Parking direction adjustment control method and system based on automatic perception

Abstract

This disclosure provides a parking direction adjustment control method and system based on automatic perception, relating to the field of automatic parking technology for automobiles. The method includes: parking initialization, acquiring the location of the vehicle's charging port and information about the parking space to be parked; acquiring parking space environment images and radar data, identifying the parking space location and charging pile location based on the parking space environment images and radar data; initiating the parking process, automatically adjusting the parking direction and vehicle posture based on the vehicle's charging port location and the identified charging pile location, so that the charging port is close to the charging pile; wherein, automatically adjusting the parking direction and vehicle posture based on the vehicle's charging port location and the identified charging pile location includes: the vehicle's automatic driving controller making decisions and control actions according to predefined rules and pre-learned patterns, and transmitting the decisions and control commands to the parking module, the parking module calculating control commands to control the autonomous vehicle to park automatically.

Description

Technical Field

[0001] This disclosure relates to the field of automatic parking technology, specifically to a parking direction adjustment control method and system based on automatic perception. Background Technology

[0002] The statements in this section are merely background information relating to this disclosure and do not necessarily constitute prior art.

[0003] With the continuous growth of the social economy, automobiles are becoming increasingly popular as a modern means of transportation, and the adoption rate of automatic parking technology is rising. However, the location of the charging port varies among different new energy vehicles, and even within a single vehicle model, the location of the charging port differs. For example, some electric vehicles place their charging port on the rear right side of the vehicle, and corresponding public charging stations are usually located on the right side of the vehicle. Some common plug-in hybrid vehicles place the charging port on the front left side of the vehicle, a design that makes it convenient for owners to charge in parking lots and other locations. Some electric vehicles have the charging port located at the front of the vehicle, usually above the front bumper or front grille. Other models have the charging port located on the rear left side of the vehicle. In summary, the charging ports of new energy vehicles are generally located in three positions on the vehicle: the front of the car, the front fender, and the rear fender. Currently, most new energy vehicles require automatic parking, either by parking the rear of the vehicle into the parking space or by manually selecting the parking direction. For models with charging ports in various locations, the automatic parking function cannot effectively and quickly park the vehicle in a charging station space based on the location of the charging port, adjust the vehicle's position, and further bring the charging port closer to the charging pile. This results in a lack of convenience and safety reliability in the usage process. Summary of the Invention

[0004] To address the aforementioned issues, this disclosure proposes a parking direction adjustment control method and system based on automatic perception. For different scenarios involving the charging port and charging pile, the method automatically senses the location of the charging pile and adjusts the vehicle's position during automatic parking, enabling different models and charging port locations to be closer to the charging pile, effectively completing the vehicle's automatic parking and charging function.

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

[0006] Parking direction adjustment control methods based on automatic perception include:

[0007] Parking initialization: Obtain the location of the vehicle's charging port and the parking space information to be parked in;

[0008] Acquire parking space environment images and radar data, and identify the location of parking spaces and charging piles based on the parking space environment images and radar data;

[0009] When the parking process is initiated, the vehicle automatically adjusts its parking direction and vehicle posture based on the location of the vehicle's charging port and the identified charging pile, so that the charging port is close to the charging pile.

[0010] The automatic adjustment of parking direction and vehicle posture based on the location of the vehicle's charging port and the identified charging pile includes: the vehicle's autonomous 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, which calculates the control commands to control the autonomous vehicle to park automatically.

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

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

[0013] The initialization module is used for parking initialization, which obtains the location of the vehicle's charging port and the parking space information to be parked in;

[0014] The data processing module is used to acquire parking space environment images and radar data, and to identify the location of the parking space and the charging pile based on the parking space environment images and radar data.

[0015] The parking control module is used to initiate the parking process. It automatically adjusts the parking direction and vehicle posture according to the location of the vehicle's charging port and the identified charging pile, so that the charging port is close to the charging pile.

[0016] The automatic adjustment of parking direction and vehicle posture based on the location of the vehicle's charging port and the identified charging pile includes: the vehicle's autonomous 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, which calculates the control commands to control the autonomous vehicle to park automatically.

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

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

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

[0020] A non-transitory computer-readable storage medium is provided for storing computer instructions, which, when executed by a processor, implement the aforementioned automatic perception-based parking direction adjustment control method.

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

[0022] An electronic device includes 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 cause the electronic device to perform the automatic perception-based parking direction adjustment control method.

