Method and device for memorizing parking vertical parking space warehousing decision, and medium

Abstract

The invention discloses a memory parking vertical parking space parking decision method and device and a medium. The method comprises the steps that whether parking conditions are met or not is judged; if yes, parking is carried out according to the parking planning path; judging whether the vehicle has a collision risk or not; if not, parking is continued; if yes, the vehicle runs forwards for a certain distance, and then the vehicle continues to be parked; when the vehicle starts to enter the vertical parking space, vehicle body correction is started; when the distance of the vehicle entering the vertical parking space exceeds a first preset value, the distances between the vehicle and the left and right obstacles are obtained, whether a vehicle body is corrected or corrected excessively is judged according to the change condition, and the vehicle body is corrected; when the distance of the vehicle entering the vertical parking space exceeds a second preset value, whether the vehicle body is corrected is judged according to the distance between the front and rear sides of the same side of the vehicle and the obstacle, and the vehicle body is corrected; and parking is continued until the vehicle arrives at the designated parking position, and parking is completed. According to the invention, multiple parking strategies are adopted during parking, so that the vehicle can reach a designated position.

Description

Technical Field

[0001] The present invention belongs to the technical field of parking, and in particular relates to a method, device and medium for making a decision on entering a vertical parking space by memory parking. Background Art

[0002] The memory parking process includes two main stages: cruising stage and parking stage. In the parking stage, automatic parking is divided into several parts, such as perception, positioning, planning, decision-making and control. At present, automatic parking path planning mainly relies on various spline curves to design the path, and then uses the path tracking algorithm to adjust the steering angle of the vehicle, or directly control the steering angle, so as to park the vehicle in the designated parking space.

[0003] However, in practical applications, there is inevitably a certain degree of system error in the perception, positioning, planning and control stages, which may cause the final parking position of the vehicle to deviate from the expected position. Therefore, a series of decisions are needed to adjust and optimize the parking process to ensure that the vehicle can reach the designated parking space. Summary of the invention

[0004] In view of the above defects or improvement needs of the prior art, the present invention provides a memory parking vertical parking space entry decision method, device and medium to solve the problem that the vehicle cannot be parked in the designated parking space due to errors in the vehicle's own perception, positioning, planning, control, etc. during the memory parking process.

[0005] To achieve the above object, according to a first aspect of the present invention, a method for making a decision on entering a vertical parking space with memory parking is provided, the method comprising:

[0006] Get the parking planning path;

[0007] Determine whether the parking conditions are met; if so, park according to the parking planning path;

[0008] Determine whether the vehicle is in danger of collision; if not, continue parking; if so, the vehicle moves forward a certain distance and then continues parking;

[0009] When the vehicle starts to enter the vertical parking space, the vehicle body is corrected so that the vehicle subsequently enters the vertical parking space at a 90-degree vertical position;

[0010] When the distance of the vehicle entering the vertical parking space exceeds a first preset value, the distance between the vehicle and the left and right obstacles is obtained, and the vehicle body is judged whether it has been corrected or over-corrected according to the change of the distance between the vehicle and the left and right obstacles; if the vehicle body has not been corrected or has been over-corrected, the vehicle body is corrected;

[0011] When the distance of the vehicle entering the vertical parking space exceeds the second preset value, the vehicle body has completely entered the vertical parking space, and the distance between the front and rear sides of the same side of the vehicle and the obstacle is used to determine whether the vehicle body has been corrected; if the vehicle body has not been corrected, the vehicle body is corrected; wherein the second preset value is greater than the first preset value;

[0012] Continue parking until the vehicle reaches the designated parking location and completes parking.

[0013] In the above solution, judging whether the parking condition is met includes:

[0014] Obtain the lateral distance between the vehicle and the vertical parking space, the minimum turning radius of the vehicle, the vehicle body width, and the vertical distance between the rear of the vehicle and the vertical parking space;

[0015] Determine the parking distance based on the lateral distance between the vehicle and the vertical parking space, the vehicle's minimum turning radius and the vehicle's body width;

[0016] According to the parking distance and the vertical distance between the rear of the vehicle and the vertical parking space, determine whether the parking condition is met: if the vertical distance between the rear of the vehicle and the vertical parking space is greater than the parking distance, the parking condition is met, otherwise the parking condition is not met.

