A vehicle assistance method and system for short distance parking in a narrow space

Abstract

The application discloses a kind of narrow space short distance parking-out vehicle auxiliary method and system, the method includes: the monitoring data of target vehicle is obtained, it is judged whether to satisfy short distance parking-out preset condition;If satisfy, then send short distance parking-out application and judge whether short distance parking-out instruction is received, short distance parking-out instruction includes parking-out terminal point coordinate and confirmation information;If short distance parking-out instruction is received, then according to parking-out terminal point coordinate determine final parking-out direction;According to final parking-out direction, the normal parking-out trajectory of target vehicle is obtained, and then short distance parking-out area is generated, it is judged whether parking-out terminal point is in short distance parking-out area;If in, then all the track points in normal parking-out trajectory are traversed, to obtain target track point and position information, and according to position information, short distance parking-out trajectory is intercepted from normal parking-out trajectory.The application solves the problem that the end posture is difficult to determine when vehicle is parked out, to achieve the purpose of assisting vehicle to carry out short distance parking-out.

Description

Technical Field

[0001] This invention relates to the field of automotive control technology, and in particular to a vehicle assistance method and system for parking in narrow spaces over short distances. Background Technology

[0002] Autonomous vehicle parking technology enables vehicles to drive out of parking spaces and arrive at locations designated by the owner.

[0003] When a vehicle is parked in a narrow parking space, or when there are vehicles parked on both sides of the parking space, making it inconvenient for the driver to directly open the door and get in, a vehicle exit technique can be used. This involves driving the vehicle out of the parking space to make it easier for the driver to get in. In this case, the vehicle only needs to be driven a short distance out of the parking space, hence the name "short-distance parking exit."

[0004] In existing technologies, the vehicle's attitude at the destination point is generally determined in advance when generating the parking trajectory. In short-distance parking situations, because the starting point and ending point of the parking process are relatively close, the vehicle's attitude at the destination point varies depending on the destination, making it difficult to determine the attitude at the destination point and posing challenges to short-distance parking. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a vehicle assistance method and system for short-distance parking in narrow spaces, in order to solve the problem in the prior art that the attitude of the vehicle at the destination is difficult to determine because the attitude of the vehicle at the destination varies with the destination of parking.

[0006] A first aspect of the present invention provides a vehicle assistance method for short-distance parking in narrow spaces, comprising:

[0007] Acquire monitoring data of the target vehicle, including the distance between the target vehicle and surrounding vehicles. Determine whether the monitoring data meets preset conditions for short-distance parking. If it does, send a short-distance parking request to the vehicle owner and determine whether a short-distance parking instruction from the vehicle owner is received within a first preset time. The short-distance parking instruction includes the coordinates of the parking destination and confirmation information corresponding to the short-distance parking request.

[0008] If a short-distance parking instruction is received from the vehicle owner, the left parking distance and right parking distance are obtained based on the parking endpoint coordinates, and the parking direction with the shorter distance is selected as the final parking direction from the left parking distance and right parking distance.

[0009] The normal parking trajectory of the target vehicle is obtained according to the final parking direction, and a short-distance parking area is generated according to the normal parking trajectory of the target vehicle, so as to determine whether the parking endpoint is within the short-distance parking area based on the coordinates of the parking endpoint.

[0010] If the parking destination is within the short-distance parking area, then all trajectory points in the normal parking trajectory are traversed to obtain the target trajectory point closest to the parking destination, and the position information of the target vehicle under the coordinates of the target trajectory point is obtained. Based on the position information of the target vehicle under the coordinates of the target trajectory point, the short-distance parking trajectory is extracted from the normal parking trajectory.

[0011] In summary, the vehicle assistance method for short-distance parking described above greatly solves the difficulty of short-distance parking by obtaining the endpoint coordinates set by the car owner for the end position of the vehicle's front end, replacing the traditional method of locating the final posture of the entire vehicle. At the same time, the normal parking trajectory is calculated through the parking algorithm, and the short-distance parking trajectory is obtained based on the normal parking trajectory, eliminating the need to use the parking algorithm again and greatly reducing the workload of calculation. Specifically, the process involves: first, acquiring monitoring data to determine if the preset conditions for short-distance parking are met; then, actively receiving return command information to obtain the coordinates set by the driver for the vehicle's endpoint position; based on the endpoint coordinates, calculating and selecting the parking direction with the shortest travel distance as the final parking direction; using a parking algorithm to calculate the normal parking trajectory; and then determining whether the endpoint coordinates fall within the short-distance parking range to decide the parking mode. During normal parking, the vehicle is directly controlled to move along the normal parking trajectory. During short-distance parking, only the target trajectory point closest to the endpoint coordinates within the normal parking trajectory needs to be calculated, and the position information of the target vehicle at the target trajectory point coordinates is obtained. Based on the target vehicle's position information at the target trajectory point coordinates, a short-distance parking trajectory is extracted from the normal parking trajectory, and the vehicle is controlled to perform a short-distance parking operation according to the short-distance parking trajectory. This helps drivers solve the problem of difficulty in determining the endpoint posture due to variations in the vehicle's posture at the endpoint, thus assisting the vehicle in short-distance parking in narrow spaces.

