Automatic parking obstacle handling method, device, vehicle and program product

Abstract

The present invention provides a method, device, vehicle, and program for handling obstacles in automatic parking. The method comprises detecting obstacle points near a vehicle and determining whether any obstacle point is within the vehicle's first outer contour; if no obstacle point is present, determining whether any obstacle point is within the vehicle's second outer contour; if an obstacle point is present within the vehicle's second outer contour, drawing a ray starting from the vehicle's center point and passing through the obstacle point, with the point on the ray that intersects the vehicle's third outer contour as a new obstacle point; and planning an automatic parking path based on the new obstacle point. The present invention ensures that a vehicle in its initial position can pass collision detection with an obstacle point, while also ensuring that the obstacle point still has a certain restrictive effect on the vehicle's movement, preventing the vehicle from approaching the obstacle point.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic parking, and in particular to a method, device, vehicle and program product for handling obstacles in automatic parking. Background Art

[0002] Automatic parking technology is an autonomous driving technology that automatically parks a vehicle into a parking space. The path planning algorithm provides a safe path from the starting point to the end point, ensuring collision safety throughout the entire process. If the vehicle fails collision detection at its initial position, the path planning fails. However, in everyday life, the vehicle's initial position is often too close to obstacles. The A-star planning algorithm is often used in automatic parking path planning. This algorithm outputs a path that is obstacle-free at every point. Planning fails if the starting point is too close to an obstacle. In real life, the starting point can be very close to an obstacle. For example: Scenario 1: The front of the vehicle is very close to an obstacle (such as a wall), yet the vehicle can still back into the parking space. Scenario 2: In a narrow, horizontal parking space, the front or rear of the vehicle may come very close to the obstacle during vehicle positioning adjustments. Scenario 3: Sometimes the obstacle position provided by the perception system has certain errors, causing the obstacle to be very close to the vehicle itself, or even appearing inside the vehicle. This is actually unreasonable.

[0003] The distribution of obstacles at the initial position of an autonomous parking vehicle significantly impacts path planning. If the obstacle is inside the vehicle or too close (within a safe distance), the collision detection algorithm will determine that the vehicle's initial position has collided with the obstacle. There are two possible reasons for this: either the perception system has errors that cause the obstacle to be too close to the vehicle, or the obstacle is actually too close. Traditional collision calculation methods consider obstacle points within the safe distance to be a collision risk, and path planning will fail. Various remedies have been proposed to address this issue.

[0004] Method 1 is to remove all obstacles that pose a collision risk to the vehicle at its initial position. If this method is used, the path planning may cause the vehicle to move forward in its first step. If the obstacle point actually exists in the real world, a collision will occur.

[0005] Method 2: Skip the collision check for the vehicle's initial position and only perform a collision check for the vehicle's next position. This approach has a certain probability of allowing the vehicle to successfully "escape" the obstacle, but if the planning step size is small, the vehicle's next position will be very close to the initial position, and the vehicle may fail to "escape." Summary of the Invention

[0006] The purpose of the present invention is to propose a method, device, vehicle and program product for handling obstacles in automatic parking, so as to solve the technical problem that planning fails when the obstacle point is too close to the vehicle during automatic parking path planning.

[0007] In one aspect, a method for handling obstacles in automatic parking is provided, comprising:

[0008] When automatic parking begins, detecting obstacle points near the vehicle and determining whether any obstacle point is within a first outer contour of the vehicle, the first outer contour of the vehicle indicating a physical boundary of the vehicle in a top view;

[0009] When no obstacle point is within the first outer contour of the vehicle, determining whether an obstacle point is within a second outer contour of the vehicle, the second outer contour of the vehicle being an outer contour obtained by expanding the first outer contour of the vehicle outward by a first preset distance;

[0010] When an obstacle point exists within the second outer contour of the vehicle, a ray is drawn with the vehicle center point as the starting point and the obstacle point as the passing point, and the point where the ray intersects with the third outer contour of the vehicle is used as the new obstacle point. The third outer contour of the vehicle is the outer contour obtained by expanding the first outer contour of the vehicle outward by a second preset safety distance, where the second preset safety distance is greater than the first preset distance.

