Parking control method and device, vehicle-mounted system, electronic device, and storage medium

Abstract

The application relates to a parking control method and device, a vehicle-mounted system, an electronic device and a storage medium, wherein the parking control method comprises the following steps: when it is detected that a target parking space, in which a target vehicle is to be parked, is an end road parking space, according to a vehicle parameter of the target vehicle, a drivable area of the target vehicle is divided into a plurality of pose adjustment areas; according to the position of the target vehicle in the drivable area, a target adjustment area to which the target vehicle belongs is determined from the plurality of pose adjustment areas, and according to the target adjustment area, a target initial adjustment path of an initial pose of the target vehicle is determined; according to the target initial adjustment path, the target vehicle is controlled to be rubbed in the garage until the vehicle angle after rubbing in the garage meets a preset angle threshold, and the target vehicle is controlled to be parked in the target parking space based on a preset parking space planning algorithm. The application can realize parking path planning in an end road parking space scene, thereby improving the parking success rate in the end road parking space scene.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and in particular to parking control methods, devices, on-board systems, electronic devices, and storage media. Background Technology

[0002] Automated parking technology, as a driver assistance technology, enables vehicles to automatically park within limited spaces through autonomous perception and control systems. As an important application scenario for autonomous driving technology, automated parking technology is widely used in automobiles. For regular parking spaces, automated parking technology can often achieve smooth parking based on pre-set path planning algorithms, reducing the driver's parking stress. However, for unconventional parking spaces such as dead-end spaces, current automated parking methods struggle to identify them and cannot achieve smooth and successful parking in dead-end spaces.

[0003] There is currently no effective solution to the problem of low success rate of automatic parking for dead-end parking spaces in related technologies. Summary of the Invention

[0004] This embodiment provides a parking control method, device, vehicle system, electronic device, and storage medium to address the problem of low success rate of automatic parking for dead-end parking spaces in related technologies.

[0005] Firstly, this embodiment provides a parking control method, including:

[0006] When it is detected that the target parking space into which the target vehicle is to be parked is a dead-end parking space, the drivable area of ​​the target vehicle is divided into multiple posture adjustment areas according to the vehicle parameters of the target vehicle.

[0007] Based on the location of the target vehicle in the drivable area, a target adjustment area to which the target vehicle belongs is determined from the plurality of pose adjustment areas, and a target initial adjustment path for the initial pose of the target vehicle is determined based on the target adjustment area; wherein, different pose adjustment areas correspond to different initial adjustment paths in advance.

[0008] According to the initial adjustment path of the target, the target vehicle is controlled to perform a parking maneuver until the angle of the vehicle after the maneuver meets the preset angle threshold. Based on the preset parking space planning algorithm, the target vehicle is controlled to park in the target parking space.

[0009] In some embodiments, based on the vehicle parameters of the target vehicle, the drivable area of ​​the target vehicle is divided into multiple pose adjustment regions, including:

[0010] Determine the reference corner point of the target parking space;

[0011] Establish a target coordinate system with the reference corner point as the origin of the coordinate system;

[0012] In the target coordinate system, the drivable area of ​​the target vehicle is divided into multiple pose adjustment areas according to the vehicle parameters.

[0013] In some embodiments, in the target coordinate system, the drivable area of ​​the target vehicle is divided into multiple pose adjustment regions according to vehicle parameters, including:

[0014] Based on the wheelbase and front overhang of the target vehicle, determine the lateral range of each attitude adjustment area in the target coordinate system.

[0015] Based on the width of the target vehicle and the adjustable parameters of the actual vehicle, the longitudinal range of each posture adjustment area in the target coordinate system is determined.

[0016] In some embodiments, based on the initial target adjustment path, the target vehicle is controlled to perform a parking maneuver until the angle of the vehicle after the maneuver meets a preset angle threshold. Then, based on a preset parking space planning algorithm, the target vehicle is controlled to park in the target parking space, including:

[0017] Based on the initial adjustment path of the target, a corresponding kneading and turning path is generated;

[0018] The target vehicle is controlled to adjust its pose based on the initial target adjustment path, and then the vehicle is repeatedly routing into the parking space based on the routing and turning path until the angle of the vehicle after routing into the parking space meets a preset angle threshold. Based on a preset parking space planning algorithm, the target vehicle is controlled to park into the target parking space.

