Space diagonal parking space automatic parking method, device, system and storage medium

Abstract

The application discloses a kind of space oblique parking space automatic parking method, device, system and storage medium, the method includes: in parking space detection mode, front side ultrasonic wave radar works in short distance detection mode and is used to detect the parking space width of target parking space, rear side ultrasonic wave radar works in long distance detection mode and is used to detect the parking space depth of target parking space;According to the parking space width and parking space depth detected, whether target parking space is available parking space is judged;When available parking space is detected, switch to parking mode, at this time, front side ultrasonic wave radar and rear side ultrasonic wave radar both work in short distance detection mode, for detecting the distance information of current vehicle and available parking space both sides of obstacle car, and the inclination angle of available parking space is calculated, and the body posture is adjusted in real time according to inclination angle and distance information.Compared with prior art, the application realizes the automatic parking of space oblique parking space using pure ultrasonic wave radar automatic parking system.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to an automatic parking method, device, system, and storage medium for angled parking spaces. Background Technology

[0002] With the continuous increase in car ownership, parking lots in cities are becoming increasingly crowded, parking spaces are becoming narrower, parking is inconvenient, and safety accidents caused by parking are frequent. For many drivers, especially novice drivers, parking is a painful experience, and automatically driving vehicles into narrow spaces has become the research direction of all automatic parking system developers.

[0003] Studies have shown that the commonly used parallel and perpendicular grid-like parking lots are not very efficient, while parking spaces arranged at a 45-degree angle are more effective in avoiding parking lot congestion. With perpendicularly arranged parking spaces, drivers need to turn their vehicles 90 degrees when reversing into the space, requiring sufficiently wide driveways. However, if parking spaces are arranged at an angle, both left and right spaces are angled towards the driver, making parking easier and allowing for narrower driveways to accommodate more spaces. A large parking lot using 45-degree angled parking spaces can increase its efficiency by 23%. Furthermore, angled parking lots can be converted to one-way traffic, further facilitating traffic flow. Therefore, angled parking spaces are becoming increasingly common, and angled parking is becoming more prevalent.

[0004] Automated parking utilizes ultrasonic radar sensors or cameras around the vehicle to identify suitable parking spaces. After the driver confirms the space, they simply shift gears as prompted, and the system parks the car. Currently, in automated parking systems based on ultrasonic radar sensors, the ultrasonic radar emits ultrasonic signals. When these signals encounter obstacles, they return echo signals, which the ultrasonic radar uses to detect parking spaces. However, because ultrasonic signals have a very wide spatial radiation range, they can only effectively identify perpendicular and horizontal parking spaces. For angled parking spaces, it is difficult to accurately identify the entrance points A and B, and the angle of the angled space cannot be detected. This means that current pure ultrasonic radar systems cannot support parking in angled spaces. This not only limits the application scenarios of automated parking systems, but also increases the risk of collisions with other vehicles when angled parking spaces are misidentified as perpendicular or horizontal spaces. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, device, system and storage medium for automatic parking in angled parking spaces to solve the technical problem that existing pure ultrasonic radar automatic parking systems cannot achieve parking in angled parking spaces.

[0006] To achieve the above objectives, an embodiment of the present invention provides an automatic parking method for angled parking spaces, applicable to ultrasonic radar automatic parking systems. The ultrasonic radar automatic parking system includes a front side ultrasonic radar and a rear side ultrasonic radar. The automatic parking method for angled parking spaces includes the following steps:

[0007] After the automatic parking function is activated, it enters the parking space detection mode. In the parking space detection mode, the front side ultrasonic radar operates in short-range detection mode and is used to detect the width of the target parking space, while the rear side ultrasonic radar operates in long-range detection mode and is used to detect the depth of the target parking space.

[0008] The target parking space is determined to be available based on the detected parking space width and depth.

[0009] When the target parking space is an available parking space, the parking space detection mode is switched to the parking mode. In the parking mode, both the front side ultrasonic radar and the rear side ultrasonic radar operate in the short-range detection mode. The front side ultrasonic radar and the rear side ultrasonic radar are used to detect the distance information between the current vehicle and the obstacle vehicles on both sides of the available parking space during the parking process.

[0010] The tilt angle of the available parking space is calculated based on the distance information detected by the front or rear ultrasonic radar. The vehicle's posture is adjusted in real time based on the tilt angle and distance information to control the current vehicle to park in the available parking space.

[0011] Optionally, the step of detecting the width of the target parking space using the front-side ultrasonic radar includes:

[0012] It periodically emits ultrasonic waves and receives echo signals;

[0013] The two endpoints of the parking space entrance are determined based on the echo distance carried in the echo signal;

[0014] The distance between the two ends of the parking space entrance is taken as the width of the target parking space.

[0015] Optionally, the step of determining whether the target parking space is available based on the detected parking space width and depth includes:

[0016] When the width of the parking space meets the first preset range and the depth of the parking space meets the second preset range, the target parking space is determined to be an available parking space.

