Parking method, medium and vehicle

Abstract

The invention relates to a parking method, a medium and a vehicle, and relates to the technical field of vehicles, the parking method comprises the steps that a drivable area corresponding to a target parking space is determined, and the drivable area represents an area which is around the target parking space and does not comprise an obstacle; according to a target reference point, a vehicle is controlled to be parked into the target parking space from the drivable area, the vehicle can steer around the target reference point through four-wheel independent driving, and the turning radius of the vehicle when the vehicle steers around the target reference point is smaller than that of the vehicle when the vehicle steers at the maximum front wheel turning angle. In the embodiment of the invention, when the vehicle steers around the target reference point, the turning radius is smaller than the turning radius when the vehicle steers at the maximum turning angle of the front wheels through four-wheel independent driving, and the vehicle can rotate at a larger angle in a limited space. Therefore, the posture of the vehicle body of the vehicle can be adjusted more easily in a narrow driving area, and the automatic parking efficiency is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, and in particular, to a parking method, a medium and a vehicle. Background Art

[0002] In related technologies, the automatic parking function usually moves the vehicle to a designated parking space along a planned trajectory by controlling the acceleration and steering wheel angle. However, traditional vehicles have a large turning radius when turning, and when parking in a narrow space, a lot of maneuvers are often required to adjust the vehicle's posture, resulting in low automatic parking efficiency. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the present disclosure provides a parking method, a medium and a vehicle.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a parking method, comprising:

[0005] Determine a drivable area corresponding to the target parking space, where the drivable area represents an area around the target parking space that does not include obstacles;

[0006] According to the target reference point, the vehicle is controlled to park from the drivable area into the target parking space, wherein the vehicle can turn around the target reference point through four-wheel independent drive, and the turning radius of the vehicle when turning around the target reference point is smaller than the turning radius of the vehicle when turning with the maximum turning angle of the front wheels.

[0007] Optionally, the target reference point includes a geometric center point or a center of mass point, and when the vehicle turns around the target reference point, the vehicle body rotates around the geometric center point or the center of mass point;

[0008] Alternatively, the target reference point includes a wheel axis point, and when the vehicle turns around the target reference point, the vehicle body rotates around the wheel axis point as the center;

[0009] Alternatively, the target reference point includes the center point of the front axle or the center point of the rear axle, and when the vehicle turns around the target reference point, the vehicle body rotates around the center point of the front axle or the center point of the rear axle;

[0010] Alternatively, the target reference point is located on a target horizontal axis, which is an axis at which the geometric center of the vehicle is located and which is horizontally perpendicular to the direction of travel of the vehicle. When the vehicle turns around the target reference point, the vehicle body rotates around the point on the target horizontal axis.

[0011] Optionally, before controlling the vehicle to park in the target parking space from the drivable area according to the target reference point, the method further includes:

[0012] The target reference point is determined according to the type of the target parking space and the road width in the drivable area.

[0013] Optionally, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0014] When the target parking space is a parallel parking space, two long sides of the target parking space are connected to the drivable area, and the road width in the drivable area meets the width condition, the target reference point is determined to include the geometric center point or the center of mass point of the vehicle, wherein the width condition represents that the road widths on both sides of the target parking space are greater than or equal to a first threshold.

[0015] Optionally, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0016] When the target parking space is a parallel parking space, at least one long side of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a second threshold, it is determined that the target reference point includes the wheel axis point of the vehicle.

[0017] Optionally, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0018] When the target parking space is a non-parallel parking space, any short side of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a third threshold, it is determined that the target reference point includes the front axle center point or the rear axle center point of the vehicle.

[0019] Optionally, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0020] When the target parking space is a non-parallel parking space, any short side of the target parking space is connected to the drivable area, and the road width in the drivable area is less than a fourth threshold, it is determined that the target reference point is located on a target horizontal axis, wherein the target horizontal axis is an axis at which the geometric center of the vehicle is located and which is horizontally perpendicular to the driving direction of the vehicle.

[0021] Optionally, controlling the vehicle to park in the target parking space from the drivable area according to the target reference point includes:

[0022] According to the target reference point, the wheel speed, torque and rotation angle of each wheel of the vehicle are controlled so that the vehicle is parked from the drivable area into the target parking space.

[0023] Optionally, determining a drivable area corresponding to the target parking space includes:

[0024] Acquiring perception information of the vehicle;

[0025] Determining obstacle information and a target parking space around the vehicle based on the perception information;

[0026] The drivable area is determined according to the target parking space and the obstacle information.

[0027] Optionally, controlling the vehicle to park in the target parking space from the drivable area according to the target reference point includes:

[0028] Performing parking trajectory planning according to the drivable area and the target reference point to obtain a target parking trajectory;

[0029] According to the function of the vehicle turning around the target reference point, the vehicle is controlled to park from the drivable area into the target parking space along the target parking trajectory.

[0030] According to a second aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the parking method provided by the first aspect of the embodiment of the present disclosure is implemented.

[0031] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, the vehicle comprising:

[0032] a storage device, wherein the storage device stores a computer program;

[0033] A control device, wherein the control device is used to execute the computer program to implement the parking method provided by the first aspect of the embodiment of the present disclosure.

[0034] Optionally, the vehicle includes four motors, each of which drives a corresponding wheel.