[0017] In the above scheme, determining the parking distance includes:

[0018]

[0019] l=R min -wm

[0020] Rs=R min -w

[0021] Where n is the parking distance, m is the lateral distance between the vehicle and the vertical parking space, and R min is the minimum turning radius of the vehicle, w is the width of the vehicle body, Rs is the inner turning radius, and l is the length of the inner turning radius in the vertical parking space.

[0022] In the above scheme, judging whether the vehicle is in danger of collision includes:

[0023] If the distance between the rear of the vehicle and the obstacle is less than the safety threshold or the vehicle cannot reach the designated parking position according to the current parking plan path, there is a risk of collision;

[0024] Only when the distance between the rear of the vehicle and the obstacle is not less than the safety threshold and the vehicle can reach the designated parking position according to the current parking planning path is it considered that there is no risk of collision.

[0025] In the above scheme, the vehicle moves forward for a certain distance, and also includes:

[0026] When the vehicle moves forward, the direction of the vehicle body gradually approaches the direction perpendicular to the length of the parking space;

[0027] If the angle between the vehicle body direction and the vertical length direction of the parking space is less than the set angle value or the vehicle has traveled forward a specific distance, the vehicle will travel backward again and continue parking.

[0028] In the above scheme, when the rear end of the vehicle or the rear wheels of the vehicle touch the vertical parking space entrance line, the vehicle is considered to have started to enter the vertical parking space; the distance the vehicle enters the vertical parking space is the distance the rear end of the vehicle or the rear wheels of the vehicle cross the vertical parking space entrance line.

[0029] In the above scheme, the method further comprises:

[0030] When the distance between the vehicle and an obstacle on one side is less than the safety threshold, stop parking;

[0031] Determine whether the vehicle is too far to the left or too far to the right, and then make clockwise or counterclockwise steering corrections based on whether the vehicle is too far to the left or right;

[0032] If the angle between the vehicle body direction and the vertical length direction of the parking space is less than the set angle value or the vehicle has traveled forward a specific distance, the vehicle will travel backward again and continue parking.

[0033] In the above scheme, judging whether the vehicle body has been corrected or overcorrected is based on the change in the distance between the vehicle and the left and right obstacles, including:

[0034] Taking the right obstacle as an example, if the distance between the vehicle and the right obstacle remains unchanged, the vehicle body has been corrected;

[0035] If the distance between the vehicle and the obstacle on the right side continues to increase, the vehicle body is not corrected;

[0036] If the distance between the vehicle and the obstacle on the right side keeps decreasing, the vehicle body is overcorrected;

[0037] In the above scheme, judging whether the vehicle body has been corrected according to the distance between the front and rear of the same side of the vehicle and the obstacle includes:

[0038] If the distances between the front and rear sides of the same side of the vehicle and the obstacle are equal, the vehicle body has been corrected, otherwise the vehicle body has not been corrected.

[0039] In the above scheme, the method further comprises:

[0040] If the difference between the distances between the front and rear of the vehicle and the obstacle on the same side exceeds the set error distance, the vehicle will correct forward or backward, that is:

[0041] If the distance between the front and the obstacle on the same side of the vehicle is much greater than the distance between the rear and the obstacle on the same side, the vehicle moves backwards, otherwise the vehicle moves forwards;

[0042] When parking, if the vehicle detects an obstacle in front or behind, it will move in the opposite direction to avoid it.

[0043] According to a second aspect of the present invention, there is provided a computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of any one of the above-mentioned memory parking perpendicular parking space entry decision methods are implemented.

[0044] According to a third aspect of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of any one of the above-mentioned memory parking perpendicular parking space entry decision methods are implemented.

