An automatic parking method based on virtual parking spaces

Abstract

The application discloses an automatic parking method based on virtual parking spaces, which generates different types of virtual parking spaces according to actual parking environment, and then plans parking paths for each virtual parking space to select an optimal path for automatic parking. Obstacles are detected in real time during the automatic parking process, and when a new obstacle is detected, the parking path is re-planned according to the obstruction of the obstacle. The method is suitable for various parking environments without parking lines, and improves the applicability of automatic parking.

Description

Technical Field

[0001] This invention relates to the field of automatic parking technology, and more specifically to an automatic parking method based on virtual parking spaces. Background Technology

[0002] With the rapid development of automotive technology, cars have become an important means of transportation, and the number of cars is gradually increasing. However, the parking problem is becoming increasingly prominent. The application of automatic parking technology has greatly improved this situation and increased parking efficiency.

[0003] However, current applications of automated parking technology largely rely on sensors to detect available parking spaces and obstacles within them to determine availability. Existing methods place high demands on parking lots and parking spaces, such as requiring clear parking lines, unobstructed spaces, and even high-precision maps and V2X capabilities at the parking lot level. However, the reality is that the construction and upgrading of parking lots cannot keep pace with the development of automated parking technology. Most parking lots lack standardized parking spaces, and many lack clear and obvious parking lines. Under these circumstances, automated parking technology often faces limitations and may even be unusable. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic parking method based on virtual parking spaces, so as to realize the generation of virtual parking spaces and automatic parking in environments without parking lines.

[0005] To address the aforementioned technical problems, this invention provides a technical solution: an automatic parking method based on virtual parking spaces, comprising the following steps: S1. Use ultrasonic radar and surround view system to obtain information about the environment around the vehicle and get the position of the corner points of reference vehicles and obstacles around the vehicle in the vehicle coordinate system. S2. Identify the parking area based on the positions of the corner points of reference vehicles and obstacles around the vehicle in the vehicle's coordinate system, and calculate the size of the parking area. S3. Determine the type of parking space corresponding to the parking area based on the angle of the reference vehicle, obstacle, and parking area relative to the direction of travel of the vehicle. S4. Determine whether the size of the parking area meets the parking requirements of the vehicle given the parking space type obtained in S3. If it does, generate a virtual parking space and continue with the subsequent steps. If there is no parking area around the vehicle that meets the parking requirements, prompt the driver to move the vehicle and return to S1. S5. Perform parking path planning for all generated virtual parking spaces; S6. Based on the parking distance, the number of times the vehicle changes direction, and the estimated parking time, select the optimal path from all virtual parking spaces and use the virtual parking space corresponding to the optimal path as the target parking space; if there is no virtual parking space, prompt the car owner to move the vehicle and return to S1. S7. The vehicle automatically parks itself according to the parking action corresponding to the optimal path. During the automatic parking process, the reference vehicles and obstacle information around the vehicle are detected in real time. If an obstacle is detected in the target parking space, proceed to S8. If no obstacle is detected in the target parking space, proceed to S9. S8. Determine whether the parking area corresponding to the target parking space is still a parking area that meets the parking requirements of the vehicle after the introduction of a newly detected obstacle. If yes, regenerate a virtual parking space in the parking area and use the regenerated virtual parking space as the target parking space, and then execute S9. If no, the vehicle returns to the automatic parking start point according to the parking path it has already passed, deletes the virtual parking space corresponding to the target parking space, and returns to S6. S9. The vehicle automatically parks itself until it is completely parked in the target parking space.

[0006] According to the above plan, parking space types include perpendicular parking spaces, angled parking spaces, and lateral parking spaces.

