Automatic parking control method, device and equipment and storage medium

Abstract

The invention relates to an automatic parking control method and device, equipment and a storage medium. According to the main technical scheme, the method comprises the steps that chassis information and inertial navigation information of a vehicle are obtained, the chassis information and the inertial navigation information are solved, driving information and initial attitude information of the vehicle are obtained, the chassis information comprises a wheel speed pulse value of a left rear wheel and a wheel speed pulse value of a right rear wheel of the vehicle, and the vehicle is updated in response to the chassis information; the displacement distance of the vehicle is determined according to the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel, the final attitude information of the vehicle is determined according to the displacement distance of the vehicle, the driving information and the initial attitude information, and the final attitude information is used for controlling the vehicle to be parked in the target parking space. The calculation precision of the vehicle pose can be improved under the condition of no satellite signal, and the vehicle can be accurately parked in the target parking space.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to an automatic parking control method, device, equipment and storage medium. Background Art

[0002] Automatic parking technology is an important application scenario of autonomous driving technology. It uses on-board sensors, processors and control systems to automatically identify parking spaces and automatically complete the parking process. This technology reduces the parking pressure of drivers, improves the accuracy and safety of parking, and brings great convenience to people's travel.

[0003] At present, positioning a vehicle during parking usually requires detecting the front and rear wheels at the same time, and obtaining the vehicle angle through angular velocity integration or steering wheel angle according to the vehicle model, which increases the complexity of the algorithm and cannot output real-time positioning results at a high frequency, and the accuracy of obtaining the vehicle angle is not high. Alternatively, the Global Navigation Satellite System (GNSS) signal is used to obtain the vehicle's position coordinates, but the lack of GNSS signals in underground parking scenarios makes it difficult to perform high-precision positioning. Since the vehicle cannot be accurately positioned, the accuracy and safety of automatic parking are reduced. Summary of the invention

[0004] Based on this, the present application provides an automatic parking control method, device, equipment and storage medium to solve the problem that the vehicle cannot be accurately positioned, thereby reducing the accuracy and safety of automatic parking.

[0005] In a first aspect, an automatic parking control method is provided, the method comprising:

[0006] Acquire chassis information and inertial navigation information of the vehicle, and solve the chassis information and inertial navigation information to obtain driving information and initial posture information of the vehicle, respectively, wherein the chassis information includes a wheel speed pulse value of a left rear wheel and a wheel speed pulse value of a right rear wheel of the vehicle;

[0007] In response to chassis information update, determining a displacement distance of the vehicle according to a wheel speed pulse value of a left rear wheel and a wheel speed pulse value of a right rear wheel;

[0008] The final posture information of the vehicle is determined based on the displacement distance, driving information and initial posture information of the vehicle, and the final posture information is used to control the vehicle to park in the target parking space.

[0009] According to an achievable method in an embodiment of the present application, the chassis information and the inertial navigation information are solved to obtain the driving information and the initial posture information of the vehicle respectively, including:

[0010] Obtain the driving status of the left rear wheel of the vehicle in the chassis information;

[0011] Determining the driving information of the vehicle according to the driving state of the left rear wheel of the vehicle;

[0012] Determine whether the inertial navigation information is available; in response to the inertial navigation information being available, obtain a yaw angle corresponding to at least one frame of attitude in the inertial navigation information;

[0013] The yaw angle corresponding to the first frame of posture among the yaw angles corresponding to the at least one frame of posture is determined as the initial posture information.

[0014] According to an achievable method in an embodiment of the present application, the driving information of the vehicle is determined according to the driving state of the left rear wheel of the vehicle, including:

[0015] If the driving state of the left rear wheel of the vehicle is in a stopped state, obtaining the gear information of the vehicle;

[0016] The driving information of the vehicle is determined according to the gear information of the vehicle.

[0017] According to an achievable method in an embodiment of the present application, the displacement distance of the vehicle is determined according to the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel, including:

[0018] Determine the pulse change value of the left rear wheel and the pulse change value of the right rear wheel according to the wheel speed pulse value of the left rear wheel in the current frame and the wheel speed pulse value of the previous frame, and the wheel speed pulse value of the right rear wheel in the current frame and the wheel speed pulse value of the previous frame;

[0019] According to the pulse change value of the left rear wheel, the pulse change value of the right rear wheel and the preset unit pulse calibration value, the displacement distance corresponding to the vehicle's two adjacent frame postures is determined.

