An automatic parking control method, device and electronic device in autonomous driving

Abstract

The present application provides an automatic parking control method, device and electronic device in autonomous driving. The method includes: obtaining the planned parking information for the current autonomous driving vehicle in the current round of parking control; determining whether the braking type is a gradually variable braking type; if it is a gradually variable braking type, determining the target braking distance for the current round of parking control according to the braking type in the previous round of parking control, and determining the actual stopping distance for the current round of parking control by using the difference between the target braking distance and the driving distance increment in the previous round; determining the parking acceleration and parking speed in the current round of parking control according to the actual stopping distance and the current vehicle speed, and inputting the parking acceleration, parking speed and current vehicle speed into a PID model to obtain the pedal opening; and performing the current round of parking control on the current autonomous driving vehicle according to the pedal opening. By adopting the above automatic parking control method, device and electronic device in autonomous driving, the problem of low smoothness of speed control during automatic parking is solved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology. Specifically, it relates to an automatic parking control method, device, and electronic device in autonomous driving. Background Art

[0002] In the field of autonomous driving, the automatic parking system is one of the important safety assistance systems. A vehicle equipped with an automatic parking function can, without manual intervention, achieve the process of automatically identifying a parking space and parking in the space through on-vehicle sensors, processors, and control systems. The automatic parking system can greatly simplify the parking process. Especially in extremely narrow places or for novice drivers, the automatic parking system can bring a more intelligent and convenient experience. In the prior art, the control method for automatic parking is mainly a path following method, that is, parking is achieved by controlling the tracking of an expected planned path.

[0003] However, in the above automatic parking control method, the requirements for the following accuracy of the planned path and the control accuracy are relatively high, and the risk of control deviation is relatively large. It is easy to have fluctuations and jerks in position error and speed change, resulting in the problem of low smoothness of speed control and reducing the riding comfort of the driver and passengers. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide an automatic parking control method, device, and electronic device in autonomous driving to solve the problem of low smoothness of speed control during the automatic parking process.

[0005] In the first aspect, an embodiment of this application provides an automatic parking control method in autonomous driving, including:

[0006] Obtain the planned parking information for the current autonomous driving vehicle in this round of parking control. The planned parking information includes braking type, gear information, and steering wheel angle information;

[0007] Determine whether the braking type is a gradually variable braking type;

[0008] If it is a gradually variable braking type, determine the target braking distance for this round of parking control according to the braking type in the previous round of parking control, and use the difference between the target braking distance and the driving distance increment in the previous round to determine the actual stopping distance for this round of parking control;

[0009] Determine the parking acceleration and parking speed of the current autonomous driving vehicle in this round of parking control according to the actual stopping distance and the current vehicle speed, and input the parking acceleration, parking speed, and current vehicle speed into the PID control model to obtain the pedal opening;

[0010] Perform the current round of parking control on the current autonomous vehicle according to the pedal opening, gear information, and steering wheel angle information.

[0011] Optionally, the braking type includes a constant-speed braking type, and the planned parking information further includes the remaining parking distance; determining the target braking distance for the current round of parking control according to the braking type in the previous round of parking control, including: determining whether the braking type in the previous round of parking control is a constant-speed braking type; if it is a constant-speed braking type, taking the remaining parking distance as the target braking distance; if it is not a constant-speed braking type, taking the target braking distance in the previous round of parking control as the target braking distance for the current round of parking control.

[0012] Optionally, determining the actual parking distance for the current round of parking control by using the difference between the target braking distance and the driving distance increment in the previous round, including: determining the driving direction factor corresponding to the gear information; taking the product of the driving direction factor and the target braking distance as the remaining parking distance vector; integrating the current vehicle speed over time to determine the driving distance increment in the previous round; taking the difference between the remaining parking distance vector and the driving distance increment in the previous round as the actual parking distance.

[0013] Optionally, determining the parking acceleration and parking speed of the current autonomous vehicle in the current round of parking control according to the actual parking distance and the current vehicle speed, including: taking the product of the actual parking distance and the first set value as the denominator, taking the product of the square of the current vehicle speed and the second set value as the numerator, and taking the ratio of the numerator to the denominator as the parking acceleration; taking the current vehicle speed as the minuend, taking the ratio of the parking acceleration to the set frame rate as the subtrahend, and taking the difference between the minuend and the subtrahend as the parking speed.