[0007] According to the above scheme, if there are two reference vehicles around the vehicle and there are no obstacles, the parking space types corresponding to the parking area enclosed by the corner points of the two reference vehicles are as follows. When the angle between the shortest width direction of the parking area and the vehicle's driving direction is less than the angle between the shortest length direction of the parking area and the vehicle's driving direction, the parking space type corresponding to the parking area is either a perpendicular parking space or an angled parking space. Specifically: When the driving directions of two reference vehicles are both perpendicular to the driving direction of the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space. When the driving direction of one reference vehicle is perpendicular to the driving direction of the vehicle, and the driving direction of the other reference vehicle is at a certain angle to the driving direction of the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space or an angled parking space. When the driving directions of two reference vehicles are at a certain angle to the driving direction of the vehicle, the parking space type corresponding to the parking area is a slanted parking space. When the angle between the shortest width direction of the parking area and the direction of vehicle travel is greater than the angle between the shortest length direction of the parking area and the direction of vehicle travel, the parking space type corresponding to the parking area is a parallel parking space. If there is only one reference vehicle around your vehicle, and there are no obstacles within a certain range around the reference vehicle, the area around the reference vehicle is a parking area. The parking space types corresponding to the parking area are as follows. When the direction of travel of the reference vehicle is perpendicular to the direction of travel of the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space; when the direction of travel of the reference vehicle is at an angle to the direction of travel of the vehicle, the parking space type corresponding to the parking area is an angled parking space; when the direction of travel of the reference vehicle is parallel to the direction of travel of the vehicle, the parking space type corresponding to the parking area is a parallel parking space. When there are no reference vehicles around the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space.

[0008] According to the above plan, the required size of the parking area for different parking space types is as follows. Let the length of the vehicle be... , width is The length reserved on one side along the longitudinal direction of the vehicle is... The length reserved on one side in the width direction of the vehicle is ; When the parking space type is perpendicular parking, the size of the parking area should not be less than [amount missing]. ; When the parking space type is angled parking space, the size of the parking area shall not be less than ;in The angle between the direction of travel of a reference vehicle and the direction of travel of the vehicle itself; When the parking space type is a parallel parking space, the size of the parking area should not be less than [amount missing]. .

[0009] According to the above scheme, the specific process of generating virtual parking spaces is as follows: When there are two reference vehicles around the vehicle and no obstacles, select the pair of closest corner points from different reference vehicles and connect them. Draw a reference line parallel to the driving direction of one of the reference vehicles through the midpoint of the line segment formed by the connection. Use this reference line as the center line of the virtual parking space and generate a virtual parking space in the shape of a parallelogram. In particular, when the virtual parking space is a perpendicular parking space or a side parking space, the shape of the virtual parking space is a rectangle. When there is a reference vehicle around the vehicle and there are no obstacles, virtual parking spaces in the shape of parallelograms are generated on both sides of the reference vehicle based on the angle between the driving direction of the reference vehicle and the driving direction of the vehicle. In particular, when the virtual parking space is a perpendicular parking space or a lateral parking space, the shape of the virtual parking space is a rectangle. When there are obstacles around the vehicle and no reference vehicle, a rectangular vertical parking space is generated on both sides of the obstacle. When the virtual parking space is a perpendicular parking space, its length ,width satisfy

[0010]

[0011] When a virtual parking space is an angled parking space, its length ,width satisfy

[0012]

[0013] When the virtual parking space is a parallel parking space, its length ,width satisfy

[0014] .

[0015] According to the above scheme, the virtual parking space generation method also includes the car owner manually generating it in the identified parking area through a user input device.

[0016] An automated parking device based on virtual parking spaces for implementing the above-described automated parking method based on virtual parking spaces, the device comprising: The environmental perception module, including ultrasonic radar and a surround view system, is used to obtain the positions of the corner points of reference vehicles and obstacles around the vehicle in the vehicle's coordinate system. The virtual parking space generation module is used to identify the parking area by placing the corner points of reference vehicles and obstacles around the vehicle in the vehicle's coordinate system, and to calculate the size of the parking area. Based on the angles of the reference vehicles, obstacles, and parking areas relative to the vehicle's driving direction, it determines the type of parking space corresponding to the parking area. When the size of the parking area under a certain parking space type meets the vehicle's parking requirements, a virtual parking space is generated. The automatic parking module is used to plan parking routes for all generated virtual parking spaces, select the optimal route, and perform automatic parking based on the optimal route.