[0020] According to an achievable method in an embodiment of the present application, the displacement distance corresponding to two adjacent frames of the vehicle posture is determined according to the pulse change value of the left rear wheel, the pulse change value of the right rear wheel and the preset unit pulse calibration value, including:

[0021] Determine the displacement distance of the left rear wheel according to the pulse change value of the left rear wheel and the preset unit pulse calibration value;

[0022] Determine the displacement distance of the right rear wheel according to the pulse change value of the right rear wheel and the preset unit pulse calibration value;

[0023] According to the displacement distance of the left rear wheel and the displacement distance of the right rear wheel, the displacement distance corresponding to the postures of two adjacent frames of the vehicle is determined.

[0024] According to an achievable method in an embodiment of the present application, the driving information includes the driving direction; and the final posture information of the vehicle is determined according to the displacement distance, the driving information and the initial posture information of the vehicle, including:

[0025] A global coordinate system is established based on the driving direction with the center of the rear axle of the vehicle as the origin, and the yaw angle of the current frame posture and the yaw angle of the previous frame posture corresponding to the displacement distance of the vehicle are obtained;

[0026] According to the yaw angle of the current frame posture and the yaw angle of the previous frame posture, determine the first absolute position coordinate of the corresponding position of the current frame posture in the coordinate system established by the corresponding position of the previous frame posture;

[0027] The final posture information of the vehicle is determined according to the first absolute position coordinates and the yaw angle of the previous frame posture.

[0028] According to an achievable method in an embodiment of the present application, the final posture information of the vehicle is determined according to the first absolute position coordinate and the yaw angle of the previous frame posture, including:

[0029] Get the second absolute position coordinates of the position corresponding to the previous frame posture in the global coordinate system;

[0030] The final posture information of the vehicle is determined according to the first absolute position coordinate, the second absolute position coordinate and the yaw angle of the previous frame posture.

[0031] In a second aspect, an automatic parking control device is provided, the device comprising:

[0032] A solution module is used to obtain chassis information and inertial navigation information of the vehicle, and solve the chassis information and inertial navigation information to obtain driving information and initial posture information of the vehicle, wherein the chassis information includes a wheel speed pulse value of a left rear wheel and a wheel speed pulse value of a right rear wheel of the vehicle;

[0033] A first determination module, configured to determine a displacement distance of the vehicle according to a wheel speed pulse value of a left rear wheel and a wheel speed pulse value of a right rear wheel in response to chassis information update;

[0034] The second determination module is used to determine the final posture information of the vehicle according to the displacement distance, driving information and initial posture information of the vehicle, and the final posture information is used to control the vehicle to park in the target parking space.

[0035] In a third aspect, a computer device is provided, comprising:

[0036] at least one processor; and

[0037] a memory communicatively connected to the at least one processor; wherein,

[0038] The memory stores computer instructions that can be executed by the at least one processor, and the computer instructions are executed by the at least one processor to enable the at least one processor to perform the method involved in the first aspect above.

[0039] In a fourth aspect, a computer-readable storage medium is provided, on which computer instructions are stored, characterized in that the computer instructions are used to enable a computer to execute the method involved in the first aspect above.

[0040] According to the technical content provided in the embodiments of the present application, by acquiring chassis information and inertial navigation information of the vehicle and solving the chassis information and inertial navigation information, the driving information and initial posture information of the vehicle are respectively obtained, wherein the chassis information includes the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel of the vehicle, in response to the chassis information update, the displacement distance of the vehicle is determined according to the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel, and the final posture information of the vehicle is determined according to the displacement distance, driving information and initial posture information of the vehicle. The final posture information is used to control the vehicle to park in a target parking space, which can improve the calculation accuracy of the vehicle posture in the absence of satellite signals and enable the vehicle to accurately park in the target parking space. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is an application environment diagram of an automatic parking control method in an embodiment;

[0042] Figure 2 is a flow chart of an automatic parking control method in one embodiment;

[0043] Figure 3 Schematic diagram of the position and posture of a vehicle in a global coordinate system in one embodiment;

[0044] Figure 4 is a structural block diagram of an automatic parking control device in one embodiment;

[0045] Figure 5 FIG. 4 is a schematic structural diagram of a computer device in one embodiment. DETAILED DESCRIPTION

[0046] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0047] For ease of understanding, the system to which this application is applicable is first described. The automatic parking control method provided by this application can be applied to Figure 1In the system architecture shown. Among them, the vehicle 100 includes an on-board terminal 110. The on-board terminal 110 obtains the chassis information and inertial navigation information of the vehicle, and solves the chassis information and inertial navigation information to obtain the driving information and initial posture information of the vehicle respectively, wherein the chassis information includes the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel of the vehicle, and in response to the chassis information update, the displacement distance of the vehicle is determined according to the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel, and the final posture information of the vehicle is determined according to the displacement distance, driving information and initial posture information of the vehicle, and the final posture information is used to control the vehicle to park in the target parking space. Among them, the on-board terminal 110 can be, but is not limited to, various personal computers and laptops connected to the vehicle.

