Automatic parking control method, domain controller, vehicle and computer program product

Abstract

The invention provides an automatic parking control method, a domain controller, a vehicle and a computer program product, according to the automatic parking control method provided by the invention, a parking path is generated according to an initial vehicle position and a target parking position, the parking path comprises at least one path segment and a direction switching node located at the tail end of the path segment, in the period of controlling the vehicle to be automatically parked based on the parking path, a gear switching request is sent to a gear controller before the vehicle moves to a direction switching node, so that gear switching is completed before the vehicle moves to the direction switching node, and after the vehicle moves to the direction switching node, gear switching is completed after the vehicle moves to the direction switching node. And controlling the vehicle to move from the current direction switching node to the next direction switching node according to the next path section in the parking path according to the switched gear, and completing parking after the vehicle moves to the target parking position in a target posture along the last path section in the parking path. By the adoption of the method, pause between front and back movement of the vehicle during parking can be eliminated, the problems of parking nodding and starting rising during parking of the vehicle are solved, the vehicle can stably move in a seamless connection mode, and the automatic parking effect and the use experience are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an automatic parking control method, a domain controller, a vehicle and a computer program product. Background Art

[0002] Auto Parking Assist (APA) is an advanced driver assistance technology designed to help drivers automatically park their vehicles in designated parking spaces without human intervention. An automatic parking system is a technology that uses on-board sensors (such as ultrasonic radar, millimeter-wave radar, or camera) and a computer control system to enable a car to automatically identify and park in a suitable parking space. The system collects environmental data, analyzes the vehicle's position and surrounding environmental parameters, calculates the corresponding parking path, and ultimately controls the vehicle's movement based on the calculated parking path to achieve automatic parking of the vehicle.

[0003] However, when the parking path of automatic parking requires the vehicle to move forward and backward multiple times, the vehicle often stops during the gear shifting period when the vehicle moves forward and backward. In the related art, the vehicle shifting during automatic parking needs to be performed after the vehicle stops completely, which inevitably brings about the problem of gear shifting pause, and the vehicle stops completely and is often accompanied by the vehicle's brake nodding, which greatly affects the user experience of the automatic parking function. Summary of the invention

[0004] Based on this, the present invention provides an automatic parking control method, a domain controller, a vehicle and a computer program product. By adopting the automatic parking control method, during automatic parking, a gear shift request is sent to the gear controller in advance before the vehicle reaches the direction switching node, so that the vehicle completes the gear switching before moving to the direction switching node, so that after the vehicle moves to the direction switching node, it can quickly continue to move and park based on the switched gear. By adopting this method, the pause between the forward and backward movement of the vehicle during parking can be eliminated, and the problem of nodding when parking and raising the head when starting can be avoided, so that the vehicle can move smoothly and seamlessly, thereby improving the automatic parking effect and user experience.

[0005] In one aspect, the present invention provides an automatic parking control method, comprising:

[0006] generating a parking path according to an initial vehicle position and a target parking position, the parking path comprising at least one path segment and a direction switching node at an end of the path segment;

[0007] During the automatic parking of the vehicle controlled based on the parking path, before the vehicle moves to the direction switching node, a gear switching request is sent to a gear controller so that the gear switching is completed before the vehicle moves to the direction switching node, and after the vehicle moves to the direction switching node, the vehicle is controlled to move from the current direction switching node to the next direction switching node according to the next path segment in the parking path according to the switched gear;

[0008] After the vehicle moves to the target parking position along the last path segment in the parking path with a target posture, parking is completed.

[0009] Further, in some embodiments, after the vehicle moves to the target parking position along the last path segment in the parking path with a target posture, completing parking includes:

[0010] Determining whether the path segment currently moved by the vehicle is the last path segment in the parking path;

[0011] If the current path segment is the last path segment, after the vehicle moves to the target parking position along the last path segment in a target posture and stops by braking, a gear switching request is sent to a gear controller to switch the vehicle gear to a parking gear.

[0012] Furthermore, in some implementations, determining whether the path segment currently moved by the vehicle is the last path segment in the parking path includes:

[0013] While the vehicle is moving along the current path segment, obtaining a current vehicle posture and a current vehicle position;

[0014] Calculating a first distance between the current vehicle position and the target parking position, and respectively calculating a second distance and a third distance between the current vehicle position and two adjacent parking space boundary lines;

[0015] Calculating a posture deflection angle between the current vehicle posture and the target posture;

[0016] If the first distance is less than a first distance threshold, the second distance is within a second distance range, the third distance is within a third distance range, and the posture deflection angle is less than a preset angle threshold, the current path segment is considered to be the last path segment in the parking path.

[0017] Further, in some embodiments, sending a gear switching request to a gear controller before the vehicle moves to the direction switching node, so that the gear switching is completed before the vehicle moves to the direction switching node, includes:

[0018] Obtaining a remaining distance between the vehicle and the direction switching node;

[0019] When the remaining distance is less than or equal to a preset distance threshold, a gear switching request is sent to a gear controller so that the gear switching is completed before the vehicle moves to the direction switching node.

