Ground obstacle modeling method and device in parking simulation

Abstract

The application relates to the technical field of automatic driving, in particular to a ground obstacle modeling method and device in parking simulation, wherein the method comprises the following steps: acquiring an actual position of a vehicle and a target triggering position of a ground obstacle; calculating a driving distance of the vehicle according to the actual position and the target triggering position; calculating an actual resistance of the vehicle by using the driving distance and a target resistance model; and inputting the actual resistance into a target vehicle dynamics model to obtain a ground obstacle modeling result under the condition that the actual resistance meets a preset triggering condition. Thus, the problem that the ground is considered as an ideal environment in the related art, the protruding ground interferes with the dynamic characteristics of the vehicle, the accuracy of the parking simulation is reduced, the traffic efficiency and comfort of the vehicle are reduced, and the vehicle cannot meet the user's vehicle demand is solved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method and apparatus for modeling ground obstacles in parking simulation. Background Technology

[0002] In current parking simulation methods, the ground is considered an ideal environment, without considering ground protrusions such as speed bumps. Parking simulation assumes that vehicles can pass over such ground obstacles to achieve simulation testing of autonomous driving.

[0003] However, the related technologies treat the ground as an ideal environment, which causes raised ground surfaces to interfere with the dynamic characteristics of vehicles, reduce the accuracy of parking simulation, and reduce the efficiency and comfort of vehicle traffic, thus failing to meet the needs of users and urgently requiring a solution. Summary of the Invention

[0004] This application provides a method and apparatus for modeling ground obstacles in parking simulation, in order to solve the problem in related technologies that treat the ground as an ideal environment, which causes raised ground surfaces to interfere with the dynamic characteristics of vehicles, reduce the accuracy of parking simulation, and reduce the efficiency and comfort of vehicle traffic, thus failing to meet the user's needs.

[0005] The first aspect of this application provides a method for modeling ground obstacles in parking simulation, comprising the following steps: obtaining the actual position of the vehicle and the target trigger position of the ground obstacle; calculating the driving distance of the vehicle based on the actual position and the target trigger position; calculating the actual resistance of the vehicle using the driving distance and the target resistance model; and, when the actual resistance meets a preset trigger condition, inputting the actual resistance into the target vehicle dynamics model to obtain the ground obstacle modeling result.

[0006] Optionally, in one embodiment of this application, the step of calculating the actual resistance of the vehicle using the travel distance and the target resistance model, and applying the actual resistance to the target vehicle dynamics model to obtain the ground obstacle modeling result when the actual resistance meets a preset triggering condition, includes: detecting whether the actual resistance meets the preset triggering condition; if the preset triggering condition is met, obtaining the current pose of the vehicle and using the current pose as the reference point of the ground obstacle; calculating the travel distance of the vehicle in each control cycle based on the current pose and the reference point; inputting the travel distance into the target resistance model to calculate the actual resistance, and inputting the actual resistance into the target vehicle dynamics model to obtain the ground obstacle modeling result.

[0007] Optionally, in one embodiment of this application, the target resistance model includes a speed bump resistance model, a step resistance model, and a bumpy road resistance model.

[0008] Optionally, in one embodiment of this application, the formula for the first acceleration of the speed bump resistance model representing the external disturbance is:

[0009] a=k*A*cos(α),α=(s / l)*π / 2, 0<=s<=l

[0010] Where a represents acceleration, k represents resistance or assist, A represents the maximum resistance value, s represents the distance the vehicle has traveled from the trigger point, and l represents half the length of the speed bump.

[0011] Optionally, in one embodiment of this application, the formula for the second acceleration of the step resistance model representing the external disturbance is:

[0012] a=-A+A*tan(α),α=(s / l)*π / 4,0<=s<=l

[0013] Where a represents acceleration, A represents the maximum resistance, s represents the distance the vehicle has traveled from the trigger point, and l represents the distance the vehicle needs to travel to climb over the step.

[0014] Optionally, in one embodiment of this application, the formula for the third acceleration of the bumpy road resistance model representing external disturbance is:

[0015] a=A1*sin(2*π*f1*t)+A2*sin(2*π*f2*t)+A3*sin(2*π*f3*t),t=(s / l),0<=s

[0016] Where a represents acceleration, A1, A2, and A3 represent the magnitudes of different resistance components, f1, f2, and f3 represent the frequencies of different resistance components, s represents the distance the vehicle has traveled from the trigger point, and l represents the average width of the dent.