[0014] Optionally, after determining the actual parking distance for the current round of parking control by using the difference between the target braking distance and the driving distance increment in the previous round, it further includes: determining whether the actual parking distance meets the preset condition, where the preset condition means that the actual parking distance is not 0 and the absolute value of the actual parking distance is less than the third set value; if the preset condition is not met, determining the parking acceleration and parking speed of the current autonomous vehicle in the current round of parking control according to the actual parking distance; if the preset condition is met, setting the throttle pedal opening to 0 and setting the brake pedal opening to the maximum to complete parking.

[0015] Optionally, the braking type includes a constant-speed braking type, and the planned parking information further includes the desired vehicle speed and the remaining parking distance; after determining whether the braking type is a variable-speed braking type, it further includes: if the braking type is a constant-speed braking type, determining the expected control vehicle speed corresponding to the current parking distance according to the remaining parking distance and the desired vehicle speed; inputting the expected control vehicle speed, the current vehicle speed, and the current acceleration into the PID control model to determine the pedal opening, so as to control the current autonomous vehicle to perform automatic parking according to the pedal opening.

[0016] Optionally, determining the expected control speed corresponding to the current stopping distance according to the remaining stopping distance and the expected vehicle speed includes: querying the maximum vehicle speed limit corresponding to the remaining stopping distance from the distance speed limit calibration table; comparing the expected vehicle speed with the maximum vehicle speed limit of the vehicle; if the expected vehicle speed is greater than the maximum vehicle speed limit of the vehicle, then using the maximum vehicle speed limit of the vehicle as the expected control speed.

[0017] Optionally, the braking type includes an emergency braking type; after determining whether the braking type is a gradually variable braking type, it further includes: if the braking type is an emergency braking type, setting the throttle pedal opening to 0 and the braking pedal opening to the maximum, so as to perform automatic parking control on the current autonomous vehicle by using the throttle pedal opening and the braking pedal opening.

[0018] In a second aspect, an embodiment of the present application further provides an automatic parking control device in autonomous driving, and the device includes:

[0019] An information acquisition module, configured to acquire the planned parking information in the current round of parking control for the current autonomous vehicle, where the planned parking information includes a braking type, gear information, and steering wheel angle information;

[0020] A braking type determination module, configured to determine whether the braking type is a gradually variable braking type;

[0021] A stopping distance calculation module, configured to, if it is a gradually variable braking type, determine the target braking distance for the current round of parking control according to the braking type in the previous round of parking control, and determine the actual stopping distance for the current round of parking control by using the difference between the target braking distance and the travel distance increment in the previous round;

[0022] A pedal opening determination module, configured to determine the parking acceleration and parking speed of the current autonomous vehicle in the current round of parking control according to the actual stopping distance and the current vehicle speed, and input the parking acceleration, parking speed, and current vehicle speed into a PID control model to obtain the pedal opening;

[0023] An automatic parking control module, configured to perform the current round of parking control on the current autonomous vehicle according to the pedal opening, gear information, and steering wheel angle information.

[0024] In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a memory, and a bus, where the memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus, and when the machine-readable instructions are executed by the processor, the steps of the automatic parking control method in autonomous driving as described above are executed.

[0025] The embodiments of the present application bring the following beneficial effects:

[0026] An automatic parking control method, device, and electronic device in autonomous driving provided by an embodiment of the present application can, after obtaining planned parking information, determine an actual stopping distance corresponding to a braking type, and use the determined actual stopping distance and the current vehicle speed to determine a parking acceleration and a parking speed, so that in this round of parking process, according to the parking acceleration and the parking speed, the automatic parking can be gradually completed in a gradually variable speed manner, improving the smoothness of speed control and the riding comfort. Compared with the automatic parking control method in autonomous driving in the prior art, the problem of low smoothness of speed control during automatic parking is solved.

[0027] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically gives preferred embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0029] Figure 1 Shows the flowchart of the automatic parking control method in autonomous driving provided by the embodiment of the present application;

[0030] Figure 2 Shows the structural schematic diagram of the automatic parking control device in autonomous driving provided by the embodiment of the present application;

[0031] Figure 3 Shows the structural schematic diagram of the electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] To make the objects, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Usually, the components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, every other embodiment obtained by those of ordinary skill in the art without creative efforts belongs to the scope of protection of the present application.