[0012] Furthermore, the step of traversing all trajectory points in the normal parking trajectory if the parking endpoint is within the short-distance parking area to obtain the target trajectory point closest to the parking endpoint, and obtaining the position information of the target vehicle at the coordinates of the target trajectory point, and extracting the short-distance parking trajectory from the normal parking trajectory based on the position information of the target vehicle at the coordinates of the target trajectory point, includes:

[0013] Calculate the center point coordinates of the vehicle Box model corresponding to each trajectory point in the normal parking trajectory;

[0014] Obtain the basic parameters of the vehicle Box model, including the width, length, and heading of the vehicle Box model, and construct the vehicle Box model based on the width, length, and heading of the vehicle Box model and the coordinates of the center point;

[0015] The coordinates of the target trajectory point closest to the exit endpoint are calculated using the following formula:

[0016]

[0017] Where, d i x represents the distance between the coordinates of the i-th normal departure trajectory and the coordinates of the destination. i The x-coordinate of the i-th trajectory point is represented by y. i Let x represent the ordinate of the i-th trajectory point. det The x-coordinate of the endpoint, y det The ordinate representing the endpoint coordinates;

[0018] The step of calculating the coordinates of the center point of the vehicle Box model corresponding to each trajectory point in the normal parking trajectory includes:

[0019] The coordinates of the center point of the vehicle Box model are calculated using the following formula:

[0020]

[0021]

[0022] Where, x center-i The x-coordinate of the center point of the i-th vehicle Box model is represented by y. center-i The ordinate of the center point of the i-th vehicle Box model is represented by l. s This indicates the distance from the center point of the rear axle to the center point of the vehicle.

[0023] Furthermore, after calculating the coordinates of the target trajectory point closest to the berthing endpoint according to the following formula, the process also includes:

[0024] Starting from the trajectory point corresponding to the rear axle center of the target vehicle at the starting position, traverse the vehicle Box model corresponding to each trajectory point in turn to determine whether the target trajectory point appears in the vehicle Box model for the first time based on the coordinates of the target trajectory point.

[0025] If the target trajectory point appears within the vehicle Box model for the first time, the vehicle Box model in which the target trajectory point first appears is determined to be the target Box model. The rear axle center coordinates of the target Box model are obtained, and the corresponding position information is obtained based on the target Box model. The position information includes the trajectory points between the rear axle center coordinates of the target vehicle at the starting position and the rear axle center coordinates of the target Box model. A short-distance parking trajectory is extracted from the normal parking trajectory based on the position information of the target vehicle under the coordinates of the target trajectory point.

[0026] Furthermore, the step of obtaining the normal parking trajectory of the target vehicle based on the final parking direction includes:

[0027] If the final parking direction is left parking, set the virtual parking endpoint for left parking. Based on the rear axle center coordinates and heading of the target vehicle's starting point and the virtual parking endpoint for left parking, use the parking algorithm to calculate the normal parking trajectory.

[0028] If the final parking direction is right parking, set a virtual parking endpoint for right parking. Based on the rear axle center coordinates and heading of the target vehicle's starting point and the virtual parking endpoint for right parking, use the parking algorithm to calculate the normal parking trajectory.

[0029] Further, the step of obtaining the normal parking trajectory of the target vehicle based on the final parking direction, generating a short-distance parking area based on the normal parking trajectory of the target vehicle, and determining whether the parking endpoint is within the short-distance parking area based on the coordinates of the parking endpoint includes:

[0030] Based on the normal parking trajectory of the target vehicle, determine the lane information when the target vehicle is normally parking. The left parking area and the right parking area are tangent. The left parking area is a rectangular area with a length of a first preset value and a width equal to the sum of the widths of all lanes. The right parking area is a rectangular area with a length of a second preset value and a width equal to the width of the rightmost lane.

[0031] Determine whether the coordinates of the parking exit endpoint are located within the left and right parking exit areas. If they are, it falls within the short-distance parking range; otherwise, it falls within the normal parking range. Control the vehicle to perform a normal parking operation according to the normal parking trajectory.

[0032] A second aspect of the present invention provides a vehicle assistance system for short-distance parking in narrow spaces, comprising:

[0033] Short-distance parking application module: This module acquires monitoring data of the target vehicle, including the distance between the target vehicle and surrounding vehicles. It determines whether the monitoring data meets preset conditions for short-distance parking. If so, it sends a short-distance parking application to the vehicle owner and checks whether it receives a short-distance parking instruction from the owner within a first preset time. The short-distance parking instruction includes the coordinates of the parking destination and confirmation information corresponding to the short-distance parking application.

[0034] Parking direction determination module: If a short-distance parking instruction is received from the vehicle owner, the module obtains the left parking distance and the right parking distance based on the coordinates of the parking endpoint, and selects the parking direction with the shorter distance from the left parking distance and the right parking distance as the final parking direction.

[0035] Normal parking trajectory calculation module: used to obtain the normal parking trajectory of the target vehicle according to the final parking direction, and generate a short-distance parking area according to the normal parking trajectory of the target vehicle, so as to determine whether the parking endpoint is within the short-distance parking area based on the coordinates of the parking endpoint.

[0036] Short-distance parking implementation module: If the parking destination is within the short-distance parking area, it iterates through all the trajectory points in the normal parking trajectory to obtain the target trajectory point closest to the parking destination, obtains the position information of the target vehicle under the coordinates of the target trajectory point, and extracts the short-distance parking trajectory from the normal parking trajectory based on the position information of the target vehicle under the coordinates of the target trajectory point.

[0037] Furthermore, the short-distance berthing implementation module includes:

[0038] Vehicle Box Model Building Module: This module is used to calculate the coordinates of the center point of the vehicle Box model corresponding to each trajectory point in the normal parking trajectory.