[0045] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0046] The present invention adopts a variety of parking strategies according to the parking planning path when parking, including judging whether parking conditions are met, judging whether the vehicle is in danger of collision, when the vehicle starts to enter the perpendicular parking space, when the distance the vehicle enters the perpendicular parking space exceeds a first preset value, and when the distance the vehicle enters the perpendicular parking space exceeds a second preset value. By adopting different parking strategies at different times, the number of parking gear shifts is reduced, so that the vehicle arrives at the designated parking position and parking is completed smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A flow chart of a memory parking vertical parking space entry decision method provided by an embodiment of the present invention;

[0048] Figure 2 A spatial geometric relationship diagram of reversing into a garage provided by an embodiment of the present invention;

[0049] Figure 3 A schematic diagram of a reverse parking strategy 1 provided in an embodiment of the present invention;

[0050] Figure 4 A schematic diagram of a reverse parking strategy 2 provided in an embodiment of the present invention;

[0051] Figure 5 A schematic diagram of a reverse parking strategy 3 provided in an embodiment of the present invention;

[0052] Figure 6 A schematic diagram of a reverse parking strategy 4 provided in an embodiment of the present invention;

[0053] Figure 7 A schematic diagram of a reverse parking strategy 5 provided in an embodiment of the present invention;

[0054] Figure 8 A schematic diagram of a reverse parking strategy 6 provided in an embodiment of the present invention;

[0055] Fig. 9 A schematic diagram of a reverse parking strategy 7 provided by an embodiment of the present invention;

[0056] Fig.10 A schematic diagram of a reverse parking strategy 8 provided in an embodiment of the present invention;

[0057] Fig.11 A flow chart of another memory parking vertical parking space entry decision method provided by an embodiment of the present invention;

[0058] Fig.12 A schematic diagram of the structure of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0060] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0061] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0064] In the process of memory parking in a perpendicular parking space, various situations need to be considered, and different strategies will be adopted due to the different sizes of the space. The main strategy is to reduce the number of gear changes when parking, especially when there is enough parking space.

[0065] The memory parking vertical parking space entry decision method of the embodiment of the present application is as follows: Figure 1 and Fig.11 As shown, including:

[0066] S1. Obtain a parking planning path.

[0067] In some embodiments, a parking path is planned based on memory parking. The parking path is not restricted.

[0068] S2. Determine whether parking conditions are met; if so, park according to the planned parking path.

[0069] In some embodiments, Figure 2 As shown in the figure, the first circle of reversing into a garage is considered with the minimum turning radius, so it is important to calculate the value of n using the known starting lateral distance m and the minimum turning radius:

[0070]

[0071] Where l = R min -wm,Rs=R min -w.R minis the minimum turning radius of the car, w is the width of the car, and n is the parking distance.

[0072] Compare the parking distance with the vertical distance between the rear of the vehicle and the vertical parking space to determine whether the parking conditions are met. Since the turning radius of a vehicle is usually greater than the minimum turning radius when parking, the parking conditions may be met only if the vertical distance between the rear of the vehicle and the vertical parking space is greater than the parking distance. Otherwise, parking cannot be completed, that is, the parking conditions are not met. Among them, the vertical distance between the rear of the vehicle and the vertical parking space is the vertical distance from the rear of the vehicle to the extension of the parking space line on the right side of the vertical parking space. If parking from the left side, the vertical distance between the rear of the vehicle and the vertical parking space is the vertical distance from the rear of the vehicle to the extension of the parking space line on the left side of the vertical parking space.

[0073] It should be noted that this step also determines whether the parking trajectory will exceed the right side of the vertical parking space and fail to meet the parking requirements. If the parking condition is not met, that is, the vertical distance between the rear of the vehicle and the vertical parking space is not greater than the parking distance, the parking trajectory will fall outside the area of ​​the vertical parking space. In order to meet the parking condition, the vehicle can continue to move forward to increase the vertical distance between the rear of the vehicle and the vertical parking space so that the parking condition is met.

[0074] S3. Determine whether the vehicle is in danger of collision; if not, continue parking; if so, drive the vehicle forward for a certain distance and then continue parking.

[0075] S4. When the vehicle starts to enter the vertical parking space, the vehicle body is corrected so that the vehicle subsequently enters the vertical parking space at a 90-degree vertical position.

[0076] S5. When the distance of the vehicle entering the vertical parking space exceeds a first preset value, the distance between the vehicle and the left and right obstacles is obtained, and whether the vehicle body has been corrected or over-corrected is determined by the change in the distance between the vehicle and the left and right obstacles; if the vehicle body has not been corrected or has been over-corrected, the vehicle body is corrected.

[0077] S6. When the distance the vehicle enters the vertical parking space exceeds a second preset value, the vehicle body has completely entered the vertical parking space, and the vehicle body is judged whether the vehicle body has been corrected based on the distance between the front and rear sides of the same side of the vehicle and the obstacle; if the vehicle body has not been corrected, the vehicle body is corrected; wherein the second preset value is greater than the first preset value.

