Automatic parking method and system

Abstract

The invention relates to a motor parking method and system, vehicle-mounted equipment, a computer readable storage medium and a vehicle. The automatic parking method comprises the steps that S1, a vehicle is indicated to run according to a first track arc; s2, when the vehicle reaches the first position of the first track arc, the vehicle is indicated to run according to a first return curve, and the steering wheel angle of the vehicle is continuously adjusted, so that when the vehicle runs to the tail end of the first return curve, the steering wheel angle corresponds to a second track arc; and S3, when the vehicle runs to the tail end of the first return curve, the vehicle is indicated to run according to a second track arc, a plurality of track arcs are determined in the parking process of the vehicle, and each track arc corresponds to one steering wheel turning angle.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicles, and in particular to an automatic parking method and system, an on-vehicle device, a computer-readable storage medium, and a vehicle. Background Art

[0002] During the automatic parking process, there are locations with discontinuous curvature in the planned trajectory (for example, the location when switching from the previous steering wheel angle to the next steering wheel angle). The longitudinal control of the vehicle is continuous, so the time for lateral control adjustment (i.e. steering wheel angle adjustment) is very short, and the vehicle may not be able to complete the lateral control adjustment in such a short time. As a result, the automatic parking may produce lateral errors, which may cause the vehicle to not drive according to the planned trajectory, resulting in parking re-planning or parking failure. Summary of the invention

[0003] In view of the above problems, the present disclosure is intended to provide an automatic parking method and system, an in-vehicle device, a computer-readable storage medium, and a vehicle.

[0004] The automatic parking method of the first aspect of the present disclosure includes: S1: instructing a vehicle to travel along a first trajectory arc; S2: when the vehicle reaches a first position of the first trajectory arc, instructing the vehicle to travel along a first loop curve, and continuously adjusting the steering wheel angle of the vehicle so that when the vehicle travels to the end of the first loop curve, the steering wheel angle corresponds to a second trajectory arc; and S3: when the vehicle travels to the end of the first loop curve, instructing the vehicle to travel along a second trajectory arc, wherein the vehicle determines multiple trajectory arcs during the parking process, and each trajectory arc corresponds to a steering wheel angle.

[0005] According to the automatic parking method of some embodiments of the present disclosure, optionally, when driving to the end of the first curve, the distance between the outline of the vehicle and the parking space line is greater than or equal to 0.

[0006] According to some embodiments of the automatic parking method of the present disclosure, optionally, the length of the first loop is determined by the following formula: S = Φ*v / y, wherein Φ is the change in the steering wheel angle from the first trajectory arc to the second trajectory arc, y is the average rotation rate of the steering wheel on the first loop, and v is the average vehicle speed of the vehicle on the first loop.

[0007] According to the automatic parking method of some embodiments of the present disclosure, optionally, the multiple trajectory arcs determined during the parking process are based on a virtually enlarged contour of the vehicle, and compared with the actual contour of the vehicle, the front contour line and the rear contour line of the virtually enlarged contour are each increased by a first increment, and the first increment is greater than or equal to the length of the first loop curve.

[0008] The second aspect of the automatic parking method disclosed herein comprises: S1: virtually enlarging the outline of a vehicle; S2: determining a plurality of trajectory arcs of the vehicle during parking based on the virtually enlarged outline of the vehicle, wherein each trajectory arc corresponds to a steering wheel angle; and S3: determining a plurality of additional loop curves, wherein the starting point of each additional loop curve is a connection point of two corresponding trajectory arcs in the plurality of trajectory arcs, and when the vehicle is at the end of each additional loop curve, the distance between the actual outline of the vehicle and the parking space line is greater than or equal to 0; S4: determining a continuous adjustment method of the steering wheel angle of the vehicle from the starting point to the end of each additional loop curve, so that the steering wheel angle of the vehicle is continuously adjusted from the steering wheel angle of the previous trajectory arc of the additional loop curve to the steering wheel angle of the next trajectory arc.

[0009] According to some embodiments of the automatic parking method of the present disclosure, optionally, the length of the additional loop curve is determined by the following formula: S = Φ*v / y, wherein Φ is the change in the steering wheel angle from the previous trajectory arc to the next trajectory arc corresponding to the additional loop curve, y is the average rotation rate of the steering wheel on the additional loop curve, and v is the average vehicle speed of the vehicle on the additional loop curve.

