An automatic parking method, device and computer program product

Abstract

The application discloses an automatic parking method, device and computer program product, wherein the method comprises the following steps: generating a pre-planned parking path according to a user-specified automatic parking track from a current position of a self car to a target parking position; judging whether a parking posture of the self car into the target parking position meets preset conditions according to the pre-planned parking path, and if yes, determining the pre-planned parking path as a final automatic parking path; and controlling the self car to automatically park according to the final automatic parking path. The application introduces a parking track of a user's personal intention as an input of a parking planning algorithm, and significantly improves the intelligentization of parking and user experience.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, specifically to an automatic parking method, apparatus, and computer program product. Background Technology

[0002] With the rapid development of autonomous driving technology, parking systems, as an indispensable component, directly impact users' evaluation of the overall intelligent driving technology based on their user experience. Currently, although parking system technology has made breakthroughs, its performance in achieving automated parking still lags significantly behind that of experienced drivers (commonly known as "veteran drivers").

[0003] Specifically, existing parking systems have the following problems in path planning:

[0004] Path planning does not conform to the habits of experienced drivers: Traditional parking systems often plan paths based on preset algorithms and logic. These plans often ignore the parking habits and skills accumulated by experienced drivers over a long period of driving, resulting in parking paths that appear unnatural and inefficient, and in some cases, even confusing to users.

[0005] Insufficient User Experience Orientation: In the development of parking systems, existing evaluation methods often focus on the subjective evaluations of development engineers or quantitative data from competitors. This approach has two main problems: First, the engineer's perspective often fails to fully represent the user's real needs and experience, leading to a discrepancy between the developed product and user expectations; second, setting goals based on competitor data also fails to accurately reflect the user's true needs, as competitors themselves may also have user experience issues. Summary of the Invention

[0006] The technical problem to be solved by the embodiments of the present invention is to provide an automatic parking method, device and computer program product to improve the efficiency of automatic parking path planning and user experience.

[0007] To solve the above-mentioned technical problems, the present invention provides an automatic parking method, comprising the following steps:

[0008] Based on the user-specified automatic parking trajectory from the vehicle's current location to the target parking space, a pre-planned parking path is generated;

[0009] Based on the pre-planned parking path, determine whether the posture of the vehicle parking into the target parking space meets the preset conditions. If so, determine the pre-planned parking path as the final automatic parking path.

[0010] The vehicle is controlled to automatically park according to the final automatic parking path.

[0011] Preferably, the step of generating a pre-planned parking path based on the user-specified automatic parking trajectory from the vehicle's current location to the target parking space specifically includes:

[0012] Determine the planned path points on the user-specified automatic parking trajectory at preset intervals;

[0013] Connect the planned path points to form the pre-planned parking path.

[0014] Preferably, the step of determining whether the posture of the vehicle entering the target parking space meets the preset conditions according to the pre-planned parking path specifically determines whether the vehicle is located in the center of the target parking space or whether it is not tilted relative to the target parking space when it enters the target parking space.

[0015] Preferably, determining whether the vehicle is tilted relative to the target parking space when it is parked specifically includes:

[0016] Determine whether the tilt angle of the vehicle relative to the target parking space is within a preset threshold when the vehicle is parked in the target parking space; if so, determine that the vehicle is tilted relative to the target parking space when it is parked in the target parking space; otherwise, determine that the vehicle is tilted when it is parked in the target parking space.

[0017] Preferably, determining whether the vehicle is centered within the target parking space when it enters the target parking space specifically includes:

[0018] Identify the wireframe location of the target parking space and obtain the boundary points of the target parking space;

[0019] Based on the obtained boundary points of the target parking space, calculate the center point of the target parking space;

[0020] Calculate the deviation between the current position of the vehicle and the center point of the target parking space;

[0021] If the deviation is within a preset threshold, it is determined that the vehicle is centered in the target parking space when it enters the target parking space; otherwise, it is determined that the vehicle is not centered in the target parking space when it enters the target parking space.

[0022] Preferably, the method further includes:

[0023] The pre-planned parking path is checked, and non-smooth path points are identified;

[0024] The non-smooth path points are then refitted.