[0011] Plan an automatic parking path based on the new obstacle point.

[0012] Preferably, it also includes,

[0013] When there is an obstacle point within the first outer contour of the vehicle, the obstacle point is determined to be an abnormal obstacle point and the abnormal obstacle point is deleted.

[0014] Preferably, it also includes,

[0015] When no obstacle points exist within the second outer contour of the vehicle, all obstacle points are retained.

[0016] On the other hand, a device for processing an automatic parking obstacle is provided to implement the automatic parking obstacle processing method, comprising:

[0017] an obstacle point detection module, configured to detect obstacle points near the vehicle and determine whether any obstacle point is within a first outer contour of the vehicle, the first outer contour of the vehicle indicating a physical boundary of the vehicle in a top view;

[0018] an obstacle point processing module, configured to determine whether an obstacle point is within a second outer contour of the vehicle when no obstacle point is within the first outer contour of the vehicle, the second outer contour of the vehicle being an outer contour obtained by expanding the first outer contour of the vehicle outward by a first preset distance;

[0019] When an obstacle point exists within the second outer contour of the vehicle, a ray is drawn with the vehicle center point as the starting point and the obstacle point as the passing point, and the point where the ray intersects with the third outer contour of the vehicle is used as the new obstacle point. The third outer contour of the vehicle is the outer contour obtained by expanding the first outer contour of the vehicle outward by a second preset safety distance, where the second preset safety distance is greater than the first preset distance.

[0020] And plan the automatic parking path according to the new obstacle point.

[0021] Preferably, the obstacle point processing module is further configured to determine that an obstacle point is an abnormal obstacle point when there is an obstacle point within the first outer contour of the vehicle, and delete the abnormal obstacle point.

[0022] Preferably, the obstacle point processing module is further configured to retain all obstacle points when no obstacle points exist within the second outer contour of the vehicle.

[0023] In another aspect, a vehicle is provided, comprising:

[0024] one or more processors;

[0025] Memory;

[0026] Detection components;

[0027] One or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, and the one or more computer programs are configured to execute the automatic parking obstacle handling method.

[0028] On the other hand, a program product for processing obstacles in automatic parking is also provided, which enables a computer to perform the following processing:

[0029] When automatic parking begins, detecting obstacle points near the vehicle and determining whether any obstacle point is within a first outer contour of the vehicle, the first outer contour of the vehicle indicating a physical boundary of the vehicle in a top view;

[0030] When no obstacle point is within the first outer contour of the vehicle, determining whether an obstacle point is within a second outer contour of the vehicle, the second outer contour of the vehicle being an outer contour obtained by expanding the first outer contour of the vehicle outward by a first preset distance;

[0031] When an obstacle point exists within the second outer contour of the vehicle, a ray is drawn with the vehicle center point as the starting point and the obstacle point as the passing point, and the point where the ray intersects with the third outer contour of the vehicle is used as the new obstacle point. The third outer contour of the vehicle is the outer contour obtained by expanding the first outer contour of the vehicle outward by a second preset safety distance, where the second preset safety distance is greater than the first preset distance.

[0032] Plan an automatic parking path based on the new obstacle point.

[0033] On the other hand, a computer-readable storage medium is further provided, wherein the computer-readable storage medium stores computer program instructions, and the computer program instructions can be called by a processor to execute the method for handling automatic parking obstacles.

[0034] In summary, the implementation of the embodiments of the present invention has the following beneficial effects:

[0035] The automatic parking obstacle handling method, device, vehicle, and program product provided by the present invention can ensure that when the obstacle point is too close to the vehicle, the collision detection between the vehicle at the initial position and the obstacle point can pass, and also ensure that the obstacle point still has a certain restrictive effect on the movement of the vehicle, preventing the vehicle from approaching the obstacle point. This ensures that planning still has a chance of success and ensures the safety of collision detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, without paying any creative work, other drawings obtained based on these drawings still fall within the scope of the present invention.