[0017] Optionally, in one embodiment of this application, the method further includes: prompting the user with the results of the ground obstacle modeling.

[0018] A second aspect of this application provides a ground obstacle modeling device for parking simulation, comprising: an acquisition module for acquiring the actual position of a vehicle and the target trigger position of a ground obstacle; a calculation module for calculating the driving distance of the vehicle based on the actual position and the target trigger position; and a determination module for calculating the actual resistance of the vehicle using the driving distance and a target resistance model, and, if the actual resistance meets a preset trigger condition, inputting the actual resistance into a target vehicle dynamics model to obtain the ground obstacle modeling result.

[0019] Optionally, in one embodiment of this application, the determining module includes: a detection unit, configured to detect whether the actual resistance meets a preset triggering condition; a processing unit, configured to, if the preset triggering condition is met, acquire the current pose of the vehicle and use the current pose as a reference point for the ground obstacle; a calculation unit, configured to calculate the driving distance of the vehicle in each control cycle based on the current pose and the reference point; and a determining unit, configured to input the driving distance into the target resistance model, calculate the actual resistance, and input the actual resistance into the target vehicle dynamics model to obtain the ground obstacle modeling result.

[0020] Optionally, in one embodiment of this application, the target resistance model includes a speed bump resistance model, a step resistance model, and a bumpy road resistance model.

[0021] Optionally, in one embodiment of this application, the formula for the first acceleration of the speed bump resistance model representing the external disturbance is:

[0022] a=k*A*cos(α),α=(s / l)*π / 2, 0<=s<=l

[0023] Where a represents acceleration, k represents resistance or assist, A represents the maximum resistance value, s represents the distance the vehicle has traveled from the trigger point, and l represents half the length of the speed bump.

[0024] Optionally, in one embodiment of this application, the formula for the second acceleration of the step resistance model representing the external disturbance is:

[0025] a=-A+A*tan(α),α=(s / l)*π / 4,0<=s<=l

[0026] Where a represents acceleration, A represents the maximum resistance, s represents the distance the vehicle has traveled from the trigger point, and l represents the distance the vehicle needs to travel to climb over the step.

[0027] Optionally, in one embodiment of this application, the formula for the third acceleration of the bumpy road resistance model representing external disturbance is:

[0028] a=A1*sin(2*π*f1*t)+A2*sin(2*π*f2*t)+A3*sin(2*π*f3*t),t=(s / l),0<=s

[0029] Where a represents acceleration, A1, A2, and A3 represent the magnitudes of different resistance components, f1, f2, and f3 represent the frequencies of different resistance components, s represents the distance the vehicle has traveled from the trigger point, and l represents the average width of the dent.

[0030] Optionally, in one embodiment of this application, the apparatus further includes a prompting module for prompting the user with the ground obstacle modeling results.

[0031] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the ground obstacle modeling method in parking simulation as described in the above embodiments.

[0032] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the ground obstacle modeling method in parking simulation as described above.

[0033] This application's embodiments can calculate the vehicle's travel distance based on the vehicle's actual position and the target trigger position of ground obstacles. Using the travel distance and a resistance model, the actual resistance of the vehicle is calculated. If the actual resistance meets the triggering conditions, it is input into the target vehicle dynamics model to obtain the ground obstacle modeling results. This effectively improves the accuracy of parking simulation and enhances vehicle comfort. Therefore, it solves the problem in related technologies where the ground is treated as an ideal environment, leading to raised surfaces interfering with the vehicle's dynamic characteristics, reducing the accuracy of parking simulation, and decreasing vehicle traffic efficiency and comfort, thus failing to meet user needs.

[0034] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0035] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0036] Figure 1 This is a flowchart of a ground obstacle modeling method in parking simulation according to an embodiment of this application;

[0037] Figure 2 A schematic diagram of a speed bump resistance model for a specific implementation of this application;

[0038] Figure 3 A schematic diagram of a step resistance model for a specific implementation of this application;

[0039] Figure 4 A schematic diagram of a bumpy road resistance model for a specific implementation of this application;

[0040] Figure 5 This is a schematic diagram of a ground obstacle modeling device in parking simulation according to an embodiment of this application;