[0019] In some embodiments, the path direction of the first kneading turning path is opposite to the path direction of the target initial adjustment path, and the turning direction of the kneading turning path is opposite to the turning direction of the target initial adjustment path.

[0020] In some embodiments, the initial adjustment path includes: an arc path corresponding to the minimum turning radius for a left turn with the center of the vehicle's rear axle forward, a straight path corresponding to a reverse turn with the center of the vehicle's rear axle backward, and an arc path corresponding to the minimum turning radius for a right turn with the center of the vehicle's rear axle backward.

[0021] Secondly, this embodiment provides a parking control device, including: a division module, an adjustment path planning module, and a parking space shunting module; wherein:

[0022] The division module is used to divide the drivable area of ​​the target vehicle into multiple pose adjustment areas according to the vehicle parameters of the target vehicle when it is detected that the target parking space to which the target vehicle is to be parked is a dead-end parking space.

[0023] The adjustment path planning module is used to determine the target adjustment area to which the target vehicle belongs from the plurality of pose adjustment areas based on the position of the target vehicle in the drivable area, and to determine the target initial adjustment path of the target vehicle's initial pose based on the target adjustment area; wherein, different pose adjustment areas correspond to different initial adjustment paths in advance.

[0024] The parking space rubbing module is used to control the target vehicle to rub against the parking space according to the target initial adjustment path until the angle of the vehicle after rubbing meets a preset angle threshold, and to control the target vehicle to park in the target parking space based on a preset parking space planning algorithm.

[0025] Thirdly, this embodiment provides an in-vehicle system, including: a perception subsystem, a positioning subsystem, and a processor;

[0026] The perception subsystem is used to detect whether the target parking space into which the target vehicle is to be parked is a dead-end parking space.

[0027] The positioning subsystem is used to detect the relative positional relationship between the target vehicle and the target parking space;

[0028] The processor is used to execute the parking control method described in the first aspect above.

[0029] Fourthly, this embodiment provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the parking control method described in the first aspect above.

[0030] Fifthly, this embodiment provides a storage medium storing a computer program that, when executed by a processor, implements the parking control method described in the first aspect above.

[0031] Compared with related technologies, this embodiment provides a parking control method, device, vehicle system, electronic device, and storage medium. The parking control method, upon detecting that the target parking space to which the target vehicle is to be parked is a dead-end parking space, divides the drivable area of ​​the target vehicle into multiple pose adjustment areas based on the vehicle parameters. Then, based on the target vehicle's position within the drivable area, it determines the target adjustment area to which the target vehicle belongs from the multiple pose adjustment areas, and determines the target initial adjustment path for the target vehicle's initial pose based on the target adjustment area. Different pose adjustment areas correspond to different initial adjustment paths. Finally, based on the target initial adjustment path, the target vehicle is controlled to perform a "parking maneuver" until the vehicle angle after maneuvering meets a preset angle threshold. Based on a preset parking space planning algorithm, the target vehicle is controlled to park in the target parking space. This enables parking path planning in dead-end parking space scenarios, thereby improving the parking success rate in such scenarios.

[0032] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0033] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0034] Figure 1 This is a hardware structure block diagram of the terminal of the parking control method in this embodiment;

[0035] Figure 2 This is a flowchart of the parking control method in this embodiment;

[0036] Figure 3a This is a schematic diagram of a parking space at the end of a road.

[0037] Figure 3b This is another scenario illustration of a parking space at the end of a road;

[0038] Figure 4 This is a schematic diagram showing the angle at which a parking space at the end of a road is converted into a regular parking space;

[0039] Figure 5 This is a schematic diagram of parking space information transformation in this embodiment;

[0040] Figure 6 This is a schematic diagram of a region division in this embodiment;

[0041] Figure 7a This is a schematic diagram of a path planning method in this embodiment;

[0042] Figure 7b This is another path planning diagram in this embodiment;

[0043] Figure 7c This is another path planning diagram in this embodiment;

[0044] Figure 8 This is a flowchart of a parking control method according to some embodiments;

[0045] Figure 9 This is a structural block diagram of the parking control device in this embodiment;

[0046] Figure 10 This is a schematic diagram of the vehicle-mounted system in this embodiment. Detailed Implementation

[0047] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0048] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0049] The method embodiments provided in this example can be executed on a terminal, computer, or similar computing device. For example, it can run on a terminal. Figure 1 This is a hardware structure block diagram of the terminal of the parking control method in this embodiment. For example... Figure 1As shown, a terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 and a memory 104 for storing data are also included. The processor 102 may be, but is not limited to, a microprocessor (MCU) or a programmable logic device (FPGA). The terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that… Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the terminal described above. For example, the terminal may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown are illustrated.