[0037] Figure 1 Schematic diagram of the main process of a method for handling obstacles in automatic parking according to an embodiment of the present invention.

[0038] Figure 2 Schematic diagram of a logic diagram of a method for handling obstacles in automatic parking according to an embodiment of the present invention.

[0039] Figure 3 Schematic diagram of the distribution of obstacle points at the initial position of the vehicle in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail below with reference to the accompanying drawings.

[0041] like Figure 1 and Figure 2 FIG. 1 is a schematic diagram of an embodiment of a method for handling obstacles in automatic parking provided by the present invention. In this embodiment, the method includes the following steps:

[0042] Step S1: When automatic parking begins, detect obstacle points near the vehicle and determine whether any obstacle points are within the first outer contour of the vehicle. The first outer contour of the vehicle indicates the physical boundary of the vehicle in a top view. That is, when automatic parking begins, there are obstacle points near the vehicle, the initial position of the vehicle and the coordinate positions of all obstacle points are known, and all obstacle points are polled and each obstacle point is processed. In this embodiment, the first outer contour of the vehicle is a rounded rectangular boundary used to represent the physical boundary of the vehicle in a top view, that is, the physical boundary of the vehicle in a top view is similar to a rounded rectangle, such as Figure 3 shown.

[0043] Step S2: When no obstacle point exists within the first outer contour of the vehicle, determine whether any obstacle point exists within the second outer contour of the vehicle, where the second outer contour of the vehicle is the outer contour obtained by expanding the first outer contour of the vehicle outward by a first preset distance. That is, determine whether the obstacle point exists within the first outer contour of the vehicle. If so, delete the obstacle point. Otherwise, determine whether the obstacle point exists within the second outer contour of the vehicle including a safety distance (safe_dist1). Safe_dist1 can be set to 0.30 meters. This setting value is a relatively moderate safety distance for automatic parking, taking into account the longitudinal accuracy of vehicle control and the sense of security of the occupants. It is derived based on engineering experience and can also be modified according to specific actual conditions.

[0044] In a specific embodiment, when there is an obstacle point within the first outer contour of the vehicle, the obstacle point is determined to be an abnormal obstacle point and the abnormal obstacle point is deleted.

[0045] Step S3, when there is an obstacle point within the second outer contour of the vehicle, a ray is drawn with the center point of the vehicle as the starting point and the obstacle point as the passing point, and the point on the ray that intersects with the third outer contour of the vehicle is used as a new obstacle point. The third outer contour of the vehicle is the outer contour obtained by expanding the first outer contour of the vehicle outward by a second preset safety distance, and the second preset safety distance is greater than the first preset distance, and the automatic parking path is planned according to the new obstacle point. That is, it is determined whether the obstacle point is located within the second outer contour of the vehicle including the safety distance (safe_dist1). If so, the obstacle point is moved to the edge of the third outer contour of the vehicle including the safety distance (safe_dist2). Figure 3As shown, draw a ray starting from the center point of the vehicle, passing through the original obstacle point, and the intersection of the ray and the third outer contour of the vehicle including the safe distance is the new obstacle point; otherwise, the obstacle point is retained. In this embodiment, safe_dist2 can be set to 0.31 meters. This setting value is to push the obstacle point within the safe distance to the edge of the third outer contour of the vehicle including the safe distance, that is, push it a little further to ensure that no collision result is obtained during the collision calculation. safe_dist2 is 0.01 meters larger than safe_dist1. After that, the collision calculation will use safe_dist1 = 0.30 to "push" the obstacle point to the third outer contour of the vehicle including the safe distance. This ensures that the initial position of the vehicle will not collide with the obstacle point, and also ensures that the obstacle point still has a restrictive effect on the movement of the vehicle. The vehicle will not move forward in the first step, otherwise a collision will occur. In this working condition, the vehicle can only move backward in the first step, and it is away from the obstacle in the process, so it is safe.