[0017] Optionally, the first preset range is [(W+W0) / sinα1, (W+W0) / sinα2], and the second preset range is [L1-Ln, L1-Lm]; where W is the current vehicle width, W0 is the preset parking space width redundancy value, α1 is the maximum value of the tilt angle of the spatial angled parking space, α2 is the minimum value of the tilt angle of the spatial angled parking space, L1 is the detection distance of the rear side ultrasonic radar in long-range detection mode, Ln is the maximum value of the distance between the rear side ultrasonic radar and the parking space when detecting the parking space, and Lm is the minimum value of the distance between the rear side ultrasonic radar and the parking space when detecting the parking space.

[0018] Optionally, the rear side ultrasonic radar is also used to detect obstacle information of the target parking space in parking space detection mode;

[0019] Correspondingly, the method for determining available parking spaces also includes:

[0020] When the width of the target parking space meets a first preset range, the depth of the parking space meets a second preset range, and the obstacle information indicates that there are no obstacles in the target parking space, the target parking space is determined to be an available parking space.

[0021] Optionally, the step of calculating the tilt angle of the available parking space based on the distance information detected by the rear side ultrasonic radar includes:

[0022] Based on the multiple distance values ​​between the rear side ultrasonic radar and the obstacle vehicle in the distance information, a diagonal line for parking the obstacle vehicle is fitted;

[0023] The tilt angle of the available parking space is calculated based on the angle between the obstruction vehicle's parking diagonal line and the current vehicle's direction of travel.

[0024] Optionally, the ultrasonic radar automatic parking system further includes a front ultrasonic radar and a rear ultrasonic radar. In the parking space detection mode and the parking entry mode, the front ultrasonic radar and the rear ultrasonic radar operate in a second short-range detection mode and are used to detect obstacle information in front of and behind the vehicle. The second short-range detection mode is different from the short-range detection mode.

[0025] Another embodiment of the present invention provides an automatic parking device for angled parking spaces, applicable to an ultrasonic radar automatic parking system. The ultrasonic radar automatic parking system includes a front side ultrasonic radar and a rear side ultrasonic radar. The automatic parking device for angled parking spaces includes a mode control module, a parking space detection module, and a parking maneuvering module, wherein:

[0026] The mode control module is used to control the ultrasonic radar automatic parking system to enter the parking space detection mode after the automatic parking function is activated, and to control the ultrasonic radar automatic parking system to switch from the parking space detection mode to the parking entry mode when the parking space detection module detects an available parking space.

[0027] The parking space detection module uses a front ultrasonic radar operating in short-range detection mode to detect the width of the target parking space and a rear ultrasonic radar operating in long-range detection mode to detect the depth of the target parking space, and uses the detected parking space width and depth to determine whether the target parking space is available.

[0028] The parking module detects the distance between the current vehicle and the obstacle vehicles on both sides of the available parking space during the parking process using the front and rear ultrasonic radars operating in the short-range detection mode. Based on the distance information detected by the front or rear ultrasonic radars, it calculates the tilt angle of the available parking space and adjusts the vehicle's posture in real time according to the tilt angle and distance information to control the current vehicle to park in the available parking space.

[0029] Another embodiment of the present invention provides an ultrasonic radar automatic parking system, including a front side ultrasonic radar, a rear side ultrasonic radar, and a parking controller, wherein the parking controller is used to implement the steps of the automatic parking method for angled parking spaces as described above.

[0030] Another embodiment of the present invention provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a processor to implement the steps of the automatic parking method for angled parking spaces as described above.

[0031] Compared with existing technologies, the automatic parking method for angled parking spaces proposed in this invention, in parking space detection mode, uses a front side ultrasonic radar operating in short-range detection mode to detect the width of the target parking space, and a rear side ultrasonic radar operating in long-range detection mode to detect the depth of the target parking space. Then, based on the detected width and depth, it determines whether the target parking space is available. If it is available, it enters parking mode. In parking mode, both the front and rear side ultrasonic radars operate in short-range detection mode, which can detect the current vehicle and available parking spaces with high accuracy. The system can detect the distance to side obstacle vehicles and calculate the tilt angle of the available parking space using distance information detected by the front or rear side ultrasonic radar. During parking, the vehicle's posture is adjusted in real time based on the calculated tilt angle and the distance information between the current vehicle and the obstacle vehicles on both sides of the available parking space to control the current vehicle to park in the available parking space. In this embodiment of the invention, by controlling the ultrasonic radar at different locations to work in different detection modes and be configured to perform different functions in parking space detection and parking mode, the system realizes parking space detection and parking in inclined parking spaces using a pure ultrasonic radar automatic parking system. Attached Figure Description

[0032] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0033] Figure 1 This is a schematic diagram of an embodiment of the ultrasonic radar automatic parking system of the present invention;

[0034] Figure 2 This is a schematic diagram of an embodiment of the ultrasonic radar automatic parking system of the present invention applied to a space angled parking space;

[0035] Figure 3 This is a flowchart of an embodiment of the automatic parking method for angled parking spaces according to the present invention;

[0036] Figure 4 A schematic diagram of one embodiment of the target parking space;

[0037] Figure 5 This is a schematic diagram illustrating the principle of detecting parking space width using a front-side ultrasonic radar.