[0020] Further, in some embodiments, sending a gear switching request to a gear controller before the vehicle moves to the direction switching node so that the gear switching is completed before the vehicle moves to the direction switching node includes:

[0021] Get vehicle speed and acceleration;

[0022] When the vehicle speed is less than or equal to a first speed threshold and the acceleration is less than zero, a gear switching request is sent to a gear controller to complete the gear switching before the vehicle moves to the direction switching node.

[0023] Further, in some embodiments, sending a gear switching request to a gear controller before the vehicle moves to the direction switching node so that the gear switching is completed before the vehicle moves to the direction switching node includes:

[0024] Obtaining a vehicle speed and acceleration, and obtaining a remaining distance between the vehicle and the direction switching node;

[0025] estimating a remaining time required for the vehicle to reach the direction switching node based on the vehicle speed, the acceleration, and the remaining distance;

[0026] When the remaining time is less than or equal to a preset time threshold, a gear switching request is sent to a gear controller so that the gear switching is completed before the vehicle moves to the direction switching node.

[0027] Furthermore, in some embodiments, the method further comprises:

[0028] Before the vehicle moves to the direction switching node and the vehicle speed is less than or equal to a second speed threshold, optimizing the next path segment and the next direction switching node in the parking path according to the current vehicle posture and the current vehicle position to obtain an optimized path segment and an optimized direction switching node;

[0029] After the gear switching is completed before the vehicle moves to the direction switching node, the vehicle is controlled to move from the current position to the optimized direction switching node according to the switched gear and along the optimized path segment.

[0030] Furthermore, in some embodiments, the parking path further includes a starting steering wheel angle and an ending steering wheel angle corresponding to the path segment, the starting steering wheel angle being the steering wheel angle at the beginning of the vehicle traveling along the path segment, and the ending steering wheel angle being the steering wheel angle after the vehicle travels along the path segment to the end of the path segment;

[0031] The ending steering wheel angle corresponding to any path segment in the parking path is the same as the starting steering wheel angle corresponding to the next path segment of the path segment.

[0032] Furthermore, in some embodiments, the parking path also includes a maximum driving speed corresponding to the path segment, the maximum driving speed is determined based on the curvature of the path segment and the obstacle distance, and the maximum driving speed is used to ensure that the vehicle speed when the vehicle travels along the path segment is not greater than the maximum driving speed.

[0033] On the other hand, the present invention further provides a domain controller, comprising: a processor and a memory; wherein the memory stores a computer program, and the computer program is suitable for being loaded by the processor and executing the steps of the automatic parking control method as described above.

[0034] On the other hand, the present invention further provides a computer program product having at least one instruction stored thereon, wherein when the at least one instruction is executed by a domain controller, the steps of the above-mentioned automatic parking control method are implemented.

[0035] According to the automatic parking control method provided by the present invention, a parking path is generated according to an initial vehicle position and a target parking position, the parking path includes at least one path segment and a direction switching node located at the end of the path segment, and during the period of controlling the automatic parking of the vehicle based on the parking path, a gear switching request is sent to a gear controller before the vehicle moves to the direction switching node, so that the gear switching is completed before the vehicle moves to the direction switching node, and after the vehicle moves to the direction switching node, the vehicle is controlled to move from the current direction switching node to the next direction switching node according to the next path segment in the parking path according to the switched gear, and finally the parking is completed after the vehicle moves to the target parking position with the target posture along the last path segment in the parking path; the method can eliminate the pause between the forward and backward movement of the vehicle during parking, avoid the parking nodding and starting head raising problems of the vehicle during parking, so that the vehicle can move smoothly and seamlessly, and improve the automatic parking effect and user experience.

[0036] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 A schematic flow chart of an automatic parking control method provided by an embodiment of the present invention;

[0038] Figure 2 An example schematic diagram of an automatic parking method provided by an embodiment of the present invention;

[0039] Figure 3 A parking schematic diagram provided by an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of the structure of a domain controller provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0042] In the description of one or more embodiments of the present invention, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0043] See also Figure 1 , Figure 1 A schematic flow chart of an automatic parking control method provided by an embodiment of the present invention. The execution subject of the process may be a program for automatic parking control, or the execution subject of the process may also be a vehicle or a domain controller equipped with the above program, or other devices capable of communicating with a vehicle, a domain controller, etc., without specific limitation.

[0044] The following is for Figure 1 The process shown in FIG. 1 is described in detail, and the automatic parking control method may specifically include the following steps:

[0045] Step S102, generating a parking path according to the initial vehicle position and the target parking position, wherein the parking path includes at least one path segment and a direction switching node at the end of the path segment;

[0046] Specifically, in response to turning on the automatic parking function, the parking controller obtains environmental perception data collected by the visual sensor and the radar sensor, determines the initial vehicle position corresponding to the vehicle and the target parking position based on the environmental perception data, and then plans the parking path according to the initial vehicle position, the target parking position and the perceived obstacle information in the surrounding environment to obtain a parking path, which includes at least one path segment and a direction switching node at the end of the path segment.