[0039] Obtain the basic parameters of the vehicle Box model, including the width, length, and heading of the vehicle Box model, and construct the vehicle Box model based on the width, length, and heading of the vehicle Box model and the coordinates of the center point;

[0040] Target trajectory point coordinate calculation module: Used to calculate the coordinates of the target trajectory point closest to the berthing endpoint according to the following formula:

[0041]

[0042] Where, d i x represents the distance between the coordinates of the i-th normal departure trajectory and the coordinates of the destination. i The x-coordinate of the i-th trajectory point is represented by y. i Let x represent the ordinate of the i-th trajectory point. det The x-coordinate of the endpoint, y det The ordinate representing the endpoint coordinates;

[0043] The vehicle Box model creation module includes:

[0044] The coordinates of the center point of the vehicle Box model are calculated using the following formula:

[0045]

[0046]

[0047] Where, x center-i The x-coordinate of the center point of the i-th vehicle Box model is represented by y.center-i The ordinate of the center point of the i-th vehicle Box model is represented by l. s This indicates the distance from the center point of the rear axle to the center point of the vehicle.

[0048] Furthermore, the target trajectory point coordinate calculation module further includes:

[0049] Starting from the trajectory point corresponding to the rear axle center of the target vehicle at the starting position, traverse the vehicle Box model corresponding to each trajectory point in turn to determine whether the target trajectory point appears in the vehicle Box model for the first time based on the coordinates of the target trajectory point.

[0050] If the target trajectory point appears within the vehicle Box model for the first time, the vehicle Box model in which the target trajectory point first appears is determined to be the target Box model. The rear axle center coordinates of the target Box model are obtained, and the corresponding position information is obtained based on the target Box model. The position information includes the trajectory points between the rear axle center coordinates of the target vehicle at the starting position and the rear axle center coordinates of the target Box model. A short-distance parking trajectory is extracted from the normal parking trajectory based on the position information of the target vehicle under the coordinates of the target trajectory point.

[0051] Furthermore, the normal berthing trajectory calculation module includes:

[0052] If the final parking direction is left parking, set the virtual parking endpoint for left parking. Based on the rear axle center coordinates and heading of the target vehicle's starting point and the virtual parking endpoint for left parking, use the parking algorithm to calculate the normal parking trajectory.

[0053] If the final parking direction is right parking, set a virtual parking endpoint for right parking. Based on the rear axle center coordinates and heading of the target vehicle's starting point and the virtual parking endpoint for right parking, use the parking algorithm to calculate the normal parking trajectory.

[0054] Furthermore, the normal berthing trajectory calculation module includes:

[0055] Based on the normal parking trajectory of the target vehicle, determine the lane information when the target vehicle is normally parking. The left parking area and the right parking area are tangent. The left parking area is a rectangular area with a length of a first preset value and a width equal to the sum of the widths of all lanes. The right parking area is a rectangular area with a length of a second preset value and a width equal to the width of the rightmost lane.

[0056] Determine whether the coordinates of the parking exit endpoint are located within the left and right parking exit areas. If they are, it falls within the short-distance parking range; otherwise, it falls within the normal parking range. Control the vehicle to perform a normal parking operation according to the normal parking trajectory. Attached Figure Description

[0057] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] Figure 1 This is a flowchart of a vehicle assistance method for short-distance parking in a narrow space, provided by an embodiment of the present invention;

[0059] Figure 2 This is a diagram showing the left and right normal parking trajectories of a vehicle assistance method for short-distance parking in a narrow space, provided by an embodiment of the present invention.

[0060] Figure 3 This is a schematic diagram of the short-distance parking range of a vehicle assistance method for short-distance parking in a narrow space provided in an embodiment of the present invention;

[0061] Figure 4 This is a short-distance parking trajectory diagram of a vehicle assistance method for short-distance parking in a narrow space provided in an embodiment of the present invention;

[0062] Figure 5 This is a structural block diagram of a vehicle assistance system for short-distance parking in a narrow space, provided by an embodiment of the present invention. Detailed Implementation

[0063] The embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0064] The terms "first," "second," "third," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects and not to describe a particular order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, it may include a series of steps or units, or optionally, steps or units not listed, or other steps or units inherent to these processes, methods, products, or devices.

[0065] Please see Figure 1 , Figure 1 The diagram illustrates a flowchart of a vehicle assistance method for short-distance parking in a narrow space, as provided in an embodiment of the present invention.

[0066] Step S10: Obtain monitoring data of the target vehicle, including the distance between the target vehicle and surrounding vehicles; determine whether the monitoring data meets the preset conditions for short-distance parking; if it does, send a short-distance parking application to the vehicle owner and determine whether the short-distance parking instruction issued by the vehicle owner is received within a first preset time; the short-distance parking instruction includes the coordinates of the parking destination and confirmation information corresponding to the short-distance parking application.

[0067] It should be noted that the preset condition for short-distance parking is a threshold between normal parking and short-distance parking. If the distance between the target vehicle and the surrounding vehicles is less than the threshold, it means that the target vehicle is in a narrow space and a short-distance parking operation is required. If the distance between the target vehicle and the surrounding vehicles is greater than the threshold, it means that the distance between the target vehicle and the surrounding vehicles is large enough and a normal parking operation is sufficient.

[0068] It should be noted that when the preset conditions for short-distance parking are met, a short-distance parking request is sent to the vehicle owner's mobile app. The short-distance parking request includes asking the vehicle owner whether they want to perform a short-distance parking operation. If they do want to perform a short-distance parking operation, the vehicle owner is asked to set the coordinates of the parking destination. After sending the short-distance parking request, it is necessary to check whether the short-distance parking instruction from the vehicle owner has been received within a first preset time. In this embodiment, since the first preset time is related to the configuration of the target vehicle and the confirmation time of the vehicle owner, the manufacturer can set it according to the actual situation. This embodiment will not be described in detail.