[0033] It should be noted that before the present application was proposed, the automatic parking system was one of the important safety assistance systems in the field of autonomous driving. Vehicles equipped with the automatic parking function can, without manual intervention, achieve the process of automatically identifying a parking space and parking in the space through on-vehicle sensors, processors, and control systems. The automatic parking system can greatly simplify the parking process. Especially in extremely narrow places or for novice drivers, the automatic parking system can bring a more intelligent and convenient experience. In the prior art, the control method for automatic parking is mainly a path following method, that is, parking is achieved by controlling the tracking of a desired planned path. However, in the above automatic parking control method, the requirements for the following accuracy of the planned path and the control accuracy are relatively high, and the risk of control deviation is relatively large. It is easy to have fluctuations and jerks in position error and speed change. For example, during the parking process of a vehicle, there are situations of sudden braking and sudden starting caused by control deviation, resulting in a problem of low smoothness of speed control, reducing the riding comfort of the driver and passengers.

[0034] Based on this, the embodiments of the present application provide an automatic parking control method in autonomous driving to improve the smoothness of speed control during the automatic parking process.

[0035] Please refer to Figure 1 , Figure 1 which is a flowchart of an automatic parking control method in autonomous driving provided by the embodiments of the present application. As Figure 1 shown, the automatic parking control method in autonomous driving provided by the embodiments of the present application includes:

[0036] Step S101, obtain the planned parking information for the current autonomous driving vehicle in the current round of parking control.

[0037] In this step, the current autonomous driving vehicle may refer to a mobile vehicle with autonomous driving capabilities, where the autonomous driving capabilities include automatic parking.

[0038] The autonomous driving vehicle can be an autonomous driving car or other autonomous driving tools, such as a transportation robot.

[0039] The planned parking information includes the remaining parking distance, braking type, gear information, and steering wheel angle information. Among them, the braking type includes a variable speed braking type, a constant speed braking type, and an emergency braking type. The gear information includes a forward gear and a reverse gear. The steering wheel angle information includes the steering wheel angle.

[0040] In the embodiments of the present application, an automatic driving system is installed in a current automatic driving vehicle. The automatic driving system includes multiple modules, such as a positioning module, a decision-making module, and a planning module. The automatic parking control method is applied to the parking control module of the automatic driving system. The parking control module receives the planned parking information sent by other modules to perform automatic parking according to the planned parking information.

[0041] Here, the entire automatic parking process is carried out in a round-robin manner. A round of parking control is performed every set time, and this set time is fixed, for example, 0.0005 seconds. This round of parking control is carried out following the previous round of parking control. After this round of parking control ends, the next round of parking control is entered.

[0042] Step S102, determine whether the braking type is a gradually variable braking type.

[0043] In this step, the braking type determines the way of performing automatic parking.

[0044] The gradually variable braking type may refer to a braking type that parks in a gradually decelerating manner.

[0045] In the embodiments of the present application, the planning module determines the braking type for each parking round in different parking rounds according to factors such as the parking distance, parking position, vehicle parameters, and weather environment. Different braking types correspond to different parking control processes to ensure the improvement of the riding comfort of passengers during the entire automatic parking process.

[0046] When a driver is riding in an automatic driving vehicle, the driver can control the automatic driving vehicle to directly switch from the driving state to the automatic parking state. During this period, there may be a problem of a sharp change in speed. Therefore, a gradually variable braking type can be set to improve the riding comfort experience. If it is a gradually variable braking type, the current vehicle speed of the current automatic driving vehicle can be gradually and smoothly decelerated for parking, avoiding the problem of affecting the riding comfort of passengers due to a sharp change in speed.

[0047] In an alternative embodiment, the braking type includes a constant-speed braking type, and the planned parking information further includes the expected vehicle speed and the remaining parking distance; after determining whether the braking type is a gradually variable braking type, it further includes: if the braking type is a constant-speed braking type, determine the expected control vehicle speed corresponding to the current parking distance according to the remaining parking distance and the expected vehicle speed; input the expected control vehicle speed, the current vehicle speed, and the current acceleration into the PID control model to determine the pedal opening degree, so as to control the current automatic driving vehicle to perform automatic parking according to the pedal opening degree.