[0023] Compared with the prior art, the beneficial effects of this disclosure are as follows:

[0024] This disclosure discloses a parking direction adjustment control method based on automatic perception. When a driver drives to a charging station to use the vehicle's automatic parking function, after activating the automatic parking function and selecting the desired parking space, the vehicle first uses the vehicle positioning system to determine whether it is located at a charging station. Once the vehicle's location is confirmed, the camera and radar are activated to identify the location of the parking space and the charging pile. After identification, based on the location of its own charging port, the vehicle actively adjusts its parking direction and body posture to bring the charging port closer to the charging pile. After the vehicle completes automatic parking, the charging port positions of different models are closer to the charging pile, making it convenient for users to use the automatic parking function to charge their vehicles at charging stations and improving efficiency. Attached Figure Description

[0025] The accompanying drawings, which form part of this disclosure, are used to provide a further understanding of this disclosure. The illustrative embodiments of this disclosure and their descriptions are used to explain this disclosure and do not constitute an undue limitation of this disclosure.

[0026] Figure 1 This is a flowchart illustrating the working method of adjusting the direction of automatic parking according to an embodiment of the present disclosure; Detailed Implementation

[0027] The present disclosure will be further described below with reference to the accompanying drawings and embodiments.

[0028] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0029] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this disclosure. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0030] Example 1

[0031] The disclosed automatic perception-based parking direction adjustment control method aims to facilitate the use of automatic parking functions in charging station scenarios. After automatic parking, the method ensures that different charging ports for different vehicle models are positioned closer to the charging pile, making it easier for users to charge their vehicles using the automatic parking function at charging stations. The method includes:

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

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

[0034] Step 3: Initiate the parking process. Based on the location of the vehicle's charging port and the identified charging pile, automatically adjust the parking direction and vehicle posture to bring the charging port closer to the charging pile.

[0035] The automatic adjustment of parking direction and vehicle posture based on the location of the vehicle's charging port and the identified charging pile includes: the vehicle's autonomous 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, which calculates the control commands to control the autonomous vehicle to park automatically.

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

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

[0038] Specifically, when a driver drives to a charging station to use the vehicle's automatic parking function, after activating the automatic parking function and selecting the desired parking space, the vehicle controller receives the automatic parking function activation signal, determines the vehicle's own position through a map and real-time positioning system, and determines the specific parking location based on the parking space information.

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

[0040] The system uses various sensors in the vehicle, including LiDAR, high-definition cameras, and ultrasonic sensors, to acquire images of the parking space environment and radar data. These images and data are then uploaded to the vehicle controller for processing and fusion to identify the specific location of the parking space and the charging station.

[0041] Specifically, existing deep learning algorithms, including CNN neural networks or RNN neural networks, are used to identify and classify the location. Parking space environment images and radar data are used as inputs, and after processing and feature fusion through existing neural network structures, the location of charging piles is classified.

[0042] Step 3: Initiate the parking process. The vehicle will automatically adjust its parking direction and vehicle posture based on the location of the charging port and the identified charging station, so that the charging port is close to the charging station.

[0043] Based on the location of its charging port and data received from LiDAR, high-definition cameras, and ultrasonic sensors, the vehicle controller makes decisions and control commands according to predefined rules and learned patterns. The parking module calculates commands to control the autonomous vehicle's automatic parking operation.

[0044] The automatic adjustment of parking direction and vehicle posture based on the location of the vehicle's charging port and the identified charging pile includes: the vehicle's autonomous 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, which calculates the control commands to control the autonomous vehicle to park automatically.

[0045] Furthermore, according to predefined rules, namely selecting the parking direction of the vehicle based on the location of the charging port, the learning mode adopts existing deep learning algorithms, including CNN neural networks or RNN neural networks, to identify and classify the location. The parking space environment image and radar data are used as input, and after processing and feature fusion of the existing neural network structure, the location of the charging pile is classified.

[0046] Furthermore, depending on the location of the charging port, the process of automatically adjusting the parking direction can be divided into four scenarios:

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

[0048] 2) When the vehicle's charging port is on the front left fender, when the vehicle controls the parking path, the front of the vehicle enters the garage with the body on the right, and the right side of the vehicle is near the parking space line at a set distance.

[0049] 3) When the vehicle's charging port is located on the right rear fender, the vehicle parking control will be set so that the rear of the vehicle is parked in the garage and the left side of the vehicle is near the parking space line.

[0050] 4) When the vehicle's charging port is located on the left rear fender, the vehicle will be parked with the rear of the vehicle in the garage and the vehicle body centered.