[0035] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0036] In the disclosed embodiment, according to the function of turning the vehicle around the target reference point, the vehicle is controlled to park from the drivable area into the target parking space. When the vehicle turns around the target reference point, the four-wheel independent drive makes the turning radius smaller than the turning radius when the vehicle turns at the maximum turning angle of the front wheels, so that the vehicle can achieve a larger angle of rotation in a limited space. As a result, the vehicle can more easily adjust the body posture in a narrow drivable area, thereby enhancing the efficiency of automatic parking.

[0037] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0039] Figure 1 It is a schematic diagram of the principle of traditional vehicle steering in the related technology.

[0040] Figure 2 It is a schematic diagram of a scene in which a traditional vehicle is parked in a narrow space in the related art.

[0041] Figure 3 The figure is a flowchart of a parking method according to an exemplary embodiment.

[0042] Figure 4 The figure is a schematic structural diagram of a four-wheel independent drive vehicle according to an exemplary embodiment.

[0043] Figure 5 The figure is a schematic diagram showing the function of steering a vehicle around a geometric center point or a center of mass point according to an exemplary embodiment.

[0044] Figure 6 The diagram is a schematic diagram of a scenario in which a vehicle turns around a geometric center point or a center of mass point according to an exemplary embodiment.

[0045] Figure 7 The figure is a schematic diagram showing the function of steering a vehicle around a wheel axis according to an exemplary embodiment.

[0046] Figure 8 The figure is a schematic diagram of a scene in which a vehicle turns around a wheel axis according to an exemplary embodiment.

[0047] Fig. 9 The diagram is a schematic diagram showing the function of steering a vehicle around a front axle center point or a rear axle center point according to an exemplary embodiment.

[0048] Fig.10 The figure is a schematic diagram of a scene in which a vehicle turns around the center of the front axle according to an exemplary embodiment.

[0049] Fig.11 The figure is a schematic diagram of a scene in which a vehicle turns around the center of a rear axle according to an exemplary embodiment.

[0050] Fig.12 is a schematic diagram showing a function of steering a vehicle around a point of a target transverse axis according to an exemplary embodiment.

[0051] Fig.13 The diagram is a schematic diagram of a scene in which a vehicle turns around a point on a target horizontal axis according to an exemplary embodiment.

[0052] Fig.14 is a flowchart showing another parking method according to an exemplary embodiment.

[0053] Fig.15 The figure is a block diagram of a parking device according to an exemplary embodiment.

[0054] Fig.16 is a block diagram of a vehicle according to an exemplary embodiment.

[0055] Fig.17 The diagram is another schematic diagram of a scenario in which a vehicle turns around a geometric center point or a center of mass point according to an exemplary embodiment.

[0056] Fig.18 The diagram is another schematic diagram of a scenario in which a vehicle turns around a front axle center point or a rear axle center point according to an exemplary embodiment.

[0057] Fig.19 The diagram is another schematic diagram of a scene in which a vehicle turns around the axis center point of a front axle wheel according to an exemplary embodiment.

[0058] Fig. 20 is another schematic diagram of a scene in which a vehicle turns around the axis center point of a front axle wheel according to an exemplary embodiment.

[0059] Fig.21 The diagram is a schematic diagram of a scene in which a vehicle turns around a vehicle corner point according to an exemplary embodiment.

[0060] Fig. 22 The figure is a schematic diagram of a scene in which a vehicle reverses in a straight line outside a parking space according to an exemplary embodiment.

[0061] Fig.23 The figure is a schematic diagram of a scene of a vehicle reversing in an arc according to an exemplary embodiment.

[0062] Fig.24 The figure is a schematic diagram of a scene in which a front end of a vehicle makes an arc turn when parking into a parking space according to an exemplary embodiment.

[0063] Fig.25 The figure is a schematic diagram of a parking process when a vehicle is parked transversely into a parking space according to an exemplary embodiment. DETAILED DESCRIPTION

[0064] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0065] With the rapid development of intelligent driving technology around the world, automatic parking technology is becoming more and more mature. The automatic parking assist system (APA) measures the relative distance, speed and angle between the vehicle and surrounding objects through on-board sensors throughout the vehicle and the surrounding environment. For example, it uses parking radar to automatically identify available parking spaces, uses the image information of 360° panoramic cameras, and combines ultrasonic radar sensors to realize the perception and recognition of parking spaces and surrounding environments, and then calculates the operation process through the on-board processor / on-board computing platform or cloud computing platform to control the automatic parking of the vehicle. APA automatic parking does not require manual intervention. With the help of on-board sensors, processors and control systems, it can automatically identify parking spaces and complete automatic parking in and out in most parking scenarios, which greatly simplifies parking operations. However, in reality, there are some parking spaces with narrow passages and short parking spaces, which are almost impossible to complete parking operations manually or by APA. Drivers often give up helplessly after multiple attempts and failures.