[0025] Preferably, the method further includes: calculating the waypoint information, the vehicle's maximum speed, the remaining driving distance, and the gear data based on the generated pre-planned parking path.

[0026] The present invention also provides an automatic parking device, comprising:

[0027] The pre-planning module is used to generate a pre-planned parking path based on the automatic parking trajectory specified by the user from the current position of the vehicle to the target parking space.

[0028] The judgment module is used to determine whether the posture of the vehicle parking into the target parking space meets the preset conditions based on the pre-planned parking path. If so, the pre-planned parking path is determined as the final automatic parking path.

[0029] The control module is used to control the vehicle to automatically park according to the final automatic parking path.

[0030] The present invention also provides an automatic parking device, comprising:

[0031] One or more processors;

[0032] Memory;

[0033] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to perform the automatic parking method.

[0034] The present invention also provides a computer program product, including computer instructions that instruct a computer device to perform an operation corresponding to the method.

[0035] Implementing this invention has the following beneficial effects: By introducing the parking trajectory desired by the user as input to the parking planning algorithm, this invention can better meet the actual needs and habits of drivers, thereby generating a more human-like parking path. This not only improves the comfort and naturalness of parking but also makes the driver feel smoother and more at ease during the parking process. By simplifying the number of gear shifts during parking, this invention effectively reduces the operational complexity of the parking process and improves parking efficiency. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating an automatic parking method according to an embodiment of the present invention.

[0038] Figure 2This is a schematic diagram of a user-specified automatic parking trajectory in an embodiment of the present invention.

[0039] Figure 3 This is a schematic diagram of the pre-planned parking path generated in an embodiment of the present invention.

[0040] Figure 4 This is a schematic diagram of parking operations in existing technologies for parking in a horizontal parking space.

[0041] Figure 5 This is a schematic diagram of a parking operation in a level parking space according to the present invention. Detailed Implementation

[0042] The following description of the embodiments is taken with reference to the accompanying drawings, which illustrate specific embodiments in which the invention can be implemented.

[0043] Please refer to Figure 1 As shown, Embodiment 1 of the present invention provides an automatic parking method, including the following steps:

[0044] Based on the user-specified automatic parking trajectory from the vehicle's current location to the target parking space, a pre-planned parking path is generated;

[0045] Based on the pre-planned parking path, determine whether the posture of the vehicle parking into the target parking space meets the preset conditions. If so, determine the pre-planned parking path as the final automatic parking path.

[0046] The vehicle is controlled to automatically park according to the final automatic parking path.

[0047] As can be seen from the above steps, this invention uses the specified automatic parking trajectory reflecting the driver's intention as input for automatic parking planning, calculates a human-like automatic parking path, simplifies the number of gear shifts in automatic parking, makes automatic parking more in line with human intention, and improves the efficiency of automatic parking.

[0048] Specifically, the automatic parking method of this invention is implemented based on the following three modules of an automatic parking system:

[0049] The perception module specifically includes multiple ultrasonic radars and multiple surround-view cameras; the ultrasonic radars are responsible for detecting the size of the parking space and the distance to obstacles; the surround-view cameras are responsible for identifying parking space lines and the size of the drivable area.

[0050] The vehicle infotainment module is responsible for human-computer interaction, sending trajectory requests input by the user via the touchscreen to the computing module;

[0051] The computing module, specifically including a domain controller, is responsible for processing the information input from the perception module, calculating the smoothed parking path plan based on user feedback input from the vehicle infotainment module, and issuing control commands to control the vehicle to park in the target parking space.

[0052] When a user performs automatic parking, they first initiate a parking space search. When the vehicle's infotainment system prompts the user that "an available parking space has been found," the user parks the vehicle in the correct position and engages Park (P). Figure 2 As shown, the user draws their desired automatic parking trajectory from the vehicle's current position to the target parking space on the vehicle's infotainment screen. Then, the automatic parking method of this embodiment of the invention begins to be implemented:

[0053] Please refer to Figure 3 As shown, based on the user-specified automatic parking trajectory from the current position of the vehicle (i.e., the starting point S of the automatic parking trajectory) to the target parking space position (i.e., the ending point T of the automatic parking trajectory), a path point r is planned every 10cm.