[0048] Specifically, when the braking type is constant-speed braking, the planned parking information further includes the desired vehicle speed. Based on the remaining parking distance and the desired vehicle speed, the expected control vehicle speed can be obtained. Here, the expected control vehicle speed can be determined according to the desired vehicle speed, the remaining parking distance, and traffic signs, or it can also be determined according to the relationship between the remaining parking distance and the expected control vehicle speed and the magnitude of the desired vehicle speed.

[0049] Here, the purpose of setting the expected control vehicle speed is to improve the riding comfort. By correlating the length of the remaining parking distance with the parking speed, the braking process of automatic parking can be made smoother, improving the parking accuracy while also enhancing the comfort. After determining the expected control vehicle speed, the expected control vehicle speed, the current vehicle speed, and the current acceleration of the current autonomous vehicle can be input into the speed PID control model to obtain the throttle pedal opening and the brake pedal opening. Among them, the current vehicle speed and the current acceleration can be measured by in-vehicle sensors.

[0050] Among them, the current vehicle speed refers to the longitudinal speed of the current autonomous vehicle, and the current acceleration refers to the longitudinal acceleration of the current autonomous vehicle.

[0051] In an alternative embodiment, determining the expected control vehicle speed corresponding to the current parking distance according to the remaining parking distance and the desired vehicle speed includes: querying the maximum vehicle speed corresponding to the remaining parking distance from the distance speed limit calibration table; comparing the desired vehicle speed with the maximum vehicle speed of the vehicle; if the desired vehicle speed is greater than the maximum vehicle speed of the vehicle, then using the maximum vehicle speed of the vehicle as the expected control vehicle speed.

[0052] Specifically, a distance speed limit calibration table can be established, which records the maximum vehicle speed corresponding to different remaining parking distances, different traffic signs, and environmental conditions. For example: when the remaining parking distances are 20 meters and 10 meters respectively, and the traffic signs and environmental conditions are the same, the maximum vehicle speeds of the vehicle are 10 km / h and 5 km / h respectively. Or, when the remaining parking distance is still 20 meters, but the maximum vehicle speeds corresponding to rainy days and sunny days are 8 km / h and 10 km / h respectively.

[0053] Then, compare the desired vehicle speed in the planned parking information with the maximum vehicle speed of the vehicle. In the case where the desired vehicle speed is 15 km / h, if the maximum vehicle speed of the vehicle is 10 km / h, then since the desired vehicle speed is greater than the maximum vehicle speed of the vehicle, the maximum vehicle speed of 10 km / h of the vehicle is used as the expected control vehicle speed. The expected control vehicle speed can not only ensure the comfort of parking, but also reduce the risk of collision in bad weather.

[0054] In an alternative embodiment, the braking type includes an emergency braking type; after determining whether the braking type is a gradual variable braking type, it further includes: if the braking type is an emergency braking type, setting the throttle pedal opening to 0 and the brake pedal opening to the maximum to perform automatic parking control on the current autonomous vehicle by using the throttle pedal opening and the brake pedal opening.

[0055] Specifically, the braking type can also be an emergency braking type. The emergency braking type is usually the braking type corresponding to the situation where emergency braking is required during the automatic parking process. The emergency braking situation is a situation of emergency avoidance or a very small actual stopping distance. In this application, it is mainly considered from the perspective of a very small actual stopping distance. For example, the absolute value of the upgraded stopping distance is less than 0.1 meter. At this time, the braking type is an emergency braking type. Since the vehicle speed has been reduced to a relatively low level during the previous rounds of parking control with a gradual variable braking type before this round of parking control, therefore, in this round of parking control, the throttle pedal opening can be directly set to 0 and the brake pedal opening can be set to the maximum, that is, stepping on the brake to the bottom to complete the automatic parking, and at this time, it will not affect the riding comfort.

[0056] Step S103, if it is a gradual variable braking type, determine the target braking distance for this round of parking control according to the braking type in the previous round of parking control, and use the difference between the target braking distance and the driving distance increment in the previous round to determine the actual stopping distance for this round of parking control.

[0057] In this step, the driving distance increment in the previous round can refer to the driving distance corresponding to the previous round of parking control.

[0058] The target braking distance is used to represent the braking target, that is, the target of the braking distance.

[0059] The actual stopping distance can refer to the distance between the current position of the vehicle and the parking position.

