An automatic parking method, vehicle and electronic device

Abstract

The embodiment of the application provides an automatic parking method, device and electronic equipment, the method comprises the following steps: determining the relative position between the driving shaft of a target vehicle and a target deceleration strip when the target vehicle is located at a first starting position; if the relative position does not satisfy a preset passing condition, controlling the target vehicle to drive to a second starting position from the first starting position in a far direction, wherein the far direction is the direction of the driving shaft relative to the target deceleration strip; and controlling the target vehicle to drive to a target parking space from the second starting position via the target deceleration strip. Thus, the target vehicle successfully crosses the deceleration strip and parks in the target parking space, and the safety of the target vehicle parking is improved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to an automatic parking method, vehicle, and electronic equipment. Background Technology

[0002] In related technologies, autonomous driving systems plan parking paths and park accordingly. For comfort and safety reasons, the vehicle speed is kept low throughout the parking process, with gentle acceleration and deceleration. However, most parking lots have speed bumps near parking spaces. In such cases, when attempting to park according to the planned path, the vehicle may be unable to overcome or pass over the speed bumps, being forced to stop and resulting in parking failure. Summary of the Invention

[0003] The purpose of this application is to provide an automatic parking method, vehicle, and electronic equipment to successfully park the vehicle in a target parking space while overcoming speed bumps, thereby improving the safety of parking the target vehicle. The specific technical solution is as follows:

[0004] According to a first aspect of this application, an automatic parking method is provided, the method comprising:

[0005] Determine the relative position between the drive shaft of the target vehicle and the target speed bump when the target vehicle is in the first starting position;

[0006] If the relative position does not meet the preset passing conditions, the target vehicle is controlled to move from the first starting position to the second starting position in a moving away direction, wherein the moving away direction is the direction of the drive shaft relative to the target speed bump;

[0007] Control the target vehicle to travel from the second starting position to the target parking space via the target speed bump.

[0008] In one possible embodiment, the preset passage conditions include: the driving distance between the drive shaft position and the speed bump position is not less than a preset distance, and the target speed bump is located in the expected movement direction of the drive shaft, wherein the expected movement direction is the expected movement direction of the target vehicle when it is located in the first starting position;

[0009] Controlling the target vehicle to move away from the first starting position includes:

[0010] The position at which the distance between the target speed bump and the target speed bump is not less than the preset distance is determined in the direction of departure from the target speed bump, and is taken as the position of the target drive shaft;

[0011] Control the target vehicle to travel away from the first starting position in a direction until the drive shaft of the target vehicle reaches the target drive shaft position.

[0012] In one possible embodiment, controlling the target vehicle to travel away from the first starting position until the drive shaft of the target vehicle reaches the target drive shaft position includes:

[0013] Determine an arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the arc angle as the initial included angle. The initial rear axle position is the position of the rear axle of the target vehicle when it is in the first starting position. The target rear axle position is the position of the rear axle when the drive shaft reaches the target drive shaft position. The initial included angle is the angle between the orientation of the target vehicle when it is in the first starting position and the horizontal direction. The horizontal direction is parallel to the ground and perpendicular to the target speed bump.

[0014] Control the target vehicle to travel along the circular arc path.

[0015] In one possible embodiment, determining the arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the radian angle as the initial included angle includes:

[0016] Determine the horizontal distance between the initial rear axle position and the target rear axle position, and use this distance as the horizontal movement distance;

[0017] The turning radius is obtained by calculating the quotient of the horizontal movement distance and the sine of the initial angle.

[0018] Determine an arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the turning radius as the radius.

[0019] In one possible embodiment, determining the horizontal distance between the initial rear axle position and the target rear axle position, as the horizontal movement distance, includes:

[0020] If the target vehicle is a rear-wheel drive vehicle, the difference between the preset distance and the driving distance is calculated as the horizontal movement distance.

[0021] In one possible embodiment, determining the horizontal distance between the initial rear axle position and the target rear axle position, as the horizontal movement distance, includes:

[0022] If the target vehicle is a front-wheel drive vehicle and the expected direction of movement is in the same direction as the orientation, then the sum of the preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the sum of the driving distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance.

[0023] If the target vehicle is a front-wheel drive vehicle and the expected direction of movement is opposite to the orientation, then the difference between the preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the difference between the driving distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance.

[0024] Calculate the difference between the first distance and the second distance, and use it as the horizontal movement distance.

[0025] In one possible embodiment, the method further includes:

[0026] The distance between the drive shaft and the target speed bump in the horizontal direction is determined as the travel distance.

[0027] In one possible embodiment, the method further includes:

[0028] Determine a first vector pointing from one end of the target speed bump to the other end of the target speed bump, and a second vector pointing from the one end to the drive shaft;

[0029] The direction of the drive shaft relative to the target speed bump is determined based on the outer product of the first vector and the second vector, and is taken as the direction of departure.

[0030] According to a second aspect of this application, a vehicle is provided, the vehicle comprising:

[0031] The position determination module is used to determine the relative position between the drive shaft of the target vehicle and the target speed bump when the target vehicle is in the first starting position;

[0032] A driving control module is used to control the target vehicle to move from the first starting position to the second starting position in a moving away direction if the relative position does not meet the preset passing conditions, wherein the moving away direction is the direction of the drive shaft relative to the target speed bump;

[0033] The vehicle driving module is used to control the target vehicle to travel from the second starting position to the target parking space via the target speed bump.