[0069] Step S20: If a short-distance parking instruction is received from the vehicle owner, the left parking distance and right parking distance are obtained according to the parking endpoint coordinates, and the parking direction with the shorter driving distance is selected from the left parking distance and right parking distance as the final parking direction.

[0070] Understandably, when a short-distance parking instruction is received from the vehicle owner, it means that the owner agrees to short-distance parking. The parking direction is then determined based on the parking endpoint coordinates set by the owner in the short-distance parking instruction. Specifically, the left and right parking distances are calculated based on the parking endpoint coordinates, and the parking direction with the shorter distance is selected as the final parking direction.

[0071] It should be noted that the parking endpoint set by the car owner is relative to the front of the target vehicle. Compared with the traditional method of setting the final posture of the whole vehicle after parking, this invention only needs to set the final position of the front of the vehicle, which greatly solves the difficulty of determining the final posture of the vehicle when parking a short distance.

[0072] Step S30: Obtain the normal parking trajectory of the target vehicle according to the final parking direction, and generate a short-distance parking area according to the normal parking trajectory of the target vehicle, so as to determine whether the parking endpoint is within the short-distance parking area based on the coordinates of the parking endpoint.

[0073] Specifically, such as Figure 2 As shown, if the final exit direction is left exit, set the virtual exit endpoint for left exit. Based on the rear axle center coordinates of the target vehicle's starting point, its heading, and the virtual parking exit endpoint for left parking, a parking exit algorithm is used to calculate the normal parking exit trajectory.

[0074] If the final exit direction is right exit, set the virtual exit endpoint for right exit. Based on the rear axle center coordinates and heading of the target vehicle's starting point and the virtual parking exit endpoint for right parking, a parking exit algorithm is used to calculate the normal parking exit trajectory.

[0075] Based on the normal parking trajectory of the target vehicle, determine the lane information when the target vehicle is normally parking. The left parking area and the right parking area are tangent. The left parking area is a rectangular area with a length of a first preset value and a width equal to the sum of the widths of all lanes. The right parking area is a rectangular area with a length of a second preset value and a width equal to the width of the rightmost lane.

[0076] Understandably, based on the target vehicle's normal parking trajectory, we can determine the parking direction and the lane it chose when parking. Figure 3 As shown, taking two lanes with opposite directions of travel as an example, the first lane is closer to the target vehicle's location, and the second lane is farther away. According to traffic rules in real-life scenarios, when the target vehicle turns right, it chooses the first lane. Therefore, the width of the right-parking area is equal to the width W of the first lane. r The length of the right-hand parking area is the first preset value L. r When the target vehicle turns left, it selects the second lane to make the left turn. Therefore, the width of the left parking area is the sum of the widths of the first and second lanes, W. l The length of the left parking area is the second preset value L. l The first preset value L r Second preset value L l The manufacturer sets both the heights themselves; in this embodiment, both are set between 6 and 12 meters.

[0077] Determine whether the coordinates of the parking exit endpoint are located within the left and right parking exit areas. If they are, it falls within the short-distance parking range; otherwise, it falls within the normal parking range. Control the vehicle to perform a normal parking operation according to the normal parking trajectory.

[0078] Step S40: If the parking destination is within the short-distance parking area, then traverse all the trajectory points in the normal parking trajectory to obtain the target trajectory point that is closest to the parking destination, and obtain the position information of the target vehicle under the coordinates of the target trajectory point, and extract the short-distance parking trajectory from the normal parking trajectory based on the position information of the target vehicle under the coordinates of the target trajectory point.

[0079] Specifically, the coordinates of the center point of the vehicle Box model corresponding to each trajectory point in the normal parking trajectory are calculated.

[0080] The coordinates of the center point of the vehicle Box model are calculated using the following formula:

[0081]

[0082]

[0083] Where, x center-i The x-coordinate of the center point of the i-th vehicle Box model is represented by y. center-i The x-coordinate represents the center point coordinate of the i-th vehicle Box model. i The x-coordinate of the i-th trajectory point is represented by y. i Let l represent the ordinate of the i-th trajectory point. s This indicates the distance from the center point of the rear axle to the center point of the vehicle.

[0084] Obtain the basic parameters of the vehicle Box model, including the width, length, and heading of the vehicle Box model, and construct the vehicle Box model based on the width, length, and heading of the vehicle Box model and the coordinates of the center point;

[0085] It should be noted that the vehicle box model is constructed based on the size data of the target vehicle. After obtaining the coordinates of the center point of the vehicle box model, the position of the vehicle box model can be accurately determined based on its width, length, and heading.

[0086] The coordinates of the target trajectory point closest to the exit endpoint are calculated using the following formula:

[0087]

[0088] Where, d i x represents the distance between the coordinates of the i-th normal departure trajectory and the coordinates of the destination. i The x-coordinate of the i-th trajectory point is represented by y. i Let x represent the ordinate of the i-th trajectory point. det The x-coordinate of the endpoint, y det The ordinate representing the endpoint coordinates;

[0089] Starting from the trajectory point corresponding to the rear axle center of the target vehicle at the starting position, traverse the vehicle Box model corresponding to each trajectory point in turn to determine whether the target trajectory point appears in the vehicle Box model for the first time based on the coordinates of the target trajectory point.

[0090] Understandably, by using the distance formula between two points, the point with the smallest distance to the endpoint coordinates set by the driver in the normal parking trajectory can be found and used as the target trajectory point coordinates. Since there is a certain error in the actual parking operation, when the target trajectory point coordinates first appear in the vehicle Box model, it can be guaranteed that when the target vehicle finishes short-distance parking, the position of the front of the car is closest to the endpoint position set by the driver, thus reducing the error in short-distance parking operations.