[0017] A computer includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described automatic parking method based on virtual parking spaces.

[0018] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described automatic parking method based on virtual parking spaces.

[0019] An automobile having the aforementioned virtual parking space-based automatic parking device.

[0020] The beneficial effects of this invention are as follows: This method fuses data from ultrasonic radar and a surround-view system to obtain the position information of reference vehicles and obstacles around the vehicle. It can generate different types of virtual parking spaces based on the specific conditions of the surrounding environment and automatically park according to the optimal parking path among the parking paths corresponding to different virtual parking spaces. This method can generate virtual parking spaces even without parking lines, improving the versatility of automatic parking. During automatic parking, obstacle information on the parking path is monitored in real time, and the parking plan is adjusted according to the obstacle positions, increasing the safety and reliability of automatic parking.

[0021] Furthermore, it provides specific methods for determining the types of parking areas and the size criteria for parking areas corresponding to different parking space types, ensuring that the generated virtual parking spaces meet the parking needs of vehicles. Attached Figure Description

[0022] Figure 1 This is a flowchart of an automatic parking method based on a virtual parking space according to an embodiment of the present invention; Figure 2 This is a schematic diagram illustrating the generation of a perpendicular parking space in an embodiment of the present invention when there are two reference vehicles perpendicular to the vehicle itself. Figure 3 This is a schematic diagram of the generation of a perpendicular parking space when a reference vehicle is perpendicular to the vehicle itself and another vehicle is at a certain angle to the vehicle itself, according to an embodiment of the present invention. Figure 4 This is a schematic diagram illustrating the generation of an oblique parking space when a reference vehicle is perpendicular to the vehicle itself and another vehicle is at a certain angle to the vehicle itself, according to an embodiment of the present invention. Figure 5 One of the schematic diagrams for generating an oblique parking space when both reference vehicles are at a certain angle to the vehicle itself according to an embodiment of the present invention; Figure 6 A second schematic diagram of generating an oblique parking space when both reference vehicles are at a certain angle to the vehicle itself, according to an embodiment of the present invention; Figure 7 This is the third schematic diagram illustrating the generation of an oblique parking space when both reference vehicles are at a certain angle to the vehicle itself, according to an embodiment of the present invention. Figure 8 This is a schematic diagram illustrating the generation of a lateral parking space when both reference vehicles are parallel to the vehicle itself, according to an embodiment of the present invention. Figure 9 This is a schematic diagram illustrating the generation of a perpendicular parking space when only one reference vehicle is perpendicular to the vehicle in an embodiment of the present invention. Figure 10 This is a schematic diagram illustrating the generation of an oblique parking space when there is only one reference vehicle at a certain angle to the vehicle itself, according to an embodiment of the present invention. Figure 11This is a schematic diagram illustrating the generation of a lateral parking space when only one reference vehicle is parallel to the vehicle in an embodiment of the present invention. Figure 12 This is a schematic diagram illustrating the generation of a perpendicular parking space in an embodiment of the present invention when there are obstacles but no reference vehicles. Figure 13 This is a schematic diagram illustrating the generation of a perpendicular parking space in an embodiment of the present invention when there are no reference vehicles or obstacles. Figure 14 This is a schematic diagram illustrating the generation of a virtual parking space when encountering a new obstacle during automatic parking, according to an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this disclosure clearer, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this disclosure. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0024] See Figure 1 An automated parking method based on virtual parking spaces includes the following steps: S1. Use ultrasonic radar and surround view system to obtain information about the environment around the vehicle and get the position of the corner points of reference vehicles and obstacles around the vehicle in the vehicle coordinate system. S2. Identify the parking area based on the positions of the corner points of reference vehicles and obstacles around the vehicle in the vehicle's coordinate system, and calculate the size of the parking area. S3. Determine the type of parking space corresponding to the parking area based on the angle of the reference vehicle, obstacle, and parking area relative to the direction of travel of the vehicle. S4. Determine whether the size of the parking area meets the parking requirements of the vehicle given the parking space type obtained in S3. If it does, generate a virtual parking space and continue with the subsequent steps. If there is no parking area around the vehicle that meets the parking requirements, prompt the driver to move the vehicle and return to S1. S5. Perform parking path planning for all generated virtual parking spaces; S6. Based on the parking distance, the number of times the vehicle changes direction, and the estimated parking time, select the optimal path from all virtual parking spaces (in this embodiment, the optimal path is selected by using a linear weighted summation method to assign appropriate weight coefficients to the influencing factors according to their importance, and the sum of their products is used as the new objective function to solve for the optimal solution; since there are correlations between the factors considered, for example, the more times the vehicle changes direction, the longer the parking distance and parking time, the correlation coefficient method is used to calculate the weight coefficients of each indicator). The virtual parking space corresponding to the optimal path is selected as the target parking space; if there is no virtual parking space currently available, the driver is prompted to move the vehicle and the process returns to S1; S7. The vehicle automatically parks itself according to the parking action corresponding to the optimal path. During the automatic parking process, the reference vehicles and obstacle information around the vehicle are detected in real time. If an obstacle is detected in the target parking space, proceed to S8. If no obstacle is detected in the target parking space, proceed to S9. S8. Determine whether the parking area corresponding to the target parking space is still a parking area that meets the parking requirements of the vehicle after the introduction of a newly detected obstacle. If yes, regenerate a virtual parking space in the parking area and use the regenerated virtual parking space as the target parking space, and then execute S9. If no, the vehicle returns to the automatic parking start point according to the parking path it has already passed, deletes the virtual parking space corresponding to the target parking space, and returns to S6. S9. The vehicle automatically parks itself until it is completely parked in the target parking space.