[0034] In one possible embodiment, the preset passage conditions include: the driving distance between the drive shaft position and the speed bump position is not less than a preset distance, and the target speed bump is located in the expected movement direction of the drive shaft, wherein the expected movement direction is the expected movement direction of the target vehicle when it is located in the first starting position;

[0035] Controlling the target vehicle to move away from the first starting position includes:

[0036] The position at which the distance between the target speed bump and the target speed bump is not less than the preset distance is determined in the direction of departure from the target speed bump, and is taken as the position of the target drive shaft;

[0037] Control the target vehicle to travel away from the first starting position in a direction until the drive shaft of the target vehicle reaches the target drive shaft position.

[0038] In one possible embodiment, controlling the target vehicle to travel away from the first starting position until the drive shaft of the target vehicle reaches the target drive shaft position includes:

[0039] Determine an arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the arc angle as the initial included angle. The initial rear axle position is the position of the rear axle of the target vehicle when it is in the first starting position. The target rear axle position is the position of the rear axle when the drive shaft reaches the target drive shaft position. The initial included angle is the angle between the orientation of the target vehicle when it is in the first starting position and the horizontal direction. The horizontal direction is parallel to the ground and perpendicular to the target speed bump.

[0040] Control the target vehicle to travel along the circular arc path.

[0041] In one possible embodiment, determining the arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the radian angle as the initial included angle includes:

[0042] Determine the horizontal distance between the initial rear axle position and the target rear axle position, and use this distance as the horizontal movement distance;

[0043] The turning radius is obtained by calculating the quotient of the horizontal movement distance and the sine of the initial angle.

[0044] Determine an arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the turning radius as the radius.

[0045] In one possible embodiment, determining the horizontal distance between the initial rear axle position and the target rear axle position, as the horizontal movement distance, includes:

[0046] If the target vehicle is a rear-wheel drive vehicle, the difference between the preset distance and the driving distance is calculated as the horizontal movement distance.

[0047] In one possible embodiment, determining the horizontal distance between the initial rear axle position and the target rear axle position, as the horizontal movement distance, includes:

[0048] If the target vehicle is a front-wheel drive vehicle and the expected direction of movement is in the same direction as the orientation, then the sum of the preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the sum of the driving distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance.

[0049] If the target vehicle is a front-wheel drive vehicle and the expected direction of movement is opposite to the orientation, then the difference between the preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the difference between the driving distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance.

[0050] Calculate the difference between the first distance and the second distance, and use it as the horizontal movement distance.

[0051] In one possible embodiment, the vehicle further includes:

[0052] The driving distance determination module is used to determine the distance between the drive shaft and the target speed bump in the horizontal direction, which is taken as the driving distance.

[0053] In one possible embodiment, the vehicle further includes:

[0054] A vector determination module is used to determine a first vector pointing from one end of the target speed bump to the other end of the target speed bump, and a second vector pointing from the one end to the drive shaft;

[0055] The distance direction determination module is used to determine the direction of the drive shaft relative to the target speed bump based on the outer product of the first vector and the second vector, as the distance direction.

[0056] According to a third aspect of this application, an electronic device is provided, comprising:

[0057] Memory, used to store computer programs;

[0058] A processor, when executing a program stored in memory, implements any of the methods described in the first aspect.

[0059] According to a fourth aspect of this application, a computer-readable storage medium is provided, wherein a computer program is stored therein, and the computer program, when executed by a processor, implements the method described in any of the first aspects.

[0060] According to a fifth aspect of this application, a computer program product comprising instructions is provided, which, when run on a computer, causes the computer to perform any of the methods described in the first aspect above.

[0061] Beneficial effects of the embodiments in this application:

[0062] The embodiments provided in this application determine the location of the target speed bump that the target vehicle needs to cross in the direction of movement from the first starting position to the target parking space. At the first starting position, i.e., a position where the target vehicle's speed is relatively low, the relative position of the target vehicle's drive shaft and the speed bump is determined. If the relative position does not meet the preset conditions for the target vehicle to cross the target speed bump, the target vehicle is controlled to move from the first starting position towards the direction of the drive shaft relative to the target speed bump to a second starting position. Then, it travels from the second starting position, which is farther from the speed bump, to the speed bump location, gaining a higher speed to successfully cross the target speed bump. Finally, it parks in the target parking space. This allows the target vehicle to successfully cross the speed bump and park in the target parking space in a parking environment with speed bumps, while simultaneously improving the safety of parking the target vehicle.

[0063] Of course, implementing any product or method of this application does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0065] Figure 1 A flowchart illustrating the automatic parking method provided in this application;

[0066] Figure 2 A schematic diagram of the vehicle and speed bump during the automatic parking process provided in this application;

[0067] Figure 3 A schematic diagram illustrating the principle of calculating the departure direction during automatic parking provided in this application;

[0068] Figure 4 This application provides a schematic diagram of an automatic parking scenario;

[0069] Figure 5 This application provides another schematic diagram of an automatic parking scenario;

[0070] Figure 6 This application provides another schematic diagram of an automatic parking scenario;

[0071] Figure 7 A schematic diagram illustrating the principle of calculating the turning radius during automatic parking provided in this application;

[0072] Figure 8A schematic diagram illustrating another principle for calculating the turning radius during automatic parking provided in this application;

[0073] Figure 9 This application provides another schematic diagram of an automatic parking scenario;

[0074] Figure 10 A schematic diagram of the structure of a vehicle provided in an embodiment of this application;

[0075] Figure 11 A schematic diagram of the structure of the electronic device provided in this application. Detailed Implementation

[0076] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0077] As mentioned above, in related technologies, when a vehicle is parking under an autonomous driving system, it may be forced to stop by a speed bump, which may cause the autonomous driving system to malfunction, leading to parking failure and abnormal system exit. This not only creates a poor user experience but may also pose a safety hazard. Therefore, this application provides an automatic parking method, such as... Figure 1 As shown, the method includes:

[0078] S101, determine the relative position between the drive shaft of the target vehicle and the target speed bump when the target vehicle is in the first starting position.