[0091] like Figure 4 As shown, if the target trajectory point appears for the first time within the vehicle Box model, then the vehicle Box model in which the target trajectory point first appears is determined to be the target Box model. The rear axle center coordinates of the target Box model are obtained, and the corresponding position information is obtained based on the target Box model. The position information includes the trajectory points from the rear axle center coordinates of the target vehicle at the starting position to the rear axle center coordinates of the target Box model. Based on the position information of the target vehicle under the coordinates of the target trajectory point, a short-distance parking trajectory is extracted from the normal parking trajectory.

[0092] It should be noted that, whether it is a normal berthing or a short-distance berthing, the berthing algorithm must first be used to calculate the normal berthing trajectory, and then the coordinates of the destination must be used to determine whether it is located in the short-distance berthing area. If it is located in the short-distance berthing area, the short-distance berthing trajectory points are obtained based on the normal berthing trajectory points, without the need to use the berthing algorithm again, which greatly reduces the workload of calculation.

[0093] After the short-distance parking is completed, determine whether the rear axle center coordinates and heading of the target vehicle both meet the destination conditions. That is, x∈[x des -Δ x ,x des +Δ x ], y∈[y des -Δ y ,y des +Δ y ], This indicates that the short-distance parking maneuver was successful, and a notification message indicating successful short-distance parking will be returned to the vehicle owner. Here, x des Let Δ be the x-coordinate of the rear axle center of the target box model, i.e., the x-coordinate of the final state of the target vehicle. x The x-axis offset, y desLet Δ be the ordinate of the rear axis center coordinate of the target box model. y This indicates the offset of the vertical axis. For the heading of the target box model, This represents the deviation in heading, Δ. x Δ y , The settings are configured by the manufacturer and will not be described in detail in this embodiment.

[0094] Please see Figure 5 , Figure 5 This is a structural block diagram of a vehicle assistance system for short-distance parking in narrow spaces provided by an embodiment of the present invention. In this embodiment, the vehicle assistance system for short-distance parking in narrow spaces includes modules for performing... Figure 1 The steps in the corresponding embodiments. Please refer to the details. Figure 1 as well as Figure 1 The relevant descriptions in the corresponding embodiments are shown below. For ease of explanation, only the parts relevant to this embodiment are shown. See also... Figure 5 A vehicle assistance system for short-distance parking in narrow spaces includes: a short-distance parking application module 10, a parking direction determination module 11, a normal parking trajectory calculation module 12, and a short-distance parking implementation module 13, wherein:

[0095] Short-distance parking application module: used to acquire monitoring data of the target vehicle, including the distance between the target vehicle and surrounding vehicles, and determine whether the monitoring data meets the preset conditions for short-distance parking; if it does, send a short-distance parking application to the vehicle owner and determine whether the short-distance parking instruction issued by the vehicle owner is received within a first preset time. The short-distance parking instruction includes the coordinates of the parking destination and confirmation information corresponding to the short-distance parking application.

[0096] It should be noted that the preset condition for short-distance parking is a threshold between normal parking and short-distance parking. If the distance between the target vehicle and the surrounding vehicles is less than the threshold, it means that the target vehicle is in a narrow space and a short-distance parking operation is required. If the distance between the target vehicle and the surrounding vehicles is greater than the threshold, it means that the distance between the target vehicle and the surrounding vehicles is large enough and a normal parking operation is sufficient.

[0097] It should be noted that when the preset conditions for short-distance parking are met, a short-distance parking request is sent to the vehicle owner's mobile app. The short-distance parking request includes asking the vehicle owner whether they want to perform a short-distance parking operation. If they do want to perform a short-distance parking operation, the vehicle owner is asked to set the coordinates of the parking destination. After sending the short-distance parking request, it is necessary to check whether the short-distance parking instruction has been received from the vehicle owner within a first preset time. In this embodiment, since the first preset time is related to the configuration of the target vehicle and the vehicle owner's confirmation time, the manufacturer can set it according to the actual situation. This embodiment will not provide a detailed explanation.

[0098] Parking direction determination module: If a short-distance parking instruction is received from the vehicle owner, the module obtains the left parking distance and the right parking distance based on the coordinates of the parking endpoint, and selects the parking direction with the shorter distance from the left parking distance and the right parking distance as the final parking direction.

[0099] Understandably, when a short-distance parking instruction is received from the vehicle owner, it means that the owner agrees to short-distance parking. The parking direction is then determined based on the parking endpoint coordinates set by the owner in the short-distance parking instruction. Specifically, the left and right parking distances are calculated based on the parking endpoint coordinates, and the parking direction with the shorter distance is selected as the final parking direction.

[0100] It should be noted that the parking endpoint set by the car owner is relative to the front of the target vehicle. Compared with the traditional method of setting the final posture of the whole vehicle after parking, this invention only needs to set the final position of the front of the vehicle, which greatly solves the difficulty of determining the final posture of the vehicle when parking a short distance.

[0101] Normal parking trajectory calculation module: used to obtain the normal parking trajectory of the target vehicle according to the final parking direction, and generate a short-distance parking area according to the normal parking trajectory of the target vehicle, so as to determine whether the parking endpoint is within the short-distance parking area based on the coordinates of the parking endpoint.

[0102] Specifically, if the final exit direction is left exit, set the virtual exit endpoint for left exit. Based on the rear axle center coordinates of the target vehicle's starting point, its heading, and the virtual parking exit endpoint for left parking, a parking exit algorithm is used to calculate the normal parking exit trajectory.