[0051] As one embodiment, the specific implementation of the automatic perception-based parking direction adjustment control method disclosed herein is as follows:

[0052] After the user activates the vehicle's automatic parking function, the owner authorizes the vehicle's location and positioning permissions (once authorized, no further authorization is needed for automatic positioning). Simultaneously, a high-precision map and real-time positioning system (such as GPS) determine the vehicle's exact location. The system obtains map information to confirm the vehicle's location is at a charging station. After selecting a desired parking space, various sensors installed on the vehicle (such as LiDAR, high-definition cameras, and ultrasonic sensors) perceive the surrounding environment. These sensors can identify road signs, vehicles, pedestrians, and other obstacles. Images of the charging station's surrounding environment are acquired through these sensing units. The onboard computer processes and fuses the data from the sensors to form a comprehensive understanding of the environment, identifying and classifying the charging station environment, and then confirming the location of the charging pile and the parking space. The vehicle then determines its own charging port location. Based on the information received from LiDAR, high-definition cameras, and ultrasonic sensors, and after fully understanding and analyzing the environmental information, the autonomous driving system makes decisions and control actions according to predefined rules and learned patterns. The parking module then calculates commands to control the autonomous vehicle's automatic parking operation. There are four parking scenarios based on the location of the charging port: 1. The charging port is located in the center of the front of the vehicle. In this case, after planning the parking path, the front of the vehicle will be centered in the garage. 2. When the charging port is located on the left front fender, the front of the vehicle will be positioned to the right, with the right side of the vehicle approximately 30 centimeters from the parking space line. 3. When the charging port is located on the right rear fender, the vehicle will automatically park with the rear of the vehicle in the garage, with the left side of the vehicle approximately 30 centimeters from the parking space line. 4. When the charging port is located on the left rear fender, the vehicle will automatically park with the rear of the vehicle in the garage, centered in the garage. These four different path planning methods ensure that the charging port is close to the charging station for user convenience.

[0053] Example 2

[0054] One embodiment of this disclosure provides a parking direction adjustment control system based on automatic perception, including:

[0055] The initialization module is used for parking initialization, which obtains the location of the vehicle's charging port and the parking space information to be parked in;

[0056] The data processing module is used to acquire parking space environment images and radar data, and to identify the location of the parking space and the charging pile based on the parking space environment images and radar data.

[0057] The parking control module is used to initiate the parking process. It automatically adjusts the parking direction and vehicle posture according to the location of the vehicle's charging port and the identified charging pile, so that the charging port is close to the charging pile.

[0058] The automatic adjustment of parking direction and vehicle posture based on the location of the vehicle's charging port and the identified charging pile includes: the vehicle's autonomous 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, which calculates the control commands to control the autonomous vehicle to park automatically.

[0059] As one embodiment, the specific implementation of the automatic perception-based parking direction adjustment control method disclosed herein is as follows:

[0060] After the user activates the vehicle's automatic parking function, the owner authorizes the vehicle's location and positioning permissions (once authorized, no further authorization is needed for automatic positioning). Simultaneously, a high-precision map and real-time positioning system (such as GPS) determine the vehicle's exact location. The system obtains map information to confirm the vehicle's location is at a charging station. After selecting a desired parking space, various sensors installed on the vehicle (such as LiDAR, high-definition cameras, and ultrasonic sensors) perceive the surrounding environment. These sensors can identify road signs, vehicles, pedestrians, and other obstacles. Images of the charging station's surrounding environment are acquired through these sensing units. The onboard computer processes and fuses the data from the sensors to form a comprehensive understanding of the environment, identifying and classifying the charging station environment, and then confirming the location of the charging pile and the parking space. The vehicle then determines its own charging port location. Based on the information received from LiDAR, high-definition cameras, and ultrasonic sensors, and after fully understanding and analyzing the environmental information, the autonomous driving system makes decisions and control actions according to predefined rules and learned patterns. The parking module then calculates commands to control the autonomous vehicle's automatic parking operation. There are four parking scenarios based on the location of the charging port: 1. The charging port is located in the center of the front of the vehicle. In this case, after planning the parking path, the front of the vehicle will be centered in the garage. 2. When the charging port is located on the left front fender, the front of the vehicle will be positioned to the right, with the right side of the vehicle approximately 30 centimeters from the parking space line. 3. When the charging port is located on the right rear fender, the vehicle will automatically park with the rear of the vehicle in the garage, with the left side of the vehicle approximately 30 centimeters from the parking space line. 4. When the charging port is located on the left rear fender, the vehicle will automatically park with the rear of the vehicle in the garage, centered in the garage. These four different path planning methods ensure that the charging port is close to the charging station for user convenience.

[0061] Example 3

[0062] One embodiment of this disclosure provides a computer program product, including a computer program that, when executed by a processor, implements the automatic perception-based parking direction adjustment control method.

[0063] Example 4

[0064] One embodiment of this disclosure provides a non-transitory computer-readable storage medium for storing computer instructions, which, when executed by a processor, implement the automatic perception-based parking direction adjustment control method.

