A parking space interior alignment method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a parking space interior alignment method and device, electronic equipment and a storage medium, wherein the method comprises: S1: acquiring a first yaw angle of a vehicle, determining whether the first yaw angle is within a first preset range, if yes, generating a first driving trajectory of the vehicle in a first direction, and controlling the vehicle to drive along the first driving trajectory so that the first yaw angle tends to a first preset value; S2: acquiring a second yaw angle of the vehicle, determining whether the second yaw angle is within the first preset range, if yes, generating a second driving trajectory of the vehicle in a second direction, and controlling the vehicle to drive along the second driving trajectory so that the second yaw angle tends to the first preset value; S3: acquiring a third yaw angle of the vehicle, if the third yaw angle of the vehicle is within the first preset range, continuing to perform S1 until the yaw angle of the vehicle is the first preset value. By implementing the above embodiments, the vehicle can be aligned without colliding with the boundaries around the parking space.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and more specifically, to a method, apparatus, electronic device, and computer-readable storage medium for straightening a parking space. Background Technology

[0002] Currently, the mainstream parallel parking plan involves parking the vehicle into the space in one go and straightening it. However, many parking spaces in reality are narrow parallel spaces, making it impossible to straighten the vehicle without colliding with the boundaries of the space. Therefore, the vehicle needs to be parked at a certain angle into the horizontal parking space, and the vehicle needs to be straightened and stopped at the center of the space by using the front / rear swaying motion. Summary of the Invention

[0003] The purpose of this application is to provide a method, device, electronic device and storage medium for straightening a vehicle inside a parking space, which can straighten a vehicle without colliding with the boundaries of the parking space.

[0004] In a first aspect, embodiments of this application provide a method for aligning the interior of a parking space, including:

[0005] S1: Obtain the first yaw angle of the vehicle, determine whether the first yaw angle is within a first preset range, if so, generate a first driving trajectory of the vehicle along a first direction, and control the vehicle to drive along the first driving trajectory so that the first yaw angle tends to the first preset value.

[0006] S2: Obtain the second yaw angle of the vehicle, determine whether the second yaw angle is within the first preset range, if so, generate a second driving trajectory of the vehicle along the second direction, and control the vehicle to drive along the second driving trajectory so that the second yaw angle tends to the first preset value;

[0007] S3: Obtain the third yaw angle of the vehicle. If the third yaw angle of the vehicle is not the first preset value, continue to execute S1 until the third yaw angle is the first preset value.

[0008] In the above process, the vehicle is repeatedly moved by the first and second driving trajectories and the yaw angle of the vehicle tends to the first preset value, thereby completing the straightening of the vehicle.

[0009] Furthermore, the first driving trajectory is a circular arc trajectory;

[0010] The generation of the first driving trajectory of the vehicle along the first direction includes:

[0011] Obtain the first maximum limiting central angle from the first vertex of the vehicle to the first edge of the parking space;

[0012] The first central angle of the first driving trajectory is determined based on the first yaw angle and the first maximum limiting central angle.

[0013] Furthermore, the second driving trajectory is a circular arc trajectory;

[0014] The generation of the second driving trajectory of the vehicle along the second direction includes:

[0015] Obtain the second maximum limiting central angle from the second vertex of the vehicle to the second edge of the parking space;

[0016] The second central angle of the second driving trajectory is determined based on the second yaw angle and the second maximum limiting central angle.

[0017] Further, obtaining the first maximum limiting central angle from the first vertex to the first edge of the parking space includes:

[0018] Obtain the vehicle's minimum turning radius, the position information of the first edge, and the position information of the first vertex;

[0019] The position information of the first center of the first driving trajectory is determined based on the first yaw angle, the position information of the first vertex, and the minimum turning radius.

[0020] The first maximum limiting central angle is obtained based on the position information of the first center, the minimum turning radius, the position information of the first vertex, and the position information of the first edge.

