Parking direction adjustment control method and system based on automatic perception

Abstract

The invention provides a parking direction adjustment control method and system based on automatic perception, and relates to the technical field of automobile automatic parking, and the method comprises the steps: carrying out the parking initialization, and obtaining the position of a vehicle charging port and the information of a parking space to be parked; acquiring a parking space environment image and radar data, and identifying a parking space position and a charging pile position according to the parking space environment image and the radar data; the parking process is started, the parking direction and the vehicle body posture are automatically adjusted according to the vehicle charging port position and the recognized charging pile position, and the charging port is made to be close to the charging pile; the parking direction and the vehicle body posture are automatically adjusted according to the position of a vehicle charging port and the recognized position of a charging pile, and the method comprises the steps that a vehicle automatic driving controller makes decisions and control actions according to predefined rules and a pre-learned mode, and the decisions and control commands are transmitted to a parking module; the parking module calculates a life control command to control automatic parking of the autonomous vehicle.

Description

Technical Field

[0001] The present disclosure relates to the technical field of automatic parking of automobiles, and in particular to a parking direction adjustment control method and system based on automatic perception. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] With the continuous growth of social economy, cars are becoming more and more popular as modern means of transportation, and the rate of automatic parking technology is getting higher and higher. However, the charging ports of different new energy vehicles are located in different positions, and the location of the car charging port varies from model to model. For example, the charging port of some electric models is placed at the rear right side of the car body, and the corresponding public charging piles corresponding to this design are mostly on the right side of the car body. Some general plug-in hybrid models choose to place the charging port in the front left side of the car body. This design is convenient for car owners to charge in parking lots and other places. Some electric models design the charging port in front of the car body, usually above the front bumper or the front face grid. There are also some models whose charging ports are set at the rear left side of the car body. In summary, the charging port of new energy vehicles is generally located in three positions on the car body: the front of the car, the front fender, and the rear fender. Currently, most new energy vehicles automatically park by parking the car with the rear end of the car or manually selecting the parking direction. For models with charging ports in various positions as mentioned above, the automatic parking function cannot effectively and quickly park the car in the charging station parking space according to the position of the vehicle's charging port, adjust the position of the vehicle body, and further bring the charging port closer to the charging pile. The use process lacks convenience and safety and reliability. Summary of the invention

[0004] In order to solve the above-mentioned problems, the present disclosure proposes a parking direction adjustment control method and system based on automatic perception, which automatically perceives the position of the charging pile and adjusts the position of the vehicle body for automatic parking according to different position scenarios of the charging port and the charging pile, so that different charging ports of different vehicle models can be closer to the charging pile, thereby effectively completing the vehicle's automatic parking and charging function.

[0005] According to some embodiments, the present disclosure adopts the following technical solutions:

[0006] The parking direction adjustment control method based on automatic perception includes:

[0007] Initialize parking to obtain the location of the vehicle's charging port and the parking space to be parked;

[0008] Obtain parking environment images and radar data, and identify parking space locations and charging pile locations based on the parking environment images and radar data;

[0009] Start the parking process, automatically adjust the parking direction and body posture according to the location of the vehicle charging port and the identified charging pile, so that the charging port is close to the charging pile;

[0010] Among them, the parking direction and vehicle body posture are automatically adjusted according to the position of the vehicle charging port and the identified charging pile position, including: the vehicle automatic driving controller makes decisions and control actions according to predefined rules and pre-learned patterns, and transmits the decisions and control commands to the parking module, and the parking module calculates the control commands to control the autonomous vehicle to automatically park.

[0011] According to some embodiments, the present disclosure adopts the following technical solutions:

[0012] The parking direction adjustment control system based on automatic perception includes:

[0013] Initialization module, used for parking initialization, obtaining the location of the vehicle charging port and the parking space information to be parked;

[0014] A data processing module is used to obtain parking environment images and radar data, and identify the parking space location and charging pile location based on the parking environment images and radar data;

[0015] The parking control module is used to start the parking process and automatically adjust the parking direction and vehicle body posture according to the position of the vehicle charging port and the identified charging pile position, so that the charging port is close to the charging pile;

[0016] Among them, the parking direction and vehicle body posture are automatically adjusted according to the position of the vehicle charging port and the identified charging pile position, including: the vehicle automatic driving controller makes decisions and control actions according to predefined rules and pre-learned patterns, and transmits the decisions and control commands to the parking module, and the parking module calculates the control commands to control the autonomous vehicle to automatically park.