[0048] Figure 2 A flowchart of an automatic parking control method provided in an embodiment of the present application, the method can be as follows Figure 1 The vehicle-mounted terminal 110 in the system shown in the figure executes. Figure 2 As shown, the method may include the following steps:

[0049] S210, obtaining chassis information and inertial navigation information of the vehicle, and solving the chassis information and inertial navigation information to obtain driving information and initial posture information of the vehicle respectively.

[0050] The chassis information is the information obtained by the acquisition device through detecting the chassis system of the vehicle. The chassis system may include the chassis power system, the chassis steering system and the chassis tire system. The acquisition device may include devices for collecting information during the driving process of the vehicle, such as a sound acquisition device, an image acquisition device, a wheel speed sensor, a tire pressure sensor, a temperature sensor and an air pressure sensor. The chassis information may include information such as the vehicle speed, tire steering, tire pressure, wheel speed, swing arm displacement, swing arm angle, etc., wherein the wheel speed includes the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel.

[0051] Inertial navigation information is information collected by the vehicle's inertial navigation system. The inertial navigation system is an autonomous navigation system that measures the acceleration of the carrier and integrates it over time, converting it into a navigation coordinate system to obtain speed, yaw angle and position information. Inertial navigation information can include the vehicle's inertial navigation system status, yaw angle, speed, position information, etc.

[0052] By obtaining the chassis information and inertial navigation information of the vehicle, the accuracy of calculating the vehicle's attitude and the positioning accuracy of the vehicle in the absence of satellite signals can be improved. The chassis information and inertial navigation information are solved to obtain the vehicle's driving information and initial attitude information respectively, providing an accurate data basis for the subsequent control of the vehicle to park in the target parking space. Among them, the driving information includes the driving direction, driving time, mileage, etc. The initial attitude information is the attitude information of the vehicle when the positioning algorithm is started. The initial attitude information describes the direction of the vehicle relative to the reference coordinate system, which can be expressed by pitch angle, yaw angle, roll angle, etc.

[0053] S220, in response to the chassis information being updated, determining the displacement distance of the vehicle according to the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel.

[0054] Every time the chassis information is updated, the positioning algorithm is calculated once, so that the positioning algorithm output frequency is consistent with the chassis system frequency, so that the positioning information adopts the latest data of the chassis system and avoids positioning algorithm abnormalities caused by inconsistent frequencies.

[0055] The vehicle's moving distance is calculated by obtaining the changes in the wheel speed pulse values ​​of the left and right rear wheels according to the wheel speed pulse values ​​of the left and right rear wheels of the vehicle. Since the wheel speed pulse value range is 0-255, that is, it starts to accumulate again from 0 when it is 256, it is necessary to judge the value range to obtain the difference between the wheel speed pulse value of the current frame and the wheel speed pulse of the previous frame. Each pulse value obtained by calibration represents how many meters have been traveled, and the preset unit pulse calibration value is obtained. Finally, the displacement of the center point of the rear axle of the vehicle is calculated as the displacement distance of the vehicle.

[0056] The vehicle's displacement distance is determined by the wheel speed pulse values ​​of the left and right rear wheels of the vehicle. There is no need to continuously detect changes in the front and rear four wheels, and there is no need to detect steering wheel angles, transmission force and other information, which reduces data interaction and reduces the amount of calculation.

[0057] S230, determining final posture information of the vehicle according to the displacement distance, driving information and initial posture information of the vehicle.

[0058] When the positioning algorithm is started, a global coordinate system will be established, that is, the vehicle posture at this moment is considered to be 0, but the actual vehicle posture may not be 0. Therefore, the posture angle at the initial moment is recorded as the initial posture value, that is, the yaw angle. When the yaw angle at the next moment is obtained and the initial yaw angle is subtracted, it is the posture change of the current vehicle relative to the initial moment.

[0059] A global coordinate system is established based on the driving direction in the driving information, and the vehicle's displacement distance is converted to the global coordinate system according to the initial posture information to obtain the position information and posture information under the global coordinate system to determine the vehicle's final posture information. The final posture information is used to control the vehicle to park in the target parking space.