[0060] In the embodiments of the present application, in order to improve the speed smoothness during the automatic parking process, it is necessary to accurately determine the distance between the current position of the vehicle and the parking position. Since there may be a deviation between the remaining stopping distance in the planned parking information and the actual stopping distance, therefore, according to the driving distance increment in the previous round and the target braking distance, the actual stopping distance between the current position of the current autonomous vehicle and the parking position can be calculated more accurately.

[0061] In an alternative embodiment, the braking type includes a constant-speed braking type, and the planned parking information further includes the remaining parking distance; determining the target braking distance for the current round of parking control based on the braking type in the previous round of parking control includes: determining whether the braking type in the previous round of parking control is a constant-speed braking type; if it is a constant-speed braking type, using the remaining parking distance as the target braking distance; if it is not a constant-speed braking type, using the target braking distance in the previous round of parking control as the target braking distance for the current round of parking control.

[0062] Specifically, if the previous round of parking control is not a constant-speed braking type, then both the previous round of parking control and the current round of parking control are gradually variable braking types. To ensure the smoothness of the deceleration process, it is necessary to inherit the target braking distance of the previous round of parking control, that is, using the target braking distance of the previous round of parking control as the target braking distance for the current round of parking control. For example: the target braking distance of the previous round of parking control is 20 meters. After the previous round of parking control, the current autonomous vehicle has traveled a certain distance. If the target braking distance has nothing to do with the target braking distance of the previous round of parking control, for example: the target braking distance for the current round of parking control is 30, it may cause a sudden change in distance. Since the parking speed is calculated based on the target braking distance, this will result in a discontinuous deceleration process.

[0063] If the previous round of parking control is a constant-speed braking type, it means that the braking types of the previous round of parking control and the current round of parking control are different, indicating that the deceleration process starts from this round and there is no need to consider the previous round's target braking distance. Then, save the remaining parking distance when the braking type changes from the constant-speed braking type to the gradually variable braking type, and use this remaining parking distance as the target braking distance, that is, using the remaining parking distance in the planned parking information as the target braking distance.

[0064] In an alternative embodiment, determining the actual parking distance for the current round of parking control using the difference between the target braking distance and the previous round's travel distance increment includes: determining the travel direction factor corresponding to the gear information; multiplying the travel direction factor by the target braking distance to obtain the remaining parking distance vector; integrating the current vehicle speed over time to determine the previous round's travel distance increment; and using the difference between the remaining parking distance vector and the previous round's travel distance increment as the actual parking distance.

[0065] Specifically, if the gear information is the forward gear, the value of the travel direction factor is 1; if the gear information is the reverse gear, the value of the travel direction factor is -1. Assume that the target braking distance is 20 meters. Then, when in the forward gear, the remaining parking distance vector is +20; when in the reverse gear, the remaining parking distance vector is -20.

[0066] Since the time for each round of parking control is 0.0005 seconds, the current vehicle speed of the current autonomous vehicle is obtained, and the current vehicle speed is integrated within the time range of 0 to 0.0005 seconds to obtain the driving distance increment of the previous round. Since the time difference between the front and rear rounds of parking control is only 0.0005 seconds, the product of the current vehicle speed and time can also be directly used as the driving distance increment of the previous round. When the braking type is the constant speed braking type or the emergency braking type, the driving distance increment of the previous round is reset to make the driving distance increment 0, avoiding the continuous accumulation of this increment.

[0067] The difference between the remaining parking distance vector and the driving distance increment of the previous round is used as the actual parking distance. Among them, the driving distance increment of the previous round is also a vector, which is also determined by the gear information of the previous round of parking control. If the previous round of parking control is in reverse gear, the driving distance increment of the previous round is negative. If the previous round of parking control is in forward gear, the driving distance increment of the previous round is positive. Taking the remaining parking distance vector as -20 and the driving distance increment of the previous round as -5 as an example, the actual parking distance = -20 - (-5) = -15. The actual parking distance is also a vector, and the negative sign in -15 indicates reverse.

[0068] It should be noted that when the gear information is in forward gear, if the actual parking distance is less than or equal to 0, or the braking type is the constant speed braking type or the emergency braking type, the actual parking distance is also reset to make the actual parking distance 0, avoiding the continuous accumulation of this actual parking distance. When the gear information is in reverse gear, if the actual parking distance is greater than or equal to 0, or the braking type is the constant speed braking type or the emergency braking type, the actual parking distance is also reset to make the actual parking distance 0, avoiding the continuous accumulation of this actual parking distance.