[0047] The direction switching node refers to a position point where the vehicle needs to change its direction of travel during parking, and the vehicle switches between forward and backward movement at this position point. The path segment refers to a whole section of the vehicle movement path where the vehicle does not need to change its direction of travel.

[0048] See also Figure 2 , is a schematic diagram of an example parking path provided by an embodiment of the present invention. Figure 2 As shown, the path segment L1 includes an initial vehicle position m1, a target parking position m2, a direction switching node n1, a direction switching node n2, a path segment L1 between the initial vehicle position m1 and the direction switching node n1, a path segment L2 between the direction switching node n1 and the direction switching node n2, and a path segment L3 between the direction switching node n2 and the target parking position m2.

[0049] The target parking position may be determined based on the user's selection. The vehicle may identify multiple parking positions based on the environmental perception data, and the user may select a target parking position from the multiple parking positions for parking.

[0050] Step S104, during the automatic parking of the vehicle controlled based on the parking path, before the vehicle moves to the direction switching node, a gear switching request is sent to a gear controller, so that the gear switching is completed before the vehicle moves to the direction switching node, and after the vehicle moves to the direction switching node, the vehicle is controlled to move from the current direction switching node to the next direction switching node according to the next path segment in the parking path according to the switched gear;

[0051] Specifically, during the period of controlling the vehicle to perform automatic parking based on the parking path, the vehicle needs to move along each path segment in sequence according to the sequence of each path segment planned in the parking path. During the period of the vehicle moving along the path segment, before the vehicle moves to the direction switching node at the end of the path segment, a gear switching request is sent to the gear controller in advance, so that the gear switching is completed before the vehicle moves to the direction switching node at the end of the path segment, and then after the vehicle moves to the direction switching node, the vehicle can be controlled according to the switched gear to move from the current direction switching node to the next direction switching node according to the next path segment in the parking path.

[0052] See also Figure 2 , Figure 2 An example schematic diagram of an automatic parking system provided by an embodiment of the present invention is shown in FIG. Figure 2 As shown, m1 is the starting position of parking, and m2 is the target parking position. When the vehicle reaches m2 from m1 through automatic parking, the vehicle needs to park according to the planned parking path. The parking path includes path segment L1, path segment L2, path segment L3 and path segment L4, where n1, n2, and n3 represent direction switching nodes between the path segments. For example, when the vehicle controls the vehicle to move from direction switching node n1 to direction switching node n2 according to path segment L2, before the vehicle is about to move to direction switching node n2, a gear switching request is sent to the gear controller in advance, so that before the vehicle moves to the direction switching node n2 at the end of the path segment, the gear controller has completed the gear switching according to the gear switching request.

[0053] It should be noted that the direction of the vehicle can be switched by switching the vehicle gear, so the vehicle should perform a gear shift operation at the direction switching node. In existing automatic parking technologies, the gear shift operation can usually be performed after the vehicle has completely stopped, that is, the gear shift operation is performed after the vehicle moves along the current path segment to the direction switching node at the end of the path segment and brakes to stop. It takes a certain amount of time from the parking controller generating a gear switching request to completing the gear shift operation. Therefore, the gear switching during the parking process will inevitably cause the vehicle to stop, and the vehicle braking before the vehicle stops will cause the vehicle to nod, which greatly affects the use effect of the automatic parking function.

[0054] It is further explained that before the vehicle moves to the direction switching node at the end of the path segment, a gear switching request is sent to the gear controller in advance. Specifically, the gear switching request can be sent to the gear controller during the vehicle braking deceleration period before the vehicle is about to reach the direction switching node. During the braking deceleration period, the vehicle speed is reduced to 0 when the vehicle moves to the direction switching node based on the vehicle's own speed inertia and the brake control, and then the vehicle is driven to move from the current direction switching node to the next direction switching node according to the next path segment in the parking path based on the driving torque outputted by the switched gear.

[0055] In this embodiment, a gear switching request is sent to the gear controller before the vehicle moves to the direction switching node, so that the gear switching is completed before the vehicle moves to the direction switching node, and then the vehicle can be controlled according to the switched gear to move from the current direction switching node to the next direction switching node according to the next path segment in the parking path after moving to the direction switching node. This method can eliminate the pause problem caused by vehicle gear shifting during parking, ensure that the vehicle moves continuously and smoothly during automatic parking, and improve the use effect and user experience of the automatic parking function.

[0056] Step S106, after the vehicle moves to the target parking position along the last path segment in the parking path with the target posture, parking is completed.

