into parking spaces according to the parking path.

[0154] It is worth noting that although this system only discloses basic functional modules such as the collision avoidance signal judgment module, basic data acquisition module, difference calculation module, difference judgment module, parking path planning module, and parking module, it does not mean that this device is limited to the above-mentioned basic functional modules. On the contrary, what this invention intends to express is that, based on the above-mentioned basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with existing technology to form an infinite number of embodiments or technical solutions. That is to say, this system is open rather than closed. It should not be assumed that the scope of protection of the claims of this invention is limited to the above-disclosed basic functional modules just because this embodiment only discloses a few basic functional modules.

[0155] Figure 8 This is a structural diagram of an electronic device that enables the tilting parking method for autonomous vehicles according to the present invention.

[0156] like Figure 8As shown, the electronic device includes a processor, a communication interface, a memory, and a communication bus. The processor, communication interface, and memory communicate with each other through the communication bus. The memory stores a computer program, which, when executed by the processor, causes the processor to perform steps of a tilting parking method for autonomous vehicles.

[0157] This application also provides a computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform steps of a tilting parking method for an autonomous vehicle.

[0158] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0159] The electronic device comprises a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory. The operating system can be any one or more computer operating systems that control the electronic device through processes, such as Linux, Unix, Android, iOS, or Windows. Furthermore, in this embodiment of the invention, the electronic device can be a smartphone, tablet computer, or other handheld device, or a desktop computer, portable computer, or other electronic device; there is no particular limitation in this embodiment.

[0160] In this embodiment of the invention, the executing entity for electronic device control can be an electronic device itself, or a functional module within an electronic device capable of calling and executing a program. The electronic device can obtain the firmware corresponding to the storage medium. This firmware is provided by the supplier, and different storage media may have the same or different firmware; no limitation is made here. After obtaining the firmware corresponding to the storage medium, the electronic device can write this firmware into the storage medium; specifically, it burns the firmware corresponding to the storage medium into the storage medium. The process of burning the firmware into the storage medium can be implemented using existing technology, and will not be elaborated upon in this embodiment of the invention.

[0161] Electronic devices can also obtain reset commands corresponding to the storage media. The reset commands corresponding to the storage media are provided by the supplier. The reset commands corresponding to different storage media can be the same or different, and no restrictions are imposed here.

[0162] At this time, the storage medium of the electronic device is a storage medium on which the corresponding firmware has been written. The electronic device can respond to the reset command corresponding to the storage medium on which the corresponding firmware has been written, thereby resetting the storage medium on which the corresponding firmware has been written according to the reset command. The process of resetting the storage medium according to the reset command can be implemented by existing technology and will not be described in detail in this embodiment of the invention.

[0163] For ease of description, the above devices are described separately by function as various units and modules. Of course, in implementing this application, the functions of each unit and module can be implemented in one or more software and / or hardware.

[0164] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined.

[0165] For the sake of simplicity, the method embodiments are described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0166] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0167] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for tilting a parking space for an autonomous vehicle, characterized in that, include: Determine whether a collision avoidance signal was received during the vehicle's parking process; if so, then... Obtain the basic data of the vehicle, which includes: Obtain the position information of the vehicle when it comes to a stop to avoid a collision during parking; Establish a relative coordinate system based on the braking position information; Obtain the vehicle body width data; Obtain the width and length data of the parking space to be parked, as measured by the vehicle. Acquire the left front radar data, left rear radar data, right front radar data, and right rear radar data of the vehicle at the braking position; Calculate the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space based on the basic data of the vehicle. Determine whether the difference between the heading angle of the parking space to be parked and the predicted heading angle is greater than a preset angle threshold. If so, then... Based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space, the parking path of the vehicle into the parking space is replanned. The replanning of the parking path for the vehicle to enter the parking space includes: Based on the target location of the vehicle entering the parking space, a reverse calculation is performed to obtain the parking path of the vehicle entering the parking space. Park the vehicle in the designated parking space according to the parking path.

2. The tilting parking method for autonomous vehicles as described in claim 1, characterized in that, The calculation of the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space based on the basic data of the vehicle includes: The difference between the heading angle of the parking space and the predicted heading angle is calculated based on the left and right rear radar data of the vehicle at the braking position, the width data of the parking space, and the vehicle body width data. The calculation formula is as follows: Leftdis2+Rightdis2+VehW*cosθ=GarXLen*cosθ, cosθ=(Leftdis2+Rightdis2) / (GarXLen-VehW), θ = acos(cosθ), where, Leftdis2 is the data for the left rear radar, Rightdis2 is the data for the right rear radar, VehW is the data for the vehicle's width, and GarXLen is the data for the width of the parking space.