[0041] Figure 6 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0042] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0043] The following description, with reference to the accompanying drawings, illustrates a method and apparatus for modeling ground obstacles in parking simulation according to embodiments of this application. Addressing the problem mentioned in the background art where the ground is considered an ideal environment, leading to raised surfaces interfering with vehicle dynamics, reducing the accuracy of parking simulation, and decreasing vehicle efficiency and comfort, thus failing to meet user needs, this application provides a method for modeling ground obstacles in parking simulation. In this method, the vehicle's travel distance is calculated based on its actual position and the target trigger position of the ground obstacle. The actual resistance of the vehicle is calculated using the travel distance and a resistance model. When the actual resistance meets the triggering conditions, it is input into the target vehicle dynamics model to obtain the ground obstacle modeling result. This effectively improves the accuracy of parking simulation and enhances vehicle comfort. Therefore, this solves the problem in related technologies where the ground is considered an ideal environment, leading to raised surfaces interfering with vehicle dynamics, reducing the accuracy of parking simulation, and decreasing vehicle efficiency and comfort, thus failing to meet user needs.

[0044] Specifically, Figure 1 This is a flowchart illustrating a ground obstacle modeling method in parking simulation provided in an embodiment of this application.

[0045] like Figure 1 As shown, the ground obstacle modeling method in this parking simulation includes the following steps:

[0046] In step S101, the actual position of the vehicle and the target trigger position of the ground obstacle are obtained.

[0047] It is understood that the embodiments of this application can obtain the actual position of the vehicle and the target trigger position of the ground obstacle. For example, it can obtain the pre-set ground obstacle type and trigger conditions, and drive the vehicle to the set position, which effectively improves the executability of ground obstacle modeling.

[0048] In some embodiments, the ground obstacles in this application can be speed bumps, steps, and bumpy roads, etc. For example, a simulation system can be used to simulate a scenario where the ground obstacle is a step. The trigger condition is the line connecting the center of the rear wheel and the entrance of the parking space, and the simulation process is started. The system waits for the vehicle to drive to the set position, which effectively improves the accuracy of ground obstacle modeling.

[0049] In step S102, the vehicle's travel distance is calculated based on the actual location and the target trigger location.

[0050] It is understood that the embodiments of this application can calculate the vehicle's travel distance based on the actual position and the target trigger position in the above steps. For example, when the ground obstacle is a step, the trigger condition is the line connecting the rear wheel center and the parking space entrance, which is the trigger position of the step. The vehicle's travel distance is calculated based on the actual position of the vehicle and the trigger position of the step, which effectively improves the accuracy of the simulation results.

[0051] In step S103, the actual resistance of the vehicle is calculated using the travel distance and the target resistance model. If the actual resistance meets the preset triggering conditions, the actual resistance is input into the target vehicle dynamics model to obtain the ground obstacle modeling results.

[0052] It is understood that the embodiments of this application can use the driving distance and the target resistance model in the following steps to calculate the actual resistance of the vehicle. When the actual resistance in the following steps meets the preset triggering conditions, the actual resistance is input into the target vehicle dynamics model to obtain the ground obstacle modeling result, which effectively improves the accuracy of parking simulation and enhances the comfort of the vehicle.

[0053] In one embodiment of this application, the actual resistance of the vehicle is calculated using the travel distance and the target resistance model. When the actual resistance meets a preset triggering condition, the actual resistance is applied to the target vehicle dynamics model to obtain the ground obstacle modeling result. This includes: detecting whether the actual resistance meets the preset triggering condition; if the preset triggering condition is met, obtaining the current pose of the vehicle and using the current pose as the reference point for the ground obstacle; calculating the travel distance of the vehicle in each control cycle based on the current pose and the reference point; inputting the travel distance into the target resistance model to calculate the actual resistance; and inputting the actual resistance into the target vehicle dynamics model to obtain the ground obstacle modeling result.

[0054] As one possible implementation method, this application embodiment can detect whether the actual resistance meets the triggering condition. When the triggering condition is met, the current pose of the vehicle is obtained, and the current pose is used as the reference point of the ground obstacle. The driving distance s in each control cycle of the vehicle is calculated based on the current pose and the reference point. The driving distance s is used as an independent variable and input into the target resistance model in the following steps to calculate the actual resistance. The actual resistance is input into the target vehicle dynamics model, and the dynamic characteristics of the vehicle are observed to obtain the ground obstacle modeling result, thereby effectively improving the accuracy of parking simulation and improving the stability of the vehicle.

[0055] In one embodiment of this application, the target resistance model includes a speed bump resistance model, a step resistance model, and a bumpy road resistance model.

[0056] In actual implementation, the embodiments of this application can establish a target resistance model for ground obstacles in a simulation environment based on quantitative description. The target resistance model can include a speed bump resistance model, a step resistance model, and a bumpy road resistance model, which effectively improves the accuracy of ground obstacle modeling.