[0050] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the parking control method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0051] The transmission device 106 is used to receive or send data via a network. This network includes a wireless network provided by the terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 can be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0052] This embodiment provides a parking control method. Figure 2 This is a flowchart of the parking control method in this embodiment, as follows: Figure 2 As shown, the process includes the following steps:

[0053] Step S210: When it is detected that the target parking space to which the target vehicle is to be parked is a dead-end parking space, the driving area of ​​the target vehicle is divided into multiple pose adjustment areas according to the vehicle parameters of the target vehicle.

[0054] A cul-de-sac parking space can specifically be a parking space located at the end of a road. Specifically, a cul-de-sac parking space can be located on one side of the top of a road, and there may be one parking space on each side of the road. Figure 3a This is a schematic diagram of a parking space at a dead end. Figure 3b This is a schematic diagram illustrating another type of parking space at a dead end. Please refer to [link / reference needed]. Figure 3a and Figure 3b One end of the road is a wall, and the target parking space located on the side of the road adjacent to the wall is a dead-end parking space. Figure 3a and Figure 3b The vehicles in the image are those that need to be parked in the end-of-line parking spaces.

[0055] Specifically, the target vehicle's perception system can be used to determine whether the target parking space is a dead-end parking space. For example, cameras, radar, or other sensor devices can be used to detect and identify information such as the relative positional relationship between the target parking space and surrounding obstacles, lane markings, and parking space layout to determine whether the target parking space is a dead-end parking space. Simultaneously, the target vehicle's own pose information can be obtained based on its positioning system to determine the relative positional relationship between the target vehicle and the target parking space. Then, the area where the target vehicle is currently located is divided into multiple pose adjustment zones.

[0056] Considering that the planned parking path for a target vehicle varies depending on its relative position to the target parking space, when the target parking space is determined to be a dead-end space, the drivable area where the target vehicle is located can be divided into multiple position adjustment zones, and a corresponding initial adjustment path can be determined for each position adjustment zone. This can improve the success rate of parking planning. Specifically, the position adjustment zones can be divided based on vehicle parameters, with the goal of reducing the number of times the vehicle maneuvers through the parking space. This drivable area can be determined based on the initial position of the target vehicle and the relative position between the target vehicle and the target parking space. In particular, multiple position adjustment zones and corresponding initial adjustment paths can be divided based on the vehicle parameters and minimum turning radius of the target vehicle, with the principle of reducing the number of times the target vehicle maneuvers through the parking space to improve parking efficiency.

[0057] Step S220: Based on the position of the target vehicle in the drivable area, determine the target adjustment area to which the target vehicle belongs from multiple pose adjustment areas, and determine the target initial adjustment path of the target vehicle's initial pose based on the target adjustment area; wherein, different pose adjustment areas correspond to different initial adjustment paths in advance.

[0058] After defining the pose adjustment areas for the current parking scenario, the target pose adjustment area can be determined from multiple pose adjustment areas based on the target vehicle's position within the drivable area. Then, the pre-set initial adjustment path corresponding to the target pose adjustment area is defined as the target adjustment path. The initial adjustment path corresponding to each pose adjustment area is used to instruct the target vehicle on the path adjustment for its initial U-turn pose. For example, the initial pose of the target vehicle can be the initial pose of the rear axle center. Alternatively, the pose of other parts of the target vehicle can be selected according to the needs of the actual application.

[0059] Step S230: Based on the initial adjustment path of the target, control the target vehicle to perform a parking maneuver until the angle of the vehicle after the parking maneuver meets the preset angle threshold. Based on the preset parking space planning algorithm, control the target vehicle to park in the target parking space.