[0021] Furthermore, the second vertex includes the third vertex and the fourth vertex;

[0022] The step of obtaining the second maximum limiting central angle from the second vertex to the second and third edges of the parking space includes:

[0023] Obtain the vehicle's minimum turning radius, the position information of the second edge, the position information of the third edge, the position information of the third vertex, and the position information of the fourth vertex;

[0024] The position information of the third center of the second driving trajectory is determined based on the second yaw angle, the position information of the third vertex, and the minimum turning radius;

[0025] The position information of the fourth center of the second driving trajectory is determined based on the second yaw angle, the position information of the third vertex, and the minimum turning radius;

[0026] The second maximum limiting central angle is obtained based on the position information of the third center, the position information of the fourth center, the minimum turning radius, the position information of the second edge, the position information of the third vertex, the position information of the third edge, and the position information of the fourth vertex.

[0027] Further, obtaining the first maximum limiting central angle based on the position information of the first center, the minimum turning radius, the position information of the first vertex, and the position information of the first edge includes:

[0028] The first maximum restricted central angle is obtained using the following formula:

[0029]

[0030]

[0031]

[0032]

[0033]

[0034] Wherein, θ1 is the first maximum limiting central angle, a1 is the coordinate of the first center in the first direction, X0 is the coordinate of the current vehicle position in the first direction, X1 is the coordinate of the first vertex in the first direction, Y0 is the coordinate of the current vehicle position in the second direction, Y1 is the coordinate of the first vertex in the second direction, and b1 is the coordinate of the first center in the second direction; X end1 Let Y be the coordinate of the first edge in the first direction. end1 Let R be the coordinates of the intersection point of the circular trajectory corresponding to the first center and the minimum turning radius and the first edge in the second direction. min Dst is the minimum turning radius. longth θ is the vehicle length, Width is the vehicle width, and θ is the vehicle width. max The maximum value of the limit angle at the equivalent center point of the front axle, V is the vehicle speed at the equivalent center point of the front axle, ω is the rotational speed at the equivalent angle of the front axle, and Dst is the maximum value of the limit angle at the equivalent center point of the front axle. Rear is the rear overhang length of the vehicle, and l is the wheelbase of the vehicle.

[0035] Further, obtaining the second maximum limiting central angle based on the position information of the third circle center, the position information of the fourth circle center, the minimum turning radius, the position information of the second edge, the position information of the third vertex, the position information of the third edge, and the position information of the fourth vertex includes:

[0036] The second maximum restricted central angle is obtained using the following formula:

[0037]

[0038]

[0039]

[0040]

[0041]

[0042]

[0043]

[0044]

[0045]

[0046] θ2 = min{θ3,θ4};

[0047] Where θ3 is the maximum restricted central angle of the third vertex, θ4 is the maximum restricted central angle of the fourth vertex, θ2 is the second maximum restricted central angle, a3 is the coordinate of the third center in the first direction, b3 is the coordinate of the third center in the second direction, a4 is the coordinate of the fourth center in the first direction, b4 is the coordinate of the fourth center in the second direction, X0 is the coordinate of the current vehicle position in the first direction, X3 is the coordinate of the third vertex in the first direction, Y0 is the coordinate of the current vehicle position in the second direction, Y3 is the coordinate of the third vertex in the second direction, X4 is the coordinate of the fourth vertex in the first direction, Y4 is the coordinate of the fourth vertex in the second direction, X... end2 Let Y be the coordinates of the intersection of the circular trajectory corresponding to the third center and the minimum turning radius, and the second edge, in the first direction; end2 Let X be the coordinates of the second edge in the second direction. end3 Y is the coordinate of the third edge in the first direction; end3 Let R be the coordinates of the intersection point of the circular trajectory corresponding to the fourth center and the minimum turning radius and the third edge in the second direction. min Dst is the minimum turning radius. longth θ is the vehicle length, Width is the vehicle width, and θ is the vehicle width. max The maximum value of the limit angle at the equivalent center point of the front axle, V is the vehicle speed at the equivalent center point of the front axle, ω is the rotational speed at the equivalent angle of the front axle, and Dst is the maximum value of the limit angle at the equivalent center point of the front axle. Rear is the rear overhang length of the vehicle, and l is the wheelbase of the vehicle.

[0048] Further, determining the first central angle of the first driving trajectory based on the first yaw angle and the first maximum limiting central angle includes:

[0049] The minimum value among the first yaw angle and the first maximum limiting central angle is determined as the first central angle.