[0025] Furthermore, parking space types include perpendicular parking spaces, angled parking spaces, and lateral parking spaces.

[0026] Furthermore, if there are two reference vehicles around the vehicle and there are no obstacles, the parking space types corresponding to the parking area enclosed by the corner points of the two reference vehicles are as follows. When the angle between the shortest width direction of the parking area and the vehicle's driving direction is less than the angle between the shortest length direction of the parking area and the vehicle's driving direction, the parking space type corresponding to the parking area is either a perpendicular parking space or an angled parking space. Specifically: When the driving directions of two reference vehicles are both perpendicular to the driving direction of the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space. When the driving direction of one reference vehicle is perpendicular to the driving direction of the vehicle, and the driving direction of the other reference vehicle is at a certain angle to the driving direction of the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space or an angled parking space. When the driving directions of two reference vehicles are at a certain angle to the driving direction of the vehicle, the parking space type corresponding to the parking area is a slanted parking space. When the angle between the shortest width direction of the parking area and the direction of vehicle travel is greater than the angle between the shortest length direction of the parking area and the direction of vehicle travel, the parking space type corresponding to the parking area is a parallel parking space. If there is only one reference vehicle around your vehicle, and there are no obstacles within a certain range around the reference vehicle, the area around the reference vehicle is a parking area. The parking space types corresponding to the parking area are as follows. When the direction of travel of the reference vehicle is perpendicular to the direction of travel of the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space; when the direction of travel of the reference vehicle is at an angle to the direction of travel of the vehicle, the parking space type corresponding to the parking area is an angled parking space; when the direction of travel of the reference vehicle is parallel to the direction of travel of the vehicle, the parking space type corresponding to the parking area is a parallel parking space. When there are no reference vehicles around the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space.