[0010] The automatic parking system of the third aspect of the present disclosure includes: a virtual contour generation module, which is configured to virtually enlarge the contour of the vehicle. A trajectory determination module, which is configured to: determine multiple trajectory arcs of the vehicle during the parking process with the virtually enlarged contour of the vehicle, wherein each trajectory arc corresponds to a steering wheel angle; determine multiple additional loop curves, the starting point of each additional loop curve is the connection point of two corresponding trajectory arcs in the multiple trajectory arcs, and when the vehicle is at the end of each additional loop curve, the distance between the actual contour of the vehicle and the parking space line is greater than or equal to 0. A steering wheel angle adjustment module, which is configured to continuously adjust the steering wheel angle of the vehicle from the starting point to the end of each additional loop curve, so that the steering wheel angle of the vehicle is continuously adjusted from the steering wheel angle of the previous trajectory arc of the additional loop curve to the steering wheel angle of the next trajectory arc.

[0011] The vehicle-mounted device of the fourth aspect of the present disclosure includes a memory and a processor, the memory stores instructions, and when the instructions are executed by the processor, the automatic parking method according to any of the aforementioned embodiments is implemented.

[0012] The computer-readable storage medium of the fifth aspect of the present disclosure stores instructions, which, when executed by a processor, implement the automatic parking method according to any of the aforementioned embodiments.

[0013] The vehicle of the sixth aspect of the present disclosure may include the automatic parking system according to the aforementioned embodiment, or include the vehicle-mounted device according to the aforementioned embodiment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1A schematic flowchart of an automatic parking method 100 according to some embodiments is shown.

[0015] Figure 2 A schematic diagram of an actual outline and a virtual augmented outline of a vehicle according to some embodiments is exemplarily shown.

[0016] Figure 3A A schematic diagram of trajectory planning for automatic parking of a vehicle according to some embodiments is exemplarily shown.

[0017] Figure 3B Shown with Figure 3A Schematic diagram of the corresponding vehicle automatic parking trajectory planning.

[0018] Figure 4 A schematic flowchart of an automatic parking method 400 according to some other embodiments is shown.

[0019] Figure 5 The diagram exemplarily shows changes in vehicle speed and steering wheel angle during various parking stages according to some embodiments. DETAILED DESCRIPTION

[0020] The following describes some of the various embodiments of the present disclosure, which are intended to provide a basic understanding of the present disclosure, but are not intended to identify the key or decisive elements of the present disclosure or to limit the scope of protection.

[0021] For brevity and illustrative purposes, the principles of the present disclosure are described herein mainly with reference to its exemplary embodiments. However, those skilled in the art will readily recognize that the same principles are equally applicable to and can be implemented in all types of automatic parking methods and systems, onboard devices, computer-readable storage media, and vehicles, and that any such changes do not depart from the true spirit and scope of the present patent application.

[0022] Moreover, in the following description, reference is made to the accompanying drawings, which illustrate specific exemplary embodiments. Electrical, mechanical, logical and structural changes may be made to these embodiments without departing from the spirit and scope of the present disclosure. In addition, although the features of the present disclosure are disclosed in conjunction with only one of several implementations / embodiments, this feature may be combined with one or more other features of other implementations / embodiments as may be desired and / or advantageous for any given or identifiable function. Therefore, the following description should not be regarded as limiting, and the scope of the present disclosure is defined by the appended claims and their equivalents.

[0023] Terms such as “having” and “including” indicate that in addition to the units (modules) and steps directly and explicitly stated in the specification and claims, the technical solution of the present disclosure does not exclude the situation where it has other units (modules) and steps that are not directly or explicitly stated.

[0024] Figure 1 A schematic flowchart of an automatic parking method 100 according to some embodiments is shown.

[0025] The method 100 may include the following steps:

[0026] In step 110, the vehicle is instructed to travel according to the first trajectory arc, wherein the vehicle determines multiple trajectory arcs during the parking process, and each trajectory arc corresponds to a steering wheel angle. In some examples, after the vehicle starts the automatic parking function, the vehicle plans how to park the vehicle in the parking space by coordinating the steering wheel angle and the vehicle's forward / reverse movement according to the current vehicle position, parking position, and parking space boundary line. In other examples, the vehicle may also first travel according to a trajectory arc, and plan the next one or more trajectory arcs during the driving process. In this step, the vehicle controller can control the vehicle to travel according to one of the planned one or more trajectory arcs. It can be understood that the "first trajectory arc" is not necessarily the first trajectory arc among the planned one or more trajectory arcs, but can be any trajectory arc.