[0060] After determining the initial adjustment path of the target vehicle, a U-turn path for the target vehicle can be planned based on the initial adjustment path. Then, by combining the initial adjustment path and the corresponding U-turn path, a complete parking planning path is obtained. During the process of controlling the target vehicle to maneuver through the parking space, the vehicle angle is monitored in real time to see if it meets a preset angle threshold (e.g., greater than the preset angle threshold). If it does, the maneuvering stops, and the target parking space is no longer a dead-end parking space relative to the target vehicle. Therefore, a parking space planning algorithm for regular parking spaces that are not dead-end parking spaces can be used to control the target vehicle to park in the target parking space. Figure 4 This is a diagram illustrating the angle at which a parking space at a dead end is converted into a regular parking space. (Example:) Figure 4 As shown, the angled vehicles not yet parked in a space are the target vehicles. If the angle between the target vehicle and the target parking space is greater than or equal to 150 degrees, the target parking space can be considered a regular parking space (not a dead-end road) relative to the target vehicle. In this case, conventional parking space planning algorithms can be used to control the target vehicle to park in the target parking space. For example, conventional parking space planning algorithms such as the circular arc and straight line method, heuristic search algorithms, or intelligent optimization algorithms can be used to control the target vehicle to park in the target parking space. Figure 4 The X and Y axes in the figure are coordinate axes of a coordinate system established with the top left corner of the target parking space as the origin.

[0061] Specifically, after ensuring the target vehicle's angle meets a preset angle threshold through parking space optimization, the target parking space information can be transformed before parking space planning to ensure successful subsequent planning. Specifically, the coordinate information of each corner point of the target parking space can be mirrored. Figure 5 This is a schematic diagram illustrating a parking space information transformation in this embodiment. For example... Figure 5As shown, the target parking space has four corner points: A, B, C, and D. The coordinate system established with the top-left corner as the origin can be transformed into a coordinate system established with the top-right corner as the origin, and the direction of the horizontal axis can be reversed. This allows for the substitution of the top-left and top-right corner points, and the substitution of the bottom-left and bottom-right corner points. After transforming the target parking space information, a conventional parking space planning algorithm is used to control the target vehicle to park.

[0062] In related technologies, there is often a lack of recognition and planning for parking spaces at dead ends. This leads to a high probability of parking interruptions and failures in the automatic parking process at dead ends, resulting in a low parking success rate. This embodiment proposes a planning method for parking spaces at dead ends, which is completed in three parts. First, the pose adjustment area is defined. Then, the adjustment area where the target vehicle is located is determined to complete the U-turn path planning. The vehicle is controlled to perform a parking maneuver based on the U-turn path planning, transforming the dead end parking space into a regular non-dead end parking space. Finally, a general parking space planning algorithm is called to complete the parking. Therefore, compared with related technologies, this embodiment can achieve successful parking at dead ends from any initial position, thereby improving the success rate and accuracy of path planning parking at dead ends. Furthermore, it solves the problem of difficult parking at dead ends for users and improves the overall user experience of the parking system.

[0063] In steps S210 to S230 above, when it is detected that the target parking space to which the target vehicle is to be parked is a dead-end parking space, the drivable area of ​​the target vehicle is divided into multiple pose adjustment areas according to the vehicle parameters of the target vehicle. Based on the position of the target vehicle within the drivable area, the target adjustment area to which the target vehicle belongs is determined from the multiple pose adjustment areas. Based on the target adjustment area, the target initial pose adjustment path of the target vehicle is determined. Different pose adjustment areas correspond to different initial adjustment paths. Based on the target initial adjustment path, the target vehicle is controlled to perform a "parking maneuver" until the vehicle angle after maneuvering meets a preset angle threshold. Based on a preset parking space planning algorithm, the target vehicle is controlled to park in the target parking space. This enables parking path planning in dead-end parking space scenarios, thereby improving the parking success rate in dead-end parking space scenarios.

[0064] In one embodiment, based on step S210 above, dividing the drivable area of ​​the target vehicle into multiple pose adjustment areas according to the vehicle parameters of the target vehicle may include:

[0065] Determine the reference corner point of the target parking space; establish a target coordinate system with the reference corner point as the origin of the coordinate system; under the target coordinate system, divide the drivable area of ​​the target vehicle into multiple pose adjustment areas according to the vehicle parameters.