[0057] For example, such as Figure 2 The diagram shown is a schematic representation of a speed bump resistance model according to a specific embodiment of this application. Figure 2 The resistance change of a vehicle before and after crossing a speed bump is shown. When the wheels touch the speed bump, the speed bump is the resistance term of the vehicle. As the vehicle climbs, the resistance gradually decreases to 0. However, when the vehicle crosses the top of the speed bump, it instantly transforms into an assist term, causing the vehicle to slide downhill. Thus, it can be seen that the external disturbance of the speed bump to the vehicle is a quantity that changes with the position of the vehicle relative to the speed bump, and has the characteristic of instantaneous step change. The first acceleration can be used to describe the external disturbance, and the maximum magnitude varies with the height of the speed bump.

[0058] In one embodiment of this application, the formula for the first acceleration of the speed bump resistance model representing the external disturbance is:

[0059] a=k*A*cos(α),α=(s / l)*π / 2, 0<=s<=l

[0060] Where a represents acceleration, k represents resistance or assist, A represents the maximum resistance value, s represents the distance the vehicle has traveled from the trigger point, and l represents half the length of the speed bump.

[0061] For example, such as Figure 3 The diagram shown is a schematic representation of a step resistance model specific to this application. Figure 3 Let represent the change in resistance of the vehicle before and after climbing over the step. When the wheel touches the step, the step becomes the resistance term of the vehicle. As the vehicle climbs, the resistance gradually decreases to 0. It can be seen that the external disturbance of the step to the vehicle is a quantity that changes with the position of the vehicle and the step, and has the characteristic of instantaneous step change. The external disturbance can be described by the second acceleration, and the maximum value will vary depending on the height of the step.

[0062] In one embodiment of this application, the formula for the second acceleration of the step resistance model representing the external disturbance is:

[0063] a=-A+A*tan(α),α=(s / l)*π / 4,0<=s<=l

[0064] Where a represents acceleration, A represents the maximum resistance, s represents the distance the vehicle has traveled from the trigger point, and l represents the distance the vehicle needs to travel to climb over the step.

[0065] For example, such as Figure 4 The diagram shown is a schematic representation of a bumpy road surface resistance model according to a specific implementation of this application. Figure 4 This refers to the change in resistance of a vehicle before and after traversing a bumpy road surface. The road surface of a bumpy road surface is highly irregular. When a vehicle encounters a bumpy road surface, the bumpy road surface is a highly random resistance term for the vehicle. When the vehicle is traveling at a very low speed, it will cause a large fluctuation in vehicle speed. The first acceleration can be used to describe the external disturbance, and the maximum value varies depending on the height of the speed bump.

[0066] In one embodiment of this application, the formula for the third acceleration representing the external disturbance in the bumpy road resistance model is as follows:

[0067] a=A1*sin(2*π*f1*t)+A2*sin(2*π*f2*t)+A3*sin(2*π*f3*t),t=(s / l),0<=s

[0068] Where a represents acceleration, A1, A2, and A3 represent the magnitudes of different resistance components, f1, f2, and f3 represent the frequencies of different resistance components, s represents the distance the vehicle has traveled from the trigger point, and l represents the average width of the crater.

[0069] Optionally, in one embodiment of this application, the method further includes: prompting the user with the results of the ground obstacle modeling.

[0070] In some embodiments, the present application embodiments can prompt the user with the ground obstacle modeling results. For example, the ground obstacle modeling results can be sent to a preset terminal, such as a tablet computer, to improve the interactivity of the vehicle and enhance the vehicle's intelligence level, effectively reducing the reliance on the actual vehicle during the development process.

[0071] The ground obstacle modeling method in parking simulation proposed in this application can calculate the vehicle's travel distance based on the vehicle's actual position and the target trigger position of the ground obstacle. The actual resistance of the vehicle is then calculated using the travel distance and a resistance model. When the actual resistance meets the triggering conditions, it is input into the target vehicle dynamics model to obtain the ground obstacle modeling result. This effectively improves the accuracy of parking simulation and enhances vehicle comfort. Therefore, it solves the problem in related technologies where the ground is treated as an ideal environment, leading to raised surfaces interfering with the vehicle's dynamic characteristics, reducing the accuracy of parking simulation, and decreasing vehicle traffic efficiency and comfort, thus failing to meet user needs.

[0072] Next, referring to the accompanying drawings, a ground obstacle modeling device for parking simulation proposed according to an embodiment of this application is described.