[0027] In step 120, when the vehicle reaches the first position of the first trajectory arc, the vehicle is instructed to travel along the first loop curve, and the steering wheel angle of the vehicle is continuously adjusted so that when the vehicle travels to the end of the first loop curve, the steering wheel angle corresponds to the second trajectory arc. Wherein, as described above, the trajectory arc is determined by the vehicle during the parking process. In addition, n trajectory arcs can correspond to n-1 loop curves, that is, the previous trajectory arc is connected to the next trajectory arc through the loop curve. The loop curve can be a reserved trajectory segment that connects the trajectory arcs determined by the vehicle during the parking planning process, and the length of the reserved trajectory segment is determined according to multiple factors (to be described later). Therefore, when the vehicle is converted from the previous trajectory arc to the next trajectory arc, the steering wheel angle can be adjusted in the reserved trajectory segment corresponding to the loop curve.

[0028] Among them, a loop curve (also called a Clothoid line or an Euler spiral) is a plane curve whose curvature changes linearly with the length of the curve. This means that on a loop curve, the change in curvature per unit length can be, for example, constant. This property makes the loop curve very suitable for smoothly connecting two curves with different curvatures, such as the transition between different arcs. In the automatic parking integrated lateral and longitudinal control method, a loop curve is used to connect two arcs (trajectory arcs) to ensure that the curvature changes continuously when the vehicle turns. This helps to avoid lateral errors caused by discontinuous curvature points when the vehicle turns from one position to another. In this way, the vehicle is able to follow the calculated trajectory and accurately reach the target position without incurring additional lateral displacement or the need to replan the path.

[0029] In some examples, the steering wheel angle is adjusted in a fixed manner. For example, after the vehicle starts the automatic parking function, the vehicle system plans multiple trajectory arcs and multiple loops from the current position to the parking position, and sets the vehicle speed in each trajectory arc or each loop, and the steering wheel speed in each loop. In another example, the steering wheel angle can also be adjusted flexibly. For example, the steering wheel speed can be increased or decreased on a certain loop, so as to reduce or increase the length or change rate of the loop accordingly while ensuring that the steering wheel angle corresponds to the second trajectory arc at the end of the loop.

[0030] In step 130, when the vehicle reaches the end of the first loop, the vehicle is instructed to travel along the second trajectory arc. At this time, the steering wheel angle adjustment of the vehicle has been completed and corresponds to the steering wheel angle of the second trajectory arc. Therefore, the vehicle completes the travel on the second trajectory arc according to the steering wheel angle.

[0031] Through the present disclosure, the vehicle can smoothly adjust the steering wheel angle and vehicle speed during the continuous conversion of the trajectory arc during automatic parking, so that the vehicle parking time during the trajectory arc conversion is shorter, so that the vehicle can travel according to the predetermined trajectory arc without causing lateral errors due to too short lateral control adjustment time. In addition, the speed or direction conversion of the entire parking process is also smoother, which improves the driver's parking experience.

[0032] In some embodiments, when the vehicle reaches the end of the first loop curve, the distance between the vehicle's outline and the parking space line is greater than or equal to 0. Therefore, the specific geometric properties of the loop curve can be determined based on the distance between the vehicle and the parking space line (or parking space boundary line) at the intersection (connection) of multiple trajectory arcs of parking. In some examples, the planning of multiple trajectory arcs is not completely determined according to the parking space line, but the vehicle still has a reserved distance from the parking space line at each position (or at least at the intersection of the trajectory arcs), and the reserved distance leaves room for the planning of the loop curve. The reserved distance can be determined based on the change in vehicle speed and the change in steering wheel angle speed.