[0038] Figure 6 This is a schematic diagram illustrating the setting principle of the first preset range and the second preset range in one embodiment of the present invention;

[0039] Figure 7This is a schematic diagram illustrating the principle of detecting the tilt angle of an available parking space using a rear-side ultrasonic radar in one embodiment of the present invention.

[0040] Figure 8 This is a schematic diagram of the final parking posture of a spatially angled parking space in one embodiment of the present invention;

[0041] Figure 9 This is a schematic diagram of an embodiment of the automatic parking device for inclined parking spaces of the present invention.

[0042] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] The embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. It should be understood that the embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the scope of the invention.

[0045] The automatic parking method, apparatus, system, and storage medium for angled parking spaces provided in the various embodiments of the present invention are mainly used to solve the technical problem that the existing pure ultrasonic radar automatic parking system cannot achieve parking in angled parking spaces.

[0046] In this embodiment of the invention, to achieve automatic parking, the ultrasonic radar automatic parking system includes a parking controller, front side ultrasonic radars, and rear side ultrasonic radars. The front side ultrasonic radars further include left front side ultrasonic radars and right front side ultrasonic radars, and the rear side ultrasonic radars further include left rear side ultrasonic radars and right rear side ultrasonic radars. By installing ultrasonic radars at the four sides of the vehicle (left front, left rear, right front, and right rear) and controlling these four side radars to perform detection through the parking controller, parking space detection and parking maneuvers in angled parking spaces can be achieved.

[0047] In some embodiments, to avoid blind spots in front of and behind the vehicle during automatic parking, which could lead to collisions and other safety accidents, ultrasonic radars can be further installed in front of and behind the vehicle to detect obstacles. In this case, the ultrasonic radar automatic parking system can also include front and rear ultrasonic radars. In specific applications, both the front and rear side ultrasonic radars are installed on the sides of the vehicle bumper, with the front ultrasonic radar installed at the front of the front bumper and the rear ultrasonic radar installed at the rear of the rear bumper. The number of front and rear ultrasonic radars can be selected based on the detection range in front of and behind the vehicle, as well as the radar's own detection range. For example, in some embodiments, to achieve comprehensive coverage of the detection range in front of and behind the vehicle and avoid blind spots, the number of front and rear ultrasonic radars is set to four.

[0048] Please refer to Figure 1 , Figure 1 This is a schematic diagram of an embodiment of the ultrasonic radar automatic parking system of the present invention, as shown below. Figure 1 As shown, the ultrasonic radar automatic parking system includes front side ultrasonic radars: FUSS_1, FUSS_6; rear side ultrasonic radars: RUSS_1, RUSS_6; front ultrasonic radars: FUSS_2, FUSS_3, FUSS_4, FUSS_5; rear ultrasonic radars: RUSS_2, RUSS_3, RUSS_4, RUSS_5; and a parking controller (not shown in the figure). The installation location and coverage area of ​​each ultrasonic radar are as follows: Figure 1 As shown. Please refer to the references. Figure 2 , Figure 2 This is a schematic diagram of an embodiment of the ultrasonic radar automatic parking system of the present invention applied to an angled parking space, as shown. Figure 2 As shown, an angled parking space refers to an empty parking space formed by two cars placed in a parallelogram, at an angle. Figure 2 Between vehicle 1 and vehicle 2, a space angled for parking is formed. Correspondingly, automatic parking in an angled space refers to a vehicle's automatic parking system detecting available parking spaces in a parking lot, and then automatically parking itself in the angled space, parallel to the vehicles on either side, by controlling the vehicle's brakes, accelerator, steering wheel, gear shift, and other components. Figure 2 Vehicle 3 uses its built-in ultrasonic radar automatic parking system to locate the parking space and automatically controls the vehicle to park in the space, thus completing the automatic parking of the angled parking space.

[0049] The following is Figure 1 and Figure 2The implementation process of the automatic parking method for angled parking spaces is described using the illustrated embodiment as an example.

[0050] Please refer to Figure 3 , Figure 3 This is a flowchart of an embodiment of the automatic parking method for angled parking spaces according to the present invention. It is applicable to an ultrasonic radar automatic parking system, which includes a front side ultrasonic radar and a rear side ultrasonic radar. Specifically, as shown... Figure 3 As shown, the automatic parking method for angled parking spaces includes the following steps:

[0051] Step S101: After the automatic parking function is activated, it enters the parking space detection mode. In the parking space detection mode, the front side ultrasonic radar operates in short-range detection mode and is used to detect the width of the target parking space, while the rear side ultrasonic radar operates in long-range detection mode and is used to detect the depth of the target parking space.