[0103] If the final exit direction is right exit, set the virtual exit endpoint for right exit. Based on the rear axle center coordinates and heading of the target vehicle's starting point and the virtual parking exit endpoint for right parking, a parking exit algorithm is used to calculate the normal parking exit trajectory.

[0104] Based on the normal parking trajectory of the target vehicle, determine the lane information when the target vehicle is normally parking. The left parking area and the right parking area are tangent. The left parking area is a rectangular area with a length of a first preset value and a width equal to the sum of the widths of all lanes. The right parking area is a rectangular area with a length of a second preset value and a width equal to the width of the rightmost lane.

[0105] Understandably, based on the target vehicle's normal parking trajectory, we can determine its parking direction and the lane it chose. Taking two lanes with opposite directions as an example, the first lane is closer to the target vehicle's location, and the second lane is farther away. According to real-world traffic rules, when the target vehicle turns right, it chooses the first lane. Therefore, the width of the right-hand parking area is equal to the width W of the first lane. r The length of the right-hand parking area is the first preset value L. r When the target vehicle turns left, it selects the second lane to make the left turn. Therefore, the width of the left parking area is the sum of the widths of the first and second lanes, W. l The length of the left parking area is the second preset value L. l The first preset value L r Second preset value L l The manufacturer sets both the heights themselves; in this embodiment, both are set between 6 and 12 meters.

[0106] Determine whether the coordinates of the parking exit endpoint are located within the left and right parking exit areas. If they are, it falls within the short-distance parking range; otherwise, it falls within the normal parking range. Control the vehicle to perform a normal parking operation according to the normal parking trajectory.

[0107] Short-distance parking implementation module: If the parking destination is within the short-distance parking area, it iterates through all the trajectory points in the normal parking trajectory to obtain the target trajectory point closest to the parking destination, obtains the position information of the target vehicle under the coordinates of the target trajectory point, and extracts the short-distance parking trajectory from the normal parking trajectory based on the position information of the target vehicle under the coordinates of the target trajectory point.

[0108] Specifically, the short-distance berthing implementation module includes:

[0109] Vehicle Box Model Building Module: This module is used to calculate the coordinates of the center point of the vehicle Box model corresponding to each trajectory point in the normal parking trajectory.

[0110] The coordinates of the center point of the vehicle Box model are calculated using the following formula:

[0111]

[0112]

[0113] Where, x center-i The x-coordinate of the center point of the i-th vehicle Box model is represented by y. center-i The x-coordinate represents the center point coordinate of the i-th vehicle Box model. i The x-coordinate of the i-th trajectory point is represented by y. i Let l represent the ordinate of the i-th trajectory point. s This indicates the distance from the center point of the rear axle to the center point of the vehicle.

[0114] Obtain the basic parameters of the vehicle Box model, including the width, length, and heading of the vehicle Box model, and construct the vehicle Box model based on the width, length, and heading of the vehicle Box model and the coordinates of the center point;

[0115] It should be noted that the vehicle box model is constructed based on the size data of the target vehicle. After obtaining the coordinates of the center point of the vehicle box model, the position of the vehicle box model can be accurately determined based on its width, length, and heading.

[0116] Target trajectory point coordinate calculation module: Used to calculate the coordinates of the target trajectory point closest to the berthing endpoint according to the following formula:

[0117]

[0118] Where, d i x represents the distance between the coordinates of the i-th normal departure trajectory and the coordinates of the destination. i The x-coordinate of the i-th trajectory point is represented by y. i Let x represent the ordinate of the i-th trajectory point. det The x-coordinate of the endpoint, y det The ordinate representing the endpoint coordinates;

[0119] Starting from the trajectory point corresponding to the rear axle center of the target vehicle at the starting position, traverse the vehicle Box model corresponding to each trajectory point in turn to determine whether the target trajectory point appears in the vehicle Box model for the first time based on the coordinates of the target trajectory point.

[0120] Understandably, by using the distance formula between two points, the point with the smallest distance to the endpoint coordinates set by the driver in the normal parking trajectory can be found and used as the target trajectory point coordinates. Since there is a certain error in the actual parking operation, when the target trajectory point coordinates first appear in the vehicle Box model, it can be guaranteed that when the target vehicle finishes short-distance parking, the position of the front of the car is closest to the endpoint position set by the driver, thus reducing the error in short-distance parking operations.

[0121] If the target trajectory point appears within the vehicle Box model for the first time, the vehicle Box model in which the target trajectory point first appears is determined to be the target Box model. The rear axle center coordinates of the target Box model are obtained, and the corresponding position information is obtained based on the target Box model. The position information includes the trajectory points between the rear axle center coordinates of the target vehicle at the starting position and the rear axle center coordinates of the target Box model. A short-distance parking trajectory is extracted from the normal parking trajectory based on the position information of the target vehicle under the coordinates of the target trajectory point.

[0122] It should be noted that, whether it is a normal berthing or a short-distance berthing, the berthing algorithm must first be used to calculate the normal berthing trajectory, and then the coordinates of the destination must be used to determine whether it is located in the short-distance berthing area. If it is located in the short-distance berthing area, the short-distance berthing trajectory points are obtained based on the normal berthing trajectory points, without the need to use the berthing algorithm again, which greatly reduces the workload of calculation.