[0033] In some embodiments, the length of the first loop curve can be determined by the following formula: S = Φ*v / y. Wherein, Φ is the change in the steering wheel angle from the first trajectory arc to the second trajectory arc, y is the average rotation rate (rotation speed) of the steering wheel on the first loop curve, and v is the average vehicle speed of the vehicle on the first loop curve. It can be understood that the length of the first loop curve can vary depending on the above three parameters. For example, if the vehicle is still far away from the parking space line at a certain intersection of the trajectory arc, S can be larger, so a lower average steering wheel rotation rate and / or a higher average vehicle speed can be applied. Let the shortest distance between the vehicle contour line and the parking space line be L min , then L min Set to the maximum value of S (i.e. S ≤ L min ). Of course, the loop curve is not a straight line, so in other examples, L can be set more precisely. min is the maximum value of the loop curve S in the direction of the shortest distance. In some other examples, it is desired that the vehicle speed and / or steering wheel rotation rate remain constant as much as possible during the parking process of the vehicle, so when planning multiple trajectory arcs, sufficient distance can be reserved to enable the vehicle to travel on the loop curve at the same or close speed as that on the trajectory arc.

[0034] In some embodiments, the multiple trajectory arcs determined during the parking process are based on a virtual enlarged profile of the vehicle, and the front and / or rear contours of the virtual enlarged profile are each increased by a first increment compared to the actual profile of the vehicle, and the first increment is greater than or equal to the length of the first loop curve. In the foregoing, the factors for determining the length of the loop curve are described, and the vehicle reserves a distance for each loop curve in the parking plan. However, the multiple trajectory arcs of the parking process can also be determined directly based on the virtual enlarged profile of the vehicle.

[0035] Specifically, refer to Figure 2 , which exemplarily shows a schematic diagram of the actual outline and the virtual enlarged outline of a vehicle according to some embodiments. Figure 2In the example, P corresponds to the projection of the actual contour of the vehicle (e.g., the projection perpendicular to the ground), and P' corresponds to the virtually enlarged contour of the vehicle, where P' is virtually enlarged both at the front and rear of the vehicle compared to P. The front and rear of the vehicle can be enlarged by the same length or by different lengths. In some examples, the contour of the vehicle is virtually enlarged in proportion to the actual contour of the vehicle. In other examples, only one or more sides of the contour of the vehicle can be virtually enlarged, for example, only the rear contour of the vehicle is virtually enlarged, and the enlarged length is d.

[0036] refer to Figure 3A , which exemplarily shows a schematic diagram of trajectory planning for automatic parking of a vehicle according to some embodiments. The parking trajectory of the vehicle can be planned according to the virtual enlarged contour (P') of the vehicle and the parking space lines L1, L2, and L3, and multiple trajectory arcs can be planned. Figure 3A Taking the conversion of two trajectory arcs as an example, the vehicle is driven from position A on trajectory arc 1 to position B (the vehicle position can be represented by the center point of the rear axle, for example), and then from position B to position C on trajectory arc 2.

[0037] Further references Figure 3B On the left, when the virtual enlarged profile P' of the vehicle reaches position B, the actual profile (P) is still at a certain distance from the parking space line L1. Figure 3B On the right side, after the virtual enlarged profile P' of the vehicle reaches position B, the actual profile P of the vehicle can continue to travel toward the parking space line L1 by the length of a loop curve S. Position B is the starting point of the loop curve, and position B' is the end point of the loop curve. In the process of the actual profile P of the vehicle traveling from position B to position B', the steering wheel angle of the vehicle is continuously adjusted, so that when the actual profile P of the vehicle reaches position B', the steering wheel angle is adjusted to the angle corresponding to the trajectory arc 2 (B' to C or B to C).

[0038] based on Figure 3A and 3B It can be understood that the length of the loop curve S or the equivalent length in the longitudinal direction of the vehicle should be less than or equal to the distance of the virtual enlarged contour of the vehicle from the parking line L1 when it is at position B. Referring to the loop curve distance calculation formula S=Φ*v / y described above, the average turning rate y of the steering wheel on the loop curve S and / or the average vehicle speed v of the vehicle on the loop curve S can be configured according to the maximum length of S (i.e., the distance from the parking line L1 at position B), and the amount by which the actual contour of the vehicle should be virtually enlarged can also be determined according to the vehicle's pre-fixed (or expected) average turning rate y and / or average vehicle speed v.

[0039] Therefore, the present disclosure may also involve first virtually increasing the outline of the vehicle, and then planning multiple trajectory arcs of the virtually increased outline. Figure 4 According to the second aspect of the present disclosure, the automatic parking method 400 may include the following steps.