[0066] Traditional vehicles do not slide during the automatic parking process and can only travel along conventional paths such as straight lines, arcs, combinations of straight lines and arcs, and high-order continuous smooth curves. These paths require a large space. Figure 1 The schematic diagram of the traditional vehicle steering principle shown in FIG. 1 shows that the position of the rotation center O on the extension line of the vehicle's rear wheel axis can be determined based on the front wheel turning angle between the front wheel and the vehicle's driving direction. The distance between the vehicle's left front wheel axis and the rotation center O is the vehicle's turning radius. When the parking space is small, it takes multiple maneuvers and repeated maneuvers to park in the parking space. Figure 2 , the solid line frame is the starting point of the vehicle parking, the dotted line frame is the position of the vehicle after moving twice along the dotted line, and the arc dotted line is the trajectory of the vehicle during parking. The vehicle moves in the direction of the arrow of the arc curve in a narrow space and parks in the parking space. It is necessary to adjust the vehicle posture by maneuvering the garage several times, which leads to low parking efficiency. In addition, the waiting time of frequent start-stop and shifting during repeated maneuvers results in a poor driver experience. When the road width of the parking scene is further reduced, for example, for a small parking space on the side with obstacles in front and behind, due to the small space, the parking operation cannot be completed after multiple maneuvers, resulting in the failure of automatic parking. These shortcomings greatly limit the use scenarios of the automatic parking system and affect the driver experience.

[0067] Reference Figure 3 , Figure 3 is a flow chart of a parking method according to an exemplary embodiment. Figure 3 As shown, the parking method includes the following steps.

[0068] S301: Determine a drivable area corresponding to a target parking space, where the drivable area represents an area around the target parking space that does not include obstacles.

[0069] S302. According to the function of the vehicle turning around the target reference point, the vehicle is controlled to park in the target parking space from the drivable area, wherein when the vehicle turns around the target reference point, the four-wheel independent driving is used to make the turning radius smaller than the turning radius when the vehicle turns at the maximum turning angle of the front wheels.

[0070] For example, the drivable area is the area where the vehicle drivables during parking. The drivable area is connected to at least one boundary of the target parking space so that the vehicle can enter the target parking space. The target reference point can be located in the area formed by the lines connecting the axis points of the four wheels in sequence, or it can be located outside the area. However, when the vehicle turns around the target reference point, the four wheels are independently driven, so that the turning radius can be smaller than the turning radius when the vehicle turns at the maximum turning angle of the front wheels. Among them, the turning radius of the vehicle when the front wheels turn at the maximum turning angle is the turning radius when the front wheels are turned at the maximum turning angle when the vehicle only controls the steering of the front wheels. This turning radius is also called the minimum turning radius. The minimum turning radius refers to the radius of the track circle rolled by the center of the outer steering wheel on the support plane when the steering wheel is turned to the extreme position and the vehicle is turning at the lowest stable speed. Therefore, it is related to the turning angle of the front wheels of the vehicle, the wheelbase of the vehicle and the track width of the wheels. Such as Figure 1 As shown, when the vehicle turns right with the maximum front wheel turning angle θ, the corresponding minimum turning radius can be the line between the turning center O and the left front wheel axis of the vehicle. The minimum turning radius can be used to characterize the vehicle's ability to pass through narrow curved areas or bypass insurmountable obstacles. Therefore, the turning radius of the vehicle when turning around the target reference point through four-wheel independent drive is smaller than the turning radius of the vehicle when turning with the maximum front wheel turning angle. The stronger its ability to pass through narrow curved areas or bypass insurmountable obstacles, the greater the angle the vehicle can rotate in a limited space. Combined with the vehicle's ability to turn around the target reference point after four-wheel independent drive, controlling the vehicle to park in the target parking space from the drivable area can effectively enhance the vehicle's steering ability during parking and increase the available scenarios of the vehicle's automatic parking function.

[0071] like Figure 4 As shown in the figure, the direction indicated by the arrow is the normal driving direction of the vehicle. Four-wheel independent drive means that each wheel is controlled by an independent motor to control its rotation direction, speed and torque. The four wheels can achieve more flexible and accurate steering operations through mutual cooperation. It has strong steering ability and can turn on the spot and turn around in a small space. When the space size does not meet the minimum turning radius in the traditional vehicle turning scenario, the vehicle can still change direction, enter a specific area or avoid obstacles. The vehicle has flexible steering capabilities.

[0072] In the disclosed embodiment, according to the function of turning the vehicle around the target reference point, the vehicle is controlled to park in the target parking space from the drivable area. When the vehicle turns around the target reference point, the four-wheel independent drive makes the turning radius smaller than the turning radius when the vehicle turns at the maximum turning angle of the front wheels, so that the vehicle can achieve a larger angle of rotation in a limited space. As a result, the vehicle can more easily adjust the body posture in a narrow drivable area, which enhances the efficiency of automatic parking.

[0073] As an optional embodiment, the target reference point includes a geometric center point or a center of mass point, and the function of the vehicle turning around the target reference point includes the vehicle body rotating around the geometric center point or the center of mass point;

[0074] Alternatively, the target reference point includes a wheel axis point, and the function of the vehicle turning around the target reference point includes the vehicle body rotating around the wheel axis point;

[0075] Alternatively, the target reference point includes a front axle center point or a rear axle center point, and the function of the vehicle turning around the target reference point includes the vehicle body rotating around the front axle center point or the rear axle center point;

[0076] Alternatively, the target reference point is located on a target horizontal axis, which is an axis at which the geometric center of the vehicle is located and which is horizontally perpendicular to the direction of travel of the vehicle. The function of the vehicle turning around the target reference point includes the vehicle body rotating around a point on the target horizontal axis as the center.