[0017] According to some embodiments, the present disclosure adopts the following technical solutions:

[0018] A computer program product includes a computer program, and when the computer program is executed by a processor, the automatic perception-based parking direction adjustment control method is implemented.

[0019] According to some embodiments, the present disclosure adopts the following technical solutions:

[0020] A non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the automatic perception-based parking direction adjustment control method is implemented.

[0021] According to some embodiments, the present disclosure adopts the following technical solutions:

[0022] An electronic device comprises: a processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory so that the electronic device executes the parking direction adjustment control method based on automatic perception.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention discloses a parking direction adjustment control method based on automatic perception. When the driver drives to a charging station to use the vehicle's automatic parking function, the driver turns on the automatic parking function, selects the parking space he wants to park in, and the vehicle first uses the vehicle positioning system to determine whether its own position is at the charging station, and then starts camera and radar recognition to identify the garage position and the charging pile position. After recognition, the vehicle actively adjusts the parking direction and body posture of the vehicle according to the position of its own charging port to make the charging port closer to the charging pile, so that after the vehicle completes automatic parking, different charging ports of different models are closer to the charging pile, which is convenient for users to use the automatic parking function to charge the vehicle in the charging station scene, thereby improving cost-effectiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0026] Figure 1 A flowchart of a working method for adjusting the automatic parking direction according to an embodiment of the present disclosure; DETAILED DESCRIPTION

[0027] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0028] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0029] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0030] Example 1

[0031] The parking direction adjustment control method based on automatic perception disclosed in the present invention is to facilitate the use of the automatic parking function in the charging station scenario, so that after the vehicle completes the automatic parking, the different charging ports of different models are located closer to the charging pile, so that the user can use the automatic parking function to charge the vehicle in the charging station scenario. The method includes:

[0032] Step 1: Parking initialization, obtain the location of the vehicle charging port and the parking space information to be parked;

[0033] Step 2: Obtain parking environment images and radar data, and identify parking space locations and charging pile locations based on the parking environment images and radar data;

[0034] Step 3: Start the parking process, and automatically adjust the parking direction and vehicle posture according to the location of the vehicle charging port and the identified charging pile, so that the charging port is close to the charging pile;

[0035] Among them, the parking direction and vehicle body posture are automatically adjusted according to the position of the vehicle charging port and the identified charging pile position, including: the vehicle automatic driving controller makes decisions and control actions according to predefined rules and pre-learned patterns, and transmits the decisions and control commands to the parking module, and the parking module calculates the control commands to control the autonomous vehicle to automatically park.

[0036] As an embodiment, the specific implementation process of the parking direction adjustment control method based on automatic perception disclosed in the present invention is as follows:

[0037] Step 1: Parking initialization, obtain the location of the vehicle charging port and the parking space information to be parked;

[0038] Specifically, when the driver drives to the charging station to use the vehicle's automatic parking function, he turns on the automatic parking function and selects the parking space he wants to park in. The vehicle controller obtains the vehicle's automatic parking function start signal, determines the vehicle's own position through the map and real-time positioning system, and determines the specific parking position based on the parking space information to be parked.

[0039] Step 2: Obtain parking environment images and radar data, and identify parking space locations and charging pile locations based on the parking environment images and radar data;

[0040] Among them, various sensors in the vehicle, including lidar, high-definition cameras and ultrasonic sensors, are used to obtain parking environment images and radar data, which are uploaded to the vehicle controller for processing and fusion to identify the specific location of the parking space and the location of the charging pile.

[0041] Specifically, existing deep learning algorithms, including CNN neural networks or RNN neural networks, are used to realize position recognition and classification. Parking environment images and radar data are used as inputs, and the classification of charging pile positions is realized through processing and feature fusion of existing neural network structures.