[0069] In an alternative embodiment, after determining the actual parking distance of the current round of parking control by using the difference between the target braking distance and the driving distance increment of the previous round, it further includes: determining whether the actual parking distance meets a preset condition, where the preset condition means that the actual parking distance is not 0 and the absolute value of the actual parking distance is less than a third set value; if the preset condition is not met, the parking acceleration and parking speed of the current autonomous vehicle in the current round of parking control are determined according to the actual parking distance; if the preset condition is met, the throttle pedal opening is set to 0, and the brake pedal opening is set to the maximum to complete parking.

[0070] Here, the third set value can be 0.1 meters or 0.15 meters. Those skilled in the art can select the specific value of the third set value according to the actual situation.

[0071] Specifically, if the actual parking distance is not 0 and the absolute value of the actual parking distance is less than 0.1 meter, it indicates that driving cannot continue at this time and parking is required. Therefore, the throttle pedal opening is set to 0, and the brake pedal opening is set to the maximum to complete parking. If the actual parking distance is 0, it means that parking has been completed and no arithmetic processing is required. If the absolute value of the actual parking distance is greater than or equal to 0.1 meter, it indicates that driving can continue at this time. Therefore, the actual parking distance is substituted into the calculation formula to calculate the parking speed and parking acceleration.

[0072] Step S104: Determine the parking acceleration and parking speed of the current autonomous vehicle in the current parking control according to the actual parking distance and the current vehicle speed, and input the parking acceleration, parking speed, and current vehicle speed into the PID control model to obtain the pedal opening.

[0073] In this step, the parking acceleration can refer to the acceleration of the speed change during the current parking control process, and the parking acceleration is used to characterize the speed reduction rate.

[0074] The parking speed can refer to the lowest speed to be achieved at the end of the current parking control.

[0075] The PID control model can refer to the PID speed control model, and the PID control model is a Proportion-Integral-Derivative (PID) control model.

[0076] In the embodiment of the present application, substituting the actual parking distance and the current vehicle speed into the calculation formula can obtain the parking acceleration and parking speed of the current parking control. According to the parking acceleration, the current autonomous vehicle can be gradually decelerated from the current vehicle speed to the parking speed, achieving the effect of smooth deceleration parking.

[0077] Since it is an autonomous vehicle, the parking acceleration and parking speed need to be converted into pedal openings. Therefore, the parking acceleration, parking speed, and current vehicle speed are input into the PID speed control model to obtain the throttle pedal opening and the brake pedal opening.

[0078] In an alternative embodiment, determining the parking acceleration and parking speed of the current autonomous vehicle in the current parking control according to the actual parking distance and the current vehicle speed includes: using the product of the actual parking distance and the first set value as the denominator, using the product of the square of the current vehicle speed and the second set value as the numerator, and using the ratio of the numerator to the denominator as the parking acceleration; using the current vehicle speed as the minuend, using the ratio of the parking acceleration to the set frame rate as the subtrahend, and using the difference between the minuend and the subtrahend as the parking speed.

[0079] Here, the first set value is set to 2, the second set value is set to 20, and the set frame rate is set to 2000 Hz. Those skilled in the art can determine the specific values of the first set value, the second set value, and the set frame rate according to the actual situation, and the present application does not limit this here.

[0080] Specifically, the calculation formula for the parking acceleration is: parking acceleration = 20 × current vehicle speed × current vehicle speed / (2 × actual parking distance), and the calculation formula for the parking speed is: parking speed = current vehicle speed - parking acceleration / set frame rate.

[0081] It should be noted that the above calculation formulas for the parking acceleration and the parking speed are to ensure that the current autonomous vehicle brakes with a relatively comfortable acceleration. And when the actual parking distance = 0 or the current vehicle speed is 0, the parking acceleration and the parking speed are reset, that is, the parking acceleration = 0 and the parking speed = 0.

[0082] Step S105, perform the current round of parking control on the current autonomous vehicle according to the pedal opening, gear information, and steering wheel angle information.

[0083] In this step, the current round of parking control is performed through the throttle pedal opening, the brake pedal opening, the gear information, and the steering wheel angle information. After completing this parking control, it is also necessary to determine the current vehicle speed and the current acceleration of the current autonomous vehicle after this round of parking control, so as to use the current vehicle speed for the next round of parking control to achieve closed-loop control. At the same time, the current vehicle speed and the current acceleration will also be output to other modules.