[0057] The target posture is the final posture of the vehicle after reaching the target parking position. The target posture is determined by the shape and size of the parking space corresponding to the target parking position. For example, the target posture may be that the vehicle is located in the parking space corresponding to the target parking position, and the distances between the left and right sides of the vehicle and the parking space boundary line are equal.

[0058] In an embodiment of the present invention, a parking path is generated according to an initial vehicle position and a target parking position, the parking path includes at least one path segment and a direction switching node located at the end of the path segment, and during the period of controlling the automatic parking of the vehicle based on the parking path, a gear switching request is sent to a gear controller before the vehicle moves to the direction switching node, so that the gear switching is completed before the vehicle moves to the direction switching node, and after the vehicle moves to the direction switching node, the vehicle is controlled to move from the current direction switching node to the next direction switching node according to the next path segment in the parking path according to the switched gear, and finally the parking is completed after the vehicle moves to the target parking position with the target posture along the last path segment in the parking path; the method can eliminate the pause between the forward and backward movement of the vehicle during parking, avoid the parking nodding and starting head raising problems of the vehicle during parking, so that the vehicle can move smoothly and seamlessly, and improve the automatic parking effect and user experience.

[0059] In one embodiment, in step S106, after the vehicle moves to the target parking position with the target posture along the last path segment in the parking path, parking is completed, which may specifically include: determining whether the path segment currently moved by the vehicle is the last path segment in the parking path; if the current path segment is the last path segment, after the vehicle moves to the target parking position with the target posture along the last path segment and stops by braking, sending a gear switching request to the gear controller to switch the vehicle gear to the parking gear.

[0060] After the last path segment, i.e., the vehicle moves along the path segment, the vehicle stays at the target parking position with the target posture. That is, during the movement of the vehicle according to the parking path, the automatic parking controller always determines whether the path segment currently being moved is the last path segment. If the current path segment is determined to be the last path segment, after the vehicle moves along the last path segment with the target posture to the target parking position and stops by braking, the gear switching request is sent to the gear controller, wherein the gear switching request is used to switch the vehicle gear to the parking gear.

[0061] It is not difficult to understand that since this path segment is the last one, the vehicle will not move after reaching the position, so there is no need to consider the pause caused by the vehicle shifting during the subsequent movement. Before the vehicle moves to the direction switching node, the gear switching request is sent to the gear controller. Due to the control error, the vehicle may lose power after the early gear shift. The vehicle is not able to accurately move to the target parking position by relying solely on inertia, which affects the final parking effect of the vehicle. For example, see Figure 2 For example, while the vehicle is controlled to move from the direction switching node n3 to the target parking position m2 according to the path segment L4, after the vehicle moves to the target parking position m2, the vehicle is braked to stop, and then a gear switching request is generated and sent to the gear controller to switch the vehicle gear to the parking gear.

[0062] In an embodiment of the present invention, when the vehicle moves along the last path segment in the parking path, a gear switching request is sent to the gear controller after the vehicle moves to the target parking position and brakes to stop, which can ensure that the vehicle accurately parks at the target parking position with the target posture, thereby ensuring the parking effect and user experience.

[0063] In one embodiment, determining whether the path segment along which the vehicle is currently moving is the last path segment in the parking path may specifically include: obtaining the current vehicle posture and the current vehicle position while the vehicle is moving along the current path segment; calculating a first distance between the current vehicle position and the target parking position, and respectively calculating a second distance and a third distance between the current vehicle position and two adjacent parking space boundary lines; calculating a posture deflection angle between the current vehicle posture and the target posture; and if the first distance is less than a first distance threshold, the second distance is within a second distance range, the third distance is within a third distance range, and the posture deflection angle is less than a preset angle threshold, then the current path segment is considered to be the last path segment in the parking path.

[0064] The current vehicle position may be the coordinates of a certain point on the vehicle, may be the center point of the vehicle's bird's-eye view shape, or may be the vehicle's mass center point.

[0065] Specifically, during the movement of the vehicle, the surrounding environment is perceived based on the environment perception system, the current vehicle posture and current vehicle position during the movement of the vehicle are determined in real time, and the first distance between the current vehicle position and the target parking position is calculated, and the second distance and the third distance between the current vehicle position and two adjacent parking space boundary lines are calculated respectively. It is not difficult to understand that the parking space is usually rectangular, and the two adjacent parking space boundary lines correspond to the long boundary line and the wide boundary line of the parking space respectively. For example, the second distance can be the distance between the current position of the vehicle and one of the wide boundary lines, and the third distance can be the distance between the current position of the vehicle and one of the long boundary lines. And the posture deflection angle between the current vehicle posture and the target posture is calculated. When the first distance is less than the first distance threshold, the second distance belongs to the second distance range, the third distance is within the third distance range, and the posture deflection angle is less than the preset angle threshold, the current path segment is considered to be the last path segment in the parking path.