[0077] For example, based on the flexible steering capability of the above-mentioned four-wheel independent drive, the inventor proposes that the function of turning the vehicle around different reference points can be selected for parking according to different parking scenarios to determine the turning radius suitable for different parking scenarios. Figure 5-13 , 17-21, the vehicle can use four-wheel independent drive technology, that is, the four motors can individually control the wheel-side motors to output torques of different sizes and directions, to achieve different flexible steering functions, thereby improving the vehicle's dynamic performance and body posture adjustment capabilities. Specifically, it can be achieved by steering around any point in the vehicle's geometric center or center of mass, wheel axis, front axle center or rear axle center, or point on the target horizontal axis. In addition, it can also be achieved by steering around the vehicle's corners, which will be explained below in conjunction with specific parking scenarios.

[0078] For example, the vehicle has the ability to turn around its own geometric center or center of mass, see Figure 5, the rotation center of the vehicle is the geometric center point or rotation center of the vehicle, M represents clockwise rotation, and the four-wheel independent drive technology is used to control the motor output of the left and right wheels to have equal and opposite torques, so that the resultant force on the geometric center point or center of mass of the vehicle is 0. After controlling the wheel angle, the vehicle is subjected to the resultant torque in the same direction, so the body does not translate, but turns in situ around the geometric center point or center of mass, thereby realizing the function of rotating in situ around the geometric center point or center of mass of the vehicle. Under ideal conditions, the turning radius of the vehicle around its own geometric center point or center of mass is 0, and the vehicle can turn in situ or make a U-turn in a small space. Figure 6 , 17 As shown, for a side parallel parking space with driving lanes on both sides, the vehicle tilts into the parking space. When the center of mass of the vehicle is located at the center of the parking space, single-step parking can be achieved by rotating in situ around the center of mass of the vehicle.

[0079] For example, the vehicle has the ability to rotate around the center point of the front axle or the center point of the rear axle, such as Fig. 9 As shown, taking the case where the rotation center is the center point of the rear axle of the vehicle and the rotation direction is clockwise as an example, the turning radius of the vehicle is the distance between the center point of the rear axle of the vehicle and the axis point of the left front wheel of the vehicle. If the rotation direction of the vehicle is counterclockwise, the turning radius of the vehicle is the distance between the center point of the rear axle of the vehicle and the axis point of the right front wheel of the vehicle. Specifically, the four-wheel independent drive technology and the EPB (Electrical Park Brake) technology can be combined. For example, the EPB control can lock the rear axle wheels, and the front axle wheels rotate in the opposite direction, so that the vehicle can rotate around the center of the rear axle. For another example, the EPB control can lock the front axle wheels, and the rear axle wheels rotate in the opposite direction, so that the vehicle can rotate around the center of the front axle. Fig.18 As shown, after the vehicle travels a certain distance from posture A, it rotates for the first time around the center of mass point O1 to posture B, and after traveling a certain distance, it tilts into the parking space and changes to posture C. In posture C, the vehicle rotates around the center point of the front axle or the center point of the rear axle O2 to straighten the vehicle and park it in the parking space.

[0080] For example, the vehicle has the ability to turn around the wheel axis, and the rotation center of the vehicle is one of the wheel axis, such as Figure 7 As shown in the figure, M represents clockwise rotation. Taking the right rear wheel axis point of the vehicle as the rotation center, the vehicle rotates clockwise around the right rear wheel axis point, and its turning radius is the distance between the right rear wheel axis point of the vehicle and the left front wheel axis point of the vehicle. By combining the four-wheel independent drive technology and EPB technology, the four-wheel independent drive motor applies different torques to each wheel, and the EPB technology is used to control the direction of the wheel, so that the vehicle can rotate around a single wheel axis point. Fig.19 , 20 , the numbers shown in the figure are the steps when the vehicle is parked in the parking space. Fig.19In the process, after the vehicle is driven to a position aligned with the horizontal parking space on the side, in step 1, the vehicle rotates a certain angle around the axis of the right rear wheel, so that the head of the vehicle can be tilted to park in the parking space. In step 2, the vehicle rotates a certain angle around the axis of the left front wheel, so that the tail of the vehicle is straightened to park in the parking space. When the length of the parking space is small, the rotation angle is small each time, and this process is repeated until the vehicle is completely parked in the parking space, achieving a parking effect similar to lateral translation. Fig. 20 In the horizontal side parking space located at the corner of the wall, when the vehicle drives to the rear of the parking space, the first step is to rotate the vehicle around the center of mass to tilt it, with the front of the vehicle facing the parking space to be parked. The second step is to drive the vehicle forward for a distance and then drive it into the parking space. The third step is to rotate the vehicle around the axis of the left front wheel at a certain angle until the vehicle is completely parked in the parking space and straightened.

[0081] For example, the vehicle also has the ability to turn around the corner of the vehicle. Fig.21 In the figure, the front of the vehicle is facing downward. For a horizontal parking space on the side with a narrow passage, the vehicle can also be tilted and reversed into the parking space, and then rotated around the left rear corner of the vehicle until the body of the vehicle is aligned with the parking space, allowing single-step parking.