[0027] Furthermore, the required size of the parking area for different parking space types is as follows: Let the length of the vehicle be... , width is The length reserved on one side along the longitudinal direction of the vehicle is... The length reserved on one side in the width direction of the vehicle is , All are calibration values; When the parking space type is perpendicular parking, the size of the parking area should not be less than [amount missing]. ; When the parking space type is angled parking space, the size of the parking area shall not be less than ;in The angle between the direction of travel of a reference vehicle and the direction of travel of the vehicle itself; When the parking space type is a parallel parking space, the size of the parking area should not be less than [amount missing]. .

[0028] Furthermore, the specific process of generating virtual parking spaces is as follows: When there are two reference vehicles around the vehicle and no obstacles, select the pair of closest corner points from different reference vehicles and connect them. Draw a reference line parallel to the driving direction of one of the reference vehicles through the midpoint of the line segment formed by the connection. Use this reference line as the center line of the virtual parking space and generate a virtual parking space in the shape of a parallelogram. In particular, when the virtual parking space is a perpendicular parking space or a side parking space, the shape of the virtual parking space is a rectangle. When there is a reference vehicle around the vehicle and there are no obstacles, virtual parking spaces in the shape of parallelograms are generated on both sides of the reference vehicle based on the angle between the driving direction of the reference vehicle and the driving direction of the vehicle. In particular, when the virtual parking space is a perpendicular parking space or a lateral parking space, the shape of the virtual parking space is a rectangle. When there are obstacles around the vehicle and no reference vehicle, a rectangular vertical parking space is generated on both sides of the obstacle. When the virtual parking space is a perpendicular parking space, its length ,width satisfy

[0029]

[0030] When a virtual parking space is an angled parking space, its length ,width satisfy

[0031]

[0032] When the virtual parking space is a parallel parking space, its length ,width satisfy

[0033] .