[0066] It can be understood that when the first distance is less than the first distance threshold, it indicates that the vehicle is about to approach the target parking position; and the second distance is within the second distance range and the third distance is within the third distance range, indicating that the vehicle posture and posture deflection angle are less than the preset angle threshold, it can be determined that the current vehicle posture and the target posture have become consistent. In this case, the vehicle can continue to move along the current path segment and will inevitably move to the target parking position with the target posture, so it can be determined that the current path segment is the last path segment in the parking path.

[0067] See also Figure 3 , is a parking schematic diagram provided by an embodiment of the present invention. Figure 3 As shown, Y represents the center axis of the vehicle, the dotted box is the parking space, m is the current vehicle position, Δy is the first distance between the current vehicle position and the target parking position, Δx is the second distance between the current vehicle position and the upper boundary line of the parking space, Δd is the third distance between the current vehicle position and the left boundary line of the parking space, xy is the target posture of the vehicle, the target posture is that the center axis Y of the vehicle should be parallel to the y line, and Δθ is the posture deflection angle between the current vehicle posture and the target posture. By setting reasonable parameters, when the first distance Δy is less than the first distance threshold, the second distance Δx is within the second distance range, the third distance Δd is within the third distance range, and the posture deflection angle Δθ is less than the preset angle threshold, the current path segment can be considered to be the last path segment in the parking path.

[0068] Furthermore, determining whether the path segment currently moved by the vehicle is the last path segment in the parking path may also include: obtaining the number of path segments that the vehicle has moved since the vehicle started to park based on the parking path, and if the number of path segments moved is greater than a preset number threshold, the first distance is less than the first distance threshold, the second distance is within the second distance range, the third distance is within the third distance range, and the posture deflection angle is less than a preset angle threshold, then the current path segment is considered to be the last path segment in the parking path.

[0069] It is easy to understand that during parking, if the completion of a path segment by the vehicle is regarded as the completion of a movement of the vehicle, then multiple movements are usually required to adjust the parking angle of the vehicle during the entire parking period, so if the number of movements is small, the current movement is not the last movement. That is, if the number of path segments that the vehicle has moved since the parking path movement based on the parking path is less than the preset number threshold, it is considered that the current movement is not the last movement.

[0070] By recording the number of path segments that have been moved, when the number of paths that have been moved is small, it is considered that the current movement is not the last movement. The number of path segments that have been moved is combined with multiple factors such as the first distance, the second distance, the third distance, and the posture deflection angle to determine whether the current moving path is the last movement. This can improve the accuracy of determining the last path segment in the parking path, thereby ensuring the parking effect.

[0071] In one embodiment, it is determined whether the path segment along which the vehicle is currently moving is the last path segment in the parking path. Specifically, the following steps may be performed: while the vehicle is moving along the current path segment, the vehicle movement direction at the starting point of the current path segment and the vehicle posture at the starting point are obtained. If the vehicle movement direction points from the starting point of the current path segment to the target parking position and the deviation between the vehicle posture at the starting point and the target posture is less than a preset deviation value, the current path segment is considered to be the last path segment in the parking path.

[0072] It can be understood that if the moving direction of the vehicle at the starting point of the path segment points to the target parking position and the deviation between the starting vehicle posture and the target posture is small, it can be foreseen that continuing to move along the moving direction can move to the target parking position with the target posture. Therefore, the current path segment is determined to be the last path segment in the parking path.

[0073] In one embodiment, determining whether the path segment that the vehicle is currently moving on is the last path segment in the parking path may also be as follows: in the parking path generation stage, a corresponding serial number mark is pre-set for each path segment therein, and during parking, determining whether the current path segment is the last path segment in the parking path based on the serial number mark corresponding to the path segment.

[0074] In one embodiment, in step S104, a gear switching request is sent to a gear controller before the vehicle moves to the direction switching node, so that the gear switching is completed before the vehicle moves to the direction switching node. Specifically, it can be: obtaining the remaining distance between the vehicle and the direction switching node; when the remaining distance is less than or equal to a preset distance threshold, sending a gear switching request to the gear controller, so that the gear switching is completed before the vehicle moves to the direction switching node.

[0075] Specifically, during the period of automatic parking of the vehicle based on the parking path control, while the vehicle moves along the path segment in the parking path, the surrounding environment is perceived in real time through sensors, and the remaining distance between the vehicle and the direction switching node at the end of the path segment is calculated in real time. When the remaining distance is less than or equal to a preset distance threshold, the automatic parking controller generates a gear switching request corresponding to the next path segment and sends the gear switching request to the gear controller, so that the gear switching is completed before the vehicle moves to the direction switching node.