[0066] Specifically, one of the four corner points of the target parking space can be selected as the reference corner point, and the target coordinate system can be established with the reference corner point as the origin of the coordinate system. Figure 6 This is a schematic diagram of a region division in this embodiment, such as... Figure 6 As shown, the target parking space includes four corner points: A, B, C, and D. A target coordinate system can be established using the upper left corner point A of the target parking space as the reference corner point, determining the corresponding X-axis and Y-axis. Then, within this target coordinate system, based on the vehicle parameters of the target vehicle and with the condition of minimizing the number of maneuvers, the drivable area of ​​the target vehicle is divided into three pose adjustment areas: Area 1, Area 2, and Area 3. The initial adjustment paths corresponding to Area 1, Area 2, and Area 3 are all different. Next, based on the position of the target vehicle, it is determined which of the three areas the target vehicle is in, thus determining the target initial adjustment path for the target vehicle. For example, if the target vehicle belongs to Area 1, then the target initial adjustment path for the target vehicle is the initial adjustment path corresponding to Area 1.

[0067] In this embodiment, the coordinate system established based on the target parking space is divided into multiple pose adjustment areas, which can improve the success rate of parking path planning for parking spaces at the end of the road.

[0068] More specifically, in one embodiment, in the target coordinate system, the drivable area of ​​the target vehicle is divided into multiple pose adjustment areas according to vehicle parameters, which may include:

[0069] Based on the target vehicle's wheelbase and front overhang, determine the lateral range of each attitude adjustment area in the target coordinate system; based on the target vehicle's width and the actual vehicle's adjustable parameters, determine the longitudinal range of each attitude adjustment area in the target coordinate system.

[0070] Specifically, based on the principles of avoiding collisions with surrounding obstacles, maximizing the use of available space, and minimizing the number of times the vehicle maneuvers through parking spaces, the lateral and longitudinal ranges of the pose adjustment area can be determined according to various vehicle parameters of the target vehicle. Specifically, the drivable area can be divided into three pose adjustment areas based on the following formula:

[0071] Region 1 is:

[0072] x≤-(L w +L f )

[0073]

[0074] Area 2 is:

[0075] x>-(L w +L f )

[0076]

[0077] Area 3 is:

[0078]

[0079] Among them, L w L is the vehicle wheelbase. f For the front overhang length of the vehicle, W veh Let d represent the vehicle width, and d be an adjustable parameter for the actual vehicle (ranging from 3m to 5m). The x-value ranges corresponding to regions 1, 2, and 3 correspond to the horizontal range of that region, and the y-value range corresponds to the vertical range of that region. Based on this, the following can be achieved: Figure 6 The diagram shows the division of regions 1, 2, and 3 in the target coordinate system.

[0080] In this embodiment, based on the target vehicle's wheelbase, front overhang length, width, and adjustable parameters, the lateral and longitudinal ranges of each pose adjustment area are defined. This further improves the rationality of the area division, providing a reliable basis for subsequent path planning for different areas, thereby increasing the success rate and efficiency of the final parking plan and reducing the number of times parking is attempted.

[0081] In another embodiment, based on step S230 above, according to the initial adjustment path, the target vehicle is controlled to perform a parking maneuver until the angle of the vehicle after the maneuver meets a preset angle threshold. Based on a preset parking space planning algorithm, the target vehicle is controlled to park in the target parking space, which may specifically include:

[0082] Based on the initial target adjustment path, a corresponding rubbing-and-turn path is generated; the target vehicle is controlled to adjust its position and posture based on the initial target adjustment path, and then the rubbing-and-turn operation is performed repeatedly based on the rubbing-and-turn path until the vehicle angle after rubbing meets the preset angle threshold. Based on the preset parking space planning algorithm, the target vehicle is controlled to park in the target parking space.

[0083] Specifically, based on the determined initial adjustment path, several segmented parking space turning paths can be planned. Then, the vehicle is controlled to cycle through these paths until the target vehicle's entry angle relative to the target parking space meets a preset angle threshold. Finally, based on a general parking space planning algorithm, the target vehicle is controlled to park in the target parking space. For example, based on the initial adjustment path, the first step of the parking space turning path is determined to be a right-turn arc path with the minimum turning radius for reversing, and the second step is a left-turn arc path with the minimum turning radius for advancing. During the parking space turning process, the vehicle is controlled to cycle through these first and second step turning paths alternately until the vehicle angle meets a certain angle threshold, such as 150 degrees, or reaches a certain angle threshold range. At this point, it is confirmed that the target parking space has been converted into a regular parking space for the target vehicle.