[0065] Example 5

[0066] One embodiment of this disclosure provides an electronic device, including a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory to enable the electronic device to implement the automatic perception-based parking direction adjustment control method.

[0067] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0068] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0069] While the specific embodiments of this disclosure have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of this disclosure. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of this disclosure are still within the scope of protection of this disclosure.

Claims

1. A parking direction adjustment control method based on automatic perception, characterized in that, include: Parking initialization involves obtaining the location of the vehicle's charging port and the parking space information to be parked in. Specifically, it involves obtaining the automatic parking function activation signal, determining the vehicle's own location through a map and real-time positioning system, and obtaining the parking space information to determine the specific parking location. Acquire parking space environment images and radar data, and identify the location of parking spaces and charging piles based on the parking space environment images and radar data; When the parking process is initiated, the vehicle automatically adjusts its parking direction and vehicle posture based on the location of the vehicle's charging port and the identified charging pile, so that the charging port is close to the charging pile. The automatic adjustment of parking direction and vehicle posture based on the location of the vehicle's charging port and the identified charging pile includes: the vehicle's autonomous driving controller makes decisions and control actions based on the location of its own charging port, the data received by the acquired LiDAR, high-definition camera and ultrasonic sensor, and the predefined rules and pre-learned patterns, and transmits the decisions and control commands to the parking module, which calculates the commands to control the autonomous vehicle to park automatically. Depending on the location of the charging port, the automatic parking direction adjustment process can be divided into four scenarios: 1) The charging port is located in the middle of the front of the car, and the parking path is controlled so that the front of the car is parked in the garage and the vehicle is centered. 2) When the vehicle's charging port is on the front left fender, when the vehicle controls the parking path, the front of the vehicle enters the garage with the vehicle body on the right, and the right side of the vehicle body is near the set distance from the parking space line. 3) When the vehicle's charging port is located on the right rear fender, the vehicle parking control will be to park the rear of the vehicle in the garage, with the left side of the vehicle body near the parking space line at a set distance. 4) When the vehicle's charging port is located on the left rear fender, the vehicle will be parked with the rear of the vehicle in the garage and the vehicle body centered.

2. The parking direction adjustment control method based on automatic perception as described in claim 1, characterized in that, By using various sensors in the vehicle, including LiDAR, high-definition cameras, and ultrasonic sensors, the system acquires images of the parking space environment and radar data. These images and data are then uploaded to the vehicle controller for processing and fusion to identify the specific location of the parking space and the charging station.

3. A parking direction adjustment control system based on automatic perception, characterized in that, include: The initialization module is used for parking initialization, obtaining the location of the vehicle's charging port and the parking space information to be parked in; specifically, it obtains the vehicle's automatic parking function start signal, determines the vehicle's own position through the map and real-time positioning system, and obtains the parking space information to determine the specific parking position. The data processing module is used to acquire parking space environment images and radar data, and to identify the location of the parking space and the charging pile based on the parking space environment images and radar data. The parking control module is used to initiate the parking process. It automatically adjusts the parking direction and vehicle posture according to the location of the vehicle's charging port and the identified charging pile, so that the charging port is close to the charging pile. The automatic adjustment of parking direction and vehicle posture based on the location of the vehicle's charging port and the identified charging pile includes: the vehicle's autonomous driving controller makes decisions and control actions based on the location of its own charging port, the data received by the acquired LiDAR, high-definition camera and ultrasonic sensor, and the predefined rules and pre-learned patterns, and transmits the decisions and control commands to the parking module, which calculates the commands to control the autonomous vehicle to park automatically. Depending on the location of the charging port, the automatic parking direction adjustment process can be divided into four scenarios: 1) The charging port is located in the middle of the front of the car, and the parking path is controlled so that the front of the car is parked in the garage and the vehicle is centered. 2) When the vehicle's charging port is on the front left fender, when the vehicle controls the parking path, the front of the vehicle enters the garage with the vehicle body on the right, and the right side of the vehicle body is near the set distance from the parking space line. 3) When the vehicle's charging port is located on the right rear fender, the vehicle parking control will be to park the rear of the vehicle in the garage, with the left side of the vehicle body near the parking space line at a set distance. 4) When the vehicle's charging port is located on the left rear fender, the vehicle will be parked with the rear of the vehicle in the garage and the vehicle body centered.

4. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the parking direction adjustment control method based on automatic perception as described in any one of claims 1-2.

5. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium is used to store computer instructions, which, when executed by a processor, implement the automatic perception-based parking direction adjustment control method as described in any one of claims 1-2.

6. An electronic device, characterized in that, include: The device includes 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 cause the electronic device to perform the automatic perception-based parking direction adjustment control method as described in any one of claims 1-2.

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