[0076] Wherein, the preset distance threshold is a predefined distance threshold. When the remaining distance is less than or equal to the preset distance threshold, the automatic parking controller generates a gear switching request corresponding to the next path segment and sends the gear switching request to the gear controller, that is, when the vehicle is still at the preset distance threshold from the direction switching node, the gear switching request is sent to the gear controller in advance. After sending the gear switching request to the gear controller, the gear switching is not completed immediately. At this time, the vehicle continues to move to the direction switching node along the original path segment based on the original gear. Before the vehicle moves to the direction switching node, the gear controller completes the gear switching based on the gear switching request, and then controls the vehicle to move to the direction switching node based on speed inertia. After that, the vehicle is controlled to move from the current direction switching node to the next direction switching node according to the next path segment in the parking path according to the gear after switching. By sending the gear switching request in advance, the pause caused by the vehicle shifting during parking is eliminated, ensuring that the vehicle moves coherently and smoothly during automatic parking, and improving the use effect and user experience of the automatic parking function.

[0077] In one embodiment, in step S104, a gear switching request is sent to a gear controller before the vehicle moves to the direction switching node, so that the gear switching is completed before the vehicle moves to the direction switching node. Specifically, the vehicle speed and acceleration are obtained; when the vehicle speed is less than or equal to a first speed threshold and the acceleration is less than zero, a gear switching request is sent to the gear controller, so that the gear switching is completed before the vehicle moves to the direction switching node.

[0078] It should be noted that during the period of automatic parking of the vehicle based on the parking path control, the vehicle moves along the path segment in the parking path, and the speed change process of the vehicle is: the vehicle starts to accelerate from the starting position of the path segment and starts to decelerate when approaching the end position of the path segment, until the vehicle completely reaches the direction switching node at the end of the path segment, and the vehicle speed is reduced to 0. In this embodiment, during the period of the vehicle moving along the path segment in the parking path, the vehicle speed is monitored in real time. When the vehicle speed is less than or equal to the first speed threshold and the acceleration is less than zero, the automatic parking controller generates a gear switching request corresponding to the next path segment and sends the gear switching request to the gear controller, so that the vehicle moves to the direction switching node before the gear switching is completed. Among them, the acceleration is less than zero, indicating that the vehicle is in the deceleration stage, and the vehicle is about to reach the direction switching node. When the vehicle is in the deceleration stage, if the vehicle speed is reduced to less than or equal to the first speed threshold, the gear switching request is sent to the gear controller at this time, so that the vehicle moves to the direction switching node before the gear switching is completed, and after the vehicle moves to the direction switching node, the vehicle is controlled to move from the current direction switching node to the next direction switching node according to the next path segment in the parking path according to the switched gear. By sending a gear shift request in advance, the pause caused by vehicle gear shifting during parking is eliminated, ensuring that the vehicle moves continuously and smoothly during automatic parking, thereby improving the use effect and user experience of the automatic parking function.

[0079] In one embodiment, in step S104, before the vehicle moves to the direction switching node, a gear switching request is sent to the gear controller so that the gear switching is completed before the vehicle moves to the direction switching node. Specifically, the following steps may be included:

[0080] Step S1041, obtaining the vehicle speed and acceleration, and obtaining the remaining distance between the vehicle and the direction switching node;

[0081] That is, during the automatic parking of the vehicle based on the parking path control, the real-time vehicle speed of the vehicle is obtained, and the remaining distance between the vehicle and the direction switching node is monitored in real time through environmental perception.

[0082] Step S1042, estimating the remaining time required for the vehicle to reach the direction switching node based on the vehicle speed and the remaining distance;

[0083] Specifically, the remaining time required for the vehicle to reach the direction switching node is estimated according to the current vehicle speed, the vehicle acceleration, and the remaining distance between the vehicle and the direction switching node.

[0084] Step S1043, when the remaining time is less than or equal to the preset time threshold, a gear switching request is sent to the gear controller to complete the gear switching before the vehicle moves to the direction switching node.

[0085] The preset time threshold can be determined based on the execution time required for the gear switch. For example, if it takes 0.5 seconds from sending the gear switch request to the gear controller to completing the gear switch, the preset time threshold is set to 0.5 seconds. In this embodiment, when the remaining time is less than or equal to the preset time threshold, the gear switch request is sent to the gear controller so that the gear switch is completed before the vehicle moves to the direction switch node. By sending the gear switch request in advance, the pause caused by the vehicle shifting during parking is eliminated, ensuring that the vehicle moves continuously and smoothly during automatic parking, thereby improving the use effect and user experience of the automatic parking function.

[0086] In one embodiment, during automatic parking of a vehicle controlled based on a parking path, before the vehicle moves to a direction switching node, when the vehicle speed is less than or equal to a second speed threshold and the acceleration is less than zero, the next path segment in the parking path and the next direction switching node are optimized according to the current vehicle posture and the current vehicle position to obtain an optimized path segment and an optimized direction switching node; thereby, the gear switching is completed before the vehicle moves to the direction switching node, and after the vehicle moves to the direction switching node, the vehicle is controlled to move from the current position to the optimized direction switching node according to the optimized path segment according to the switched gear.