[0079] S102, if the relative position does not meet the preset passing conditions, control the target vehicle to move from the first starting position to the second starting position in a direction away from it.

[0080] The direction away is the direction in which the drive shaft is located relative to the target speed bump.

[0081] S103, control the target vehicle to drive from the second starting position through the target speed bump to the target parking space.

[0082] In S101, the first starting position can be the position where the target vehicle is traveling at a speed lower than a preset threshold. It is understood that if the target vehicle's speed is too low at the first starting position and there is a speed bump near the first starting position, the target vehicle may not be able to pass the speed bump. Therefore, the position where the target vehicle's speed is lower than the preset threshold is taken as the first starting position.

[0083] It is understood that the target speed bump is located in the direction of the target vehicle's movement. This means that the target vehicle will intersect with the speed bump as it moves in that direction. Therefore, the target speed bump is the speed bump that the target vehicle needs to cross as it travels from its initial starting position to the target parking space. The location of the target speed bump can be calculated using the target vehicle's ranging equipment, such as a laser rangefinder, radar rangefinder, or camera equipment; this application does not limit this calculation.

[0084] The drive axle is the axle directly affected by the vehicle's power system (engine or drive motor), typically the front or rear axle. It's understandable that the target vehicle, with its positioning system, can determine its initial starting position. Since the drive axle is located in a fixed position on the target vehicle, once the target vehicle has determined its initial starting position, the drive axle position can be determined. Comparing the previously determined position of the target speed bump with the drive axle position yields the relative position, which can be the straight-line distance between the speed bump position and the drive axle position. For example... Figure 2 As shown, the vehicle has a front axle and a rear axle. The front axle is the drive axle. The position of this drive axle is then determined relative to... Figure 2 The distance of the speed bump location in the direction of vehicle movement is indicated by distance a, where in this example, the relative position includes distance a.

[0085] In S102, it can be understood that the target vehicle will only be controlled to move from the first starting position to the second starting position in a moving away direction if the relative position does not meet the preset passage conditions. Therefore, the relative position not meeting the preset passage conditions indicates that the target vehicle cannot cross the target speed bump when moving from the drive shaft position to the speed bump position at the first starting position. If the target vehicle is to cross the target speed bump, that is, if the relative position meets the preset passage conditions, the target vehicle needs to be at a relatively high speed when it is at the speed bump position to drive the target vehicle to cross. Furthermore, the preset passage conditions can be that the speed of the target vehicle when moving from the relative position to the speed bump position is not less than a preset speed.

[0086] If the relative position does not meet the preset passage conditions, it means that the target vehicle's speed when traveling from the drive shaft position to the speed bump position in the first starting position is less than the preset speed. Therefore, the target vehicle cannot cross the speed bump. Thus, it is necessary to control the target vehicle to travel away from the first starting position to the second starting position, where the direction away is the direction of the drive shaft relative to the speed bump. It is understood that controlling the target vehicle from the first starting position to the second starting position should ensure that the target vehicle's speed when reaching the speed bump position from the second starting position is not less than the preset speed.

[0087] Specifically, as the target vehicle travels from the first starting position towards the direction of the drive shaft relative to the target speed bump to the second starting position, the drive shaft of the target vehicle is farther from the speed bump compared to its position in the first starting position. Therefore, the target vehicle gains more acceleration distance from the second starting position to the speed bump, resulting in a speed sufficient for it to successfully traverse the speed bump and reach the target parking space. Thus, the relative position between the target vehicle's drive shaft and the target speed bump in the second starting position satisfies the preset passage conditions, allowing the vehicle to traverse the speed bump and successfully park in the target parking space.

[0088] In S103, when the target vehicle is in the first starting position, the target vehicle is controlled to move towards the direction of the drive shaft relative to the target speed bump to the second starting position, and then from the second starting position to the target speed bump and over the target speed bump to the target parking space.

[0089] In this embodiment, the location of the target speed bump that the target vehicle needs to cross is determined in the direction of movement of the target vehicle from the first starting position to the target parking space. The relative position between the target vehicle's drive shaft and the speed bump is determined at the first starting position, which is the position where the target vehicle's speed is relatively low. If the relative position does not meet the preset conditions for the target vehicle to cross the target speed bump, the target vehicle is controlled to move from the first starting position towards the direction of the drive shaft relative to the target speed bump to the second starting position. Then, it moves to the speed bump from the second starting position, which is farther away from the speed bump, to obtain a greater driving speed to successfully cross the target speed bump. Finally, it parks in the target parking space. This allows the target vehicle to successfully cross the speed bump and park in the target parking space in a parking environment with speed bumps, thereby improving the safety of parking the target vehicle.

[0090] This application also provides a method for determining the direction of departure, the method comprising: determining a first vector pointing from one end of the target speed bump to the other end of the target speed bump, and a second vector pointing from one end to the drive shaft; and determining the direction of the drive shaft relative to the target speed bump as the direction of departure based on the cross product of the first vector and the second vector.

[0091] Specifically, such as Figure 3 As shown, the vector pointing from one end of the target speed bump to the other end of the target speed bump... The first vector is defined as the vector pointing from one end of the target speed bump to the drive shaft. The first vector is determined to be the second vector. The outer product of the first and second vectors is calculated as follows:

[0092]

[0093] Where cp is the outer product of the first vector and the second vector. When cp < 0, it means that the drive shaft is located in front of the target speed bump, and the direction away from it is forward; when cp > 0, it means that the drive shaft is located behind the target speed bump, and the direction away from it is backward.