[0042] Step 3: Start the parking process, and automatically adjust the parking direction and vehicle posture according to the location of the vehicle charging port and the identified charging pile, so that the charging port is close to the charging pile;

[0043] The vehicle controller makes decisions and control commands based on the location of its own charging port, based on the data received by the LiDAR, HD camera, and ultrasonic sensor, according to predefined rules and learned patterns, and the parking module calculates commands to control the automatic parking operation of the autonomous vehicle.

[0044] Among them, the parking direction and vehicle body posture are automatically adjusted according to the position of the vehicle charging port and the identified charging pile position, including: the vehicle automatic driving controller makes decisions and control actions according to predefined rules and pre-learned patterns, and transmits the decisions and control commands to the parking module, and the parking module calculates the control commands to control the autonomous vehicle to automatically park.

[0045] Furthermore, according to predefined rules, that is, the parking direction of the vehicle body is selected according to the position of the charging port. The learning mode is to adopt existing deep learning algorithms, including CNN neural network or RNN neural network to realize the recognition and classification of the position, and take the parking environment image and radar data as input. After processing and feature fusion of the existing neural network structure, the classification of the charging pile position is realized.

[0046] Furthermore, according to the different locations of the charging port, the process of automatically adjusting the parking direction is divided into four situations:

[0047] 1) The charging port is located in the middle of the front of the vehicle, and the parking path is controlled so that the front of the vehicle is parked in the middle of the garage;

[0048] 2) When the vehicle charging port is on the left front fender of the vehicle, when the vehicle controls the parking path, the front of the vehicle is parked in the garage with the body on the right, and the right side of the vehicle is close to the set distance value from the parking space line;

[0049] 3) When the vehicle charging port is located at the right rear fender, the vehicle is controlled to park in the garage with the rear end of the vehicle, and the left side of the vehicle is close to the set distance from the parking space line;

[0050] 4) When the vehicle charging port is located at the left rear fender, the vehicle is controlled to park in the garage with the rear end of the vehicle centered.

[0051] As an embodiment, the parking direction adjustment control method based on automatic perception disclosed in the present invention is specifically implemented as follows:

[0052] After the user starts the vehicle's automatic parking function, the owner authorizes the vehicle's positioning and location permissions (after authorization, the vehicle can be automatically positioned without re-authorization). At the same time, the vehicle's accurate location is determined through high-precision maps and real-time positioning systems (such as GPS), and the vehicle map information is obtained to confirm that the vehicle is at the charging station. After selecting the parking space you want to park in, the various sensors installed on the car (such as laser radar, high-definition camera, ultrasonic sensor, etc.) are used to perceive the surrounding environment. These sensors can identify road signs, vehicles, pedestrians and other obstacles, and obtain images of the surrounding environment of the charging station through these perception units. The on-board computer processes and integrates the data from the sensors to form a comprehensive understanding and understanding of the environment, identify and classify the charging station environment, and then confirm the location of the charging pile and the garage based on the overall grasp of the scene; then the vehicle determines the location of its own charging port. Based on the information received by the laser radar, high-definition camera, and ultrasonic sensor, the vehicle will make decisions and control actions based on predefined rules and learning patterns based on a full understanding and analysis of environmental information. The parking module can then calculate commands to control the automatic parking operation of the autonomous vehicle. There are four situations according to the location of the charging port: 1. The charging port is located in the middle of the front of the car. In this case, the front of the car is parked in the middle of the garage after the parking path is planned; 2. When the charging port of the vehicle is on the left front fender of the vehicle, when the vehicle is planned to park, the front of the car is parked in the garage on the right, and the right side of the car is about 30 cm away from the parking space line; 3. When the charging port of the vehicle is located at the right rear fender, the vehicle automatically plans the parking path, the rear of the car is parked in the garage, and the left side of the car is about 30 cm away from the parking space line; 4. When the charging port of the vehicle is located at the left rear fender, the vehicle automatically plans the parking path, the rear of the car is parked in the garage, and the car is centered. Different path planning methods for the four situations make the charging port close to the charging pile for user convenience.