[0034] This embodiment illustrates the methods for generating virtual parking spaces in different scenarios as follows. If there is a reference vehicle around the vehicle, then the reference vehicle is defined as... If there are two reference vehicles, then the two reference vehicles are defined as follows: , Define reference vehicle The vertices are respectively , , , Reference vehicle The vertices are respectively , , , ;in , , , The vertex is located near the side of the berthing area. , , , The vertex on the side furthest from the berthing area; , , , The vertex closest to the side of the vehicle. , , , The vertex is located on the side furthest from the vehicle. See Figure 2 When the reference vehicle Reference vehicles When the driving directions are all perpendicular to the vehicle, the parking area is rectangular. When both conditions are met When, passing through line segment Draw a line parallel to the midpoint of the line segment. A straight line is drawn, and this straight line is used as the center line of the virtual parking space to generate a width of [missing information]. , length perpendicular parking spaces; among them For line segments Length, For line segments Length, , ; See Figure 3 , Figure 4 When the reference vehicle The direction of travel is perpendicular to the direction of travel of the vehicle and the reference vehicle. The angle between the direction of travel of the vehicle and the direction of travel of the vehicle is If the berthing area is an irregular polygon at this time And simultaneously satisfy When, passing through line segment Draw a line parallel to the midpoint of the line segment. A straight line is drawn, and this straight line is used as the center line of the virtual parking space to generate a width of [missing information]. , length perpendicular parking spaces; among them, For line segments With line segment The shortest distance, For line segments With line segment The shortest distance; when the following conditions are met and When, passing through line segment Draw a line parallel to the midpoint of the line segment. A straight line is drawn, and this straight line is used as the center line of the virtual parking space to generate a width of [missing information]. , length Angled parking spaces; among them , When the reference vehicle The direction of travel is perpendicular to the direction of travel of the vehicle and the reference vehicle. This virtual parking space generation method also applies when the direction of travel of the vehicle is at a certain angle to the direction of travel of the vehicle itself, which will not be elaborated here; See Figure 5 , Figure 6 When the reference vehicle The angle between the direction of travel of the vehicle and the direction of travel of the vehicle is And reference vehicle The angle between the direction of travel of the vehicle and the direction of travel of the vehicle is If the berthing area is an irregular polygon at this time And satisfy and When, passing through line segment Draw a line parallel to the midpoint of the line segment. A straight line is drawn, and this straight line is used as the center line of the virtual parking space to generate a width of [missing information]. , length A slanted parking space, or a space across a line segment Draw a line parallel to the midpoint of the line segment. A straight line is drawn, and this straight line is used as the center line of the virtual parking space to generate a width of [missing information]. , length Angled parking spaces; among them For line segments to line segment The shortest distance; See Figure 7 If the berthing area is an irregular polygon at this time And satisfy and When, passing through line segment Draw a line parallel to the midpoint of the line segment. A straight line is drawn, and this straight line is used as the center line of the virtual parking space to generate a width of [missing information]. , length A slanted parking space, or a space across a line segment Draw a line parallel to the midpoint of the line segment. A straight line is drawn, and this straight line is used as the center line of the virtual parking space to generate a width of [missing information]. , length Angled parking spaces; among them For line segments to line segment The shortest distance; See Figure 8 When the reference vehicle With reference vehicle When the driving angles of all vehicles are parallel to the driving angle of the vehicle itself, the parking area is rectangular. When both conditions are met When, passing through line segment Draw a line parallel to the midpoint of the line segment. A straight line is drawn, and this straight line is used as the center line of the virtual parking space to generate a line with a length of [missing information]. Width Side parking space, , ; See Figure 9 , Figure 10 , Figure 11 When only reference vehicles are present around your vehicle And when there are no obstacles, if referring to the vehicle If the direction of travel of the reference vehicle is perpendicular to the direction of travel of the vehicle itself, then the reference vehicle... The length direction and line segment are generated on both sides Parallel, with a length of Width perpendicular parking spaces; if referring to vehicles If the direction of travel of the reference vehicle is at a certain angle to the direction of travel of the vehicle itself, then... The length direction and line segment are generated on both sides Parallel, with a length of Width Angled parking spaces; if referring to vehicles If the direction of travel of the reference vehicle is parallel to the direction of travel of the vehicle itself, then the reference vehicle... The width direction and line segment are generated on both sides. Parallel, with a length of Width Side parking spaces; See Figure 12 When there are no reference vehicles around the vehicle but there are obstacles, a vehicle with a length of [length missing] is generated on both sides of the obstacle. Width A perpendicular parking space, with the perpendicular parking space being a distance of [missing information] from the centerline of the vehicle. Based on the current parking lot lane width design standard requirement of 6m, in this embodiment... =3m; See Figure 13 When there are no reference vehicles or obstacles around the vehicle, the distance on both sides of the vehicle's centerline is... The berthing area is continuously generated with multiple adjacent areas of length [missing information]. Width perpendicular parking spaces; See Figure 14 During automatic parking, if an obstacle is detected before the target vehicle is reached, the closest corner point between the obstacle and the vehicle's parking path is... Then after Draw a straight line parallel to the width of the original target parking space, and this line is parallel to the reference vehicle. , The intersection of the two points is used as the vertex of the new parking area. Then, it is calculated whether the new parking area meets the size requirements of the parking space type corresponding to the original target parking space. If so, a new virtual parking space is generated in the new parking area and the new virtual parking space is used as the new target parking space. Otherwise, the vehicle returns to the automatic parking starting point according to the parking path it has already passed, deletes the virtual parking space corresponding to the target parking space, and selects another virtual parking space as the target parking space for automatic parking.

[0035] Furthermore, the generation of virtual parking spaces also includes the vehicle sending a bird's-eye view generated by the surround view system to a display device (including the user's mobile phone or in-vehicle touch screen), whereby the car owner selects a virtual parking space to generate it.