[0082] As an optional embodiment, before controlling the vehicle to park in the target parking space from the drivable area according to the function of the vehicle turning around the target reference point, the method further includes:

[0083] Determine the target reference point based on the type of target parking space and the road width in the drivable area.

[0084] Specifically, the target reference point may be further determined according to information such as the type and position of the target parking space, the relationship between the target parking space and the drivable area, and the road width in the drivable area.

[0085] As an optional embodiment, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0086] When the target parking space is a parallel parking space, the two long sides of the target parking space are connected to the drivable area, and the road width in the drivable area meets the width condition, the target reference point is determined to include the geometric center point or the center of mass point of the vehicle, wherein the width condition characterizes that the road widths on both sides of the target parking space are greater than or equal to a first threshold.

[0087] For example, outside the target parking space, the vehicle can drive to any position that meets the space for turning in place, and adjust the posture in place to park. In this way, the vehicle can adjust the posture in place to complete parking in the target parking space. When the target parking space is a parallel parking space, and the width of the parallel parking space is limited, but the drivable area is enough for the vehicle to rotate in place, the best entry plan for the vehicle is to insert it obliquely into the parking space, and then rotate around its own geometric center to park in the parking space. Figure 6 Schematic diagram of the scene, the arrow indicates the direction of the vehicle's travel, P is the vehicle's posture in the initial parking state, A is the vehicle's posture after the vehicle is obliquely inserted into the target parking space, and B is the vehicle's posture after the vehicle is rotated in the target parking space. After the vehicle is obliquely inserted into the target parking space, it can quickly adjust the vehicle's posture to park in the target parking space by rotating in situ around the vehicle's geometric center or center of mass, thereby eliminating the need for multiple maneuvers to park, which improves the efficiency of automatic parking. In this scenario, according to Figure 5 and Figure 6 It can be seen that the road widths on both sides of the target parking space meet the width condition of being greater than the first threshold, wherein the first threshold may be greater than or equal to the difference between half of the vehicle body length and half of the width of the target parking space.

[0088] As another optional embodiment, when the road width in the drivable area is greater than or equal to a preset threshold, it can be determined that the target reference point is located on the front axle axis or the rear axle axis of the vehicle. Specifically, according to the type and position of the target parking space, it can be divided into the following two situations.

[0089] As one of the cases, the target reference point is determined according to the type of the target parking space and the road width in the drivable area, including:

[0090] When the target parking space is a parallel parking space, at least one long side of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a second threshold, it is determined that the target reference point includes the wheel axis point of the vehicle.

[0091] For example, the vehicle can be turned around the wheel axis, so that the vehicle's posture can be adjusted to a large angle in a confined space. In addition, by controlling the torque, wheel speed and rotation direction of the wheels independently, under ideal conditions, when the vehicle rotates in opposite directions around the front and rear wheel axis points on one side, it will be given a strong lateral movement capability. This function can also make the vehicle more flexible and greatly enhance the automatic parking capability. Specifically, refer to Figure 8 In the scene diagram shown in the figure, the vehicle drives to the appropriate position, and adjusts the vehicle posture from posture A to posture B by swinging clockwise around the axis point of the left front wheel wheel1 as the rotation center, and then swings counterclockwise around the axis point of the left rear wheel wheel4 as the rotation center to adjust the vehicle posture to posture C. The vehicle is moved horizontally by swinging at a single fulcrum and parked in a parallel parking space. The specific changes in the vehicle posture are as follows: Figure 8As shown on the right. Through the combination of front and rear single-point swing, the vehicle posture can achieve lateral movement and posture adjustment, greatly expanding the vehicle's movement ability and flexibility. The road width in the drivable area is greater than the second threshold, where the second threshold can be greater than or equal to the body width size, so that the vehicle can enter the drivable area.

[0092] For example, in the process of controlling the movement of the vehicle, according to the positional relationship between the target parking space and the vehicle, the target point among the wheel axis points around which the vehicle is controlled can be determined as the rotation center. The target point can be one of the wheel axis points. For example, if the target parking space is on the left side of the vehicle's travel direction, the vehicle's posture can be adjusted by using the vehicle's left front wheel axis point or left rear wheel axis point as the rotation center. Or if the target parking space is on the right side of the vehicle's travel direction, the vehicle's posture can be adjusted by using the vehicle's right front wheel axis point or right rear wheel axis point as the rotation center. The target point can also be the wheel axis point on the same side of the vehicle. For example, refer to Figure 8 If the target parking space is on the left side of the vehicle's driving direction, the axis point of the left front wheel wheel1 and the axis point of the left rear wheel wheel4 can be used as the rotation center to adjust the vehicle's posture; if the target parking space is on the right side of the vehicle's driving direction, the axis point of the right front wheel wheel2 and the axis point of the right rear wheel wheel3 can be used as the rotation center to adjust the vehicle's posture.

[0093] As another case, according to the type of the target parking space and the road width in the drivable area, the target reference point is determined, including:

[0094] When the target parking space is a non-parallel parking space, any short side of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a third threshold, it is determined that the target reference point includes the front axle center point or the rear axle center point of the vehicle.