[0060] It can be seen that the embodiment of the present application obtains the chassis information and inertial navigation information of the vehicle, and solves the chassis information and inertial navigation information to obtain the driving information and initial posture information of the vehicle, respectively, wherein the chassis information includes the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel of the vehicle, and in response to the chassis information update, the displacement distance of the vehicle is determined according to the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel, and the final posture information of the vehicle is determined according to the displacement distance, driving information and initial posture information of the vehicle. The final posture information is used to control the vehicle to park in the target parking space, which can improve the calculation accuracy of the vehicle posture in the absence of satellite signals and enable the vehicle to accurately park in the target parking space.

[0061] As a feasible method, the chassis information and inertial navigation information are solved to obtain the vehicle's driving information and initial posture information respectively, including:

[0062] Obtain the driving status of the left rear wheel of the vehicle in the chassis information;

[0063] Determining the driving information of the vehicle according to the driving state of the left rear wheel of the vehicle;

[0064] Determine whether inertial navigation information is available;

[0065] In response to the inertial navigation information being available, obtaining a yaw angle corresponding to at least one frame of attitude in the inertial navigation information;

[0066] The yaw angle corresponding to the first frame of posture among the yaw angles corresponding to the at least one frame of posture is determined as the initial posture information.

[0067] The driving state includes forward, backward, stop and invalid. If the driving state of the left rear wheel of the vehicle is forward, the driving direction of the vehicle is determined as the positive direction. If the driving state of the left rear wheel of the vehicle is backward, the driving direction of the vehicle is determined as the negative direction. If the driving state of the left rear wheel of the vehicle is invalid, the posture information is not calculated.

[0068] As one of the achievable ways, if the driving state of the left rear wheel of the vehicle is in a stopped state, the gear position information of the vehicle is obtained;

[0069] The driving information of the vehicle is determined according to the gear information of the vehicle.

[0070] If the left rear wheel of the vehicle is in a stopped state, considering the lag of wheel direction information, it may take a short distance for the vehicle to move forward or backward before it is updated. Therefore, the gear information of the vehicle is obtained, which includes the current gear, gear range, shift time, etc. The gear information is used to further determine whether the vehicle is moving forward or backward.

[0071] When solving the inertial navigation information, first determine whether the inertial navigation information is available, that is, determine whether the inertial navigation information is updated and whether the inertial navigation system state is in attitude mode. If the inertial navigation information has been updated and the field indicating the inertial navigation system state is a number representing the attitude mode, such as 1, it means that the inertial navigation information is available.

[0072] In response to determining that the inertial navigation information is available, the yaw angle corresponding to at least one frame of the inertial navigation information is obtained. When the vehicle receives the inertial navigation information, it can receive dozens of frames or even more frames of inertial navigation information per second. Each time a frame of inertial navigation information is received, the yaw angle of the attitude corresponding to the inertial navigation information is obtained to obtain the current attitude information of the vehicle. The attitude when the positioning algorithm is started is determined as the first frame attitude, and the yaw angle corresponding to the first frame attitude is determined as the initial attitude information, that is, the attitude when the vehicle is just started.

[0073] As a feasible method, the displacement distance of the vehicle is determined according to the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel, including:

[0074] Determine the pulse change value of the left rear wheel and the pulse change value of the right rear wheel according to the wheel speed pulse value of the left rear wheel in the current frame and the wheel speed pulse value of the previous frame, and the wheel speed pulse value of the right rear wheel in the current frame and the wheel speed pulse value of the previous frame;

[0075] According to the pulse change value of the left rear wheel, the pulse change value of the right rear wheel and the preset unit pulse calibration value, the displacement distance corresponding to the vehicle's two adjacent frame postures is determined.

[0076] The current frame wheel speed pulse value is the wheel speed pulse value of the left and right rear wheels of the vehicle at the current moment, the previous frame wheel speed pulse value is the wheel speed pulse value of the left and right rear wheels last recorded at the current moment, and the current frame wheel speed pulse value and the previous frame wheel speed pulse value are the wheel speed pulse values ​​of two adjacent frames.