[0052] In some embodiments, to control the automatic parking system, a physical button is typically installed on the vehicle or a virtual button is installed on the central control screen. Vehicle users can turn the automatic parking system on or off by operating the physical or virtual button. Since automatic parking involves two stages: 1. identifying the parking space; 2. reversing into the parking space, this embodiment of the invention provides a parking space detection mode and a parking maneuvering mode for the ultrasonic radar automatic parking system. In different modes, the ultrasonic radars at various locations operate in different states and perform different functions. Specifically, when the automatic parking system is activated, it passes a self-check and automatically triggers entry into the parking space detection mode. In this mode, the automatic parking system detects available parking spaces.

[0053] To enable the side ultrasonic radars (including the front and rear side ultrasonic radars) to operate in different states and perform different functions in both parking space detection and parking maneuvering modes, this embodiment of the invention provides two operating modes for both the front and rear side ultrasonic radars: a long-range detection mode and a short-range detection mode. In the long-range detection mode, the side ultrasonic radar has a relatively large emission period and field of view (FOV), with a detection range reaching 5 meters. Compared to the long-range detection mode, the short-range detection mode has a smaller emission period, a smaller FOV, and a higher echo signal sampling rate, with a detection range between 0.1 and 3 meters and relatively higher detection accuracy.

[0054] In parking space detection mode, the parking controller configures the front and rear ultrasonic radars with different detection modes to achieve different functions. Specifically, the front ultrasonic radar is configured in short-range detection mode to detect the width of the target parking space, while the rear ultrasonic radar is configured in long-range detection mode to detect the depth of the target parking space. The two work together to obtain the size information of the parking space, thereby realizing parking space detection.

[0055] Please refer to Figure 4 and Figure 5 , Figure 4 This is a schematic diagram of one embodiment of the target parking space, as shown below. Figure 4 As shown, the width of the target parking space is the distance between two endpoints A and B at the entrance of the parking space, denoted as SW, and the depth of the parking space is SD. Figure 5 This is a schematic diagram illustrating the principle of parking space width detection using a front-side ultrasonic radar. Specifically, the steps for the front-side ultrasonic radar to detect the width of a target parking space include: periodically emitting ultrasonic waves and receiving echo signals; determining the two endpoints of the parking space entrance based on the echo distance carried in the echo signals; and using the distance between the two endpoints of the parking space entrance as the width of the target parking space. That is, in parking space detection mode, the front-side ultrasonic radar periodically emits ultrasonic signals. When the ultrasonic waves encounter an obstacle, they return echo signals. The radar controller processes the received echo signals to obtain the valid parking space entrance endpoints A and B. The length between the two parking space entrance endpoints A and B is the parking space width SW. For example, Figure 5 As shown, the identification of endpoint A specifically involves the following: the echo signal's characteristic is that it moves from near to far (the lateral distance between the echo point and the vehicle increases). When the lateral distance (echo distance value) between the echo point and the vehicle abruptly becomes relatively far, the echo point at this moment is identified as point A. Similarly, the identification of endpoint B specifically involves the following: the echo signal's characteristic is that it moves from far to near (the lateral distance between the echo point and the vehicle decreases). Combined with the lateral distance of point A, when the echo distance value becomes relatively close and the lateral distance value is approximately equal to the lateral distance of point A, the echo point at this moment is identified as point B. To ensure accurate detection of parking space entrance endpoints A and B, this embodiment of the invention sets the front side ultrasonic radar to operate in short-range detection mode. In this short-range detection mode, the front side ultrasonic radar has a smaller emission period and field of view, which can effectively avoid the problem of inaccurate identification of points A and B due to a large emission period, large field of view, and strong echoes when the vehicle passes through points A and B.

[0056] In the parking space detection mode, the rear side ultrasonic radar operates in long-range detection mode. In this mode, the rear side ultrasonic radar periodically emits ultrasonic signals. When the ultrasonic waves encounter obstacles, they return echo signals. The radar controller processes the received echo signals to obtain the parking space depth SD. Specifically, the radar controller first initially identifies parking space entrance points A and B through the echo signals. Then, based on the lateral distance between other echo points and the vehicle between points A and B, the difference between the lateral distance between points A (or B) and the vehicle is calculated, and this difference is used as the parking space depth SD.

[0057] Step S102: Determine whether the target parking space is available based on the detected parking space width and parking space depth.

[0058] Specifically, for any target vehicle, a parking space can only be considered an available parking space if its width and depth meet certain conditions. In this embodiment, to achieve available parking space detection, a parking space width range and a parking space depth range are preset, denoted as the first preset range and the second preset range, respectively. When a target parking space that meets the first and second preset ranges is detected in the parking space detection mode, the target parking space is identified as an available parking space. The range of the first and second preset ranges is determined based on the redundancy of parking space width and the tilt angle range of angled parking spaces in the automatic parking industry. Furthermore, for different brands and models of vehicles, their width and length are different, and the size of the available parking space that meets their parking needs can also be different. Therefore, the range of the first and second preset ranges can be further determined by comprehensively considering the vehicle's own dimensional parameters (including width and length).