[0095] For example, non-parallel parking spaces are vertical parking spaces, diagonal parking spaces, or irregular parking spaces. The vehicle can swing partially around the center of the front axle or the center of the rear axle by controlling the torque of the wheels independently. This is similar to the ability to rotate around the center of the wheel, which expands the vehicle's swing adjustment ability and is suitable for parking in narrow vertical or diagonal parking spaces. Fig.10 The scene diagram shown in the figure shows that P is the vehicle's initial parking posture, A is the posture when not turning, and after the vehicle rotates around the center of the front axle, the vehicle's posture is adjusted from posture A to posture B, and C is the posture of the vehicle after it is parked in the target parking space. Fig.11In the scene diagram shown, F is the posture of the vehicle in the initial parking state, A is the posture of the vehicle when avoiding obstacles, B is the posture of the vehicle after driving to the front of the target parking space, and after the vehicle rotates around the center of the rear axle, the vehicle posture is adjusted from posture B to posture C, and after parking in the target parking space from posture C, it is adjusted from posture C to posture D. When the vehicle drives to the appropriate position, the vehicle posture can be adjusted at a large angle by only a single rotation around the center of the front axle or the center of the rear axle, and can be parked directly in the parking space. The road width in the drivable area is greater than or equal to the third threshold, where the third threshold should be determined based on the turning radius, turning angle and body size of the vehicle, or set by empirical value, and is not limited here.

[0096] As another optional embodiment, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0097] When the target parking space is a non-parallel parking space, any short side of the target parking space is connected to the drivable area, and the road width in the drivable area is less than a fourth threshold, it is determined that the target reference point is located on the target horizontal axis, wherein the target horizontal axis is an axis at which the geometric center of the vehicle is located and which is horizontally perpendicular to the vehicle's driving direction.

[0098] For example, the vehicle has the ability to rotate around a point on the vehicle's target transverse axis, referring to Fig.12 The vehicle's rotation center is located on the vehicle's lateral axis. The vehicle's turning radius is the distance between the rotation center and the wheel axis point on the other side of the vehicle opposite to the rotation center. It can be understood that since the vehicle here is a four-wheel independently driven vehicle, its turning radius is less than or equal to the minimum turning radius when the vehicle turns with the maximum front wheel angle.

[0099] For example, the vehicle can be rotated and swung around a point on the target horizontal axis by controlling the torque of the wheels independently, such as Fig.13 As shown, F is the posture of the vehicle in the initial parking state, A is the posture of the vehicle when avoiding obstacles, B is the posture of the vehicle after driving to the front of the target parking space, and after the vehicle rotates around the point on the target horizontal axis, the vehicle posture is adjusted from posture B to posture C, and after parking in the target parking space from posture C, it is adjusted from posture C to posture D. In the scenario of parking in a vertical parking space with a road width less than the fourth threshold, the function of rotating around the point on the target horizontal axis of the vehicle is used to park in the target parking space, and the drivable space is reasonably used to enhance the automatic parking capability of the vehicle. The fourth threshold can be the same as the third threshold, or the fourth threshold can also be the length of the vehicle.

[0100] As an optional embodiment, according to the function of the vehicle turning around the target reference point, controlling the vehicle to park in the target parking space from the drivable area includes:

[0101] According to the target reference point, the wheel speed, torque and turning angle of each wheel of the vehicle are controlled to park the vehicle from the drivable area into the target parking space.

[0102] For example, the speed during parking is generally low, and a high vehicle speed may cause slippage, which reduces the accuracy of the estimated turning radius. Therefore, the wheel speed, torque and turning angle of each wheel of the vehicle can be controlled according to the determined target reference point at a low speed, so that the vehicle can be parked in the target parking space according to the drivable area. Specifically, the speed of the vehicle at a low speed can be less than 30 km / h. The wheel speed, torque and turning angle of each wheel of the vehicle can be specifically calculated and determined according to the target reference point. Figure 5-13 The wheel speed, torque and rotation angle direction of each vehicle are not shown in the different scenarios shown. It can be understood that the wheel speed, torque and rotation angle of each wheel are specifically controlled differently according to different target reference points.

[0103] For example, at low speed, the motion of the vehicle satisfies the following constraints:

[0104]

[0105] Among them, v R is the composite speed of the right wheel, that is, the composite speed of the right front wheel and the right rear wheel; v L is the composite speed of the left wheel, i.e. the composite speed of the left front wheel and the left rear wheel; L is the wheelbase of the vehicle; r is the turning radius of the vehicle; v is the composite speed of the vehicle wheels, and the linear velocity vectors of each wheel are synthesized into the linear velocity vector of the entire wheel system; ω is the angular velocity of the vehicle when turning. At low speed, the speed difference of the left side wheel (v R -v L ), right side wheel speed difference (v R +v L ), which is not limited to the vehicle's differential control, so that the vehicle's turning radius r ≤ r min , r min is the minimum turning radius of the vehicle when the front wheel turns at the maximum turning angle. Therefore, the vehicle can achieve a turning radius less than or equal to the theoretical minimum turning radius r through four-wheel independent drive. min The ability to rotate around a target reference point.