[0036] An automated parking device based on virtual parking spaces for implementing the above-described automated parking method based on virtual parking spaces, the device comprising: The environmental perception module, including ultrasonic radar and a surround view system, is used to obtain the positions of the corner points of reference vehicles and obstacles around the vehicle in the vehicle's coordinate system. The virtual parking space generation module is used to identify the parking area by placing the corner points of reference vehicles and obstacles around the vehicle in the vehicle's coordinate system, and to calculate the size of the parking area. Based on the angles of the reference vehicles, obstacles, and parking areas relative to the vehicle's driving direction, it determines the type of parking space corresponding to the parking area. When the size of the parking area under a certain parking space type meets the vehicle's parking requirements, a virtual parking space is generated. The automatic parking module is used to plan parking routes for all generated virtual parking spaces, select the optimal route, and perform automatic parking based on the optimal route.

[0037] A computer includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described automatic parking method based on virtual parking spaces.

[0038] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described automatic parking method based on virtual parking spaces.

[0039] An automobile having the aforementioned virtual parking space-based automatic parking device.

[0040] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An automated parking method based on virtual parking spaces, characterized in that: Includes the following steps, S1. Use ultrasonic radar and surround view system to obtain information about the environment around the vehicle and get the position of the corner points of reference vehicles and obstacles around the vehicle in the vehicle coordinate system. S2. Identify the parking area based on the positions of the corner points of reference vehicles and obstacles around the vehicle in the vehicle's coordinate system, and calculate the size of the parking area. S3. Determine the type of parking space corresponding to the parking area based on the angle of the reference vehicle, obstacle, and parking area relative to the direction of travel of the vehicle. S4. Determine whether the size of the parking area meets the parking requirements of the vehicle given the parking space type obtained in S3. If it does, generate a virtual parking space and continue with the subsequent steps. If there is no parking area around the vehicle that meets the parking requirements, prompt the driver to move the vehicle and return to S1. S5. Perform parking path planning for all generated virtual parking spaces; S6. Based on the parking distance, the number of times the vehicle changes direction, and the estimated parking time, select the optimal path from all virtual parking spaces. The virtual parking space corresponding to the optimal path is the target parking space. If there is no virtual parking space, prompt the car owner to move the vehicle and return to S1. S7. Enable the vehicle to automatically park according to the parking action corresponding to the optimal path. During the automatic parking process, real-time detection of reference vehicles and obstacle information around the vehicle is performed. If an obstacle is detected in the target parking space, proceed to S8; if no obstacle is detected in the target parking space, proceed to S9. S8. Determine whether the parking area corresponding to the target parking space is still a parking area that meets the parking requirements of the vehicle after the introduction of a newly detected obstacle. If yes, regenerate a virtual parking space in the parking area and use the regenerated virtual parking space as the target parking space, and then execute S9. If no, the vehicle returns to the automatic parking start point according to the parking path it has already passed, deletes the virtual parking space corresponding to the target parking space, and returns to S6. S9. The vehicle automatically parks itself until it is completely parked in the target parking space.

2. The automatic parking method based on virtual parking spaces according to claim 1, characterized in that: Parking space types include perpendicular parking spaces, angled parking spaces, and lateral parking spaces.

3. The automatic parking method based on virtual parking spaces according to claim 2, characterized in that: If there are two reference vehicles around the vehicle and there are no obstacles, the parking space types corresponding to the parking area enclosed by the corner points of the two reference vehicles are as follows. When the angle between the shortest width direction of the parking area and the vehicle's driving direction is less than the angle between the shortest length direction of the parking area and the vehicle's driving direction, the parking space type corresponding to the parking area is either a perpendicular parking space or an angled parking space. Specifically: When the driving directions of two reference vehicles are both perpendicular to the driving direction of the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space. When the driving direction of one reference vehicle is perpendicular to the driving direction of the vehicle, and the driving direction of the other reference vehicle is at a certain angle to the driving direction of the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space or an angled parking space. When the driving directions of two reference vehicles are at a certain angle to the driving direction of the vehicle, the parking space type corresponding to the parking area is a slanted parking space. When the angle between the shortest width direction of the parking area and the direction of vehicle travel is greater than the angle between the shortest length direction of the parking area and the direction of vehicle travel, the parking space type corresponding to the parking area is a parallel parking space. If there is only one reference vehicle around your vehicle, and there are no obstacles within a certain range around the reference vehicle, the area around the reference vehicle is a parking area. The parking space types corresponding to the parking area are as follows. When the direction of travel of the reference vehicle is perpendicular to the direction of travel of the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space; when the direction of travel of the reference vehicle is at an angle to the direction of travel of the vehicle, the parking space type corresponding to the parking area is an angled parking space; when the direction of travel of the reference vehicle is parallel to the direction of travel of the vehicle, the parking space type corresponding to the parking area is a parallel parking space. When there are no reference vehicles around the vehicle, the parking space type corresponding to the parking area is a perpendicular parking space.