[0040] In step 410, the outline of the vehicle is virtually enlarged. In some examples, the virtual enlargement may be a proportional enlargement of the actual outline of the vehicle, or a non-proportional enlargement. In other examples, instead of enlarging all the surrounding outlines, only one, two or three of the outlines are enlarged, or only the rear outline and / or the front outline of the vehicle are enlarged. In addition, the specific length value of the virtual enlargement may be determined according to the predetermined vehicle speed (or expected vehicle speed) and the steering wheel speed of the vehicle during the parking process.

[0041] In step 420, a plurality of trajectory arcs of the vehicle during the parking process are determined based on the virtual enlarged vehicle contour, wherein each trajectory arc corresponds to a steering wheel angle. In other words, the processing module and the control module related to automatic parking can assume that the virtual enlarged contour is the real contour of the vehicle, and thus determine one or more trajectory arcs for the vehicle during the automatic parking process based on the virtual enlarged contour. Therefore, at any position of any trajectory arc, the actual vehicle has a certain distance from the parking space line.

[0042] In step 430, a plurality of additional loop curves are determined, the starting point of each additional loop curve being the connection point of two corresponding trajectory arcs in the plurality of trajectory arcs, and when the vehicle is at the end of each additional loop curve, the distance between the actual contour of the vehicle and the parking space line is greater than or equal to 0. In other words, an additional loop curve can be planned at the connection point of each trajectory arc, and the properties of each additional loop curve can be the same (for example, the same curvature change or length), or different. For example, if a higher vehicle speed is applied to a certain additional loop curve, the length of the additional loop curve should be longer, and if a lower vehicle speed is applied to the next additional loop curve, the length of the additional loop curve can be shorter.

[0043] In step 440, a continuous adjustment method of the steering wheel angle of the vehicle from the starting point to the end of each additional loop curve is determined, so that the steering wheel angle of the vehicle is continuously adjusted from the steering wheel angle of the previous trajectory arc of the additional loop curve to the steering wheel angle of the next trajectory arc. According to the determined length of the additional loop curve, the vehicle speed and / or steering wheel speed can be flexibly configured.

[0044] In some embodiments, the length of the additional loop curve can be determined by the following formula: S = Φ * v / y. Wherein, Φ is the change in the steering wheel angle from a certain trajectory arc to the next trajectory arc, y is the average rotation rate (rotation speed) of the steering wheel on the additional loop curve, and v is the average vehicle speed of the vehicle on the additional loop curve. In this embodiment, the length of the loop curve is determined in advance based on the average speed of the vehicle on the additional loop curve and the steering wheel rotation speed. Of course, the average speed of the vehicle on the loop curve can also be limited according to the specific numerical value of the increase of the virtual increased profile. For example, when the specific numerical value of the increase of the virtual increased profile is small, the speed of the vehicle can be controlled so that the average speed of the vehicle on the additional loop curve is lower and / or the steering wheel rotation speed is higher, so that the additional loop curve does not have to be very long, avoiding the risk of crossing (collision) with the parking space line due to the small specific numerical value of the increase of the virtual increased profile.

[0045] Figure 5 The schematic diagram of the change of vehicle speed and steering wheel angle in each parking stage according to some embodiments is shown as an example. Figure 5 The left part shows the change of the steering wheel angle θ and the vehicle speed v over time t during the parking process of a vehicle that does not apply the automatic parking method disclosed in the present invention. Figure 3A and 3B , it can be seen that when the vehicle is driving from position A to position B on trajectory arc 1 (A→B), the steering wheel angle θ remains unchanged, and the vehicle speed v needs to be reduced until the speed v is reduced to 0 at position B. Then, the vehicle adjusts the steering wheel angle at position B. After the steering wheel angle is adjusted, it can drive from position B to position C on trajectory arc 2 (B→C), and in this process, the steering wheel angle θ corresponding to trajectory arc 2 is maintained and the vehicle speed is increased. This process cannot achieve the continuous parking process of the vehicle, and if the vehicle stays at position B for too short a time, it is easy to cause lateral offset errors, and if the stay time is too long, the parking process will be too slow and discontinuous, thus affecting the driving experience.