[0084] Compared with the automatic parking control method in autonomous driving in the prior art, the present application can, after obtaining the planned parking information, determine the actual parking distance corresponding to the braking type, and use the determined actual parking distance and the current vehicle speed to determine the parking acceleration and the parking speed, so that in this round of parking process, according to the parking acceleration and the parking speed, the automatic parking can be gradually completed in a gradually variable speed manner, improving the smoothness of the parking speed and the comfort during the automatic parking process. In addition, the present application realizes the closed-loop control of automatic parking, improving the control accuracy of automatic parking.

[0085] Based on the same inventive concept, an automatic parking control device in autonomous driving corresponding to the automatic parking control method in autonomous driving is also provided in the embodiments of the present application. Since the principle of solving problems by the device in the embodiments of the present application is similar to that of the above automatic parking control method in autonomous driving in the embodiments of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0086] Please refer to Figure 2 , Figure 2 which is a schematic structural diagram of an automatic parking control device in autonomous driving provided by an embodiment of the present application. AsFigure 2 As shown in [figure], the automatic parking control device 200 in the autonomous driving includes:

[0087] An information acquisition module 201, configured to acquire the planned parking information for the current autonomous driving vehicle in the current round of parking control, where the planned parking information includes the braking type, gear information, and steering wheel angle information;

[0088] A braking type determination module 202, configured to determine whether the braking type is a gradually variable braking type;

[0089] A parking distance calculation module 203, configured to, if it is a gradually variable braking type, determine the target braking distance for the current round of parking control according to the braking type in the previous round of parking control, and determine the actual parking distance for the current round of parking control by using the difference between the target braking distance and the driving distance increment in the previous round;

[0090] A pedal opening determination module 204, configured to determine the parking acceleration and parking speed of the current autonomous driving vehicle in the current round of parking control according to the actual parking distance and the current vehicle speed, and input the parking acceleration, parking speed, and current vehicle speed into a PID control model to obtain the pedal opening;

[0091] An automatic parking control module 205, configured to perform the current round of parking control on the current autonomous driving vehicle according to the pedal opening, gear information, and steering wheel angle information.

[0092] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 3 shown in [figure], the electronic device 300 includes a processor 310, a memory 320, and a bus 330.

[0093] The memory 320 stores machine-readable instructions executable by the processor 310. When the electronic device 300 runs, the processor 310 communicates with the memory 320 through the bus 330. When the machine-readable instructions are executed by the processor 310, the steps of the automatic parking control method in the autonomous driving in the method embodiment as described above can be executed. The specific implementation manner can refer to the method embodiment and will not be elaborated here. Figure 1 shown,

[0094] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0095] In several embodiments provided by this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the devices or units can be in electrical, mechanical, or other forms.

[0096] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0097] In addition, in each embodiment of this application, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0098] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art or part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0099] Finally, it should be noted that the above-described embodiments are only specific implementation manners of the present application, used to illustrate the technical solutions of the present application, rather than limiting it. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the technical field of the present application can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An automatic parking control method in autonomous driving, characterized in that, Including: Obtain the planned parking information for the current autonomous vehicle during this round of parking control, where the planned parking information includes braking type, gear information, and steering wheel angle information; Determine whether the braking type is a gradually variable braking type; If it is a gradually variable braking type, determine the target braking distance for this round of parking control according to the braking type in the previous round of parking control, and use the difference between the target braking distance and the driving distance increment in the previous round to determine the actual stopping distance for this round of parking control; Determine the parking acceleration and parking speed of the current autonomous vehicle in this round of parking control according to the actual stopping distance and the current vehicle speed, and input the parking acceleration, the parking speed, and the current vehicle speed into a PID control model to obtain the pedal opening; Perform this round of parking control on the current autonomous vehicle according to the pedal opening, the gear information, and the steering wheel angle information.

2. The method according to claim 1, characterized in that, The braking type includes a constant-speed braking type, and the planned parking information further includes the remaining stopping distance; The determining the target braking distance for this round of parking control according to the braking type in the previous round of parking control includes: Determine whether the braking type in the previous round of parking control is a constant-speed braking type; If it is a constant-speed braking type, use the remaining stopping distance as the target braking distance; If it is not a constant-speed braking type, use the target braking distance in the previous round of parking control as the target braking distance for this round of parking control.