[0094] This application also provides a method for controlling a target vehicle to travel to a second starting position, wherein the preset passing conditions include: the travel distance between the drive shaft position and the speed bump position is not less than a preset distance, and the target speed bump is located in the expected direction of movement of the drive shaft, the expected direction of movement being the expected direction of movement of the target vehicle when it is in the first starting position, and the method includes:

[0095] S1021, determine a position in the direction away from the target speed bump, with a distance not less than a preset distance, as the position of the target drive shaft.

[0096] S1022, control the target vehicle to move away from the first starting position in a direction until the target vehicle's drive shaft reaches the target drive shaft position.

[0097] It is understandable that the greater the distance between the drive shaft and the speed bump, the farther the target vehicle can accelerate before reaching the speed bump, and consequently, the higher the target vehicle's speed will be upon reaching the speed bump, enabling it to climb over it. Therefore, as another example, the preset passage condition could also be that the travel distance between the drive shaft and the speed bump in the relative positions is not less than a preset distance. This travel distance is understood to be... Figure 2 The distance a is shown.

[0098] The preset distance can be the minimum overpass distance for the target vehicle. The minimum overpass distance is the minimum vehicle travel distance required for the target vehicle to start and drive through the automatic control system, accelerate within a certain distance and maintain a certain speed, so that the target vehicle can successfully overpass the speed bump by its own inertia after traveling through this distance.

[0099] When the relative position does not meet the preset passing conditions at the first starting position, the target vehicle needs to be adjusted from the first starting position to the expected direction of movement, driven to a position away from the speed bump, and then driven towards the speed bump to obtain a longer driving distance, that is, a longer acceleration distance, so that the driving distance is not less than the preset distance. Then, the relative position meets the preset passing conditions, and the target vehicle obtains a greater speed at the speed bump position to successfully cross the target speed bump.

[0100] Therefore, a position at a distance no less than a preset distance from the target speed bump can be determined in the direction away from the target speed bump, serving as the target drive axle position. The target vehicle is then controlled to travel in the direction away from the target speed bump until its drive axle reaches the target drive axle position. This position is then designated as the second starting position. Thus, at the second starting position, the distance between the drive axle position and the speed bump position is no less than the preset distance. In other words, the relative position of the target vehicle at the second starting position meets the preset passage conditions, allowing the target vehicle to successfully cross the target speed bump at the second starting position.

[0101] For example, such as Figure 4 As shown, if the current driving distance c, which is the distance between the drive shaft position and the speed bump position at the first starting position, is less than the preset distance d, then a second starting position A needs to be determined. At the second starting position A, the driving distance between the drive shaft position and the speed bump position B is not less than the preset distance d. The target vehicle first reverses to the second starting position A in the opposite direction of the expected movement direction, then moves forward from the second starting position A along the expected movement direction to cross the target speed bump, and then continues to drive in the expected movement direction to successfully park at the target parking space C.

[0102] By using this embodiment, a suitable target drive shaft position can be determined in the direction away from the target speed bump, and the target vehicle can be controlled to travel in the direction away from the first starting position until the drive shaft of the target vehicle reaches the target drive shaft position, thereby controlling the target vehicle to travel to the second starting position, so that the target vehicle can successfully cross the target speed bump from the second starting position, thus improving the driving safety of the target vehicle.

[0103] Regarding the aforementioned S1022, in one possible embodiment, an arc path can be determined with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the arc angle as the initial included angle. The initial rear axle position is the position of the rear axle of the target vehicle when it is in the first starting position, the target rear axle position is the position of the rear axle when the drive axle reaches the target drive axle position, and the initial included angle is the angle between the orientation of the target vehicle when it is in the first starting position and the horizontal direction. The horizontal direction is the direction parallel to the ground and perpendicular to the target speed bump. The target vehicle is controlled to travel along the arc path.

[0104] To determine the travel distance, the horizontal distance between the drive shaft and the target speed bump can be used as the travel distance. Since the horizontal direction is perpendicular to the target speed bump, a perpendicular line can be drawn from the centerline of the drive shaft to the target speed bump. The length of this perpendicular line is the travel distance. In other words, the travel distance is the perpendicular distance from the drive shaft to the target speed bump. Because the horizontal direction is parallel to the ground and perpendicular to the target speed bump, determining the perpendicular distance between the center of the drive shaft and the speed bump is equivalent to determining the horizontal distance between the drive shaft and the target speed bump, thus obtaining the travel distance.

[0105] Specifically, this application also provides a method for determining an arc path, the method including:

[0106] Determine the horizontal distance between the initial rear axle position and the target rear axle position, and use this distance as the horizontal movement distance;

[0107] The turning radius is obtained by calculating the quotient of the horizontal movement distance and the sine of the initial angle.

[0108] Determine the circular path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the turning radius as the radius.

[0109] In one possible implementation, for calculating the horizontal movement distance, if the target vehicle is a front-wheel drive vehicle and the expected direction of movement is the same as the orientation, then the sum of a preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the sum of the travel distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance. If the target vehicle is a front-wheel drive vehicle and the expected direction of movement is opposite to the orientation, then the difference between the preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the difference between the travel distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance. The difference between the first distance and the second distance is then calculated as the horizontal movement distance. The axle spacing refers to the distance between the front and rear axles of the target vehicle.

[0110] In another possible implementation, if the target vehicle is a rear-wheel drive vehicle, the difference between the preset distance and the driving distance is calculated as the horizontal movement distance.