[0050] Further, determining the second central angle of the second driving trajectory based on the second yaw angle and the second maximum limiting central angle includes:

[0051] The minimum value of the second yaw angle and the second maximum limiting central angle is determined as the second central angle.

[0052] Secondly, embodiments of this application provide a parking space interior straightening device, comprising:

[0053] The first control module is used to obtain the first yaw angle of the vehicle, determine whether the first yaw angle is within a first preset range, and if so, generate a first driving trajectory of the vehicle along a first direction and control the vehicle to drive along the first driving trajectory so that the first yaw angle tends to the first preset value.

[0054] The second control module is used to obtain the second yaw angle of the vehicle, determine whether the second yaw angle is within a first preset range, and if so, generate a second driving trajectory of the vehicle along a second direction and control the vehicle to drive along the second driving trajectory so that the second yaw angle tends to the first preset value.

[0055] The third control module is used to obtain the third yaw angle of the vehicle. If the third yaw angle of the vehicle is not the first preset value, the first control module is driven until the yaw angle of the vehicle is the first preset value.

[0056] Thirdly, an electronic device provided in this application 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 method as described in any of the first aspects.

[0057] Fourthly, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described in any of the first aspects.

[0058] Fifthly, embodiments of this application provide a computer program product that, when run on a computer, causes the computer to perform the method described in any of the first aspects.

[0059] Other features and advantages disclosed in this application will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the above-described technology disclosed in this application.

[0060] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0061] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 A flowchart illustrating the parking space alignment method provided in this application embodiment;

[0063] Figure 2 This is a first schematic diagram of vehicle alignment provided in an embodiment of this application;

[0064] Figure 3 This is a first schematic diagram of the driving trajectory provided in the embodiments of this application;

[0065] Figure 4 This is a second schematic diagram of vehicle alignment provided in an embodiment of this application;

[0066] Figure 5 This is a second schematic diagram of the driving trajectory provided in the embodiments of this application;

[0067] Figure 6 A third schematic diagram of the driving trajectory provided in the embodiments of this application;

[0068] Figure 7 A fourth schematic diagram of the driving trajectory provided in the embodiments of this application;

[0069] Figure 8 This is a schematic diagram of the structure of the parking space internal straightening device provided in the embodiments of this application;

[0070] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0071] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0072] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0073] See Figure 1 This application provides a method for aligning a vehicle inside a parking space, applicable to a vehicle terminal or server, used to control the vehicle's movement within the parking space. The server can be a standalone server or a server cluster, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence sampling point devices. See also... Figure 1 The methods include:

[0074] S1: Obtain the first yaw angle of the vehicle, determine whether the first yaw angle is within the first preset range, if so, generate the first driving trajectory of the vehicle along the first direction, and control the vehicle to drive along the first driving trajectory so that the first yaw angle tends to the first preset value.

[0075] S2: Obtain the second yaw angle of the vehicle, determine whether the second yaw angle is within the first preset range, if so, generate the second driving trajectory of the vehicle along the second direction, and control the vehicle to drive along the second driving trajectory so that the second yaw angle tends to the first preset value;

[0076] S3: Obtain the third yaw angle of the vehicle. If the third yaw angle of the vehicle is not the first preset value, continue to execute S1 until the third yaw angle is the first preset value.

[0077] In this embodiment, the parking space is a horizontal parking space, the second edge A2 is a horizontal edge, and the first edge A1 and the third edge A3 are vertical edges. A coordinate system is established with the lower right corner of the parking space as the origin, O as the origin coordinate, the X-axis of the coordinate system is parallel to the second edge A2 of the parking space, and the Y-axis of the coordinate system is parallel to the first edge A1 or the third edge A3 of the parking space. The yaw angle ψ of the vehicle is the minimum absolute value of the angle required for the X-axis to rotate to be parallel to the straight line perpendicular to the rear axle of the vehicle. If the X-axis rotates counterclockwise, the yaw angle of the vehicle is positive; if the X-axis rotates clockwise, the yaw angle of the vehicle is negative. The first direction can be the X-axis direction, the second direction is the Y-axis direction, and O0 is the current vehicle position. In this embodiment, the current vehicle position is the position of the midpoint of the rear axle of the current vehicle.