[0084] In this embodiment, a corresponding parking maneuvering and turning path is generated based on the initial target adjustment path, and the position and posture of the target vehicle are adjusted according to the initial target adjustment path. Then, the target vehicle is controlled to perform parking maneuvering based on the parking maneuvering and turning path until the vehicle angle meets the preset angle requirements. This can achieve a successful conversion from a dead-end parking space to a regular parking space, thereby improving the parking success rate of vehicles in dead-end parking spaces.

[0085] In particular, in one embodiment, the path direction of the first kneading and turning path is opposite to the path direction of the target initial adjustment path, and the turning direction of the kneading and turning path is opposite to the turning direction of the target initial adjustment path.

[0086] In other words, when generating the U-turn path, the direction of the first U-turn path is determined based on the direction of the initial target adjustment path, and the direction of the first U-turn path is determined based on the direction of the initial target adjustment path. Subsequently, the next U-turn path can be set based on the first U-turn path; for example, the direction and direction of the next U-turn path can be reversed relative to the first U-turn path. Specifically, the first segment of the U-turn path will be reversed based on the forward or backward direction of the initial target adjustment path, and the steering wheel turn will also be reversed based on whether the initial target adjustment path is turned left or right.

[0087] For example, if the initial target adjustment path is forward, then the first step of the parking space turning path is backward; otherwise, the first step of the parking space turning path is forward. Taking the target parking space to the right of the target vehicle as an example: when the initial target adjustment path is forward, the first step of the parking space turning path is a right-turn arc path with the minimum turning radius backward, and the second step of the parking space turning path is a left-turn arc path with the minimum turning radius forward.

[0088] In this embodiment, the path direction and direction of the parking maneuvering and turning path are set based on the initial adjustment path of the target, which enables accurate parking maneuvering path planning, thereby reducing the number of parking maneuvers and improving parking efficiency.

[0089] Specifically, in one embodiment, the initial adjustment path includes: an arc path corresponding to the minimum turning radius for a left turn with the vehicle's rear axle center forward, a straight path corresponding to a reverse turn with the vehicle's rear axle center backward, and an arc path corresponding to the minimum turning radius for a right turn with the vehicle's rear axle center backward.

[0090] Figure 7a This is a schematic diagram of a kneading and turning path in this embodiment; Figure 7b This is a schematic diagram of another kneading and turning path in this embodiment; Figure 7c This is a schematic diagram of another kneading and turning path in this embodiment. Figure 7a , Figure 7b as well as Figure 7c The initial pose point can be the initial pose of the rear axle center of the target vehicle. Specifically, combined with... Figure 6 and Figure 7a When the target vehicle's initial pose is in region 1, the corresponding initial adjustment path can be: an arc path corresponding to the minimum turning radius of the left turn with the vehicle's rear axle center forward. See [reference needed]. Figure 7a The target vehicle will first adjust its position and posture through an initial adjustment path of turning left forward, and then perform a maneuver based on the corresponding maneuvering and turning path. Combined with... Figure 6 and Figure 7b When the target vehicle's initial pose is in region 2, the corresponding initial adjustment path can be: a straight line path corresponding to the vehicle's rear axle center, then refer to... Figure 7b The complete planned path for the target vehicle is as follows: first, adjust the vehicle's posture using an initial backward adjustment path, then perform a maneuvering maneuver based on the maneuvering and turning path corresponding to the initial adjustment path. Combined with... Figure 6 and Figure 7c When the target vehicle's initial pose is in region 3, the corresponding initial adjustment path can be: an arc path corresponding to the minimum turning radius of the right turn with the vehicle's rear axle center. (Refer to...) Figure 7c The target vehicle will first adjust its position and posture through an initial adjustment path that turns right, and then perform a U-turn based on the corresponding U-turn path.

[0091] Based on this, this embodiment configures different initial adjustment paths for different posture adjustment areas, and then plans corresponding parking maneuvering and turning paths. It can achieve different path planning based on the different positions of the target vehicle, thereby improving the subsequent parking success rate and reducing the number of parking maneuvers.

[0092] Figure 8 These are flowcharts of some embodiments of parking control methods, such as... Figure 8 As shown, the parking control method includes the following steps:

[0093] Step S801: Detect the target parking space as a dead-end parking space and obtain the detection result; specifically, the target parking space and surrounding obstacles can be detected based on the target vehicle's perception system to determine whether the target parking space is a dead-end parking space.