[0059] In one embodiment, step S102 specifically involves: when the width of the target parking space meets a first preset range and the depth of the target parking space meets a second preset range, the target parking space is determined to be an available parking space. In some embodiments, the first preset range is [(W+W0) / sinα1, (W+W0) / sinα2], and the second preset range is [L*sinα2, L*sinα1], where W is the width of the current vehicle, W0 is a preset parking space width redundancy value, L is the length of the current vehicle, α1 is the maximum value of the tilt angle of the inclined parking space, and α2 is the minimum value of the tilt angle of the inclined parking space. For example, in some embodiments, W0 is 0.8 meters, and the tilt angle of the inclined parking space is generally between 30 degrees and 60 degrees, that is, α1 is 60 degrees and α2 is 30 degrees.

[0060] Please refer to Figure 6 , Figure 6 This is a schematic diagram illustrating the setting principle of the first and second preset ranges in an embodiment of the present invention. Figure 6As shown, for angled parking spaces, the actual width SW0 of the parking space is the vertical distance between two adjacent parking spaces. In the automated parking industry, the actual width SW0 is typically taken as (vehicle width W + 0.8) meters, and is determined by... Figure 6 It can be seen that for a slanted parking space, SW0 = SW * sinα. Therefore, the parking space width SW at the entrance points A and B is SW0 / sinα. Thus, the larger the inclination angle α of the slanted parking space, the smaller SW is. Since the inclination angle α of the slanted parking space is generally between 30 degrees and 60 degrees, the range of the parking space width SW is: (W + W0) / sin60 ~ (W + W0) / sin30. When W0 is 0.8 meters, the first preset range that the parking space width SW needs to meet is [1.1547 * (W + 0.8 m) ~ 2 * (W + 0.8 m)]. The vehicle width W is written as an inherent technical parameter in the automatic parking method for slanted parking spaces. For a certain vehicle, it is known, so the first preset range is also known. In this embodiment of the invention, by transforming the actual width SW0 of the parking space into the width SW at the entrance of the parking space, the detection of the actual width SW0 of the parking space in the parking space detection mode is replaced by detecting the width SW at the entrance of the parking space through the front side ultrasonic radar, which can be used to characterize the width of the parking space in the angled parking space.

[0061] Please refer to this again. Figure 6 For angled parking spaces, the parking depth SD = L*sinα, where L is the vehicle length. The larger the angle α of the angled parking space, the larger the value of the parking depth SD. Since the angle α of an angled parking space is generally between 30 and 60 degrees, the second preset range that the parking depth SD needs to satisfy is [L*sin30, L*sin60], that is, the parking depth SD only needs to be between [0.5*L, 0.866*L]. The vehicle length L is written as an inherent technical parameter into the automatic parking method for angled parking spaces. For a given vehicle, L is known, therefore the second preset range is also known. Typically, the vehicle length is 2 to 5 meters. When L = 5 meters, the parking depth SD only needs to be between [2.5m, 4.33m]. Therefore, based on the uncertainty of the vehicle length, [2.5m, 4.33m] can be set as the second preset range.

[0062] In another preferred embodiment, a second preset range can be set as [L1-Ln, L1-Lm], where L1 represents the detection distance of the rear side ultrasonic radar in long-range detection mode. In this embodiment, L1 = 5m; Ln represents the maximum value of the distance between the side ultrasonic radar and the parking space when detecting parking spaces, and Lm represents the minimum value of the distance between the side ultrasonic radar and the parking space when detecting parking spaces. That is, when detecting parking spaces, the distance range between the side ultrasonic radar and the parking space is [Lm, Ln]. Currently, most of the [Lm, Ln] in the industry are set to 0.5m to 1.5m, and a few customers define it to 1.8m or 2m. Taking [Lm, Ln] = [0.5m, 1.5m] as an example, the second preset range is [3.5m, 5m]. This range is greater than the parking space depth range [2.5m, 4.33m] when the vehicle length L is 5 meters. Therefore, considering the uncertainty of the vehicle length L and the certainty of [Lm, Ln] during parking space detection, directly setting the second preset range to [3.5m, 5m] can meet the parking space depth SD requirement. When the rear side ultrasonic radar detects that the parking space depth SD is in [3.5m, 5m], it can be determined that the parking space depth meets the second preset range. Step S103: When the target parking space is an available parking space, the parking space detection mode is switched to the parking mode. In the parking mode, both the front side ultrasonic radar and the rear side ultrasonic radar work in short-range detection mode. The front side ultrasonic radar and the rear side ultrasonic radar are used to detect the distance information between the current vehicle and the obstacle vehicles on both sides of the available parking space during the parking process.