[0077] Since the wheel speed pulse value range is 0-255, if the wheel speed pulse value of the current frame is less than the wheel speed pulse value of the previous frame, it is considered that the wheel speed pulse value exceeds 255 and is accumulated again. The wheel speed pulse value range is calculated from 0, so it is considered that from 255 to 0 is a pulse. The wheel speed pulse value of the previous frame is represented as prePulse, and the wheel speed pulse value of the current frame is represented as currPulse. The pulse change value delta can be obtained by (256-prePulse+currPulse). Otherwise, the pulse change value is obtained by subtracting the wheel speed pulse value of the previous frame from the wheel speed pulse value of the current frame, that is, delta=currPulse-prePulse. The pulse change values ​​of the left rear wheel and the right rear wheel are recorded as deltaRL and deltaRR respectively.

[0078] The preset unit pulse calibration value is the actual distance traveled represented by each pre-calibrated pulse value, which is recorded as distancePerPulse. According to the pulse change value of the left rear wheel, the pulse change value of the right rear wheel and the preset unit pulse calibration value, the displacement distance corresponding to the vehicle's two adjacent frame postures is determined.

[0079] Specifically, the displacement distance of the left rear wheel is determined according to the pulse change value of the left rear wheel and the preset unit pulse calibration value;

[0080] Determine the displacement distance of the right rear wheel according to the pulse change value of the right rear wheel and the preset unit pulse calibration value;

[0081] According to the displacement distance of the left rear wheel and the displacement distance of the right rear wheel, the displacement distance corresponding to the postures of two adjacent frames of the vehicle is determined.

[0082] The displacement distance of the left rear wheel is obtained by multiplying the pulse change value of the left rear wheel with the preset unit pulse calibration value, that is, RL = deltaRL*distancePerPulse, and the displacement distance of the right rear wheel is obtained by multiplying the pulse change value of the right rear wheel with the preset unit pulse calibration value, that is, RR = deltaRR*distancePerPulse. Since the center of the rear axle of the vehicle is used as the origin of the vehicle coordinates, the moving distance of this point is the change of the left rear wheel plus half of the change of the right rear wheel, that is, (RL+RR) / 2, and the displacement distance corresponding to the posture of the vehicle in two adjacent frames can be obtained.

[0083] As a feasible method, the final posture information of the vehicle is determined according to the displacement distance, driving information and initial posture information of the vehicle, including:

[0084] A global coordinate system is established based on the driving direction with the center of the rear axle of the vehicle as the origin, and the yaw angle of the current frame posture and the yaw angle of the previous frame posture corresponding to the displacement distance of the vehicle are obtained;

[0085] According to the yaw angle of the current frame posture and the yaw angle of the previous frame posture, determine the first absolute position coordinate of the corresponding position of the current frame posture in the coordinate system established by the corresponding position of the previous frame posture;

[0086] The final posture information of the vehicle is determined according to the first absolute position coordinates and the yaw angle of the previous frame posture.

[0087] When the positioning algorithm is started, a global coordinate system is established based on the driving direction and the center of the vehicle's rear axle as the origin. Theoretically, the vehicle's posture at this moment is 0, but the actual vehicle posture may not be 0. Therefore, the posture angle at the initial moment is recorded as the initial posture value, that is, the yaw angle. When the yaw angle at the next moment is obtained and the initial yaw angle is subtracted, the posture change of the current vehicle relative to the initial moment is obtained. Figure 3As shown in the figure, car1 posture is the initial posture of the vehicle, car2 posture is the posture of the vehicle in the next frame, car3 posture is the posture of the next frame of car2 posture, yaw is the yaw angle of car2 posture in the global coordinate system, yaw3 is the yaw angle of car3 posture in the global coordinate system, and yaw2 is the yaw angle of car3 posture in the coordinate system established with the corresponding position of car2 posture.

[0088] When calculating the final posture information, it is necessary to convert the displacement at the current moment to the coordinate system of the previous moment. The posture of car3 is the posture of the vehicle at the current moment. The coordinates of the posture of car3 in the coordinate system corresponding to the posture of car2 are solved, and then the coordinates of the posture of car3 in the coordinate system corresponding to the posture of car2 are converted to the global coordinate system. The specific steps include:

[0089] The displacement distance of the vehicle is the distance d2 that the position corresponding to the car3 posture moves relative to the position corresponding to the car2 posture. The yaw angle yaw3 of the current frame posture (car3 posture) and the yaw angle yaw of the previous frame posture (car2 posture) corresponding to the displacement distance of the vehicle are obtained. According to yaw2=yaw3-yaw, the yaw angle of the car3 posture in the coordinate system established with the position corresponding to the car2 posture can be obtained. The first absolute position coordinates (xOffset, yOffset) of the car3 posture are calculated based on the following formula:

[0090] xOffset=sign*D2*cos(yaw2*0.5)(1)

[0091] yOffset=-sign*D2*sin(yaw2*0.5)(2)

[0092] Among them, sign is the driving direction of the vehicle, and D2 is the displacement distance of the vehicle.