[0087] Among them, the vehicle speed is less than or equal to the second speed threshold and the acceleration is less than zero, indicating that the vehicle is in a deceleration stage and is about to reach a direction switching node.

[0088] That is, during the movement of the vehicle according to the path segment in the parking path, before the vehicle moves to the direction switching node at the end of the path segment, when the vehicle speed is less than or equal to the second speed threshold and the acceleration is less than zero, the next path segment in the parking path and the next direction switching node are optimized according to the current vehicle posture and the current vehicle position at this time to obtain an optimized path segment and an optimized direction switching node, and then the gear shifting is completed before the vehicle reaches the direction switching node, and after the vehicle moves to the direction switching node, the vehicle is controlled to move from the current position to the optimized direction switching node according to the optimized path segment.

[0089] It is understandable that, since the automatic parking control method provided by one or more embodiments of the present invention adopts advance shift control logic, the vehicle will not stop during the shift, which may cause the vehicle to deviate from the track during parking, such as the vehicle's driving track deviating from the path segment, and the vehicle cannot reach the direction switching node completely and accurately. Based on this, in one or more embodiments of the present invention, while the vehicle is moving according to the path segment in the parking path, and before the vehicle speed is reduced to 0, the path of the next path segment of the path segment is optimized according to the current position of the vehicle and the current posture of the vehicle, so that the vehicle moves according to the optimized path segment, ensuring that the vehicle can successfully complete the parking, and improving the parking effect of the automatic parking function.

[0090] In one embodiment, the parking path calculated in step S102 also includes a starting steering wheel angle and an ending steering wheel angle corresponding to the path segment, the starting steering wheel angle being the steering wheel angle at the beginning of the vehicle's travel along the path segment, and the ending steering wheel angle being the steering wheel angle after the vehicle travels along the path segment to the end of the path segment; wherein the ending steering wheel angle corresponding to any path segment in the parking path is the same as the starting steering wheel angle corresponding to the next path segment of the path segment.

[0091] The starting steering wheel angle is the initial steering wheel angle when the vehicle is at the starting point of the path segment, and the ending steering wheel angle is the steering wheel angle when the vehicle moves along the path segment to the end of the path segment and the vehicle speed drops to 0. While the vehicle moves along the path segment, the steering wheel angle changes in real time following the actual movement trajectory of the vehicle and the curvature of the path segment, and the steering wheel angle changes from the starting steering wheel angle to the ending steering wheel angle.

[0092] In addition, for the two adjacent path segments before and after the gear shift in the parking path, the ending steering wheel angle of the previous path segment is consistent with the starting steering wheel angle of the next path segment, so that there is no jump in the steering wheel angle before and after the gear shift, ensuring the continuity of vehicle movement during parking and improving comfort.

[0093] In a feasible implementation, before the vehicle moves to the direction switching node, a steering wheel angle switching instruction is sent to the steering wheel controller so that the final steering wheel angle of the vehicle when moving to the direction switching node is the same as the actual steering wheel angle of the next path segment.

[0094] In one embodiment, the parking path calculated in step S102 also includes a maximum driving speed corresponding to the path segment, the maximum driving speed is determined based on the path segment curvature and the obstacle distance, and the maximum driving speed is used to ensure that the vehicle speed when the vehicle travels along the path segment is not greater than the maximum driving speed, so as to ensure the driving safety of the vehicle during parking.

[0095] Furthermore, the parking path calculated in step S102 also includes parking accelerations corresponding to each path segment, that is, while the vehicle moves according to the path segment, the vehicle is accelerated and decelerated according to the parking acceleration, stops accelerating when the vehicle speed reaches the maximum driving speed, and decelerates according to the parking acceleration before reaching the direction switching node.

[0096] Furthermore, in a feasible implementation, in the process of generating a parking path by performing path planning based on the initial vehicle position and the target parking position, parking speed planning is also performed based on each path segment in the parking path to determine parking speed information corresponding to each path segment, and the parking speed information may include a maximum parking speed and a maximum acceleration. The maximum parking speed may be determined based on the length and curvature of the path segment.

[0097] In some embodiments, the present invention also provides Figure 4 The structural diagram of the domain controller is shown in Figure 1. Figure 4 At the hardware level, the domain controller includes a processor 11, an internal bus 12, a network interface 13, a memory 14, and a non-volatile memory 15, and may also include hardware required for other services. The domain controller can be set in a vehicle, and the processor 11 can read the corresponding computer program from the non-volatile memory 15 into the memory and then run it to implement the above-mentioned automatic parking control method, avoid false triggering of the emergency braking function, and improve driving safety.

[0098] In some embodiments, the present invention also provides a vehicle, comprising a domain controller as described above.

[0099] In some embodiments, the present invention further provides a computer program product, which may store at least one instruction, and the at least one instruction may be loaded by a domain processor and executed as in the automatic parking control method of the above embodiments. The specific execution process may refer to the specific description in the above embodiments, which will not be described in detail here.