[0063] When an available parking space is detected, the parking controller switches the ultrasonic radar automatic parking system from parking space detection mode to parking maneuver mode. Specifically, in parking maneuver mode, both the front and rear ultrasonic radars operate in short-range detection mode. In short-range detection mode, the emission period and field of view of the front and rear ultrasonic radars are kept at a low level, while the sampling rate of the echo signal is kept at a high level. At this time, the radar detection accuracy is high, and it can accurately detect the distance information between the current vehicle and the obstacles on both sides of the available parking space.

[0064] Step S104: Calculate the tilt angle of the available parking space based on the distance information detected by the front or rear ultrasonic radar, and adjust the vehicle posture in real time according to the tilt angle and distance information to control the current vehicle to park in the available parking space.

[0065] Specifically, in parking mode, the tilt angle of the available parking space can be calculated based on the distance information detected by the front or rear side ultrasonic radar. In parking mode, if the rear of the vehicle enters the available parking space first (reversing), the tilt angle is calculated based on the distance information detected by the rear side ultrasonic radar; if the front of the vehicle enters the available parking space first (forward parking), the tilt angle is calculated based on the distance information detected by the front side ultrasonic radar. Specifically, the steps for calculating the tilt angle of the available parking space based on the distance information detected by the rear side ultrasonic radar include: fitting a parking line for the obstacle vehicle based on multiple distance values ​​between the rear side ultrasonic radar and the obstacle vehicle in the distance information; and calculating the tilt angle of the available parking space based on the angle between the parking line and the current vehicle's direction of travel. Please refer to [reference needed]. Figure 7 , Figure 7 This is a schematic diagram illustrating the principle of detecting the tilt angle of an available parking space using a rear-side ultrasonic radar. Figure 7 As shown, when the rear of the vehicle enters an available parking space, the principle behind calculating the tilt angle of the available parking space based on the rear side ultrasonic radar is as follows: throughout the entire parking process, the rear side ultrasonic radar periodically emits ultrasonic waves and receives echo signals. The echo signals carry distance information of obstructing vehicles, such as... Figure 7 Given different distance values ​​L1, L2, L3, and L4, the radar controller processes the echo signal to obtain the aforementioned distance information. It then uses these different distance values ​​to create a virtual diagonal line, and calculates the slope of this line using a right-angled triangle, thus determining the available parking space's tilt angle α. Similarly, in the case of forward parking, the principle for calculating the available parking space's tilt angle based on the distance information detected by the front side ultrasonic radar is the same as described above, and will not be described in detail here.

[0066] In parking mode, the parking controller adjusts the vehicle's posture in real time based on the tilt angle of the available parking space and the distance information between the current vehicle and the vehicles on both sides detected by the front and rear ultrasonic radars. This ultimately achieves parking in the designated space, with the final parking posture as shown below. Figure 8 As shown. In some embodiments, the automatic parking controller can adjust the vehicle's posture by controlling the vehicle's brakes, accelerator, steering wheel, gear shift, and other structures. This is prior art in the field of automatic parking, and the embodiments of the present invention do not limit this process.

[0067] Compared with existing technologies, the automatic parking method for angled parking spaces in this embodiment of the invention, in parking space detection mode, uses a front side ultrasonic radar operating in short-range detection mode to detect the width of the target parking space, and a rear side ultrasonic radar operating in long-range detection mode to detect the depth of the target parking space. Then, based on the detected width and depth, it is determined whether the target parking space is available. If it is available, the system enters parking mode. In parking mode, both the front and rear side ultrasonic radars operate in short-range detection mode, which can detect the current vehicle and the sides of the available parking space with high accuracy. The distance information of the obstacle vehicles can be used, and the tilt angle of the available parking space can be calculated using the distance information detected by the front or rear ultrasonic radar. During the parking process, the vehicle's posture is adjusted in real time according to the calculated tilt angle and the distance information between the current vehicle and the obstacle vehicles on both sides of the available parking space to control the current vehicle to stop in the available parking space. In this embodiment of the invention, by controlling the ultrasonic radar at different locations to work in different detection modes and be configured to perform different functions in parking space detection and parking mode, the automatic parking system using pure ultrasonic radar can detect parking spaces in angled spaces and park the vehicle.

[0068] Furthermore, for both the front and rear ultrasonic radars, in both parking space detection and parking maneuvering modes, the front and rear ultrasonic radars are configured to operate in a second short-range detection mode. This second short-range detection mode differs from the short-range detection mode of the side ultrasonic radar described earlier and is used to achieve different functions. In some embodiments, the differences between the second short-range detection mode and the standard short-range detection mode include detection distance and field of view. Specifically, in the second short-range detection mode, the detection range of the front and rear ultrasonic radars is 0.1–1.5 m, and their field of view is significantly larger than that of the side ultrasonic radar in the short-range detection mode. The front and rear ultrasonic radars are primarily used to automatically measure obstacles in front of and behind the vehicle throughout the entire automatic parking process (including the parking space detection phase and the parking maneuvering phase) to avoid collisions and other safety accidents.