[0111] The following section will provide a detailed explanation of the aforementioned method for determining the circular path and controlling the target vehicle to travel along the circular path, using specific examples:

[0112] For example, such as Figure 5 As shown, if the target vehicle's drive axle is the front axle, meaning the target vehicle is a front-wheel drive vehicle, and the expected direction of motion is forward, the first starting position is... Figure 5In the vehicle position 1, the target vehicle's direction of movement will not be perpendicular to the target speed bump. Therefore, the method to determine the relative position between the drive shaft and the speed bump is to determine the perpendicular distance between the drive shaft center and the speed bump, such as the travel distance d1, while the preset distance is d. min As can be seen, the current driving distance is less than the preset distance. Therefore, it is necessary to adjust the first starting position of the target vehicle and confirm the position of the target drive shaft at the second starting position.

[0113] like Figure 5 As shown, if the target vehicle moves to vehicle position 2, the distance between the target vehicle's drive shaft and the speed bump position will be equal to the preset distance d. min At this point, the target vehicle can travel from vehicle position 2 towards the target speed bump and thus cross it. Therefore, vehicle position 2 is designated as the second starting position. Based on this, a circular path is planned to control the target vehicle's movement from the first starting position to the second starting position.

[0114] Specifically, Figure 5 The target vehicle is a front-wheel-drive vehicle, and its expected direction of movement is forward, with its orientation also forward. Therefore, the expected direction of movement and orientation of the target vehicle are the same. It is necessary to calculate the sum of the preset distance and the target vehicle's axle spacing as the first distance, and to calculate the sum of the travel distance and the horizontal components of the axle spacing in the horizontal direction as the second distance. The difference between the first distance and the second distance is calculated as the horizontal movement distance. The calculation method for the horizontal movement distance is as follows:

[0115] Δd=(d min +L)-[d1+L·cos(θ)]

[0116] Where Δd is the horizontal movement distance, L is the axis spacing, θ is the initial included angle, d1 is the travel distance, and d min For the preset distance, d min +L is the first distance, and d1+L·cos(θ) is the second distance.

[0117] After obtaining the horizontal movement distance, calculate the quotient of the sine of the horizontal movement distance and the initial angle to obtain the turning radius. The turning radius is calculated as follows:

[0118]

[0119] Where R is the turning radius, Δd is the horizontal travel distance, L is the axle spacing, θ is the initial angle, d1 is the travel distance, and d min This is the preset distance.

[0120] After obtaining the turning radius, determine the circular arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the turning radius as the radius. The resulting circular arc path is as follows: Figure 5As shown in the path, the target vehicle is controlled to travel along the arc path from the first starting position (vehicle position 1) to the second starting position (vehicle position 2), so that when the target vehicle travels from the second starting position (vehicle position 2) to the target speed bump, it can successfully cross the target speed bump and then successfully park in the target parking space.

[0121] In another example, such as Figure 6 As shown, if the target vehicle's drive axle is the front axle, meaning the target vehicle is a front-wheel drive vehicle, and the expected direction of movement is backward, it needs to reverse over the target speed bump to reach the target parking space. The target vehicle's initial starting position is... Figure 6 If the vehicle is positioned at location 1, then the relative position between the drive shaft and the speed bump is determined by the perpendicular distance between the center of the drive shaft and the speed bump, such as the travel distance d1, while the preset distance is d. min As can be seen, the current driving distance is less than the preset distance. Therefore, it is necessary to adjust the first starting position of the target vehicle and confirm the position of the target drive shaft at the second starting position.

[0122] like Figure 6 As shown, if the target vehicle moves to vehicle position 2, the distance between the target vehicle's drive shaft and the speed bump position will be equal to the preset distance d. min At this point, the target vehicle can travel from vehicle position 2 towards the target speed bump and thus cross it. Therefore, vehicle position 2 is designated as the second starting position. Based on this, an arc path is planned to control the target vehicle's movement from the first starting position to the second starting position.

[0123] Specifically, Figure 6 The target vehicle is a front-wheel-drive vehicle, and its expected direction of movement is reverse, while its orientation is forward. Therefore, the expected direction of movement of the target vehicle is opposite to its orientation. It is necessary to calculate the difference between the preset distance and the target vehicle's axle spacing as the first distance, and to calculate the difference between the travel distance and the horizontal component of the axle spacing in the horizontal direction as the second distance. The difference between the first distance and the second distance is then calculated as the horizontal movement distance. The calculation method for the horizontal movement distance is as follows:

[0124] Δd=(d min -L)-[d1-L·cos(θ)]

[0125] Where Δd is the horizontal movement distance, L is the axis spacing, θ is the initial included angle, d1 is the travel distance, and d min For the preset distance, d min -L is the first distance, and d1-L·cos(θ) is the second distance.

[0126] After obtaining the horizontal movement distance, calculate the quotient of the sine of the horizontal movement distance and the initial angle to obtain the turning radius. The turning radius is calculated as follows:

[0127]

[0128] Where R is the turning radius, Δd is the horizontal travel distance, L is the axle spacing, θ is the initial angle, d1 is the travel distance, and d min This is the preset distance.

[0129] After obtaining the turning radius, determine the circular arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the turning radius as the radius. The resulting circular arc path is as follows: Figure 6 As shown in the path, the target vehicle is controlled to travel along the arc path from the first starting position (vehicle position 1) to the second starting position (vehicle position 2), so that when the target vehicle travels from the second starting position (vehicle position 2) to the target speed bump, it can successfully cross the target speed bump and then successfully park in the target parking space.