[0093] Finally, according to the first absolute position coordinates and the yaw angle of the previous frame posture, the final posture information of the vehicle is determined, including: obtaining the second absolute position coordinates of the position corresponding to the previous frame posture (car2 posture) in the global coordinate system (car1 posture);

[0094] The final posture information of the vehicle is determined according to the first absolute position coordinate, the second absolute position coordinate and the yaw angle of the previous frame posture.

[0095] Among them, the final posture information is the position coordinate of the vehicle in the global coordinate system, and the second absolute position coordinate is the coordinate of the center of the rear axle of the vehicle in the position corresponding to the car2 posture in the global coordinate system. The coordinate of the center of the rear axle of the vehicle in the position corresponding to the car2 posture can be directly obtained, which is recorded as (Xprepose, Yprepose). The angle of change of car2 posture compared with the initial posture is the yaw angle. The position coordinate of the vehicle in the global coordinate system is calculated based on the following formula:

[0096] x=Xprepose+cos(yaw)*xoffset--sin(yaw)*yoffset(3)

[0097] y=Yprepose+sin(yaw)xoffset+cos(yaw)*yoffset(4)

[0098] The vehicle obtains the position information of the parking space through the image acquisition device. Since the image acquisition device is installed on the vehicle body, from the perspective of the image, the vehicle is always in the middle of the image. In fact, the position of the vehicle in the global coordinate system is not always at the origin. The position coordinates (x, y) of the vehicle in the global coordinate system are denoted as T, and the posture relative to the origin, that is, the yaw angle yaw angle is denoted as R. In the image, the relative position and posture of the parking space and the vehicle can be obtained, denoted as Tip and Rip. The parking space coordinates in the image coordinate system are converted to the global coordinate system to obtain the parking space coordinates Tp(xP, yP)=T+Tip, Rp=R*Rip. After obtaining the position and posture of the vehicle and the parking space in the global coordinate system, the vehicle can be controlled to park in the target parking space. At the same time, the control process also needs to know the position of the vehicle in the global coordinate system in real time to facilitate the acceleration, deceleration and steering control of the vehicle.

[0099] It should be understood that although Figure 2 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in the application, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 2 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0100] Figure 4 A schematic diagram of the structure of an automatic parking control device provided in an embodiment of the present application, which can be arranged in Figure 1The vehicle terminal 110 in the system shown is used to perform the following operations: Figure 2 The method flow shown in Figure 4 As shown, the device may include: a solution module 410, a first determination module 420, and a second determination module 430. The main functions of each component module are as follows:

[0101] A solution module 410 is used to obtain chassis information and inertial navigation information of the vehicle, and to solve the chassis information and inertial navigation information to obtain driving information and initial posture information of the vehicle, respectively, wherein the chassis information includes a wheel speed pulse value of a left rear wheel and a wheel speed pulse value of a right rear wheel of the vehicle;

[0102] A first determination module 420, configured to determine a displacement distance of the vehicle according to a wheel speed pulse value of a left rear wheel and a wheel speed pulse value of a right rear wheel in response to chassis information update;

[0103] The second determination module 430 is used to determine the final posture information of the vehicle according to the displacement distance, driving information and initial posture information of the vehicle, and the final posture information is used to control the vehicle to park in the target parking space.

[0104] As an implementable manner, the solution module 410 is used to obtain the driving state of the left rear wheel of the vehicle in the chassis information; determine the driving information of the vehicle according to the driving state of the left rear wheel of the vehicle; determine whether the inertial navigation information is available; in response to the inertial navigation information being available, obtain the yaw angle corresponding to at least one frame of posture in the inertial navigation information; determine the yaw angle corresponding to the first frame of posture among the yaw angles corresponding to the at least one frame of posture as the initial posture information.

[0105] As an implementable manner, the first determination module 420 is specifically used to obtain the gear information of the vehicle if the driving state of the left rear wheel of the vehicle is in a stopped state; and determine the driving information of the vehicle according to the gear information of the vehicle.

[0106] As an implementable method, the first determination module 420 is specifically used to determine the pulse change value of the left rear wheel and the pulse change value of the right rear wheel based on the current frame wheel speed pulse value and the previous frame wheel speed pulse value of the left rear wheel, and the current frame wheel speed pulse value and the previous frame wheel speed pulse value of the right rear wheel; determine the displacement distance corresponding to two adjacent frame postures of the vehicle based on the pulse change value of the left rear wheel, the pulse change value of the right rear wheel and the preset unit pulse calibration value.