[0073] Figure 5 This is a block diagram of a ground obstacle modeling device in parking simulation according to an embodiment of this application.

[0074] like Figure 5 As shown, the ground obstacle modeling device 10 in the parking simulation includes: an acquisition module 100, a calculation module 200, and a determination module 300.

[0075] Specifically, the acquisition module 100 is used to acquire the actual position of the vehicle and the target trigger position of the ground obstacle.

[0076] The calculation module 200 is used to calculate the vehicle's travel distance based on the actual location and the target trigger location.

[0077] The determination module 300 is used to calculate the actual resistance of the vehicle using the driving distance and the target resistance model. When the actual resistance meets the preset triggering conditions, the actual resistance is input into the target vehicle dynamics model to obtain the ground obstacle modeling results.

[0078] Optionally, in one embodiment of this application, the determining module 300 includes: a detection unit, a processing unit, a calculation unit, and a determining unit.

[0079] The detection unit is used to detect whether the actual resistance meets the preset triggering conditions.

[0080] The processing unit is used to obtain the current pose of the vehicle if a preset triggering condition is met, and use the current pose as the reference point for ground obstacles.

[0081] The calculation unit is used to calculate the travel distance of the vehicle in each control cycle based on the current pose and reference point.

[0082] The determination unit is used to input the travel distance into the target resistance model to calculate the actual resistance, and then input the actual resistance into the target vehicle dynamics model to obtain the ground obstacle modeling results.

[0083] Optionally, in one embodiment of this application, the target resistance model includes a speed bump resistance model, a step resistance model, and a bumpy road resistance model.

[0084] Optionally, in one embodiment of this application, the formula for the first acceleration of the speed bump resistance model representing the external disturbance is:

[0085] a=k*A*cos(α),α=(s / l)*π / 2, 0<=s<=l

[0086] Where a represents acceleration, k represents resistance or assist, A represents the maximum resistance value, s represents the distance the vehicle has traveled from the trigger point, and l represents half the length of the speed bump.

[0087] Optionally, in one embodiment of this application, the formula for the second acceleration of the step resistance model representing the external disturbance is:

[0088] a=-A+A*tan(α),α=(s / l)*π / 4,0<=s<=l

[0089] Where a represents acceleration, A represents the maximum resistance, s represents the distance the vehicle has traveled from the trigger point, and l represents the distance the vehicle needs to travel to climb over the step.

[0090] Optionally, in one embodiment of this application, the formula for the third acceleration representing the external disturbance in the bumpy road resistance model is:

[0091] a=A1*sin(2*π*f1*t)+A2*sin(2*π*f2*t)+A3*sin(2*π*f3*t),t=(s / l),0<=s

[0092] Where a represents acceleration, A1, A2, and A3 represent the magnitudes of different resistance components, f1, f2, and f3 represent the frequencies of different resistance components, s represents the distance the vehicle has traveled from the trigger point, and l represents the average width of the crater.

[0093] Optionally, in one embodiment of this application, the apparatus 10 of this application embodiment further includes: a prompting module.

[0094] The prompting module is used to prompt users with the results of the ground obstacle modeling.

[0095] It should be noted that the foregoing explanation of the ground obstacle modeling method embodiment in parking simulation also applies to the ground obstacle modeling device in parking simulation of this embodiment, and will not be repeated here.

[0096] The ground obstacle modeling device for parking simulation proposed in this application can calculate the vehicle's travel distance based on the vehicle's actual position and the target trigger position of the ground obstacle. It then calculates the vehicle's actual resistance using the travel distance and a resistance model. When the actual resistance meets the triggering conditions, it is input into the target vehicle dynamics model to obtain the ground obstacle modeling result. This effectively improves the accuracy of parking simulation and enhances vehicle comfort. Therefore, it solves the problem in related technologies where the ground is treated as an ideal environment, leading to raised surfaces interfering with the vehicle's dynamic characteristics, reducing the accuracy of parking simulation, and decreasing vehicle traffic efficiency and comfort, thus failing to meet user needs.

[0097] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0098] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0099] When the processor 602 executes the program, it implements the ground obstacle modeling method in parking simulation provided in the above embodiments.

[0100] Furthermore, the vehicle also includes:

[0101] Communication interface 603 is used for communication between memory 601 and processor 602.

[0102] The memory 601 is used to store computer programs that can run on the processor 602.

[0103] The memory 601 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0104] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0105] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0106] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0107] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the ground obstacle modeling method in the parking simulation described above.