[0100] Finally, the various embodiments of the present invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0101] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. An automatic parking control method, include: generating a parking path according to an initial vehicle position and a target parking position, the parking path comprising at least one path segment and a direction switching node at an end of the path segment; During the automatic parking of the vehicle controlled based on the parking path, before the vehicle moves to the direction switching node, a gear switching request is sent to a gear controller so that the gear switching is completed before the vehicle moves to the direction switching node, and after the vehicle moves to the direction switching node, the vehicle is controlled to move from the current direction switching node to the next direction switching node according to the next path segment in the parking path according to the switched gear; After the vehicle moves to the target parking position along the last path segment in the parking path with a target posture, parking is completed.

2. The method according to claim 1, wherein the parking is completed after the vehicle moves to the target parking position along the last path segment in the parking path with a target posture, include: Determining whether the path segment currently moved by the vehicle is the last path segment in the parking path; If the current path segment is the last path segment, after the vehicle moves to the target parking position along the last path segment in a target posture and stops by braking, a gear switching request is sent to a gear controller to switch the vehicle gear to a parking gear.

3. The method according to claim 2, wherein the step of determining whether the path segment currently moved by the vehicle is the last path segment in the parking path, include: While the vehicle is moving along the current path segment, obtaining a current vehicle posture and a current vehicle position; Calculating a first distance between the current vehicle position and the target parking position, and respectively calculating a second distance and a third distance between the current vehicle position and two adjacent parking space boundary lines; Calculating a posture deflection angle between the current vehicle posture and the target posture; If the first distance is less than a first distance threshold, the second distance is within a second distance range, the third distance is within a third distance range, and the posture deflection angle is less than a preset angle threshold, the current path segment is considered to be the last path segment in the parking path.

4. The method according to claim 1, wherein before the vehicle moves to the direction switching node, a gear switching request is sent to a gear controller so that the gear switching is completed before the vehicle moves to the direction switching node. include: Obtaining a remaining distance between the vehicle and the direction switching node; When the remaining distance is less than or equal to a preset distance threshold, a gear switching request is sent to a gear controller so that the gear switching is completed before the vehicle moves to the direction switching node.

5. The method according to claim 1, wherein before the vehicle moves to the direction switching node, a gear switching request is sent to a gear controller so that the gear switching is completed before the vehicle moves to the direction switching node. include: Get vehicle speed and acceleration; When the vehicle speed is less than or equal to a first speed threshold and the acceleration is less than zero, a gear switching request is sent to a gear controller to complete the gear switching before the vehicle moves to the direction switching node.

6. The method according to claim 1, wherein before the vehicle moves to the direction switching node, a gear switching request is sent to a gear controller so that the gear switching is completed before the vehicle moves to the direction switching node. include: Obtaining a vehicle speed and acceleration, and obtaining a remaining distance between the vehicle and the direction switching node; estimating a remaining time required for the vehicle to reach the direction switching node based on the vehicle speed, the acceleration, and the remaining distance; When the remaining time is less than or equal to a preset time threshold, a gear switching request is sent to a gear controller so that the gear switching is completed before the vehicle moves to the direction switching node.

7. The method according to claim 1, further comprising: include: Before the vehicle moves to the direction switching node, when the vehicle speed is less than or equal to a second speed threshold and the acceleration is less than zero, optimizing the next path segment and the next direction switching node in the parking path according to the current vehicle posture and the current vehicle position to obtain an optimized path segment and an optimized direction switching node; After the gear switching is completed before the vehicle moves to the direction switching node, the vehicle is controlled to move from the current position to the optimized direction switching node according to the switched gear and along the optimized path segment.

8. The method according to claim 1, wherein the parking path further comprises a starting steering wheel angle and an ending steering wheel angle corresponding to the path segment, wherein the starting steering wheel angle is a steering wheel angle at an initial stage of the vehicle traveling along the path segment, and the ending steering wheel angle is a steering wheel angle after the vehicle travels along the path segment to an end of the path segment; in, The ending steering wheel angle corresponding to any path segment in the parking path is the same as the starting steering wheel angle corresponding to the next path segment of the path segment.

9. The method according to claim 1, wherein the parking path further comprises a maximum driving speed corresponding to the path segment, wherein the maximum driving speed is determined based on the curvature of the path segment and the obstacle distance, and the maximum driving speed is used to ensure that the vehicle speed when the vehicle travels along the path segment is not greater than the maximum driving speed.

10. A domain controller, include: A processor and a memory; wherein the memory stores computer-readable instructions, and the computer-readable instructions are suitable for being loaded by the processor and executing the steps of the method as claimed in any one of claims 1 to 9.

11. A computer program product having at least one instruction stored thereon, wherein when the at least one instruction is executed by a domain controller, the steps of the method according to any one of claims 1 to 9 are implemented.

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