[0130] In another example, such as Figure 7 As shown, if the target vehicle's drive axle is the rear axle, meaning the target vehicle is a rear-wheel drive vehicle, and the expected direction of movement is forward, it needs to move forward and over the target speed bump to reach the target parking space. The target vehicle's first starting position is... Figure 7 If the vehicle is at position 1, then the way to determine the relative position between the drive shaft and the speed bump is to determine the vertical distance between the center of the drive shaft and the speed bump, such as the travel distance d1, and the preset distance is d. min As can be seen, the current driving distance is less than the preset distance. Therefore, it is necessary to adjust the first starting position of the target vehicle and confirm the position of the target drive shaft at the second starting position.

[0131] like Figure 7 As shown, if the target vehicle moves to vehicle position 2, the distance between the target vehicle's drive shaft and the speed bump position will be equal to the preset distance d. min At this point, the target vehicle can travel from vehicle position 2 towards the target speed bump and thus cross it. Therefore, vehicle position 2 is designated as the second starting position. Based on this, an arc path is planned to control the target vehicle's movement from the first starting position to the second starting position.

[0132] Specifically, Figure 7 If the target vehicle is a rear-wheel drive vehicle, then the difference between the preset distance and the traveled distance needs to be calculated as the horizontal movement distance. The calculation method for the horizontal movement distance is as follows:

[0133] AC = d min -d1

[0134] Where AC is the horizontal movement distance, d1 is the travel distance, and d min This is the preset distance.

[0135] After obtaining the horizontal movement distance, calculate the quotient of the sine of the horizontal movement distance and the initial angle to obtain the turning radius. The turning radius is calculated as follows:

[0136]

[0137] Where R, OA, and OB are turning radii, AC is the horizontal movement distance, θ is the initial included angle, d1 is the travel distance, and d min This is the preset distance.

[0138] After obtaining the turning radius, determine the circular arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the turning radius as the radius. The resulting circular arc path is as follows: Figure 7 As shown in the path, the target vehicle is controlled to travel along the arc path from the first starting position (vehicle position 1) to the second starting position (vehicle position 2), so that when the target vehicle travels from the second starting position (vehicle position 2) to the target speed bump, it can successfully cross the target speed bump and then successfully park in the target parking space.

[0139] In another example, such as Figure 8 As shown, if the target vehicle's drive axle is the rear axle, meaning the target vehicle is a rear-wheel drive vehicle, and the expected direction of movement is backward, it needs to reverse over the target speed bump to reach the target parking space. The target vehicle's first starting position is... Figure 8 If the vehicle is at position 1, then the way to determine the relative position between the drive shaft and the speed bump is to determine the vertical distance between the center of the drive shaft and the speed bump, such as the travel distance d1, and the preset distance is d. min As can be seen, the current driving distance is less than the preset distance. Therefore, it is necessary to adjust the first starting position of the target vehicle and confirm the position of the target drive shaft at the second starting position.

[0140] like Figure 8 As shown, if the target vehicle moves to vehicle position 2, the distance between the target vehicle's drive shaft and the speed bump position will be equal to the preset distance d. min At this point, the target vehicle can travel from vehicle position 2 towards the target speed bump and thus cross it. Therefore, vehicle position 2 is designated as the second starting position. Based on this, an arc path is planned to control the target vehicle's movement from the first starting position to the second starting position.

[0141] Specifically, Figure 8 If the target vehicle is a rear-wheel drive vehicle, then the difference between the preset distance and the traveled distance needs to be calculated as the horizontal movement distance. The calculation method for the horizontal movement distance is as follows:

[0142] AC = d min -d1

[0143] Where AC is the horizontal movement distance, d1 is the travel distance, and d min This is the preset distance.

[0144] After obtaining the horizontal movement distance, calculate the quotient of the sine of the horizontal movement distance and the initial angle to obtain the turning radius. The turning radius is calculated as follows:

[0145]

[0146] Where R, OA, and OB are turning radii, AC is the horizontal movement distance, θ is the initial included angle, d1 is the travel distance, and d min This is the preset distance.

[0147] After obtaining the turning radius, determine the circular arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the turning radius as the radius. The resulting circular arc path is as follows: Figure 8 As shown in the path, the target vehicle is controlled to travel along the arc path from the first starting position (vehicle position 1) to the second starting position (vehicle position 2), so that when the target vehicle travels from the second starting position (vehicle position 2) to the target speed bump, it can successfully cross the target speed bump and then successfully park in the target parking space.

[0148] Using this embodiment, as long as the relative position of the target vehicle determined at the first starting position does not meet the preset passage conditions, regardless of whether the target vehicle's drive axle is the front or rear axle, and regardless of whether the target vehicle's movement direction is forward or backward, an arc path can be determined based on the movement direction, travel distance, and preset distance. This allows the target vehicle to be controlled to travel from the first starting position to the second starting position, enabling the target vehicle to successfully cross the target speed bump when it travels from the second starting position to the target speed bump. This reduces the possibility of parking failure caused by the target vehicle being unable to cross the target speed bump.

[0149] In another possible embodiment, if the relative position meets the preset passage conditions, the target vehicle is controlled to travel along the expected direction of movement to the target parking space. Furthermore, in yet another possible embodiment, if the relative position meets the preset passage conditions, the expected direction of movement can be adjusted according to actual needs, and the target vehicle can be controlled to travel along the adjusted direction of movement to the target parking space.

[0150] Specifically, if the relative position meets the preset passing conditions, it means that when the target vehicle moves towards the target speed bump from the first starting position in the expected direction of movement, it can successfully cross the target speed bump. At this time, there is no need to replan the direction of movement. You only need to control the target vehicle to move in the expected direction of movement to successfully reach the target parking space.

[0151] like Figure 9As shown, when the target vehicle is in the first starting position, the distance b between the drive shaft position and the speed bump position is greater than the preset distance d. It can be said that the target vehicle can successfully cross the speed bump when reversing in the expected direction of movement, and can stop normally in the target parking space after crossing the speed bump.