[0046] In a specific embodiment, when no obstacle points exist within the second outer contour of the vehicle, all obstacle points are retained.

[0047] An embodiment of the present invention further provides an automatic parking obstacle processing device for implementing the automatic parking obstacle processing method, comprising:

[0048] an obstacle point detection module, configured to detect obstacle points near the vehicle and determine whether any obstacle point is within a first outer contour of the vehicle, the first outer contour of the vehicle indicating a physical boundary of the vehicle in a top view;

[0049] an obstacle point processing module, configured to determine whether an obstacle point is within a second outer contour of the vehicle when no obstacle point is within the first outer contour of the vehicle, the second outer contour of the vehicle being an outer contour obtained by expanding the first outer contour of the vehicle outward by a first preset distance;

[0050] When an obstacle point exists within the second outer contour of the vehicle, a ray is drawn with the vehicle center point as the starting point and the obstacle point as the passing point, and the point where the ray intersects with the third outer contour of the vehicle is used as the new obstacle point. The third outer contour of the vehicle is the outer contour obtained by expanding the first outer contour of the vehicle outward by a second preset safety distance, where the second preset safety distance is greater than the first preset distance.

[0051] And plan the automatic parking path according to the new obstacle point.

[0052] In a specific embodiment, the obstacle point processing module is further configured to, when an obstacle point exists within the first outer contour of the vehicle, determine the obstacle point as an abnormal obstacle point and delete the abnormal obstacle point. The obstacle point processing module is further configured to, when no obstacle point exists within the second outer contour of the vehicle, retain all obstacle points.

[0053] An embodiment of the present invention further provides a vehicle, comprising:

[0054] one or more processors;

[0055] Memory;

[0056] Detection components;

[0057] One or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, and the one or more computer programs are configured to execute the automatic parking obstacle handling method.

[0058] An embodiment of the present invention further provides a program product for processing obstacles in automatic parking, which enables a computer to perform the following processing:

[0059] When automatic parking begins, detecting obstacle points near the vehicle and determining whether any obstacle point is within a first outer contour of the vehicle, the first outer contour of the vehicle indicating a physical boundary of the vehicle in a top view;

[0060] When no obstacle point is within the outer contour of the vehicle, determining whether any obstacle point is within a second outer contour of the vehicle, the second outer contour of the vehicle being an outer contour obtained by expanding the first outer contour of the vehicle outward by a first preset distance;

[0061] When an obstacle point exists within the second outer contour of the vehicle, a ray is drawn with the vehicle center point as the starting point and the obstacle point as the passing point, and the point where the ray intersects with the third outer contour of the vehicle is used as the new obstacle point. The third outer contour of the vehicle is the outer contour obtained by expanding the first outer contour of the vehicle outward by a second preset safety distance, where the second preset safety distance is greater than the first preset distance.

[0062] Plan an automatic parking path based on the new obstacle point.

[0063] An embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and the computer program instructions can be called by a processor to execute the method for handling automatic parking obstacles.

[0064] It should be noted that the device / car / program / medium described in the above embodiment corresponds to the method described in the above embodiment. Therefore, the parts of the device / car / program / medium described in the above embodiment that are not described in detail can be obtained by referring to the contents of the method described in the above embodiment and will not be repeated here.

[0065] In summary, the implementation of the embodiments of the present invention has the following beneficial effects:

[0066] The automatic parking obstacle handling method, device, vehicle, and program product provided by the present invention can ensure that when the obstacle point is too close to the vehicle, the collision detection between the vehicle at the initial position and the obstacle point can pass, and also ensure that the obstacle point still has a certain restrictive effect on the movement of the vehicle, preventing the vehicle from approaching the obstacle point. This ensures that planning still has a chance of success and ensures the safety of collision detection.