[0106] As an optional embodiment, according to the function of the vehicle turning around the target reference point, controlling the vehicle to park in the target parking space from the drivable area includes:

[0107] When the parking scenario corresponding to the drivable area and the target parking space is a preset scenario, the vehicle is controlled to park from the drivable area into the target parking space according to the function of the vehicle turning around the target reference point, wherein the preset scenario indicates that the target parking space is an end parking space.

[0108] For example, refer to Figure 2 , the target parking space is a dead-end parking space, and the vehicle cannot park in the lane. Conventional parking methods include: Figure 2 As shown, the vehicle posture is adjusted by multiple rubbing of the garage. The road width of the drivable area is smaller than the length of the vehicle body. The space of the drivable area is narrow, and large-angle steering cannot be achieved. It is also necessary to rub the garage multiple times to adjust the vehicle posture. Therefore, when the parking scene corresponding to the drivable area and the target parking space is a preset scene, the vehicle can be controlled to park in the target parking space according to the function of the vehicle turning around the target reference point, and in non-preset scenes, the vehicle can be controlled to park in the target parking space by the same parking method as the traditional non-four-wheel independent drive vehicle. For example, a single-step parking or multi-step parking parking path can be generated by using an arc plus a straight line, an RS curve, a Dubins curve, a spiral curve, a hybrid A* algorithm, etc. A step threshold can also be set. When the number of steps of the parking path generated for multi-step parking exceeds the step threshold, the vehicle can be controlled to park in the target parking space from the drivable area according to the function of the vehicle turning around the target reference point to improve parking efficiency.

[0109] As an optional embodiment, determining a drivable area corresponding to the target parking space includes:

[0110] Obtaining vehicle perception information;

[0111] Determine the obstacle information and target parking space around the vehicle based on the perceived information;

[0112] Determine the drivable area based on the target parking space and obstacle information.

[0113] For example, the vehicle uses visual sensors and ultrasonic sensors to perceive the surrounding environment, obtain perception information, identify surrounding obstacle information, and convert it into point obstacles, linear obstacles, and polygonal obstacles. The visual sensor calculates and analyzes the perception information obtained, and can obtain the parking space information and parking space status around the vehicle, and determine the available parking spaces. When there are multiple available parking spaces, it can be displayed on the vehicle interface, and the driver can select any parking space as the target parking space, or the parking space with a distance from the vehicle less than the distance threshold can be determined as the target parking space. For the target parking space, the parking boundary can be extracted based on the boundary information of the surrounding walls, columns, etc., and the drivable area can be further obtained by combining the obstacle information with the target parking space.

[0114] As an optional embodiment, according to the function of the vehicle turning around the target reference point, controlling the vehicle to park in the target parking space from the drivable area includes:

[0115] According to the drivable area and the target reference point, the parking trajectory is planned to obtain the target parking trajectory;

[0116] According to the function of the vehicle turning around the target reference point, the vehicle is controlled to park from the drivable area into the target parking space along the target parking trajectory.

[0117] For example, after obtaining the target parking trajectory, the automatic parking function of the vehicle is used to perform the automatic parking operation. At the same time, the surrounding obstacles are detected in real time using sensors, and the collision risk of dynamic obstacles that appear during the parking process is calculated, thereby achieving obstacle avoidance. In addition, whether the automatic parking is successful can also be determined based on whether the target parking trajectory is successfully solved and whether the desired target parking space is reached.

[0118] For example, the vehicle may perform a circular reverse maneuver, where Fig. 22 , 23 As shown, when the vehicle is driving on the road, the vehicle can reverse into the parking space by combining the function of executing the vehicle around the target reference point through the four-wheel independent drive. For example, according to the detected parking space width, road width, and the size of the vehicle itself, it can be determined whether the function of the vehicle turning around the target reference point realized by the four-wheel independent drive is used for parking, and the wheel torsion angle and the distance traveled by the vehicle are determined. On the basis of ensuring single-step parking, the steering angle is minimized to reduce tire wear.

[0119] For example, when the parking system determines that the passage is narrow or the vehicle is close to an obstacle vehicle, the function of the four-wheel independent drive vehicle rotating around the target reference point can be used to reduce the turning radius. Fig. 22 , 23 As shown, taking the vehicle turning around the wheel axis and parking the rear end of the vehicle in a parking space as an example, the vehicle drives forward on the road. After selecting a parking space, the vehicle starts to park. When the vehicle reaches the target position in front of the parking space, it starts to reverse in an arc. The starting position of the arc reverse can be determined by the user's driving position. For example, when the vehicle is close to an obstacle vehicle, the arc reverse can be started when the distance to the target parking space is relatively close, or the vehicle can start the arc reverse when the distance to the obstacle vehicle is relatively far. Specifically, the vehicle establishes the coordinates of the surrounding environment of the target parking space through the parking system, and determines the starting position of the reverse, wherein the distance between the vehicle and the obstacle during the reverse driving process should be greater than or equal to the safety distance, such as 20cm. After reaching the rotation position by driving straight in reverse in the parking space, the vehicle can be rotated to the parking space with the target reference point as the center. The target reference point of the vehicle is the right rear corner point of the vehicle or the center point of the rear axle of the vehicle. In this way, its rotation angle can be smaller to reduce tire wear.