[0069] Example 2

[0070] Compared to Embodiment 1, in this embodiment, under the parking space detection mode, when identifying available parking spaces, in addition to considering the dimensional information such as the depth and width of the target parking space, it is also necessary to further integrate the obstacle information within the target parking space. If the target parking space is directly identified as available when its depth and width meet the dimensional requirements for an available parking space, then if there are obstacles within the target parking space, vehicles will be unable to park there, affecting the user experience. Therefore, in this embodiment, obstacle information within the target parking space is further considered when identifying available parking spaces. If there are obstacles within the target parking space, it cannot be identified as available. Only when the width of the target parking space meets a first preset range, the width of the target parking space meets a second preset range, and the obstacle information within the target parking space indicates that there are no obstacles within the target parking space, is the target parking space determined to be available.

[0071] Specifically, obstacle detection is performed using a rear-side ultrasonic radar. That is, in parking space detection mode, the rear-side ultrasonic radar is used not only to detect the depth of the target parking space but also to detect obstacle information within that space. In practice, the rear-side ultrasonic radar operates in long-range detection mode. In this mode, it periodically emits ultrasonic signals. When these ultrasonic waves encounter an obstacle, they return an echo signal. The radar controller processes the received echo signal to obtain the obstacle information.

[0072] Example 3

[0073] This embodiment discloses an automatic parking device for angled parking spaces, applicable to the ultrasonic radar automatic parking system described above. This ultrasonic radar automatic parking system includes front and rear side ultrasonic radars. For example... Figure 9 As shown, the automatic parking device 100 for angled parking spaces includes a mode control module 12, a parking space detection module 14, and a parking module 16, wherein:

[0074] The mode control module 12 is used to control the ultrasonic radar automatic parking system to enter the parking space detection mode after the automatic parking function is activated, and to control the ultrasonic radar automatic parking system to switch from the parking space detection mode to the parking entry mode when the parking space detection module detects an available parking space.

[0075] The parking space detection module 14 detects the width of the target parking space using a front ultrasonic radar operating in short-range detection mode and the depth of the target parking space using a rear ultrasonic radar operating in long-range detection mode, and determines whether the target parking space is available based on the detected width and depth.

[0076] The parking module 16 detects the distance information between the current vehicle and the obstacle vehicles on both sides of the available parking space during the parking process using the front and rear ultrasonic radars operating in the short-range detection mode in the parking mode. Based on the distance information detected by the front or rear ultrasonic radars, it calculates the tilt angle of the available parking space, plans a parking path based on the tilt angle and distance information, and controls the current vehicle to park in the available parking space according to the parking path.

[0077] It should be noted that the automatic parking device 100 for angled parking spaces of the present invention can realize the automatic parking method for angled parking spaces described in embodiments 1 to 2 above through the mode control module 12, the parking space detection module 14 and the parking entry module 16. The present invention will not describe the specific implementation process of each module in detail.

[0078] Example 4

[0079] This invention provides a parking controller, including a memory and a processor. The memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the automatic parking method for angled parking spaces as described in Embodiment 1 or 2.

[0080] Example 5

[0081] This invention provides an ultrasonic radar automatic parking system, including a front side ultrasonic radar, a rear side ultrasonic radar, and a parking controller. The parking controller is used to implement the steps of the automatic parking method for angled parking spaces as described in Embodiment 1 or 2.

[0082] In other embodiments, the ultrasonic radar automatic parking system may further include a front ultrasonic radar mounted on the front of the vehicle's front bumper and a rear ultrasonic radar mounted on the rear of the vehicle's rear bumper. For both the front and rear ultrasonic radars, in both parking space detection and parking maneuvering modes, the front and rear ultrasonic radars are configured to operate in a second short-range detection mode. This second short-range detection mode differs from the short-range detection mode of the side ultrasonic radar described earlier and is used to achieve different functions. In some embodiments, the detection range of the front and rear ultrasonic radars is generally between 15 and 250 cm, primarily used to automatically measure obstacles in front of and behind the vehicle throughout the entire automatic parking process (including the parking space detection phase and the parking maneuvering phase) to avoid collisions and other safety accidents.

[0083] Example 6

[0084] This invention provides a computer-readable storage medium storing at least one instruction, which is loaded and executed by a processor to implement the steps of the automatic parking method for angled parking spaces as described in Embodiment 1 or 2.