4. The automatic parking method based on virtual parking spaces according to claim 3, characterized in that: The required size of the parking area for different parking space types is as follows. Let the length of the vehicle be L and the width be W; let L be the length reserved on one side along the length of the vehicle. p The length reserved on one side in the width direction of the vehicle is W. p ; When the parking space type is perpendicular parking, the size of the parking area should not be less than (W+2W). p )*L; When the parking space type is angled parking space, the size of the parking area shall not be less than Where α is the angle between the driving direction of a reference vehicle and the driving direction of the vehicle itself; When the parking space type is a parallel parking space, the size of the parking area should not be less than W*(L+2L). p ).

5. The automatic parking method based on virtual parking spaces according to claim 4, characterized in that: The specific process of generating virtual parking spaces is as follows: When there are two reference vehicles around the vehicle and no obstacles, select the pair of closest corner points from different reference vehicles and connect them. Draw a reference line parallel to the driving direction of one of the reference vehicles through the midpoint of the line segment formed by the connection. Use this reference line as the center line of the virtual parking space and generate a virtual parking space in the shape of a parallelogram. In particular, when the virtual parking space is a perpendicular parking space or a side parking space, the shape of the virtual parking space is a rectangle. When there is a reference vehicle around the vehicle and there are no obstacles, virtual parking spaces in the shape of parallelograms are generated on both sides of the reference vehicle based on the angle between the driving direction of the reference vehicle and the driving direction of the vehicle. In particular, when the virtual parking space is a perpendicular parking space or a lateral parking space, the shape of the virtual parking space is a rectangle. When there are obstacles around the vehicle and no reference vehicle, a rectangular vertical parking space is generated on both sides of the obstacle. When the virtual parking space is a perpendicular parking space, its length b and width a satisfy the following conditions: a≥W+2W p b≥L When the virtual parking space is an angled parking space, its length d and width c satisfy the following conditions: When the virtual parking space is a side parking space, its length f and width e satisfy the following conditions: f≥L+2L p e≥W.

6. The automatic parking method based on virtual parking spaces according to claim 1, characterized in that: Virtual parking space generation methods also include allowing car owners to manually generate virtual parking spaces within the identified parking areas using a user input device.

7. An automatic parking device based on a virtual parking space for implementing the automatic parking method based on a virtual parking space as described in any one of claims 1-6, characterized in that: The device includes, The environmental perception module, including ultrasonic radar and a surround view system, is used to obtain the positions of the corner points of reference vehicles and obstacles around the vehicle in the vehicle's coordinate system. The virtual parking space generation module is used to identify the parking area by placing the corner points of reference vehicles and obstacles around the vehicle in the vehicle's coordinate system, and to calculate the size of the parking area. Based on the angles of the reference vehicles, obstacles, and parking areas relative to the vehicle's driving direction, it determines the type of parking space corresponding to the parking area. When the size of the parking area under a certain parking space type meets the vehicle's parking requirements, a virtual parking space is generated. The automatic parking module is used to plan parking routes for all generated virtual parking spaces, select the optimal route, and perform automatic parking based on the optimal route.

8. A computer, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the automatic parking method based on virtual parking spaces as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the automatic parking method based on virtual parking spaces as described in any one of claims 1-6.

10. A car, characterized in that: It has the automatic parking device based on virtual parking spaces as described in claim 8.

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