[0094] Step S802: If the target parking space is determined to be a dead-end parking space, the drivable area of ​​the target vehicle is divided into multiple posture adjustment areas according to the vehicle parameters of the target vehicle. Among them, the lateral range of each posture adjustment area in the target coordinate system is determined according to the vehicle wheelbase and front overhang length of the target vehicle. The longitudinal range of each posture adjustment area in the target coordinate system is determined according to the width of the target vehicle and the adjustable parameters of the actual vehicle.

[0095] Step S803: Based on the initial pose of the target vehicle, determine the target adjustment region to which the target vehicle belongs from multiple pose adjustment regions.

[0096] Step S804: Based on the target adjustment area of ​​the target vehicle, obtain the pre-set initial adjustment path corresponding to the target adjustment area, and obtain the target initial adjustment path of the target vehicle.

[0097] Step S805: Determine the target vehicle's turning path based on the initial target adjustment path. After the target vehicle adjusts according to the initial target adjustment path, control the target vehicle to turn into the parking space based on the corresponding turning path until the vehicle angle after turning into the parking space meets the preset angle threshold. Based on the preset parking space planning algorithm, control the target vehicle to park into the target parking space.

[0098] The steps S801 to S805 described above enable parking path planning in the dead-end road parking space scenario, thereby improving the parking success rate in the dead-end road parking space scenario.

[0099] This embodiment also provides a parking control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. The terms "module," "unit," "subunit," etc., used below refer to combinations of software and / or hardware that perform a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0100] Figure 9 This is a structural block diagram of the parking control device 90 in this embodiment, as shown below. Figure 9 As shown, the parking control device 90 includes: a division module 92, an adjustment path planning module 94, and a parking space hopping module 96; wherein:

[0101] The segmentation module 92 is used to divide the drivable area of ​​the target vehicle into multiple pose adjustment areas according to the vehicle parameters of the target vehicle when the target parking space to which the target vehicle is to be parked is a dead-end parking space.

[0102] The adjustment path planning module 94 is used to determine the target adjustment area to which the target vehicle belongs from multiple pose adjustment areas based on the position of the target vehicle in the drivable area, and to determine the target initial adjustment path of the target vehicle's initial pose based on the target adjustment area; wherein, different pose adjustment areas correspond to different initial adjustment paths in advance.

[0103] The parking space rubbing module 96 is used to control the target vehicle to rub into the parking space according to the initial adjustment path of the target until the angle of the vehicle after rubbing meets the preset angle threshold. Based on the preset parking space planning algorithm, it controls the target vehicle to park into the target parking space.

[0104] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0105] This embodiment also provides an in-vehicle system. Figure 10 This is a schematic diagram of the structure of the vehicle system 10 in this embodiment, as shown below. Figure 10 As shown, the vehicle system 10 includes: a perception subsystem 12, a positioning subsystem 14, and a processor 16; wherein, the perception subsystem 12 is used to detect whether the target parking space into which the target vehicle is to be parked is a dead-end parking space; the positioning subsystem 14 is used to detect the relative positional relationship between the target vehicle and the target parking space; and the processor 16 is used to execute the parking control method provided in the above embodiment.

[0106] This embodiment also provides an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0107] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0108] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0109] S1, when it is detected that the target parking space to which the target vehicle is to be parked is a dead-end parking space, the driving area of ​​the target vehicle is divided into multiple posture adjustment areas according to the vehicle parameters of the target vehicle.

[0110] S2, based on the position of the target vehicle in the drivable area, determine the target adjustment area to which the target vehicle belongs from multiple pose adjustment areas, and determine the target initial adjustment path of the target vehicle's initial pose based on the target adjustment area; wherein, different pose adjustment areas correspond to different initial adjustment paths in advance.

[0111] S3, based on the initial adjustment path of the target, controls the target vehicle to perform a parking maneuver until the angle of the vehicle after the maneuver meets the preset angle threshold, and controls the target vehicle to park in the target parking space based on the preset parking space planning algorithm.

[0112] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0113] Furthermore, in conjunction with the parking control methods provided in the above embodiments, this embodiment can also provide a storage medium for implementation. The storage medium stores a computer program; when executed by a processor, the computer program implements any of the parking control methods described in the above embodiments.