3. The tilting parking method for autonomous vehicles as described in claim 2, characterized in that, The step of replanning the parking path for the vehicle to park in the parking space based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space includes: Obtain the coordinates of the left and right corner points of the parking space to be parked; Determine which of the following radar data points—left front radar data, left rear radar data, right front radar data, and right rear radar data—is less than a preset vehicle distance threshold when the vehicle is at a stopped position. If either the left front radar data or the left rear radar data is less than the preset vehicle distance threshold, then obtain the coordinates of the left corner of the parking space. If either the right front radar data or the right rear radar data is less than the preset vehicle distance threshold, then obtain the coordinates of the right corner of the parking space.

4. The tilting parking method for autonomous vehicles as described in claim 3, characterized in that, The step of replanning the parking path for the vehicle to park in the parking space based on the vehicle's basic data and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space includes: The target position for the vehicle to park is calculated based on the difference between the heading angle of the parking space and the predicted heading angle, the corner coordinates of the parking space, the diagonal of the parking space, the width of the parking space, and the length of the parking space. The calculation formula is as follows: θ1=arctan(GarYLen / GarXLen), angle = θ1 + θ R=sqrt(GarXLen^2+GarYLen^2) / 2, Target = [cos(angle) sin(angle); -sin(angle) cos(angle)] * [R; 0] + [P(1); P(2)], where, θ1 is the inverse function of the difference θ between the heading angle of the parking space to be parked and the heading angle of the predicted parking space, GarYLen is the length data of the parking space to be parked, angle is the rotation angle of the target position relative to the heading angle of the predicted parking space, R is the diagonal of the parking space to be parked / 2, [P(1); P(2)] are the coordinates of the left or right corner of the parking space to be parked, and Target is the target position.

5. The tilted parking method for autonomous vehicles as described in claim 1, characterized in that, The step of reverse-engineering the parking path of the vehicle into the parking space based on the target location of the vehicle is to be parked includes: The final rotation center when the vehicle is parked in the parking space is obtained based on the target location. Calculate the next path for the vehicle to move forward in forward mode based on the final rotation center; After the vehicle moves forward along the next path based on the final rotation center, determine whether the front corner of the vehicle intersects with the preset reverse protection zone. If so, then... Obtain the current rotation center of the vehicle; The rear axle center path point of the vehicle is calculated based on the intersection of the front corner point of the vehicle and the preset reverse protection zone. The next rotation center of the vehicle is calculated based on the current rotation center of the vehicle and the path point of the rear axle center of the vehicle, wherein, Next rotation center = 2 * vehicle rear axle center path point - current rotation center; The reverse parking path of the vehicle is obtained based on multiple rotation centers obtained through calculation.

6. The tilting parking method for autonomous vehicles as described in claim 5, characterized in that, The step of reverse-engineering the parking path of the vehicle into the parking space based on the target location of the vehicle is to be parked includes: Based on the vehicle's reverse parking path, when the vehicle moves backward in reverse mode, if the rear of the vehicle intersects with the left or right corner of the parking space, then... Obtain the current rotation center of the vehicle; Obtain the current rear axle center path point of the vehicle; The next rotation center of the vehicle is calculated based on the current rear axle center path point and the current rotation center, wherein, Next rotation center = 2 * vehicle rear axle center path point - current rotation center; The parking path for the vehicle to park in the parking space is obtained based on the reverse parking path of the vehicle and the calculated multiple rotation centers.

7. The tilting parking method for autonomous vehicles as described in claim 6, characterized in that, The step of parking the vehicle into the parking space according to the parking path includes: Park the vehicle in the target location of the parking space according to the parking path of the parking space.

8. A tilting parking device for autonomous vehicles, characterized in that, The apparatus is used to perform the docking method according to any one of claims 1-7, comprising: The collision avoidance signal acquisition and judgment module is used to determine whether a collision avoidance signal is acquired during the vehicle parking process; if so, then... A basic data acquisition module, which is used to acquire basic data of the vehicle; The difference calculation module is used to calculate the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space based on the basic data of the vehicle. The difference judgment module is used to determine whether the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space is greater than a preset angle threshold. If so, then... A parking path planning module is used to replan the parking path of the vehicle into the parking space based on the basic data of the vehicle and the difference between the heading angle of the parking space to be parked and the predicted heading angle of the parking space. A parking module is used to park the vehicle into the parking space according to the parking path.

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