[0046] and Figure 5 The right part shows an example change diagram of the steering wheel angle θ and the vehicle speed v over time t during the vehicle parking process in which the automatic parking method of the present disclosure is applicable. Figure 3A and 3BIt can be seen that in the process of the vehicle traveling from position A to position B on trajectory arc 1 (A→B), the steering wheel angle θ remains unchanged, and the vehicle speed v can be, for example, reduced (or increased), but v does not need to be reduced to 0 at position B. Then, in the process of the vehicle traveling from position B to position B' (i.e., on the loop curve S, B→B'), the steering wheel angle is continuously adjusted so that the angle is just adjusted when the vehicle travels to position B'. After the steering wheel angle is adjusted, the vehicle can travel from position B' to position C on trajectory arc 2 (B'→C, including B'→B and B→B'), and in this process, the steering wheel angle θ corresponding to trajectory arc 2 is maintained and the vehicle speed can be, for example, increased. This process can realize the continuous parking process of the vehicle, and, except for the shifting moment of forward and reverse (at this moment, the speed v is 0), the vehicle is in the process of forward or reverse throughout the whole process, giving the vehicle enough distance or time to adjust the steering wheel angle, thereby reducing or avoiding lateral offset errors.

[0047] According to a third aspect of the present disclosure, an automatic parking system may be provided, the system comprising a virtual contour generation module, a trajectory determination module and a steering wheel angle adjustment module. The virtual contour generation module is configured to virtually increase the contour of the vehicle. The trajectory determination module is configured to: determine multiple trajectory arcs of the vehicle during the parking process with the virtually increased contour of the vehicle, wherein each trajectory arc corresponds to a steering wheel angle; determine multiple additional loop curves, the starting point of each additional loop curve is the connection point of two corresponding trajectory arcs in the multiple trajectory arcs, and when the vehicle is at the end of each additional loop curve, the distance between the actual contour of the vehicle and the parking space line is greater than or equal to 0. The steering wheel angle adjustment module is configured to continuously adjust the steering wheel angle of the vehicle from the starting point to the end of each additional loop curve, so that the steering wheel angle of the vehicle is continuously adjusted from the steering wheel angle of the previous trajectory arc of the additional loop curve to the steering wheel angle of the next trajectory arc. The specific configuration and operation of each module can refer to the various embodiments described above, and will not be repeated here.

[0048] According to a fourth aspect of the present disclosure, a vehicle-mounted device may be provided, comprising a memory storing instructions and a processor, wherein when the processor executes the instructions, the automatic parking method described in any of the foregoing embodiments is implemented.

[0049] According to a fifth aspect of the present disclosure, a computer-readable storage medium may be provided, which is a memory storing instructions, and when a processor executes the instructions, the automatic parking method described in any of the aforementioned embodiments is implemented.

[0050] The memory, storage module or computer-readable storage medium described herein may include, for example, various types of computer storage media, which may be any available medium that a general or special computer can access. For example, a computer-readable medium may include RAM, ROM, EPROM, E2PROM, registers, hard disks, removable disks, CD-ROM or other optical disk storage, disk storage or other magnetic storage modules, or any other temporary or non-temporary medium that can be used to carry or store desired program code units in the form of instructions or data structures and can be accessed by a general or special computer, an on-board computer or a general or special processor. The above combination should also be included in the scope of protection of computer-readable media. An exemplary storage medium is coupled to a processor so that the processor can read and write information from / to the storage medium. In an alternative, a storage medium may be integrated into a processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a vehicle system. In an alternative, the processor and the storage medium may reside in a vehicle system as discrete components. The memory stores instructions that can be executed by the processor.

[0051] The processor and the memory may be, for example, a processing module and a storage module based on an onboard computer, and the two may be connected by wire or wirelessly to achieve data transmission or interaction. For example, these components may be electrically connected to each other via one or more communication buses. The memory may be, for example, the above-mentioned computer-readable storage medium. The processor may be a processing module with signal processing capabilities, such as a general-purpose processor, including a central processing unit CPU, a network processor NP, etc.; it may also be a digital signal processor DSP, an application-specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0052] According to another aspect of the present disclosure, a vehicle is also provided, which includes an automatic parking system or an on-board device according to any embodiment of the present disclosure. The vehicle referred to in the present disclosure is intended to represent any appropriate vehicle with a drive system, such as a fuel-powered vehicle, a hybrid vehicle, an electric vehicle, a plug-in hybrid electric vehicle, etc.