[0114] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0115] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0116] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0117] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0118] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A parking control method, characterized in that, include: When it is detected that the target parking space into which the target vehicle is to be parked is a dead-end parking space, the drivable area of ​​the target vehicle is divided into multiple posture adjustment areas according to the vehicle parameters of the target vehicle. Based on the location of the target vehicle in the drivable area, a target adjustment area to which the target vehicle belongs is determined from the plurality of pose adjustment areas, and a target initial adjustment path for the initial pose of the target vehicle is determined based on the target adjustment area; wherein, different pose adjustment areas correspond to different initial adjustment paths in advance. According to the initial adjustment path of the target, the target vehicle is controlled to perform a parking maneuver until the angle of the vehicle after the maneuver meets the preset angle threshold. Based on the preset parking space planning algorithm, the target vehicle is controlled to park in the target parking space.

2. The parking control method according to claim 1, characterized in that, Based on the vehicle parameters of the target vehicle, the drivable area of ​​the target vehicle is divided into multiple pose adjustment areas, including: Determine the reference corner point of the target parking space; Establish a target coordinate system with the reference corner point as the origin of the coordinate system; In the target coordinate system, the drivable area of ​​the target vehicle is divided into multiple pose adjustment areas according to the vehicle parameters.

3. The parking control method according to claim 2, characterized in that, In the target coordinate system, based on vehicle parameters, the drivable area of ​​the target vehicle is divided into multiple pose adjustment regions, including: Based on the wheelbase and front overhang of the target vehicle, determine the lateral range of each attitude adjustment area in the target coordinate system. Based on the width of the target vehicle and the adjustable parameters of the actual vehicle, the longitudinal range of each posture adjustment area in the target coordinate system is determined.

4. The parking control method according to claim 1, characterized in that, Based on the initial adjustment path, the target vehicle is controlled to maneuver within the parking space until the angle of the vehicle after maneuvering meets a preset angle threshold. Then, based on a preset parking space planning algorithm, the target vehicle is controlled to park in the target parking space, including: Based on the initial adjustment path of the target, a corresponding kneading and turning path is generated; The target vehicle is controlled to adjust its pose based on the initial target adjustment path, and then the vehicle is repeatedly routing into the parking space based on the routing and turning path until the angle of the vehicle after routing into the parking space meets a preset angle threshold. Based on a preset parking space planning algorithm, the target vehicle is controlled to park into the target parking space.

5. The parking control method according to claim 4, characterized in that, The first turning path of the kneading and turning is opposite to the path direction of the target initial adjustment path, and the turning direction of the kneading and turning path is opposite to the turning direction of the target initial adjustment path.

6. The parking control method according to any one of claims 1 to 5, characterized in that, The initial adjustment path includes: an arc path corresponding to the minimum turning radius of a left turn with the center of the rear axle of the vehicle, a straight path corresponding to a backward turn with the center of the rear axle of the vehicle, and an arc path corresponding to the minimum turning radius of a right turn with the center of the rear axle of the vehicle.

7. A parking control device, characterized in that, include: The module consists of a partitioning module, an adjustment path planning module, and a folding module; among which: The division module is used to divide the drivable area of ​​the target vehicle into multiple pose adjustment areas according to the vehicle parameters of the target vehicle when it is detected that the target parking space to which the target vehicle is to be parked is a dead-end parking space. The adjustment path planning module is used to determine the target adjustment area to which the target vehicle belongs from the plurality of pose adjustment areas based on the position of the target vehicle in the drivable area, and to determine the target initial adjustment path of the target vehicle's initial pose based on the target adjustment area; wherein, different pose adjustment areas correspond to different initial adjustment paths in advance. The parking space rubbing module is used to control the target vehicle to rub against the parking space according to the target initial adjustment path until the angle of the vehicle after rubbing meets a preset angle threshold, and to control the target vehicle to park in the target parking space based on a preset parking space planning algorithm.

8. A vehicle-mounted system, characterized in that, include: The system comprises a sensing subsystem, a positioning subsystem, and a processor. The perception subsystem is used to detect whether the target parking space into which the target vehicle is to be parked is a dead-end parking space. The positioning subsystem is used to detect the relative positional relationship between the target vehicle and the target parking space; The processor is used to execute the parking control method according to any one of claims 1 to 6.

9. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the parking control method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the parking control method according to any one of claims 1 to 6.

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