[0123] After the short-distance parking is completed, determine whether the rear axle center coordinates and heading of the target vehicle both meet the destination conditions. That is, x∈[x des -Δ x ,x des +Δ x ], y∈[y des -Δ y ,y des +Δ y ], This indicates that the short-distance parking maneuver was successful, and a notification message indicating successful short-distance parking will be returned to the vehicle owner. Here, x des Let Δ be the x-coordinate of the rear axle center of the target box model, i.e., the x-coordinate of the final state of the target vehicle. x The x-axis offset, y des Let Δ be the ordinate of the rear axis center coordinate of the target box model. y This indicates the offset of the vertical axis. For the heading of the target box model, This represents the deviation in heading, Δ. x Δ y , The settings are configured by the manufacturer and will not be described in detail in this embodiment.

[0124] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0125] Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The reference to "embodiment" herein means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily indicate the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0126] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A vehicle assistance method for parking in a narrow space over a short distance, characterized in that, The method, applied to a vehicle automatic parking assist system, includes: Acquire monitoring data of the target vehicle, including the distance between the target vehicle and surrounding vehicles, and determine whether the monitoring data meets the preset conditions for short-distance parking. If it does, send a short-distance parking application to the vehicle owner and determine whether the short-distance parking instruction issued by the vehicle owner is received within a first preset time. The short-distance parking instruction includes the coordinates of the parking destination and confirmation information corresponding to the short-distance parking application. If a short-distance parking instruction is received from the vehicle owner, the left parking distance and right parking distance are obtained based on the parking endpoint coordinates, and the parking direction with the shorter distance is selected as the final parking direction from the left parking distance and right parking distance. The normal parking trajectory of the target vehicle is obtained according to the final parking direction, and a short-distance parking area is generated according to the normal parking trajectory of the target vehicle, so as to determine whether the parking endpoint is within the short-distance parking area based on the coordinates of the parking endpoint. If the parking destination is within the short-distance parking area, then all trajectory points in the normal parking trajectory are traversed to obtain the target trajectory point closest to the parking destination, and the position information of the target vehicle under the coordinates of the target trajectory point is obtained. Based on the position information of the target vehicle under the coordinates of the target trajectory point, the short-distance parking trajectory is extracted from the normal parking trajectory.

2. The vehicle assistance method for short-distance parking in a narrow space according to claim 1, characterized in that, If the parking endpoint is within the short-distance parking area, the steps of traversing all trajectory points in the normal parking trajectory to obtain the target trajectory point closest to the parking endpoint, obtaining the position information of the target vehicle at the coordinates of the target trajectory point, and extracting the short-distance parking trajectory from the normal parking trajectory based on the position information of the target vehicle at the coordinates of the target trajectory point include: Calculate the center point coordinates of the vehicle Box model corresponding to each trajectory point in the normal parking trajectory; Obtain the basic parameters of the vehicle Box model, including the width, length, and heading of the vehicle Box model, and construct the vehicle Box model based on the width, length, and heading of the vehicle Box model and the coordinates of the center point; The coordinates of the target trajectory point closest to the exit endpoint are calculated using the following formula: Where, d i x represents the distance between the coordinates of the i-th normal departure trajectory and the coordinates of the destination. i The x-coordinate of the i-th trajectory point is represented by y. i Let x represent the ordinate of the i-th trajectory point. det The x-coordinate of the endpoint, y det The ordinate representing the endpoint coordinates; The step of calculating the coordinates of the center point of the vehicle Box model corresponding to each trajectory point in the normal parking trajectory includes: The coordinates of the center point of the vehicle Box model are calculated using the following formula: Where, x center-i The x-coordinate of the center point of the i-th vehicle Box model is represented by y. center-i The ordinate of the center point of the i-th vehicle Box model is represented by l. s This indicates the distance from the center point of the rear axle to the center point of the vehicle.

3. The vehicle assistance method for short-distance parking in a narrow space according to claim 2, characterized in that, After calculating the coordinates of the target trajectory point closest to the berthing endpoint according to the following formula, the process also includes: Starting from the trajectory point corresponding to the rear axle center of the target vehicle at the starting position, traverse the vehicle Box model corresponding to each trajectory point in turn to determine whether the target trajectory point appears in the vehicle Box model for the first time based on the coordinates of the target trajectory point. If the target trajectory point appears within the vehicle Box model for the first time, the vehicle Box model in which the target trajectory point first appears is determined to be the target Box model. The rear axle center coordinates of the target Box model are obtained, and the corresponding position information is obtained based on the target Box model. The position information includes the trajectory points between the rear axle center coordinates of the target vehicle at the starting position and the rear axle center coordinates of the target Box model. A short-distance parking trajectory is extracted from the normal parking trajectory based on the position information of the target vehicle under the coordinates of the target trajectory point.

4. The vehicle assistance method for short-distance parking in a narrow space according to claim 1, characterized in that, The step of obtaining the normal parking trajectory of the target vehicle based on the final parking direction includes: If the final parking direction is left parking, set the virtual parking endpoint for left parking. Based on the rear axle center coordinates and heading of the target vehicle's starting point and the virtual parking endpoint for left parking, use the parking algorithm to calculate the normal parking trajectory. If the final parking direction is right parking, set a virtual parking endpoint for right parking. Based on the rear axle center coordinates and heading of the target vehicle's starting point and the virtual parking endpoint for right parking, use the parking algorithm to calculate the normal parking trajectory.