[0053] The above mainly describes the automatic parking method and system, vehicle-mounted device, computer-readable storage medium and vehicle of the present disclosure. Although only some of the specific embodiments of the present disclosure are described, it should be understood by those skilled in the art that the present disclosure can be implemented in many other forms without departing from its subject matter and scope. Therefore, the examples and embodiments shown are regarded as illustrative rather than restrictive, and the present disclosure may cover various modifications and substitutions without departing from the spirit and scope of the present disclosure as defined in the appended claims.

Claims

1. An automatic parking method, characterized in that: The method comprises the following steps: S1: instruct the vehicle to travel along the first trajectory arc; S2: when the vehicle reaches a first position of the first trajectory arc, instructing the vehicle to travel along a first loop curve, and continuously adjusting a steering wheel angle of the vehicle, so that when the vehicle travels to an end of the first loop curve, the steering wheel angle corresponds to a second trajectory arc; as well as S3: when the vehicle reaches the end of the first curve, instructing the vehicle to travel along the second trajectory arc, The vehicle determines a plurality of trajectory arcs during the parking process, and each trajectory arc corresponds to a steering wheel angle.

2. The automatic parking method according to claim 1, characterized in that: When the vehicle reaches the end of the first curve, the distance between the outline of the vehicle and the parking space line is greater than or equal to 0.

3. The automatic parking method according to claim 1, characterized in that: The length of the first loop curve is determined by the following formula: S=Φ*v / y Wherein, Φ is the change in the steering wheel angle from the first trajectory arc to the second trajectory arc, y is the average rotation rate of the steering wheel on the first curve, and v is the average vehicle speed of the vehicle on the first curve.

4. The automatic parking method according to claim 1, characterized in that: The multiple trajectory arcs determined by the parking process are based on a virtual enlarged contour of the vehicle. Compared with the actual contour of the vehicle, the front contour line and the rear contour line of the virtual enlarged contour are each increased by a first increment, and the first increment is greater than or equal to the length of the first loop curve.

5. An automatic parking method, characterized in that: The method comprises the following steps: S1: Virtually enlarge the outline of the vehicle; S2: determining a plurality of trajectory arcs of the vehicle during parking based on the virtual enlarged vehicle profile, wherein each trajectory arc corresponds to a steering wheel angle; and S3: determining a plurality of additional loop curves, wherein the starting point of each additional loop curve is a connection point of two corresponding trajectory arcs among the plurality of trajectory arcs, and when the vehicle is at the end of each additional loop curve, the distance between the actual contour of the vehicle and the parking space line is greater than or equal to 0; S4: Determine a continuous adjustment method for the steering wheel angle of the vehicle from the starting point to the end of each additional loop curve, so that the steering wheel angle of the vehicle is continuously adjusted from the steering wheel angle of the previous trajectory arc of the additional loop curve to the steering wheel angle of the next trajectory arc.

6. The automatic parking method according to claim 5, characterized in that: The length of the additional loop curve is determined by the following formula: S=Φ*v / y Wherein, Φ is the change in the steering wheel angle from the previous trajectory arc corresponding to the additional loop curve to the next trajectory arc, y is the average rotation rate of the steering wheel on the additional loop curve, and v is the average vehicle speed of the vehicle on the additional loop curve.

7. An automatic parking system, characterized in that: include: a virtual contour generation module configured to virtually enlarge the contour of the vehicle; A trajectory determination module is configured to: Determining a plurality of trajectory arcs of the vehicle during parking using the virtually enlarged vehicle profile, wherein each trajectory arc corresponds to a steering wheel angle; Determine a plurality of additional loop curves, wherein the starting point of each additional loop curve is a connection point of two corresponding trajectory arcs among the plurality of trajectory arcs, and when the vehicle is at the end of each additional loop curve, the distance between the actual contour of the vehicle and the parking space line is greater than or equal to 0; The steering wheel angle adjustment module is configured to continuously adjust the steering wheel angle of the vehicle from the starting point to the end of each additional loop curve, so that the steering wheel angle of the vehicle is continuously adjusted from the steering wheel angle of the previous trajectory arc of the additional loop curve to the steering wheel angle of the next trajectory arc.

8. A vehicle-mounted device, characterized in that: The vehicle-mounted device includes a memory and a processor, wherein the memory stores instructions, and when the instructions are executed by the processor, the automatic parking method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, which, when executed by a processor, implement the automatic parking method according to any one of claims 1-6.

10. A vehicle, characterized in that: The vehicle includes the automatic parking system according to claim 7, or includes the vehicle-mounted device according to claim 8.

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