[0078] S7. Continue parking until the vehicle reaches the designated parking position, completing parking.

[0079] In the reverse parking mode, several situations need to be considered, and different strategies will be adopted due to the different sizes of the space. This is mainly to reduce the number of gear changes when parking, especially when there is enough parking space. This will be explained below.

[0080] Specific test execution:

[0081] Strategy 1, reverse into the parking space for the first time, and at the same time determine whether there is a risk of collision at the rear ultrasonic distance. There are two conditions to trigger the next step. One is when the rear obstacle distance d2 is too close, and the other is to determine whether the vehicle trajectory reaches the set depth d3 (i.e. whether it can reach the designated parking position) based on the current parking situation. This is a strategy to make the car as close to the right as possible. Figure 3 shown.

[0082] Strategy 2: When entering the second step, that is, when there is a risk of collision, the car computer prompts the driver to move forward. When the yaw angle of the car body exceeds the set value, the car computer prompts the driver to move backward again. This approach allows the car to be parked effectively in the searched parking space, such as Figure 4 shown.

[0083] Usually when the car computer prompts the driver to move forward, the driver can wave the steering wheel to gradually move the car body toward the vertical length direction of the parking space to facilitate subsequent parking. Therefore, if the angle between the car body direction and the vertical length direction of the parking space is less than the set angle value, the vehicle will move backward again and continue parking, which makes parking easier. However, the vehicle cannot move forward all the time, so a distance value can be set. When the vehicle has moved forward a certain distance, the vehicle will be controlled to move backward again to continue parking. Of course, if there is an obstacle in front, the vehicle will stop moving forward directly and control the vehicle to move backward again to continue parking.

[0084] Strategy 3: When the trajectory tracking of reversing into the parking space is relatively simple, the longitudinal coordinate (y_pos) of the car is directly used as the basis for judging the depth. When the car enters the parking space according to the trajectory, the body heading angle is corrected by 90 degrees, that is, to ensure that the body enters the parking space at a 90-degree vertical angle, such as Figure 5 shown.

[0085] This can be set according to actual conditions. For example, when the rear end of the vehicle or the rear wheels of the vehicle touch the vertical parking space entrance line, the vehicle is considered to have begun to enter the parking space of the vertical parking space. The depth can also be expressed by the distance the vehicle enters the vertical parking space, such as the distance the rear end of the vehicle or the rear wheels of the vehicle cross the vertical parking space entrance line.

[0086] Strategy 4, if everything goes well, when the car's moving position is greater than the first set value, the car's position in the parking space must be corrected. This position will vary depending on the size of the parking space. The first set value can be half of the vehicle entering the vertical parking space, or it can be determined based on actual conditions. right_pos is used to keep the car at a safe and appropriate distance from the vehicle on the right, such as Figure 6As shown in Figure 6, if the safe distance cannot be reached, strategy 6 will be triggered. In addition, there is a protection mechanism. When the vehicle body angle is over-corrected, it will switch to the vehicle heading angle correction mode and correct the vehicle body back to 90 degrees to avoid the vehicle colliding with the vehicles on the left and right. Figure 6 shown.

[0087] Strategy 5: When the vehicle's running position is greater than the second set value, the vehicle body has almost completely entered the parking space. At this time, the system will perform parallelism correction based on the ultrasonic waves of the right front and right rear. If the right front is greater than the right rear, the steering wheel will be corrected counterclockwise, otherwise, it will be corrected clockwise. When the error between the right front and right rear is less than a certain range, and the vehicle's running position has met the position the vehicle wants to reach, the system will determine that parking is complete. Figure 7 shown.

[0088] The above are normal situations, and you can complete parking by following the above steps. Next, we will explain some special examples.

[0089] Strategy 6: When the car is too close to the left or right during parking, the system will prompt the driver to move forward. At this time, the steering wheel will be straightened first, and then the steering wheel will be corrected clockwise or counterclockwise according to the left or right. If the angle between the direction of the car body and the vertical length of the parking space is less than the set angle value or the vehicle has driven forward a certain distance, the driver will be prompted to back up and continue parking. Figure 8 shown.