[0053] Example 2

[0054] In one embodiment of the present disclosure, a parking direction adjustment control system based on automatic perception is provided, comprising:

[0055] Initialization module, used for parking initialization, obtaining the location of the vehicle charging port and the parking space information to be parked;

[0056] A data processing module is used to obtain parking environment images and radar data, and identify the parking space location and charging pile location based on the parking environment images and radar data;

[0057] The parking control module is used to start the parking process and automatically adjust the parking direction and vehicle body posture according to the position of the vehicle charging port and the identified charging pile position, so that the charging port is close to the charging pile;

[0058] Among them, the parking direction and vehicle body posture are automatically adjusted according to the position of the vehicle charging port and the identified charging pile position, including: the vehicle automatic driving controller makes decisions and control actions according to predefined rules and pre-learned patterns, and transmits the decisions and control commands to the parking module, and the parking module calculates the control commands to control the autonomous vehicle to automatically park.

[0059] As an embodiment, the parking direction adjustment control method based on automatic perception disclosed in the present invention is specifically implemented as follows:

[0060] After the user starts the vehicle's automatic parking function, the owner authorizes the vehicle's positioning and location permissions (after authorization, the vehicle can be automatically positioned without re-authorization). At the same time, the vehicle's accurate location is determined through high-precision maps and real-time positioning systems (such as GPS), and the vehicle map information is obtained to confirm that the vehicle is at the charging station. After selecting the parking space you want to park in, the various sensors installed on the car (such as laser radar, high-definition camera, ultrasonic sensor, etc.) are used to perceive the surrounding environment. These sensors can identify road signs, vehicles, pedestrians and other obstacles, and obtain images of the surrounding environment of the charging station through these perception units. The on-board computer processes and integrates the data from the sensors to form a comprehensive understanding and understanding of the environment, identify and classify the charging station environment, and then confirm the location of the charging pile and the garage based on the overall grasp of the scene; then the vehicle determines the location of its own charging port. Based on the information received by the laser radar, high-definition camera, and ultrasonic sensor, the vehicle will make decisions and control actions based on predefined rules and learning patterns based on a full understanding and analysis of environmental information. The parking module can then calculate commands to control the automatic parking operation of the autonomous vehicle. There are four situations according to the location of the charging port: 1. The charging port is located in the middle of the front of the car. In this case, the front of the car is parked in the middle of the garage after the parking path is planned; 2. When the charging port of the vehicle is on the left front fender of the vehicle, when the vehicle is planned to park, the front of the car is parked in the garage on the right, and the right side of the car is about 30 cm away from the parking space line; 3. When the charging port of the vehicle is located at the right rear fender, the vehicle automatically plans the parking path, the rear of the car is parked in the garage, and the left side of the car is about 30 cm away from the parking space line; 4. When the charging port of the vehicle is located at the left rear fender, the vehicle automatically plans the parking path, the rear of the car is parked in the garage, and the car is centered. Different path planning methods for the four situations make the charging port close to the charging pile for user convenience.

[0061] Example 3

[0062] In one embodiment of the present disclosure, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the automatic perception-based parking direction adjustment control method is implemented.

[0063] Example 4

[0064] In one embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed by a processor, the automatic perception-based parking direction adjustment control method is implemented.

[0065] Example 5

[0066] In one embodiment of the present disclosure, an electronic device is provided, including: a processor, a memory, and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the automatic perception-based parking direction adjustment control method.

[0067] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0068] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0069] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A parking direction adjustment control method based on automatic perception, characterized in that: include: Initialize parking to obtain the location of the vehicle's charging port and the parking space to be parked; Obtain parking environment images and radar data, and identify parking space locations and charging pile locations based on the parking environment images and radar data; Start the parking process, automatically adjust the parking direction and body posture according to the location of the vehicle charging port and the identified charging pile, so that the charging port is close to the charging pile; Among them, the parking direction and vehicle body posture are automatically adjusted according to the position of the vehicle charging port and the identified charging pile position, including: the vehicle automatic driving controller makes decisions and control actions according to predefined rules and pre-learned patterns, and transmits the decisions and control commands to the parking module, and the parking module calculates the control commands to control the autonomous vehicle to automatically park.