3. The method according to claim 1, wherein The using the difference between the target braking distance and the driving distance increment in the previous round to determine the actual stopping distance for this round of parking control includes: Determine the driving direction factor corresponding to the gear information; Use the product of the driving direction factor and the target braking distance as the remaining stopping distance vector; Integrate the current vehicle speed over time to determine the driving distance increment in the previous round; Use the difference between the remaining stopping distance vector and the driving distance increment in the previous round as the actual stopping distance.

4. The method according to claim 1, wherein The determining the parking acceleration and parking speed of the current autonomous vehicle in this round of parking control according to the actual stopping distance and the current vehicle speed includes: Use the product of the actual stopping distance and a first set value as the denominator, use the product of the square of the current vehicle speed and a second set value as the numerator, and use the ratio of the numerator to the denominator as the parking acceleration; Use the current vehicle speed as the minuend, use the ratio of the parking acceleration to the set frame rate as the subtrahend, and use the difference between the minuend and the subtrahend as the parking speed.

5. The method according to claim 1, wherein After using the difference between the target braking distance and the driving distance increment in the previous round to determine the actual stopping distance for this round of parking control, it further includes: Determine whether the actual stopping distance meets a preset condition, where the preset condition means that the actual stopping distance is not 0 and the absolute value of the actual stopping distance is less than a third set value; If the preset condition is not met, determine the parking acceleration and parking speed of the current autonomous vehicle in this round of parking control according to the actual stopping distance; If the preset condition is met, set the throttle pedal opening to 0 and set the brake pedal opening to the maximum to complete parking.

6. The method according to claim 1, wherein The braking type includes a constant-speed braking type, and the planned parking information further includes an expected vehicle speed and a remaining parking distance; After determining whether the braking type is a variable-speed braking type, it further includes: If the braking type is a constant-speed braking type, determine an expected control vehicle speed corresponding to the current parking distance according to the remaining parking distance and the expected vehicle speed; Input the expected control vehicle speed, the current vehicle speed, and the current acceleration into a PID control model to determine the pedal opening degree, so as to control the current autonomous vehicle to perform automatic parking according to the pedal opening degree.

7. The method according to claim 6, wherein The determining an expected control vehicle speed corresponding to the current parking distance according to the remaining parking distance and the expected vehicle speed includes: Query the maximum vehicle speed corresponding to the remaining parking distance from a distance speed limit calibration table; Compare the expected vehicle speed with the maximum vehicle speed of the vehicle; If the expected vehicle speed is greater than the maximum vehicle speed of the vehicle, use the maximum vehicle speed of the vehicle as the expected control vehicle speed.

8. The method according to claim 1, wherein The braking type includes an emergency braking type; After determining whether the braking type is a variable-speed braking type, it further includes: If the braking type is an emergency braking type, set the throttle pedal opening degree to 0 and the brake pedal opening degree to the maximum, so as to perform automatic parking control on the current autonomous vehicle by using the throttle pedal opening degree and the brake pedal opening degree.

9. An automatic parking control device in autonomous driving, characterized in that, It includes: An information acquisition module, configured to acquire planned parking information for the current autonomous vehicle in this round of parking control, where the planned parking information includes a braking type, a gear information, and a steering wheel angle information; A braking type determination module, configured to determine whether the braking type is a variable-speed braking type; A parking distance calculation module, configured to, if it is a variable-speed braking type, determine a target braking distance for this round of parking control according to the braking type in the previous round of parking control, and use the difference between the target braking distance and the driving distance increment in the previous round to determine the actual parking distance for this round of parking control; A pedal opening degree determination module, configured to determine the parking acceleration and parking speed of the current autonomous vehicle in this round of parking control according to the actual parking distance and the current vehicle speed, and input the parking acceleration, the parking speed, and the current vehicle speed into a PID control model to obtain the pedal opening degree; An automatic parking control module, configured to perform this round of parking control on the current autonomous vehicle according to the pedal opening degree, the gear information, and the steering wheel angle information.

10. An electronic device, characterized in that, It includes: A processor, a storage medium, and a bus. The storage medium stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the automatic parking control method in the autonomous driving as described in any one of claims 1 to 8.

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