[0090] Strategy 7: When there are no obstacles in front and behind, but the error between the right front and right side ultrasonic waves is too large, the depth of the car position needs to be used to prompt the driver to move forward or backward so that the right front and right rear ultrasonic waves can fall within a reasonable range again for parallelism correction, such as Fig. 9 shown.

[0091] Strategy 8: When the front and rear ultrasonic waves detect an obstacle, the system will prompt the driver to correct the trajectory forward or backward, such as Fig.10 as shown to avoid collision.

[0092] The above situations all consider the scenario of reversing into a parking space on the right side. The left side is symmetrical with the right side, so when parking on the left side, you only need to consider all situations in a mirroring way.

[0093] like Fig.12The figure is a schematic diagram of the structure of a computer device provided by an embodiment of the present invention, such as a smart phone, tablet computer, laptop computer, desktop computer, rack server, blade server, tower server or cabinet server (including an independent server, or a server cluster composed of multiple servers) that can execute programs. The computer device 20 of this embodiment includes at least but is not limited to: a memory 21 and a processor 22 that can communicate with each other via a system bus, such as Fig.12 It should be pointed out that Fig.12 Only computer device 20 is shown with components 21 - 22 , but it should be understood that implementing all of the components shown is not a requirement, and more or fewer components may alternatively be implemented.

[0094] In this embodiment, the memory 21 (i.e., readable storage medium) includes flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM). The memory 21 may also be an external storage device of the computer device 20, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the computer device 20. Of course, the memory 21 may also include both the internal storage unit of the computer device 20 and its external storage device. In this embodiment, the memory 21 is generally used to store the operating system and various application software installed on the computer device 20, such as the program code of the memory parking vertical parking space entry decision method in the method embodiment. In addition, the memory 21 may also be used to temporarily store various data that have been output or are to be output.

[0095] In some embodiments, the processor 22 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chips. The processor 22 is generally used to control the overall operation of the computer device 20. In this embodiment, the processor 22 is used to run the program code stored in the memory 21 or process data, such as running a device storing the program code of the memory parking perpendicular parking space entry decision method to implement the memory parking perpendicular parking space entry decision method in the method embodiment.

[0096] The present application also provides a computer-readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., an SD or DX memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, and the program realizes corresponding functions when executed by a processor. The computer-readable storage medium of this embodiment is used to store the program code of the memory parking perpendicular parking space entry decision method, and when executed by the processor, the memory parking perpendicular parking space entry decision method of the method embodiment is realized.

[0097] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0098] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0099] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0100] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0101] In summary, the present invention proposes a memory parking vertical parking space entry decision method, device and medium to solve the problem that the vehicle cannot be parked in the designated parking space due to errors in the vehicle's own perception, positioning, planning, control, etc. during the memory parking process.

[0102] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0103] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, and two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0104] It will be easily understood by those skilled in the art that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A memory parking vertical parking space entry decision method, characterized in that: The method includes: Get the parking planning path; Determine whether the parking conditions are met; if so, park according to the parking planning path; Determine whether the vehicle is in danger of collision; if not, continue parking; if so, the vehicle moves forward a certain distance and then continues parking; When the vehicle starts to enter the vertical parking space, the vehicle body is corrected so that the vehicle subsequently enters the vertical parking space at a 90-degree vertical position; When the distance of the vehicle entering the vertical parking space exceeds a first preset value, the distance between the vehicle and the left and right obstacles is obtained, and the vehicle body is judged whether it has been corrected or over-corrected according to the change of the distance between the vehicle and the left and right obstacles; if the vehicle body has not been corrected or has been over-corrected, the vehicle body is corrected; When the distance of the vehicle entering the vertical parking space exceeds the second preset value, the vehicle body has completely entered the vertical parking space, and the distance between the front and rear sides of the same side of the vehicle and the obstacle is used to determine whether the vehicle body has been corrected; if the vehicle body has not been corrected, the vehicle body is corrected; wherein the second preset value is greater than the first preset value; Continue parking until the vehicle reaches the designated parking location and completes parking.