2. The parking direction adjustment control method based on automatic perception as claimed in claim 1, characterized in that: Parking initialization, obtain the vehicle's automatic parking function start signal, determine the vehicle's own position through the map and real-time positioning system, obtain the parking space information to determine the specific parking position.

3. The parking direction adjustment control method based on automatic perception as claimed in claim 1, characterized in that: Through various sensors in the vehicle, including lidar, high-definition cameras and ultrasonic sensors, the parking environment images and radar data are obtained through the sensors, and the parking environment images and radar data are uploaded to the vehicle controller for processing and fusion to identify the specific location of the parking space and the location of the charging pile.

4. The parking direction adjustment control method based on automatic perception as claimed in claim 1, characterized in that: The vehicle controller makes decisions and control commands based on the location of its own charging port, based on the data received by the LiDAR, HD camera, and ultrasonic sensor, according to predefined rules and learned patterns, and the parking module calculates commands to control the automatic parking operation of the autonomous vehicle.

5. The parking direction adjustment control method based on automatic perception as claimed in claim 1, characterized in that: Depending on the location of the charging port, the process of automatically adjusting the parking direction is divided into four situations: 1) The charging port is located in the middle of the front of the vehicle, and the parking path is controlled so that the front of the vehicle is parked in the middle of the garage; 2) When the vehicle charging port is on the left front fender of the vehicle, when the vehicle controls the parking path, the front of the vehicle is parked in the garage with the body on the right, and the right side of the vehicle is close to the set distance value from the parking space line; 3) When the vehicle charging port is located at the right rear fender, the vehicle is controlled to park in the garage with the rear end of the vehicle, and the left side of the vehicle is close to the set distance from the parking space line; 4) When the vehicle charging port is located at the left rear fender, the vehicle is controlled to park in the garage with the rear end of the vehicle centered.

6. The parking direction adjustment control system based on automatic perception is characterized by: include: Initialization module, used for parking initialization, obtaining the location of the vehicle charging port and the parking space information to be parked; A data processing module is used to obtain parking environment images and radar data, and identify the parking space location and charging pile location based on the parking environment images and radar data; The parking control module is used to start the parking process and automatically adjust the parking direction and vehicle body posture according to the position of the vehicle charging port and the identified charging pile position, so that the charging port is close to the charging pile; Among them, the parking direction and vehicle body posture are automatically adjusted according to the position of the vehicle charging port and the identified charging pile position, including: the vehicle automatic driving controller makes decisions and control actions according to predefined rules and pre-learned patterns, and transmits the decisions and control commands to the parking module, and the parking module calculates the control commands to control the autonomous vehicle to automatically park.

7. The automatic sensing-based parking direction adjustment control system according to claim 6, characterized in that: Depending on the location of the charging port, the process of automatically adjusting the parking direction is divided into four situations: 1) The charging port is located in the middle of the front of the vehicle, and the parking path is controlled so that the front of the vehicle is parked in the middle of the garage; 2) When the vehicle charging port is on the left front fender of the vehicle, when the vehicle controls the parking path, the front of the vehicle is parked in the garage with the body on the right, and the right side of the vehicle is close to the set distance value from the parking space line; 3) When the vehicle charging port is located at the right rear fender, the vehicle is controlled to park in the garage with the rear end of the vehicle, and the left side of the vehicle is close to the set distance from the parking space line; 4) When the vehicle charging port is located at the left rear fender, the vehicle is controlled to park in the garage with the rear end of the vehicle centered.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the parking direction adjustment control method based on automatic perception as described in any one of claims 1 to 5 is implemented.

9. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, the parking direction adjustment control method based on automatic perception as described in any one of claims 1-5 is implemented.

10. An electronic device, characterized in that: include: A processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the parking direction adjustment control method based on automatic perception as described in any one of claims 1-5.

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