[0078] The first yaw angle of the vehicle is the yaw angle when the vehicle begins to straighten; the second yaw angle of the vehicle is the yaw angle at the end of the first driving trajectory; and the third yaw angle of the vehicle is the yaw angle at the end of the second driving trajectory.

[0079] For example, see Figure 2 ,exist Figure 2 In the coordinate system, the vehicle's first yaw angle is greater than 0°, the first preset range is greater than 0°, and the first preset value is 0°. When the first preset value is 0°, it means that the vehicle is straight. It can be understood that the first preset value can be other angles, representing that the vehicle and the third edge A3 of the parking space form a certain angle.

[0080] It should be noted that in some embodiments, the first yaw angle of the vehicle can be less than 0°, in which case the first preset range is less than 0°.

[0081] It is understood that the method of this application is applicable to different coordinate systems and is not limited to them. Figure 2 The coordinate system in the middle.

[0082] In the above process, the vehicle is repeatedly moved by the first and second driving trajectories and the yaw angle of the vehicle tends to the first preset value, thereby completing the straightening of the vehicle.

[0083] In some embodiments, the first driving trajectory is a circular arc trajectory; generating the first driving trajectory of the vehicle along the first direction includes: obtaining the first maximum limiting central angle from the first vertex of the vehicle to the first edge of the parking space; and determining the first central angle of the first driving trajectory based on the first yaw angle and the first maximum limiting central angle.

[0084] In some embodiments, the first driving trajectory is the driving trajectory of the first apex of the vehicle;

[0085] In this embodiment, the radius of the arc trajectory is the minimum turning radius of the vehicle.

[0086] For example, with Figure 2 For example, Figure 2 L1 is the first driving trajectory, which is arc-shaped. As the vehicle travels along the second driving trajectory, the yaw angle of the vehicle tends to be 0 degrees, so the first driving trajectory bends downward.

[0087] In the above implementation process, the first driving trajectory is a circular arc trajectory. The circular arc trajectory has a fixed radius parameter. Therefore, by determining the maximum limiting central angle, the circular arc trajectory can be quickly determined, thereby quickly completing the vehicle alignment.

[0088] In some embodiments, obtaining the first maximum limiting central angle from the first vertex to the first edge of the parking space includes: obtaining the vehicle's minimum turning radius, the position information of the first edge, and the position information of the first vertex; determining the position information of the first center of the first driving trajectory based on the first yaw angle and the minimum turning radius; and obtaining the first maximum limiting central angle based on the position information of the first center, the minimum turning radius, the position information of the first vertex, and the position information of the first edge.

[0089] In some embodiments, the first vertex is the point on the vehicle closest to the first edge;

[0090] For example, see Figure 2 , 3 The first vertex is the right front vertex FR of the vehicle; O1 is the first center of the circle, and the position information of the first center of the circle is the x-coordinate and y-coordinate of O1. The first edge information is the x-coordinate of the first edge of the parking space. The first maximum limiting central angle is θ1. By generating a tangent line at the position of the first vertex with the angle of the first lateral angle to the X-axis, and drawing a perpendicular line to this tangent line along the first vertex, the straight line where the first center of the circle is located can be determined. The position of the first center of the circle can be obtained through the minimum turning radius and the bending direction of the first driving trajectory. Then, the position information of the first center of the circle can be determined by geometric calculation. In the embodiments of this application, the method for determining the other centers of the circle is the same as the method for determining the first center of the circle.

[0091] The position information of the first edge is automatically sensed by the sensor.

[0092] In the above implementation process, the first maximum limiting central angle can be obtained by acquiring multiple pieces of information.

[0093] In some embodiments, obtaining the first maximum limiting central angle based on the position information of the first center, the minimum turning radius, the position information of the first vertex, and the position information of the first edge includes:

[0094] The first maximum restricted central angle can be obtained using the following formula:

[0095]

[0096]

[0097]

[0098]

[0099]

[0100] The coordinates of the rear axle center can be obtained from parameters provided by the vehicle controller or positioning system.