[0054] The calculation module connects the planned path points to form a pre-planned parking path R0.

[0055] It should be noted that when generating the pre-planned parking path R0, this embodiment of the invention also calculates path point information, maximum speed, remaining driving distance, and gear data. Path point information defines the key points the vehicle needs to pass through during automatic parking. The parking system uses these path points to generate precise control commands to ensure the vehicle moves smoothly along the automatic parking path. Maximum speed indicates the highest safe speed the vehicle can travel during automatic parking. The parking system adjusts the vehicle's speed based on this speed limit to prevent collisions or exceeding control limits during automatic parking. Remaining driving distance provides the total distance required for the vehicle to reach the target parking space. The parking system can adjust its parking strategy based on the remaining driving distance; for example, if the distance is short, a more refined control strategy may be adopted to ensure precise parking. The parking system controls the vehicle's gear shifting timing based on the calculated gear information to achieve a smooth parking process and reduce inaccurate parking or vehicle swaying caused by improper gear shifting.

[0056] As a further improvement to this embodiment, the calculation module also verifies the pre-planned parking path R0, identifies non-smooth path points, and then uses a trajectory fitting algorithm to refit the non-smooth path points to ensure that the pre-planned parking path from the current position of the vehicle to the target parking space is continuous and safe.

[0057] After generating the pre-planned parking path, this embodiment of the invention provides a mechanism for evaluating and adjusting the parking posture, specifically:

[0058] Based on the pre-planned parking path, it is determined whether the vehicle's posture when parking in the target parking space meets preset conditions. In this embodiment, posture refers to the vehicle's position in the target parking space and its tilt angle relative to the target parking space.

[0059] The parking system compares the tilt angle of the vehicle relative to the target parking space when it is parked with a preset threshold (e.g., ±3 degrees):

[0060] If the vehicle's tilt angle is within the preset threshold, it means that the vehicle's posture is good enough and the parking process can be completed.

[0061] If the vehicle's tilt angle exceeds the preset threshold, it means that the vehicle's posture needs to be adjusted to meet parking requirements.

[0062] If the vehicle's posture exceeds the preset threshold, the parking system will replan an automatic parking path based on the surrounding conditions of the target parking space and the vehicle's tilt angle. After adjusting the vehicle's posture, it will then park in the target parking space according to the new automatic parking path. In other words, the vehicle needs to be parked in the center of the target parking space with the tilt angle within the preset threshold.

[0063] Furthermore, based on the endpoint of the user-specified automatic parking trajectory, the parking system's perception module will identify the outline position of the target parking space. When the endpoint of the user-specified automatic parking trajectory is within the target parking space, in addition to planning according to the user-specified automatic parking trajectory, this embodiment of the invention will also utilize the target parking space location information to set the final parking completion target, ensuring that the vehicle can accurately park in the center position of the target parking space. This embodiment of the invention determines whether the vehicle is parked in the center position of the target parking space through the following steps:

[0064] (1) Determine the boundaries of the target parking space

[0065] The parking system's perception module identifies the wireframe position of the target parking space, thereby obtaining the four boundary points of the target parking space.

[0066] (2) Calculate the center point of the target parking space

[0067] Based on the obtained parking space boundary points, the center point of the target parking space can be calculated. This center point is usually the intersection of the diagonals of the target parking space.

[0068] (3) Calculate the deviation between the vehicle and the center point of the parking space.

[0069] By comparing the deviation between the current position of the vehicle and the center point of the parking space, the deviations in length and width can be calculated.

[0070] (4) Determine if it is centered

[0071] If the deviation between the vehicle's current position and the center point of the parking space is less than a preset threshold (this threshold can be set according to the actual situation, such as 5% or 10% of the parking space width), then it can be determined that the vehicle has been parked in the center of the target parking space. If the deviation exceeds the preset threshold, it means that the vehicle is not in the center of the target parking space and needs to be adjusted. Similarly, if the vehicle is not in the center of the target parking space, the parking system will replan an automatic parking path based on the deviation between the vehicle and the center point of the parking space, so that the vehicle will be in the center when it parks in the target parking space according to the new automatic parking path.