5. The vehicle assistance method for short-distance parking in a narrow space according to claim 4, characterized in that, The steps of obtaining the normal parking trajectory of the target vehicle based on the final parking direction, generating a short-distance parking area based on the normal parking trajectory of the target vehicle, and determining whether the parking endpoint is within the short-distance parking area based on the coordinates of the parking endpoint include: Based on the normal parking trajectory of the target vehicle, determine the lane information when the target vehicle is normally parking. The left parking area and the right parking area are tangent. The left parking area is a rectangular area with a length of a first preset value and a width equal to the sum of the widths of all lanes. The right parking area is a rectangular area with a length of a second preset value and a width equal to the width of the rightmost lane. Determine whether the coordinates of the parking exit endpoint are located within the left and right parking exit areas. If they are, it falls within the short-distance parking range; otherwise, it falls within the normal parking range. Control the vehicle to perform a normal parking operation according to the normal parking trajectory.

6. A vehicle assistance system for short-distance parking in narrow spaces, characterized in that, Applied to a vehicle automatic parking assist system, the system includes: Short-distance parking application module: acquires monitoring data of the target vehicle, including the distance between the target vehicle and surrounding vehicles, and determines whether the monitoring data meets the preset conditions for short-distance parking; if it does, it sends a short-distance parking application to the vehicle owner and determines whether it receives the short-distance parking instruction from the vehicle owner within a first preset time. The short-distance parking instruction includes the coordinates of the parking destination and confirmation information corresponding to the short-distance parking application. Parking direction determination module: If a short-distance parking instruction is received from the vehicle owner, the module obtains the left parking distance and the right parking distance based on the coordinates of the parking endpoint, and selects the parking direction with the shorter distance from the left parking distance and the right parking distance as the final parking direction. Normal parking trajectory calculation module: used to obtain the normal parking trajectory of the target vehicle according to the final parking direction, and generate a short-distance parking area according to the normal parking trajectory of the target vehicle, so as to determine whether the parking endpoint is within the short-distance parking area based on the coordinates of the parking endpoint. Short-distance parking implementation module: If the parking destination is within the short-distance parking area, it iterates through all the trajectory points in the normal parking trajectory to obtain the target trajectory point closest to the parking destination, obtains the position information of the target vehicle under the coordinates of the target trajectory point, and extracts the short-distance parking trajectory from the normal parking trajectory based on the position information of the target vehicle under the coordinates of the target trajectory point.

7. The vehicle assistance system for short-distance parking in narrow spaces according to claim 6, characterized in that, The short-distance berthing implementation module is also used for: Vehicle Box Model Building Module: This module is used to calculate the coordinates of the center point of the vehicle Box model corresponding to each trajectory point in the normal parking trajectory. Obtain the basic parameters of the vehicle Box model, including the width, length, and heading of the vehicle Box model, and construct the vehicle Box model based on the width, length, and heading of the vehicle Box model and the coordinates of the center point; Target trajectory point coordinate calculation module: Used to calculate the coordinates of the target trajectory point closest to the berthing endpoint according to the following formula: Where, d i x represents the distance between the coordinates of the i-th normal departure trajectory and the coordinates of the destination. i The x-coordinate of the i-th trajectory point is represented by y. i Let x represent the ordinate of the i-th trajectory point. det The x-coordinate of the endpoint, y det The ordinate representing the endpoint coordinates; The vehicle Box model creation module includes: The coordinates of the center point of the vehicle Box model are calculated using the following formula: Where, x center-i The x-coordinate of the center point of the i-th vehicle Box model is represented by y. center-i The ordinate of the center point of the i-th vehicle Box model is represented by l. s This indicates the distance from the center point of the rear axle to the center point of the vehicle.

8. The vehicle assistance system for short-distance parking in narrow spaces according to claim 7, characterized in that, The target trajectory point coordinate calculation module is also used for: Starting from the trajectory point corresponding to the rear axle center of the target vehicle at the starting position, traverse the vehicle Box model corresponding to each trajectory point in turn to determine whether the target trajectory point appears in the vehicle Box model for the first time based on the coordinates of the target trajectory point. If the target trajectory point appears within the vehicle Box model for the first time, the vehicle Box model in which the target trajectory point first appears is determined to be the target Box model. The rear axle center coordinates of the target Box model are obtained, and the corresponding position information is obtained based on the target Box model. The position information includes the trajectory points between the rear axle center coordinates of the target vehicle at the starting position and the rear axle center coordinates of the target Box model. A short-distance parking trajectory is extracted from the normal parking trajectory based on the position information of the target vehicle under the coordinates of the target trajectory point.

9. A vehicle assistance system for short-distance parking in narrow spaces according to claim 6, characterized in that, The normal berthing trajectory calculation module is also used for: If the final parking direction is left parking, set the virtual parking endpoint for left parking. Based on the rear axle center coordinates and heading of the target vehicle's starting point and the virtual parking endpoint for left parking, use the parking algorithm to calculate the normal parking trajectory. If the final parking direction is right parking, set a virtual parking endpoint for right parking. Based on the rear axle center coordinates and heading of the target vehicle's starting point and the virtual parking endpoint for right parking, use the parking algorithm to calculate the normal parking trajectory.

10. A vehicle assistance system for short-distance parking in a narrow space according to claim 9, characterized in that, The normal berthing trajectory calculation module is also used for: Based on the normal parking trajectory of the target vehicle, determine the lane information when the target vehicle is normally parking. The left parking area and the right parking area are tangent. The left parking area is a rectangular area with a length of a first preset value and a width equal to the sum of the widths of all lanes. The right parking area is a rectangular area with a length of a second preset value and a width equal to the width of the rightmost lane. Determine whether the coordinates of the parking exit endpoint are located within the left and right parking exit areas. If they are, it falls within the short-distance parking range; otherwise, it falls within the normal parking range. Control the vehicle to perform a normal parking operation according to the normal parking trajectory.

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