[0101] Wherein, θ1 is the first maximum limiting central angle, a1 is the coordinate of the first center in the first direction, X0 is the coordinate of the current vehicle position in the first direction, X1 is the coordinate of the first vertex in the first direction, Y0 is the coordinate of the current vehicle position in the second direction, Y1 is the coordinate of the first vertex in the second direction, and b1 is the coordinate of the first center in the second direction; X end1 Let Y be the coordinate of the first edge in the first direction. end1 Let R be the coordinates of the intersection point of the circular trajectory corresponding to the first center and the minimum turning radius and the first edge in the second direction. min Dst is the minimum turning radius. longth θ is the vehicle length, Width is the vehicle width, and θ is the vehicle width. max The maximum value of the limit angle at the equivalent center point of the front axle, V is the vehicle speed at the equivalent center point of the front axle, ω is the rotational speed at the equivalent angle of the front axle, and Dst is the maximum value of the limit angle at the equivalent center point of the front axle. Rear is the rear overhang length of the vehicle, and l is the wheelbase of the vehicle.

[0102] X end1 It can be obtained directly through sensor detection.

[0103] In some embodiments, controlling the vehicle to travel along a first driving trajectory includes:

[0104] Turn the square disc fully in the first rotation direction so that the vehicle travels along the first driving trajectory.

[0105] In some embodiments, determining the first central angle of the first driving trajectory based on the first yaw angle and the first maximum limiting central angle includes:

[0106] The minimum value among the first horizontal sway angle and the first maximum limiting central angle is determined as the first central angle.

[0107] In the above process, the steering wheel can be used to the maximum extent to straighten the vehicle without it colliding with the edge of the parking space.

[0108] In some embodiments, the second driving trajectory is a circular arc trajectory; generating the second driving trajectory of the vehicle along the second direction includes: obtaining the second maximum limiting central angle from the second vertex to the second edge of the parking space; and determining the first central angle of the second driving trajectory based on the second yaw angle and the second maximum limiting central angle.

[0109] In some embodiments, the second driving trajectory is the driving trajectory of the second apex of the vehicle;

[0110] For example, with Figure 4 For example, Figure 4L2 represents the second driving trajectory. As the vehicle travels along the second driving trajectory, its yaw angle tends to 0 degrees, causing the first driving trajectory to curve upwards. When the right rear apex of the vehicle travels along L2, the left rear apex of the vehicle travels along L3.

[0111] In the above implementation process, the second driving trajectory is a circular arc trajectory. The circular arc trajectory has a fixed radius parameter. Therefore, by determining the maximum limiting central angle, the circular arc trajectory can be quickly determined, thereby quickly completing the vehicle alignment.

[0112] In some embodiments, the second vertex includes a third vertex and a fourth vertex; obtaining the second maximum limiting central angle from the second vertex to the second edge and the third edge of the parking space includes: obtaining the minimum turning radius of the vehicle, the position information of the second edge, the position information of the third edge, the position information of the third vertex, and the position information of the fourth vertex; determining the position information of the third center of the second driving trajectory based on the second yaw angle, the position information of the third vertex, and the minimum turning radius; determining the position information of the fourth center of the second driving trajectory based on the second yaw angle, the position information of the third vertex, and the minimum turning radius; and obtaining the second maximum limiting central angle based on the position information of the third center, the position information of the fourth center, the minimum turning radius, the position information of the second edge, the position information of the third vertex, the position information of the third edge, and the position information of the fourth vertex.

[0113] In other words, there are two vertices: the third vertex and the fourth vertex. The third vertex is the point where the vehicle is closest to the second edge, and the fourth vertex is the point where the vehicle is closest to the third edge. See [link / reference]. Figure 4 The third vertex is the right rear vertex of the vehicle, and the fourth vertex is the left rear vertex of the vehicle. The position information of the second and third edges is automatically sensed by the sensors.

[0114] For example, see Figure 4 , Figure 5 , Figure 6 O3 is the third center, O4 is the fourth center, the second edge information is the ordinate of the second edge of the parking space, RR is the third vertex, and RL is the fourth vertex.

[0115] The position information of the first edge is automatically sensed by the sensor.

[0116] In the above implementation process, the first maximum limiting central angle can be obtained by acquiring multiple pieces of information.