[0152] In this embodiment, when the target vehicle travels to the first starting position in the expected direction of movement, it will determine the relative position between the speed bump position and the drive shaft position. If the relative position meets the preset passage conditions, the target vehicle will continue to travel in the expected direction of movement, thus avoiding the parking failure situation where the target vehicle cannot cross the target speed bump when traveling in the expected direction of movement.

[0153] Corresponding to the automatic parking method of this application, this application also provides a vehicle, such as... Figure 10 As shown, the vehicle includes:

[0154] The position determination module 1001 is used to determine the relative position between the drive shaft of the target vehicle and the target speed bump when the target vehicle is in the first starting position;

[0155] The driving control module 1002 is used to control the target vehicle to move from the first starting position to the second starting position in a moving away direction if the relative position does not meet the preset passing conditions. The moving away direction is the direction of the drive shaft relative to the target speed bump.

[0156] The vehicle driving module 1003 is used to control the target vehicle to drive from the second starting position through the target speed bump to the target parking space.

[0157] In one possible embodiment, the preset passage conditions include: the driving distance between the drive shaft position and the speed bump position is not less than a preset distance, and the target speed bump is located in the expected movement direction of the drive shaft, wherein the expected movement direction is the expected movement direction of the target vehicle when it is located in the first starting position;

[0158] Controlling the target vehicle to move away from the first starting position includes:

[0159] The position at which the distance between the target speed bump and the target speed bump is not less than the preset distance is determined in the direction of departure from the target speed bump, and is taken as the position of the target drive shaft;

[0160] Control the target vehicle to travel away from the first starting position in a direction until the drive shaft of the target vehicle reaches the target drive shaft position.

[0161] In one possible embodiment, controlling the target vehicle to travel away from the first starting position until the drive shaft of the target vehicle reaches the target drive shaft position includes:

[0162] Determine an arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the arc angle as the initial included angle. The initial rear axle position is the position of the rear axle of the target vehicle when it is in the first starting position. The target rear axle position is the position of the rear axle when the drive shaft reaches the target drive shaft position. The initial included angle is the angle between the orientation of the target vehicle when it is in the first starting position and the horizontal direction. The horizontal direction is parallel to the ground and perpendicular to the target speed bump.

[0163] Control the target vehicle to travel along the circular arc path.

[0164] In one possible embodiment, determining the arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the radian angle as the initial included angle includes:

[0165] Determine the horizontal distance between the initial rear axle position and the target rear axle position, and use this distance as the horizontal movement distance;

[0166] The turning radius is obtained by calculating the quotient of the horizontal movement distance and the sine of the initial angle.

[0167] Determine an arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the turning radius as the radius.

[0168] In one possible embodiment, determining the horizontal distance between the initial rear axle position and the target rear axle position, as the horizontal movement distance, includes:

[0169] If the target vehicle is a rear-wheel drive vehicle, the difference between the preset distance and the driving distance is calculated as the horizontal movement distance.

[0170] In one possible embodiment, determining the horizontal distance between the initial rear axle position and the target rear axle position, as the horizontal movement distance, includes:

[0171] If the target vehicle is a front-wheel drive vehicle and the expected direction of movement is in the same direction as the orientation, then the sum of the preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the sum of the driving distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance.

[0172] If the target vehicle is a front-wheel drive vehicle and the expected direction of movement is opposite to the orientation, then the difference between the preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the difference between the driving distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance.

[0173] Calculate the difference between the first distance and the second distance, and use it as the horizontal movement distance.

[0174] In one possible embodiment, the vehicle further includes:

[0175] The driving distance determination module is used to determine the distance between the drive shaft and the target speed bump in the horizontal direction, which is taken as the driving distance.

[0176] In one possible embodiment, the vehicle further includes:

[0177] A vector determination module is used to determine a first vector pointing from one end of the target speed bump to the other end of the target speed bump, and a second vector pointing from the one end to the drive shaft;

[0178] The distance direction determination module is used to determine the direction of the drive shaft relative to the target speed bump based on the outer product of the first vector and the second vector, as the distance direction.

[0179] This application also provides an electronic device, such as... Figure 11 As shown, it includes:

[0180] Memory 1101 is used to store computer programs;

[0181] When processor 1102 executes the program stored in memory 1101, it performs the following steps:

[0182] Determine the relative position between the target vehicle's drive shaft and the target speed bump when the target vehicle is in the first starting position;

[0183] If the relative position does not meet the preset passing conditions, the target vehicle is controlled to move from the first starting position to the second starting position in the direction away from the target speed bump. The direction away from the target speed bump is the direction in which the drive shaft is located relative to the target speed bump.

[0184] Control the target vehicle to drive from the second starting position through the target speed bump to the target parking space.

[0185] Furthermore, the aforementioned electronic device may also include a communication bus and / or a communication interface, with the processor 1102, the communication interface, and the memory 1101 communicating with each other via the communication bus.

[0186] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0187] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0188] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0189] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0190] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described automatic parking methods.

[0191] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform any of the automatic parking methods described above.

[0192] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a solid-state drive (SSD), etc.