[0072] It should be noted that, unlike existing navigation driving scenarios which only consider the vehicle's arrival at the destination, the parking scenario described in this invention requires consideration of the final parking posture. By evaluating and adjusting the vehicle's parking posture, this invention ensures that the vehicle is precisely centered within the parking space, avoiding situations where the vehicle is tilted or exceeds the parking space lines, thereby improving parking accuracy. Simultaneously, users typically expect vehicles to park smoothly and accurately in the parking space; this invention, by considering the parking posture, provides a more natural parking experience that meets user expectations. Furthermore, during automatic parking, inaccurate vehicle posture may lead to collisions with other vehicles or obstacles; this invention reduces this risk by evaluating and adjusting the posture. Moreover, in congested parking environments, accurate posture adjustment ensures full utilization of parking space while leaving sufficient space for other vehicles, improving parking efficiency.

[0073] After completing the above operations, the calculation module will convert the final automatic parking path into control commands to control the vehicle to park in the target parking space.

[0074] It should also be noted that for parking scenarios in parallel parking spaces (i.e., the so-called "parallel parking"), this invention can achieve parking in a space as quickly and accurately as an experienced driver, based on the automatic parking trajectory specified by the user. This simplifies the number of gear shifts required for parking, making parking more in line with human intentions and more efficient.

[0075] like Figure 4 As shown, according to the common automatic parking path of existing parking systems, it usually requires at least three steps to complete parking: (1) first drive forward to a position slightly beyond the target level parking space; (2) reverse diagonally to approach the target level parking space; (3) park forward into the target level parking space. If the parking posture is not good, multiple forward and reverse operations are required. However, the automatic parking method according to the embodiment of the present invention, such as Figure 5As shown, users can freely draw their desired automatic parking trajectory. Then, the parking system determines the planned path points on the user-specified automatic parking trajectory at preset intervals based on the automatic parking trajectory, the vehicle's current position, and the target parking space position. This generates a pre-planned parking path from the vehicle's current position to the target parking space position, and determines the final automatic parking trajectory, enabling parking in the target level parking space in just one step—drawing the desired automatic parking trajectory.

[0076] Corresponding to the automatic parking method described in Embodiment 1 of the present invention, Embodiment 2 of the present invention also provides an automatic parking device, comprising:

[0077] The pre-planning module is used to generate a pre-planned parking path based on the automatic parking trajectory specified by the user from the current position of the vehicle to the target parking space.

[0078] The judgment module is used to determine whether the posture of the vehicle parking into the target parking space meets the preset conditions based on the pre-planned parking path. If so, the pre-planned parking path is determined as the final automatic parking path.

[0079] The control module is used to control the vehicle to automatically park according to the final automatic parking path.

[0080] Corresponding to the automatic parking method described in Embodiment 1 of the present invention, Embodiment 3 of the present invention also provides an automatic parking device, comprising:

[0081] One or more processors;

[0082] Memory;

[0083] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to perform the automatic parking method.

[0084] Corresponding to the automatic parking method described in Embodiment 1 of the present invention, Embodiment 4 of the present invention also provides a computer program product, including computer instructions, which instruct a computer device to perform the operation corresponding to the method.

[0085] Preferably, the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the processor can be any conventional processor. The processor is the control center of the device, connecting various parts of the device through various interfaces and lines.

[0086] The memory mainly includes a program storage area and a data storage area. The program storage area can store the operating system, applications required for at least one function, etc., while the data storage area can store related data, etc. Furthermore, the memory can be a high-speed random access memory, or a non-volatile memory, such as a plug-in hard drive, a SmartMedia Card (SMC), a Secure Digital (SD) card, and a Flash Card, or other volatile solid-state storage devices.

[0087] It should be noted that the above-mentioned devices may include, but are not limited to, processors and memory, as will be understood by those skilled in the art.

[0088] For the working principle and process of the above embodiments, please refer to the description of Embodiment 1 of the present invention, which will not be repeated here.