[0107] As an implementable method, the first determination module 420 is specifically used to determine the displacement distance of the left rear wheel based on the pulse change value of the left rear wheel and the preset unit pulse calibration value; determine the displacement distance of the right rear wheel based on the pulse change value of the right rear wheel and the preset unit pulse calibration value; determine the displacement distance corresponding to two adjacent frame postures of the vehicle based on the displacement distance of the left rear wheel and the displacement distance of the right rear wheel.

[0108] As a feasible method, the driving information includes the driving direction; the second determination module 430 is used to establish a global coordinate system with the center of the rear axle of the vehicle as the origin based on the driving direction, and obtain the yaw angle of the current frame posture and the yaw angle of the previous frame posture corresponding to the displacement distance of the vehicle; according to the yaw angle of the current frame posture and the yaw angle of the previous frame posture, determine the first absolute position coordinate of the corresponding position of the current frame posture in the coordinate system established at the corresponding position of the previous frame posture; according to the first absolute position coordinate and the yaw angle of the previous frame posture, determine the final posture information of the vehicle.

[0109] As an implementable method, the second determination module 430 is used to obtain the second absolute position coordinates of the position corresponding to the previous frame posture in the global coordinate system; and determine the final posture information of the vehicle based on the first absolute position coordinates, the second absolute position coordinates and the yaw angle of the previous frame posture.

[0110] The same or similar parts between the above embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device 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.

[0111] According to an embodiment of the present application, the present application also provides a computer device and a computer-readable storage medium.

[0112] like Figure 5 , is a block diagram of a computer device according to an embodiment of the present application. The computer device is intended to represent various forms of digital computers or mobile devices. The digital computer may include a desktop computer, a portable computer, a workbench, a personal digital assistant, a server, a mainframe computer, and other suitable computers. The mobile device may include a tablet computer, a smart phone, a wearable device, etc.

[0113] like Figure 5 As shown, the computer device 500 includes a computing unit 501, a ROM 502, a RAM 503, a bus 504, and an input / output (I / O) interface 505, and the computing unit 501, the ROM 502, and the RAM 503 are connected to each other through the bus 504. The input / output (I / O) interface 505 is also connected to the bus 504.

[0114] The computing unit 501 can perform various processes in the method embodiment of the present application according to the computer instructions stored in the read-only memory (ROM) 502 or the computer instructions loaded from the storage unit 508 to the random access memory (RAM) 503. The computing unit 501 can be various general and / or special processing components with processing and computing capabilities. The computing unit 501 may include, but is not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. In some embodiments, the method provided in the embodiment of the present application can be implemented as a computer software program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 508.

[0115] The RAM 503 may also store various programs and data required for the operation of the computer device 500. Part or all of the computer program may be loaded and / or installed on the computer device 500 via the ROM 502 and / or the communication unit 509.

[0116] The input unit 506, output unit 507, storage unit 508 and communication unit 509 in the computer device 500 can be connected to the I / O interface 505. The input unit 506 can be, for example, a keyboard, a mouse, a touch screen, a microphone, etc. The output unit 507 can be, for example, a display, a speaker, an indicator light, etc. The computer device 500 can exchange information, data, etc. with other devices through the communication unit 509.

[0117] It should be noted that the device may also include other components necessary for normal operation, or may only include components necessary for implementing the solution of the present application, rather than all the components shown in the figure.

[0118] Various implementations of the systems and techniques described herein can be realized in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof.

[0119] The computer instructions for implementing the method of the present application can be written in any combination of one or more programming languages. These computer instructions can be provided to the computing unit 501, so that when the computer instructions are executed by the computing unit 501 such as a processor, the steps involved in the method embodiment of the present application are executed.

[0120] The computer-readable storage medium provided in the present application may be a tangible medium that may contain or store computer instructions for executing the steps involved in the method embodiments of the present application. The computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, and other forms of storage media.

[0121] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. An automatic parking control method, characterized in that: The method comprises: Acquiring chassis information and inertial navigation information of the vehicle, and solving the chassis information and the inertial navigation information to obtain driving information and initial posture information of the vehicle respectively, wherein the chassis information includes a wheel speed pulse value of a left rear wheel and a wheel speed pulse value of a right rear wheel of the vehicle; In response to the chassis information being updated, determining a displacement distance of the vehicle according to a wheel speed pulse value of the left rear wheel and a wheel speed pulse value of the right rear wheel; Final posture information of the vehicle is determined according to the displacement distance of the vehicle, the driving information and the initial posture information, and the final posture information is used to control the vehicle to park in a target parking space.