[0193] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0194] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the embodiments for vehicles, electronic devices, and computer storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0195] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. An automatic parking method, characterized in that, The method includes: Determine the relative position between the drive shaft of the target vehicle and the target speed bump when the target vehicle is in the first starting position; If the relative position does not meet the preset passing conditions, the target vehicle is controlled to move from the first starting position to the second starting position in a moving away direction, wherein the moving away direction is the direction of the drive shaft relative to the target speed bump; Control the target vehicle to travel from the second starting position through the target speed bump to the target parking space; The preset passing conditions include: the driving distance between the drive shaft position and the speed bump position is not less than a preset distance, and the target speed bump is located in the expected movement direction of the drive shaft, wherein the expected movement direction is the expected movement direction of the target vehicle when it is located in the first starting position; Controlling the target vehicle to move away from the first starting position includes: The position at which the distance between the target speed bump and the target speed bump is not less than the preset distance is determined in the direction of departure from the target speed bump, and is taken as the position of the target drive shaft; Control the target vehicle to travel away from the first starting position in a direction until the drive shaft of the target vehicle reaches the target drive shaft position; The control of the target vehicle to travel away from the first starting position until the drive shaft of the target vehicle reaches the target drive shaft position includes: Determine an arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the arc angle as the initial included angle. The initial rear axle position is the position of the rear axle of the target vehicle when it is in the first starting position. The target rear axle position is the position of the rear axle when the drive shaft reaches the target drive shaft position. The initial included angle is the angle between the orientation of the target vehicle when it is in the first starting position and the horizontal direction. The horizontal direction is parallel to the ground and perpendicular to the target speed bump. Control the target vehicle to travel along the arc path; The determination of the circular arc path, with the initial rear axis position as the starting point, the target rear axis position as the ending point, and the radian angle as the initial angle, includes: Determine the horizontal distance between the initial rear axle position and the target rear axle position, and use this distance as the horizontal movement distance; The turning radius is obtained by calculating the quotient of the horizontal movement distance and the sine of the initial angle. Determine an arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the turning radius as the radius; Determining the horizontal distance between the initial rear axle position and the target rear axle position, as the horizontal movement distance, includes: If the target vehicle is a front-wheel drive vehicle and the expected direction of movement is in the same direction as the orientation, then the sum of the preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the sum of the driving distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance. If the target vehicle is a front-wheel drive vehicle and the expected direction of movement is opposite to the orientation, then the difference between the preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the difference between the driving distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance. Calculate the difference between the first distance and the second distance, and use it as the horizontal movement distance.

2. The method according to claim 1, characterized in that, Determining the horizontal distance between the initial rear axle position and the target rear axle position, as the horizontal movement distance, includes: If the target vehicle is a rear-wheel drive vehicle, the difference between the preset distance and the driving distance is calculated as the horizontal movement distance.

3. The method according to claim 1, characterized in that, The method further includes: The distance between the drive shaft and the target speed bump in the horizontal direction is determined as the travel distance.

4. The method according to claim 1, characterized in that, The method further includes: Determine a first vector pointing from one end of the target speed bump to the other end of the target speed bump, and a second vector pointing from the one end to the drive shaft; The direction of the drive shaft relative to the target speed bump is determined based on the outer product of the first vector and the second vector, and is taken as the direction of departure.

5. A vehicle, characterized in that, The vehicles include: The position determination module is used to determine the relative position between the drive shaft of the target vehicle and the target speed bump when the target vehicle is in the first starting position; A driving control module is used to control the target vehicle to move from the first starting position to the second starting position in a moving away direction if the relative position does not meet the preset passing conditions, wherein the moving away direction is the direction of the drive shaft relative to the target speed bump; The vehicle driving module is used to control the target vehicle to travel from the second starting position to the target parking space via the target speed bump; The preset passing conditions include: the driving distance between the drive shaft position and the speed bump position is not less than a preset distance, and the target speed bump is located in the expected movement direction of the drive shaft, wherein the expected movement direction is the expected movement direction of the target vehicle when it is located in the first starting position; Controlling the target vehicle to move away from the first starting position includes: The position at which the distance between the target speed bump and the target speed bump is not less than the preset distance is determined in the direction of departure from the target speed bump, and is taken as the position of the target drive shaft; Control the target vehicle to travel away from the first starting position in a direction until the drive shaft of the target vehicle reaches the target drive shaft position; The control of the target vehicle to travel away from the first starting position until the drive shaft of the target vehicle reaches the target drive shaft position includes: Determine an arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the arc angle as the initial included angle. The initial rear axle position is the position of the rear axle of the target vehicle when it is in the first starting position. The target rear axle position is the position of the rear axle when the drive shaft reaches the target drive shaft position. The initial included angle is the angle between the orientation of the target vehicle when it is in the first starting position and the horizontal direction. The horizontal direction is parallel to the ground and perpendicular to the target speed bump. Control the target vehicle to travel along the arc path; The determination of the circular arc path, with the initial rear axis position as the starting point, the target rear axis position as the ending point, and the radian angle as the initial angle, includes: Determine the horizontal distance between the initial rear axle position and the target rear axle position, and use this distance as the horizontal movement distance; The turning radius is obtained by calculating the quotient of the horizontal movement distance and the sine of the initial angle. Determine an arc path with the initial rear axle position as the starting point, the target rear axle position as the ending point, and the turning radius as the radius; Determining the horizontal distance between the initial rear axle position and the target rear axle position, as the horizontal movement distance, includes: If the target vehicle is a front-wheel drive vehicle and the expected direction of movement is in the same direction as the orientation, then the sum of the preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the sum of the driving distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance. If the target vehicle is a front-wheel drive vehicle and the expected direction of movement is opposite to the orientation, then the difference between the preset distance and the axle spacing of the target vehicle is calculated as the first distance, and the difference between the driving distance and the horizontal component of the axle spacing in the horizontal direction is calculated as the second distance. Calculate the difference between the first distance and the second distance, and use it as the horizontal movement distance.

6. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method of any one of claims 1-4.

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