[0117] In some embodiments, see Figure 5 , Figure 6The second maximum limiting central angle is obtained based on the position information of the third center, the fourth center, the minimum turning radius, the position information of the second edge, the position information of the third vertex, and the position information of the fourth vertex. This includes obtaining the second maximum limiting central angle using the following formula:

[0118]

[0119]

[0120]

[0121]

[0122]

[0123]

[0124]

[0125]

[0126]

[0127] θ2 = min{θ3,θ4};

[0128] Where θ3 is the maximum restricted central angle of the third vertex, θ4 is the maximum restricted central angle of the fourth vertex, θ2 is the second maximum restricted central angle, a3 is the coordinate of the third center in the first direction, b3 is the coordinate of the third center in the second direction, a4 is the coordinate of the fourth center in the first direction, b4 is the coordinate of the fourth center in the second direction, X0 is the coordinate of the current vehicle position in the first direction, X3 is the coordinate of the third vertex in the first direction, Y0 is the coordinate of the current vehicle position in the second direction, Y3 is the coordinate of the third vertex in the second direction, X4 is the coordinate of the fourth vertex in the first direction, Y4 is the coordinate of the fourth vertex in the second direction, X... end2 Let Y be the coordinates of the intersection of the circular trajectory corresponding to the third center and the minimum turning radius, and the second edge, in the first direction; end2 Let X be the coordinates of the second edge in the second direction. end3 Y is the coordinate of the third edge in the first direction; end3 Let R be the coordinates of the intersection point of the circular trajectory corresponding to the fourth center and the minimum turning radius and the third edge in the second direction. min Dst is the minimum turning radius. longth θ is the vehicle length, Width is the vehicle width, and θ is the vehicle width. maxThe maximum value of the limit angle at the equivalent center point of the front axle, V is the vehicle speed at the equivalent center point of the front axle, ω is the rotational speed at the equivalent angle of the front axle, and Dst is the maximum value of the limit angle at the equivalent center point of the front axle. Rear is the rear overhang length of the vehicle, and l is the wheelbase of the vehicle.

[0129] In some embodiments, when θ2 = θ3, the second driving trajectory is the driving trajectory of the third vertex; when θ2 = θ4, the second driving trajectory is the driving trajectory of the fourth vertex. Wherein, Y end2 X end3 This can be obtained through sensors.

[0130] Further, determining the second central angle of the second driving trajectory based on the second yaw angle and the second maximum limiting central angle includes: determining the minimum value of the second yaw angle and the second maximum limiting central angle as the second central angle.

[0131] In some embodiments, determining the second central angle of the second driving trajectory based on the second yaw angle and the second maximum limiting central angle includes:

[0132] The minimum value among the second horizontal sway angle and the second maximum limiting central angle is determined as the second central angle.

[0133] In the above process, the steering wheel can be used to the maximum extent to straighten the vehicle without it colliding with the edge of the parking space.

[0134] See Figure 7 In some embodiments, after S4, the method further includes: determining the distance between the vehicle's position O(x0, y0) inside the horizontal parking space and the target center point O'(x'0, y'0), and generating a straight line segment L4 based on the distance for correction.

[0135] For example, the length L4 can be obtained using the following formula. longth :

[0136] L4 longth =|x'0-x0|;

[0137]

[0138] k is the distance from point O' to the vehicle's centerline, and Longth is the horizontal length of the parking space.

[0139] See Figure 8 This application embodiment also provides a parking space interior alignment method device, including: a first control module 1, used to obtain a first yaw angle of a vehicle, determine whether the first yaw angle is within a first preset range, if so, generate a first driving trajectory of the vehicle along a first direction, and control the vehicle to drive along the first driving trajectory so that the first yaw angle tends to a first preset value.

[0140] The second control module 2 is used to obtain the second yaw angle of the vehicle, determine whether the second yaw angle is within a first preset range, and if so, generate a second driving trajectory of the vehicle along a second direction and control the vehicle to drive along the second driving trajectory so that the second yaw angle tends to the first preset value.

[0141] The third control module 3 is used to obtain the third yaw angle of the vehicle. If the third yaw angle of the vehicle is not the first preset value, the first control module is driven until the yaw angle of the vehicle is the first preset value.

[0142] The device for aligning the parking space inside is also used to perform the implementation methods described above, which will not be repeated here.