[0067] The above disclosure is merely a preferred embodiment of the present invention and certainly cannot be used to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. A method for handling obstacles in automatic parking, characterized in that: include: When automatic parking begins, detecting obstacle points near the vehicle and determining whether any obstacle point is within a first outer contour of the vehicle, the first outer contour of the vehicle indicating a physical boundary of the vehicle in a top view; When no obstacle point is within the first outer contour of the vehicle, determining whether an obstacle point is within a second outer contour of the vehicle, the second outer contour of the vehicle being an outer contour obtained by expanding the first outer contour of the vehicle outward by a first preset distance; When an obstacle point exists within the second outer contour of the vehicle, a ray is drawn with the vehicle center point as the starting point and the obstacle point as the passing point, and the point where the ray intersects with the third outer contour of the vehicle is used as the new obstacle point. The third outer contour of the vehicle is the outer contour obtained by expanding the first outer contour of the vehicle outward by a second preset safety distance, where the second preset safety distance is greater than the first preset distance. Plan an automatic parking path based on the new obstacle point.

2. The method according to claim 1, wherein Also includes, When there is an obstacle point within the first outer contour of the vehicle, the obstacle point is determined to be an abnormal obstacle point and the abnormal obstacle point is deleted.

3. The method according to claim 2, wherein Also includes, When no obstacle points exist within the second outer contour of the vehicle, all obstacle points are retained.

4. An automatic parking obstacle processing device, used to implement the method according to any one of claims 1 to 3, characterized in that: include, an obstacle point detection module, configured to detect obstacle points near the vehicle and determine whether any obstacle point is within a first outer contour of the vehicle, the first outer contour of the vehicle indicating a physical boundary of the vehicle in a top view; an obstacle point processing module, configured to determine whether an obstacle point is within a second outer contour of the vehicle when no obstacle point is within the first outer contour of the vehicle, the second outer contour of the vehicle being an outer contour obtained by expanding the first outer contour of the vehicle outward by a first preset distance; When an obstacle point exists within the second outer contour of the vehicle, a ray is drawn with the vehicle center point as the starting point and the obstacle point as the passing point, and the point where the ray intersects with the third outer contour of the vehicle is used as the new obstacle point. The third outer contour of the vehicle is the outer contour obtained by expanding the first outer contour of the vehicle outward by a second preset safety distance, where the second preset safety distance is greater than the first preset distance. And plan the automatic parking path according to the new obstacle point.

5. The device according to claim 4, characterized in that The obstacle point processing module is further configured to determine that an obstacle point is an abnormal obstacle point when an obstacle point is within the first outer contour of the vehicle, and delete the abnormal obstacle point.

6. The device according to claim 5, characterized in that The obstacle point processing module is further configured to retain all obstacle points when no obstacle points exist within the second outer contour of the vehicle.

7. A vehicle, characterized in that: include: one or more processors; Memory; Detection components; One or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, the one or more computer programs being configured to perform the method according to any one of claims 1 to 3.

8. An automatic parking obstacle handling program product, characterized in that: Make the computer execute the following processing: When automatic parking begins, detecting obstacle points near the vehicle and determining whether any obstacle point is within a first outer contour of the vehicle, the first outer contour of the vehicle indicating a physical boundary of the vehicle in a top view; When no obstacle point is within the first outer contour of the vehicle, determining whether an obstacle point is within a second outer contour of the vehicle, the second outer contour of the vehicle being an outer contour obtained by expanding the first outer contour of the vehicle outward by a first preset distance; When an obstacle point exists within the second outer contour of the vehicle, a ray is drawn with the vehicle center point as the starting point and the obstacle point as the passing point, and the point where the ray intersects with the third outer contour of the vehicle is used as the new obstacle point. The third outer contour of the vehicle is the outer contour obtained by expanding the first outer contour of the vehicle outward by a second preset safety distance, where the second preset safety distance is greater than the first preset distance. Plan an automatic parking path based on the new obstacle point.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which can be called by a processor to execute the method according to any one of claims 1 to 3.

Images