[0089] As can be seen from the above description, compared with the prior art, the beneficial effects of the present invention are as follows: By introducing the parking trajectory of the user's personal wishes as the input of the parking planning algorithm, the present invention can be closer to the actual needs and habits of the driver, thereby generating a more human-like parking path, which not only improves the comfort and naturalness of parking, but also makes the driver feel smoother and more at ease during the parking process; by simplifying the number of gear shifts during parking, the present invention effectively reduces the operational complexity of the parking process and improves parking efficiency.

[0090] The above description is merely a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, any equivalent variations made in accordance with the claims of the present invention are still within the scope of the present invention.

Claims

1. An automatic parking method, characterized in that, Includes the following steps: Based on the user-specified automatic parking trajectory from the vehicle's current location to the target parking space, the system determines the planned path points on the user-specified automatic parking trajectory at preset intervals. Connect the planned path points to form a pre-planned parking path; Before parking, based on the pre-planned parking path, it is determined whether the posture of the vehicle entering the target parking space meets the preset conditions. Specifically, it is determined whether the vehicle is located in the center of the target parking space or whether it is tilted relative to the target parking space when it enters the target parking space. Specifically, determining whether the vehicle is tilted relative to the target parking space when it enters the target parking space includes: determining whether the tilt angle of the vehicle relative to the target parking space when it enters the target parking space is within a preset threshold; if so, it is determined that the vehicle is not tilted relative to the target parking space when it enters the target parking space; otherwise, it is determined that the vehicle is tilted when it enters the target parking space. Determining whether a vehicle is centered within a target parking space when it enters the target parking space specifically includes: identifying the outline of the target parking space and obtaining its boundary points; calculating the center point of the target parking space based on the obtained boundary points; calculating the deviation between the vehicle's current position and the center point of the target parking space; and determining whether the deviation is within a preset threshold. If so, the vehicle is centered within the target parking space; otherwise, it is determined that the vehicle is not centered within the target parking space. If the posture of the vehicle as it parks into the target parking space meets the preset conditions, then the pre-planned parking path is determined as the final automatic parking path. The vehicle is controlled to automatically park according to the final automatic parking path.

2. The method according to claim 1, characterized in that, Also includes: The pre-planned parking path is checked, and non-smooth path points are identified; The non-smooth path points are then refitted.

3. The method according to claim 1, characterized in that, Also includes: Based on the generated pre-planned parking path, the path point information, the vehicle's maximum speed, remaining driving distance, and gear data are calculated.

4. An automatic parking device, characterized in that, include: The pre-planning module is used to determine the planned path points on the user-specified automatic parking trajectory from the current position of the vehicle to the target parking space position at preset intervals. Connect the planned path points to form a pre-planned parking path; The judgment module is used to determine whether the posture of the vehicle entering the target parking space meets the preset conditions according to the pre-planned parking path before parking. Specifically, it determines whether the vehicle is located in the center of the target parking space or whether it is tilted relative to the target parking space when it enters the target parking space. Specifically, determining whether the vehicle is tilted relative to the target parking space when it enters the target parking space includes: determining whether the tilt angle of the vehicle relative to the target parking space when it enters the target parking space is within a preset threshold; if so, it is determined that the vehicle is not tilted relative to the target parking space when it enters the target parking space; otherwise, it is determined that the vehicle is tilted when it enters the target parking space. Determining whether a vehicle is centered within a target parking space when it enters the target parking space specifically includes: identifying the outline of the target parking space and obtaining its boundary points; calculating the center point of the target parking space based on the obtained boundary points; calculating the deviation between the vehicle's current position and the center point of the target parking space; and determining whether the deviation is within a preset threshold. If so, the vehicle is centered within the target parking space; otherwise, it is determined that the vehicle is not centered within the target parking space. The judgment module is also used to: if the posture of the vehicle parking into the target parking space meets the preset conditions, then determine the pre-planned parking path as the final automatic parking path. The control module is used to control the vehicle to automatically park according to the final automatic parking path.

5. An automatic parking device, characterized in that, include: One or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to perform the automatic parking method as described in any one of claims 1 to 3.

6. A computer program product, characterized in that, Includes computer instructions that instruct a computer device to perform an operation corresponding to the method as described in any one of claims 1 to 3.

Images