[0143] This application also provides an electronic device, please refer to [link to application]. Figure 9 , Figure 9 This is a structural block diagram of an electronic device provided in an embodiment of this application. The electronic device may include a processor 91, a communication interface 92, a memory 93, and at least one communication bus 94. The communication bus 94 is used to enable direct communication between these components. In this embodiment, the communication interface 92 of the electronic device is used for signaling or data communication with other node devices. The processor 91 may be an integrated circuit chip with signal processing capabilities.

[0144] The processor 91 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor, or the processor 91 can be any conventional processor.

[0145] The memory 93 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. The memory 93 stores computer-readable instructions, which, when executed by the processor 91, allow the electronic device to perform the various steps involved in the above method embodiments.

[0146] Alternatively, the electronic device may also include a storage controller and an input / output unit.

[0147] The memory 93, storage controller, processor 91, peripheral interface, and input / output unit are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses 94. The processor 91 is used to execute executable modules stored in the memory 93, such as software function modules or computer programs included in electronic devices.

[0148] The input / output unit is used to provide users with the ability to create tasks and to set optional start periods or preset execution times for those tasks, thereby enabling user-server interaction. The input / output unit may be, but is not limited to, a mouse and keyboard.

[0149] Understandable. Figure 9 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 9 The more or fewer components shown, or having the same Figure 9 The different configurations shown. Figure 9 The components shown can be implemented using hardware, software, or a combination thereof.

[0150] This application also provides a storage medium storing instructions. When the instructions are run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment. To avoid repetition, the method will not be described again here.

[0151] This application also provides a computer program product that, when run on a computer, causes the computer to perform the method described in the method embodiment.

[0152] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0153] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0154] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0155] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0156] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0157] 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.

Claims

1. A method for aligning the interior of a parking space, characterized in that, include: S1: Obtain the first yaw angle of the vehicle, determine whether the first yaw angle is within a first preset range, if so, generate a first driving trajectory of the vehicle along a first direction, and control the vehicle to drive along the first driving trajectory so that the first yaw angle tends to the first preset value. S2: Obtain the second yaw angle of the vehicle, determine whether the second yaw angle is within the first preset range, if so, generate a second driving trajectory of the vehicle along the second direction, and control the vehicle to drive along the second driving trajectory so that the second yaw angle tends towards the first preset value; S3: Obtain the third yaw angle of the vehicle. If the third yaw angle of the vehicle is not the first preset value, continue to execute S1 until the yaw angle of the vehicle is the first preset value. The first driving trajectory is a circular arc trajectory; The generation of the first driving trajectory of the vehicle along the first direction includes: Obtain the first maximum limiting central angle from the first vertex of the vehicle to the first edge of the parking space; The first central angle of the first driving trajectory is determined based on the first yaw angle and the first maximum limiting central angle. The second driving trajectory is a circular arc trajectory; The generation of the second driving trajectory of the vehicle along the second direction includes: Obtain the second maximum limiting central angle from the second vertex of the vehicle to the second edge of the parking space; The second central angle of the second driving trajectory is determined based on the second yaw angle and the second maximum limiting central angle. The step of obtaining the first maximum limiting central angle from the first vertex to the first edge of the parking space includes: Obtain the vehicle's minimum turning radius, the position information of the first edge, and the position information of the first vertex; The position information of the first center of the first driving trajectory is determined based on the first yaw angle, the position information of the first vertex, and the minimum turning radius. The first maximum restricted central angle is obtained based on the position information of the first center, the minimum turning radius, the position information of the first vertex, and the position information of the first edge. The second vertex includes the third and fourth vertices; The step of obtaining the second maximum limiting central angle from the second vertex to the second and third edges of the parking space includes: Obtain the vehicle's minimum turning radius, the position information of the second edge, the position information of the third edge, the position information of the third vertex, and the position information of the fourth vertex; The position information of the third center of the second driving trajectory is determined based on the second yaw angle, the position information of the third vertex, and the minimum turning radius; The position information of the fourth center of the second driving trajectory is determined based on the second yaw angle, the position information of the third vertex, and the minimum turning radius; The second maximum limiting central angle is obtained based on the position information of the third center, the position information of the fourth center, the minimum turning radius, the position information of the second edge, the position information of the third vertex, the position information of the third edge, and the position information of the fourth vertex.