[0085] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0086] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0087] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0088] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0089] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0090] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for automatic parking in a spatially angled parking space, applicable to an ultrasonic radar automatic parking system, characterized in that, The ultrasonic radar automatic parking system includes front side ultrasonic radar and rear side ultrasonic radar, and the automatic parking method for angled parking spaces includes the following steps: After the automatic parking function is activated, it enters the parking space detection mode. In the parking space detection mode, the front side ultrasonic radar operates in short-range detection mode and is used to detect the width of the target parking space, while the rear side ultrasonic radar operates in long-range detection mode and is used to detect the depth of the target parking space. The target parking space is determined to be available based on the detected parking space width and depth. When the target parking space is available, the parking space detection mode is switched to the parking mode, and the rear side ultrasonic radar is switched from long-range detection mode to short-range detection mode. In the parking mode, both the front side ultrasonic radar and the rear side ultrasonic radar operate in the short-range detection mode. The front side ultrasonic radar and the rear side ultrasonic radar are used to detect the distance information between the current vehicle and the obstacle vehicles on both sides of the available parking space during the parking process. Based on multiple distance values ​​detected by the rear side ultrasonic radar operating in short-range detection mode, a parking angle line for the obstacle vehicle is fitted. Based on the angle between the parking angle line and the current vehicle's direction of travel, the tilt angle of the available parking space is calculated. The vehicle's posture is adjusted in real time based on the tilt angle and distance information to control the current vehicle to park in the available parking space.

2. The automatic parking method for angled parking spaces according to claim 1, characterized in that, The steps for detecting the width of the target parking space using the front-side ultrasonic radar include: It periodically emits ultrasonic waves and receives echo signals; The two endpoints of the parking space entrance are determined based on the echo distance carried in the echo signal; The distance between the two ends of the parking space entrance is taken as the width of the target parking space.

3. The automatic parking method for angled parking spaces according to claim 1, characterized in that, The steps for determining whether a target parking space is available based on the detected parking space width and depth include: When the width of the parking space meets the first preset range and the depth of the parking space meets the second preset range, the target parking space is determined to be an available parking space.

4. The automatic parking method for angled parking spaces according to claim 3, characterized in that, The first preset range is [(W+W0) / sinα1, (W+W0) / sinα2], and the second preset range is [L1-Ln, L1-Lm]; where W is the current vehicle width, W0 is the preset parking space width redundancy value, α1 is the maximum value of the tilt angle of the spatial oblique parking space, α2 is the minimum value of the tilt angle of the spatial oblique parking space, L1 is the detection distance of the rear side ultrasonic radar when working in long-range detection mode, Ln is the maximum value of the distance between the rear side ultrasonic radar and the parking space when detecting the parking space, and Lm is the minimum value of the distance between the rear side ultrasonic radar and the parking space when detecting the parking space.

5. The automatic parking method for angled parking spaces according to claim 3, characterized in that, The rear side ultrasonic radar is also used to detect obstacle information of the target parking space in parking space detection mode; Correspondingly, the method for determining available parking spaces also includes: When the width of the target parking space meets a first preset range, the depth of the parking space meets a second preset range, and the obstacle information indicates that there are no obstacles in the target parking space, the target parking space is determined to be an available parking space.

6. The automatic parking method for angled parking spaces according to claim 1, characterized in that, The ultrasonic radar automatic parking system also includes a front ultrasonic radar and a rear ultrasonic radar. In the parking space detection mode and the parking entry mode, the front ultrasonic radar and the rear ultrasonic radar operate in a second short-range detection mode and are used to detect obstacle information in front of and behind the vehicle. The second short-range detection mode is different from the short-range detection mode.

7. An automatic parking device for angled parking spaces, applicable to ultrasonic radar automatic parking systems, characterized in that, The ultrasonic radar automatic parking system includes front and rear side ultrasonic radars, and the automatic parking device for angled parking spaces includes a mode control module, a parking space detection module, and a parking module, wherein: The mode control module is used to control the ultrasonic radar automatic parking system to enter the parking space detection mode after the automatic parking function is activated, and to control the ultrasonic radar automatic parking system to switch from the parking space detection mode to the parking entry mode when the parking space detection module detects an available parking space. The parking space detection module uses a front ultrasonic radar operating in short-range detection mode to detect the width of the target parking space and a rear ultrasonic radar operating in long-range detection mode to detect the depth of the target parking space, and uses the detected parking space width and depth to determine whether the target parking space is available. The parking module switches the rear side ultrasonic radar from long-range detection mode to short-range detection mode in the parking mode. It uses both the front and rear side ultrasonic radars, operating in short-range detection mode, to detect the distance between the current vehicle and obstacle vehicles on both sides of the available parking space during the parking process. Based on multiple distance values ​​detected by the rear side ultrasonic radar in short-range detection mode, it fits a parking line for the obstacle vehicles. It then calculates the tilt angle of the available parking space based on the angle between the parking line and the current vehicle's direction of travel. Finally, it adjusts the vehicle's posture in real time based on the tilt angle and distance information to control the current vehicle to park within the available parking space.

8. An ultrasonic radar automatic parking system, characterized in that, It includes a front side ultrasonic radar, a rear side ultrasonic radar, and a parking controller, wherein the parking controller is used to implement the steps of the automatic parking method for angled parking spaces as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction, which is loaded and executed by a processor to implement the steps of the automatic parking method for angled parking spaces as described in any one of claims 1 to 6.

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