2. The memory parking vertical parking space entry decision method according to claim 1 is characterized in that: Determine whether parking conditions are met, including: Obtain the lateral distance between the vehicle and the vertical parking space, the minimum turning radius of the vehicle, the vehicle body width, and the vertical distance between the rear of the vehicle and the vertical parking space; Determine the parking distance based on the lateral distance between the vehicle and the vertical parking space, the vehicle's minimum turning radius and the vehicle's body width; According to the parking distance and the vertical distance between the rear of the vehicle and the vertical parking space, determine whether the parking condition is met: if the vertical distance between the rear of the vehicle and the vertical parking space is greater than the parking distance, the parking condition is met, otherwise the parking condition is not met.

3. The memory parking vertical parking space entry decision method according to claim 2 is characterized in that: Determine parking distances, including: l=R min -w-m Rs=R min -w Where n is the parking distance, m is the lateral distance between the vehicle and the vertical parking space, and R min is the minimum turning radius of the vehicle, w is the width of the vehicle body, Rs is the inner turning radius, and l is the length of the inner turning radius in the vertical parking space.

4. The memory parking vertical parking space entry decision method according to claim 1, characterized in that: Determine whether the vehicle is at risk of collision, including: If the distance between the rear of the vehicle and the obstacle is less than the safety threshold or the vehicle cannot reach the designated parking position according to the current parking plan path, there is a risk of collision; Only when the distance between the rear of the vehicle and the obstacle is not less than the safety threshold and the vehicle can reach the designated parking position according to the current parking planning path is it considered that there is no risk of collision.

5. The memory parking vertical parking space entry decision method according to claim 1, characterized in that: The vehicle moves forward a certain distance, including: When the vehicle moves forward, the direction of the vehicle body gradually approaches the direction perpendicular to the length of the parking space; If the angle between the vehicle body direction and the vertical length direction of the parking space is less than the set angle value or the vehicle has traveled forward a specific distance, the vehicle will travel backward again and continue parking.

6. The memory parking vertical parking space entry decision method according to claim 1, characterized in that: When the rear end of the vehicle or the rear wheels of the vehicle touch the vertical parking space entrance line, the vehicle is considered to have begun to enter the vertical parking space; the distance the vehicle enters the vertical parking space is the distance the rear end of the vehicle or the rear wheels of the vehicle cross the vertical parking space entrance line.

7. The memory parking vertical parking space entry decision method according to claim 1, characterized in that: The method further includes: When the distance between the vehicle and an obstacle on one side is less than the safety threshold, stop parking; Determine whether the vehicle is too far to the left or too far to the right, and then make clockwise or counterclockwise steering corrections based on whether the vehicle is too far to the left or right; If the angle between the vehicle body direction and the vertical length direction of the parking space is less than the set angle value or the vehicle has traveled forward a specific distance, the vehicle will travel backward again and continue parking.

8. The memory parking vertical parking space entry decision method according to claim 1, characterized in that: The change in the distance between the vehicle and the obstacles on the left and right sides determines whether the vehicle body has been corrected or overcorrected, including: Taking the right obstacle as an example, if the distance between the vehicle and the right obstacle remains unchanged, the vehicle body has been corrected; If the distance between the vehicle and the obstacle on the right side continues to increase, the vehicle body is not corrected; If the distance between the vehicle and the obstacle on the right continues to decrease, the vehicle body is over-corrected.

9. The memory parking vertical parking space entry decision method according to claim 1, characterized in that: Determine whether the vehicle body has been corrected based on the distance between the front and rear sides of the same side of the vehicle and the obstacle, including: If the distances between the front and rear sides of the same side of the vehicle and the obstacle are equal, the vehicle body has been corrected, otherwise the vehicle body has not been corrected.

10. The memory parking vertical parking space entry decision method according to claim 1, characterized in that: The method further includes: If the difference between the distances between the front and rear of the vehicle and the obstacle on the same side exceeds the set error distance, the vehicle will correct forward or backward, that is: If the distance between the front and the obstacle on the same side of the vehicle is much greater than the distance between the rear and the obstacle on the same side, the vehicle moves backwards, otherwise the vehicle moves forwards; When parking, if the vehicle detects an obstacle in front or behind, it will move in the opposite direction to avoid it.

11. A computer device, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the steps of the method for making a decision on entering a vertical parking space by memory parking are implemented.

12. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a processor, the steps of the memory parking perpendicular parking space entry decision method described in any one of claims 1 to 10 are implemented.

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