2. The method for aligning the interior of a parking space according to claim 1, characterized in that, The step of obtaining the first maximum limiting central angle based on the position information of the first center, the minimum turning radius, the position information of the first vertex, and the position information of the first edge includes: The first maximum restricted central angle is obtained using the following formula: ； ； ； ； ； in, For the first maximum limiting central angle, Let be the coordinates of the first circle's center in the first direction. The coordinates of the current vehicle position in the first direction are: Let be the coordinates of the first vertex in the first direction. The coordinates of the current vehicle position in the second direction are: Let be the coordinates of the first vertex in the second direction. Let be the coordinates of the first circle's center in the second direction; Let be the coordinates of the first edge in the first direction. Let be the coordinates of the intersection point of the circular trajectory corresponding to the first center and the minimum turning radius and the first edge in the second direction. The minimum turning radius is... For vehicle length, For vehicle width, This represents the maximum value of the limit angle at the equivalent center point of the front axle. For the equivalent center point speed of the front axle, This is the equivalent rotational speed of the front axle. This refers to the rear overhang length of the vehicle. This refers to the vehicle's wheelbase.

3. The method for aligning the interior of a parking space according to claim 1, characterized in that, The step of obtaining the second maximum limiting central angle based on the position information of the third circle center, the position information of the fourth circle center, the minimum turning radius, the position information of the second edge, the position information of the third vertex, the position information of the third edge, and the position information of the fourth vertex includes: The second maximum restricted central angle is obtained using the following formula: ； ； ； ； ； ； ； ； ； in, The maximum restricted central angle of the third vertex. The maximum restricted central angle of the fourth vertex. This is the second maximum limiting central angle. Let the coordinates of the third circle's center be in the first direction. Let be the coordinates of the third circle's center in the second direction. Let the coordinates of the fourth circle's center be in the first direction. Let be the coordinates of the fourth circle's center in the second direction. The coordinates of the current vehicle position in the first direction are: Let be the coordinates of the third vertex in the first direction. The coordinates of the current vehicle position in the second direction are: Let be the coordinates of the third vertex in the second direction. Let be the coordinates of the fourth vertex in the first direction. Let be the coordinates of the fourth vertex in the second direction. The coordinates of the intersection of the circular trajectory corresponding to the third center and the minimum turning radius and the second edge in the first direction are: Let the coordinates of the second edge be in the second direction. Let the coordinates of the third edge be in the first direction; Let the coordinates of the intersection point of the circular trajectory corresponding to the fourth center and the minimum turning radius and the third edge be in the second direction. The minimum turning radius is... For vehicle length, For vehicle width, This represents the maximum value of the limit angle at the equivalent center point of the front axle. For the equivalent center point speed of the front axle, This is the equivalent rotational speed of the front axle. This refers to the rear overhang length of the vehicle. This refers to the vehicle's wheelbase.

4. The method for aligning the interior of a parking space according to claim 1, characterized in that, The step of determining the first central angle of the first driving trajectory based on the first yaw angle and the first maximum limiting central angle includes: The minimum value among the first yaw angle and the first maximum limiting central angle is determined as the first central angle.

5. The method for aligning the interior of a parking space according to claim 1, characterized in that, The step of determining the second central angle of the second driving trajectory based on the second yaw angle and the second maximum limiting central angle includes: The minimum value of the second yaw angle and the second maximum limiting central angle is determined as the second central angle.

6. A parking space interior alignment device, characterized in that, The apparatus is used to implement the method as described in any one of claims 1-5; the apparatus comprises: The first control module is used to obtain the first yaw angle of the vehicle, determine whether the first yaw angle is within a first preset range, and if so, generate a first driving trajectory of the vehicle along a first direction and control the vehicle to drive along the first driving trajectory so that the first yaw angle tends to the first preset value. The second control module is used to obtain the second yaw angle of the vehicle, determine whether the second yaw angle is within a first preset range, and if so, generate a second driving trajectory of the vehicle along a second direction and control the vehicle to drive along the second driving trajectory so that the second yaw angle tends to the first preset value. The third control module is used to obtain the third yaw angle of the vehicle. If the third yaw angle of the vehicle is not the first preset value, the first control module is driven until the yaw angle of the vehicle is the first preset value.

7. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1-5.

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