[0108] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0109] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0110] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0111] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0112] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0113] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0114] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0115] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method of modeling ground obstacles in a parking simulation, characterized in that, Includes the following steps: Obtain the actual position of the vehicle and the target trigger position of ground obstacles; The vehicle's travel distance is calculated based on the actual location and the target trigger location; as well as The actual resistance of the vehicle is calculated using the travel distance and target resistance model. When the actual resistance meets the preset triggering conditions, the actual resistance is input into the target vehicle dynamics model to obtain the ground obstacle modeling results. The target resistance model includes a speed bump resistance model, a step resistance model, and a bumpy road resistance model. The formula for the first acceleration representing the external disturbance in the speed bump resistance model is: a = k*A*cos(α), α=(s / X)*π / 2, 0 ≤ s ≤ X Where a represents the first acceleration, k represents the resistance or assist, A represents the maximum resistance, s represents the distance the vehicle has traveled from the trigger point, and X represents half the length of the speed bump; The formula for the second acceleration representing the external disturbance in the step resistance model is as follows: b=-A+A*tan(α), α=(s / Y)*π / 4, 0 ≤ s ≤ Y Where b represents the second acceleration and Y represents the distance that needs to be traveled to climb over the steps; The formula for the third acceleration representing the external disturbance in the bumpy road resistance model is as follows: c=A1*sin(2*π*f1*t)+A2*sin(2*π*f2*t)+A3*sin(2*π*f3*t), t=(s / Z), 0 ≤ s Where c represents the third acceleration, A1, A2, and A3 represent the magnitudes of different resistance components, f1, f2, and f3 represent the frequencies of different resistance components, Z represents the average width of the pothole, and t is a spatially normalized phase variable representing the ratio of the vehicle's current travel distance to the average width of the pothole.

2. The method of claim 1, wherein, The process of calculating the vehicle's actual resistance using the travel distance and target resistance model, and applying the actual resistance to the target vehicle dynamics model when the actual resistance meets a preset triggering condition to obtain ground obstacle modeling results, includes: Detect whether the actual resistance meets the preset triggering conditions; If the preset triggering condition is met, the current position of the vehicle is obtained and the current position is used as the reference point of the ground obstacle. The driving distance of the vehicle in each control cycle is calculated based on the current pose and the reference point; The driving distance is input into the target resistance model to calculate the actual resistance. The actual resistance is then input into the target vehicle dynamics model to obtain the ground obstacle modeling result.

3. The method of claim 1, wherein, Also includes: The user is prompted with the results of the ground obstacle modeling.

4. An apparatus for modeling ground obstacles in a parking simulation, characterized by include: The acquisition module is used to acquire the actual position of the vehicle and the target trigger position of ground obstacles; The calculation module is used to calculate the vehicle's travel distance based on the actual location and the target trigger location; as well as The determination module is used to calculate the actual resistance of the vehicle using the driving distance and the target resistance model. When the actual resistance meets the preset triggering conditions, the actual resistance is input into the target vehicle dynamics model to obtain the ground obstacle modeling result. The target resistance model includes a speed bump resistance model, a step resistance model, and a bumpy road resistance model. The formula for the first acceleration representing the external disturbance in the speed bump resistance model is: a = k*A*cos(α), α=(s / X)*π / 2, 0 ≤ s ≤ X Where a represents the first acceleration, k represents the resistance or assist, A represents the maximum resistance, s represents the distance the vehicle has traveled from the trigger point, and X represents half the length of the speed bump; The formula for the second acceleration representing the external disturbance in the step resistance model is as follows: b=-A+A*tan(α), α=(s / Y)*π / 4, 0 ≤ s ≤ Y Where b represents the second acceleration and Y represents the distance that needs to be traveled to climb over the steps; The formula for the third acceleration representing the external disturbance in the bumpy road resistance model is as follows: c=A1*sin(2*π*f1*t)+A2*sin(2*π*f2*t)+A3*sin(2*π*f3*t), t=(s / Z), 0 ≤ s Where c represents the third acceleration, A1, A2, and A3 represent the magnitudes of different resistance components, f1, f2, and f3 represent the frequencies of different resistance components, Z represents the average width of the pothole, and t is a spatially normalized phase variable representing the ratio of the vehicle's current travel distance to the average width of the pothole.

5. A vehicle characterized by comprising: include: The memory, the processor, and the computer program stored in the memory and executable on the processor, the processor executing the program to implement the ground obstacle modeling method in parking simulation as described in any one of claims 1-3.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the ground obstacle modeling method in parking simulation as described in any one of claims 1-3.

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