2. The method according to claim 1, characterized in that The calculating the chassis information and the inertial navigation information to obtain the driving information and the initial posture information of the vehicle respectively includes: Acquire the driving state of the left rear wheel of the vehicle in the chassis information; Determining driving information of the vehicle according to the driving state of the left rear wheel of the vehicle; Determining whether the inertial navigation information is available; In response to the inertial navigation information being available, acquiring a yaw angle corresponding to at least one frame of attitude in the inertial navigation information; The yaw angle corresponding to the first frame of posture among the yaw angles corresponding to the at least one frame of posture is determined as the initial posture information.

3. The method according to claim 2, characterized in that Determining the driving information of the vehicle according to the driving state of the left rear wheel of the vehicle includes: If the driving state of the left rear wheel of the vehicle is in a stopped state, obtaining gear information of the vehicle; The driving information of the vehicle is determined according to the gear information of the vehicle.

4. The method according to claim 1, characterized in that: Determining the displacement distance of the vehicle according to the wheel speed pulse value of the left rear wheel and the wheel speed pulse value of the right rear wheel includes: Determine the pulse change value of the left rear wheel and the pulse change value of the right rear wheel according to the wheel speed pulse value of the left rear wheel in the current frame and the wheel speed pulse value of the previous frame, and the wheel speed pulse value of the right rear wheel in the current frame and the wheel speed pulse value of the previous frame; The displacement distance corresponding to two adjacent frame postures of the vehicle is determined according to the pulse change value of the left rear wheel, the pulse change value of the right rear wheel and the preset unit pulse calibration value.

5. The method according to claim 4, characterized in that The step of determining the displacement distance corresponding to two adjacent frames of posture of the vehicle according to the pulse change value of the left rear wheel, the pulse change value of the right rear wheel and the preset unit pulse calibration value comprises: Determining the displacement distance of the left rear wheel according to the pulse change value of the left rear wheel and the preset unit pulse calibration value; Determining the displacement distance of the right rear wheel according to the pulse change value of the right rear wheel and the preset unit pulse calibration value; The displacement distances corresponding to two adjacent frame postures of the vehicle are determined according to the displacement distance of the left rear wheel and the displacement distance of the right rear wheel.

6. The method according to claim 1, characterized in that The driving information includes a driving direction; and determining the final posture information of the vehicle according to the displacement distance of the vehicle, the driving information and the initial posture information includes: Based on the driving direction, a global coordinate system is established with the center of the rear axle of the vehicle as the origin, and the yaw angle of the current frame posture and the yaw angle of the previous frame posture corresponding to the displacement distance of the vehicle are obtained; Determine, according to the yaw angle of the current frame posture and the yaw angle of the previous frame posture, a first absolute position coordinate of a position corresponding to the current frame posture in a coordinate system established at a position corresponding to the previous frame posture; The final posture information of the vehicle is determined according to the first absolute position coordinates and the yaw angle of the previous frame posture.

7. The method according to claim 6, characterized in that Determining the final posture information of the vehicle according to the first absolute position coordinates and the yaw angle of the previous frame posture includes: Obtaining the second absolute position coordinates of the position corresponding to the posture of the previous frame in the global coordinate system; The final posture information of the vehicle is determined according to the first absolute position coordinate, the second absolute position coordinate and the yaw angle of the previous frame posture.

8. An automatic parking control device, characterized in that: The device comprises: A solution module, used for acquiring chassis information and inertial navigation information of the vehicle, and solving the chassis information and the inertial navigation information to obtain driving information and initial posture information of the vehicle respectively, wherein the chassis information includes a wheel speed pulse value of a left rear wheel and a wheel speed pulse value of a right rear wheel of the vehicle; a first determination module, configured to determine a displacement distance of the vehicle according to a wheel speed pulse value of the left rear wheel and a wheel speed pulse value of the right rear wheel in response to the chassis information being updated; The second determination module is used to determine the final posture information of the vehicle according to the displacement distance of the vehicle, the driving information and the initial posture information, and the final posture information is used to control the vehicle to park in a target parking space.

9. A computer device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores computer instructions that can be executed by the at least one processor, and the computer instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having computer instructions stored thereon, characterized in that: The computer instructions are used to cause a computer to execute the method according to any one of claims 1 to 7.

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