[0120] For example, according to actual conditions, the target reference point during rotation is any one of the geometric center point or mass center point of the vehicle, the wheel axis point, the front axle center point or the rear axle center point, a point on the target horizontal axis line, and a corner point of the vehicle. It can be understood that in the case of single-step parking, when the vehicle enters the target parking space but has not rotated, the target reference point of rotation is at the end position when parking is completed, that is, the position of the target reference point before and after the rotation remains unchanged.

[0121] For example, similar to the above-mentioned rear parking process, the vehicle can park into the parking space with the front of the vehicle, such as Fig.24 , 25 As shown in the figure, the vehicle can first make a circular turn on the road by combining the function of the vehicle turning around the target reference point, and then start to drive straight for a distance and drive the front of the vehicle into the parking space. When the right front wheel reaches the end position of parking completion, the right front wheel can be rotated a certain angle and the vehicle body can be straightened to complete parking. Lateral parking can be used to park in a side parking space with a narrow passage. Due to the narrow passage, the distance between the vehicle and the parking space line before parking is small, and the vehicle is difficult to turn. Fig.25 As shown, the vehicle can be driven until it is horizontally aligned with the side parking space, rotate a small angle around the left front wheel axis to make the left rear wheel of the vehicle enter the parking space line, then rotate a large angle around the left rear wheel axis to make the front of the vehicle enter the line, and then rotate a small angle around the right front wheel axis to make the rear of the vehicle enter the parking space line, and the vehicle body is straightened to complete parking. By performing multiple rotations around the axis of a single wheel in this way, the vehicle can be moved into the parking space in multiple steps, achieving a parking effect similar to lateral translation. If the parking starting position of the vehicle is far from the parking space, additional rotations around the single wheel can be added to complete the lateral parking of the vehicle.

[0122] In the disclosed embodiment, when a vehicle cannot be parked in a parking space that requires multiple maneuvers using conventional APA parking, the vehicle can be parked in a single step using four-wheel independent drive. In addition, based on the prior art, vehicles can only be parked in the direction of the rear of the vehicle. Using the above solution, the vehicle can be parked in the parking space from the front of the vehicle, and the vehicle can also be parked sideways. In this way, the vehicle can more easily adjust its body posture in a narrow drivable area, which increases the vehicle's parking capacity and the number of parking scenarios for the vehicle, thereby improving parking efficiency and the diversity of parking methods.

[0123] Reference Fig.14 , Fig.14 FIG. 1 is a flow chart of another parking method according to an exemplary embodiment. Fig.14 As shown, the parking method includes:

[0124] S1400: After the driver turns on the automatic parking function on the vehicle computer, he / she checks whether the vehicle doors are closed, the chassis response status, and whether the sensors are working properly. After the detection passes, it is determined that the automatic parking function is turned on.

[0125] S1401, environmental perception and mapping and positioning. The surrounding environment is perceived through visual sensors and ultrasonic sensors, and surrounding obstacle information is identified and converted into point obstacles, linear obstacles and polygonal obstacles. The perception information and obstacle information are used to build a map, and the position and posture of the whole vehicle are determined through the positioning module.

[0126] S1402: The visual sensor analyzes the acquired perception information to obtain the available parking space information and parking space status in the surrounding area, and identifies the available parking spaces and determines the target parking space to be entered.

[0127] S1403: For the target parking space, extract the available parking boundary based on the boundary information of the surrounding walls, pillars, etc., and further obtain the parking drivable area by combining the obstacle information and the target parking space. It can be determined whether the scene type corresponding to the target parking space is a narrow space or a space-constrained scene with difficult parking. If so, execute step S1405; otherwise, execute step S1404.

[0128] S1404: Use conventional automatic parking methods to perform path planning.

[0129] S1405, determine whether the parking space is a vertical parking space or a diagonal parking space, if so, execute step S1407, if not, execute step S1406.

[0130] If the target parking space is perpendicular to the driving direction or inclined at a certain angle, the path planning is performed according to the perpendicular parking method, otherwise the path planning is performed according to the parallel parking method.

[0131] S1406. For parallel parking spaces with limited space, use the parallel parking method.

[0132] In the first case, the target parking space is limited, but the drivable area is large enough for the vehicle to rotate around itself.

[0133] like Figure 6 As shown, the front and rear space of the target parking space is limited, but the drivable space is sufficient for the vehicle to rotate around itself. At this time, the best entry plan for the vehicle is to insert obliquely into the parking space and adjust from posture P to posture A, and then rotate around its own geometric center, adjusting from posture A to posture B, and then park in the target parking space.

[0134] In the second case, the target parking space is limited and the drivable area does not allow the vehicle to rotate around itself.

[0135] like Figure 8As shown in the figure, the space in front of and behind the target parking space and on the left side is limited, and it is impossible to park in the parking space by rotating around itself. At this time, the vehicle can be parked by using the ability of the vehicle to rotate around the wheel axis. First, the vehicle moves to the upper right corner of the target parking space. At this time, the vehicle's posture is posture A. Then, the vehicle rotates clockwise around the left front wheel wheel1, adjusting from posture A to posture B. Then, the vehicle rotates counterclockwise around the left rear wheel wheel2, adjusting from posture B to posture C. The body posture changes as shown in the figure. Figure 8 As shown, in the parking scenario of a parallel parking space, if the road width is sufficient for a vehicle to enter, the vehicle can park in the parallel parking space in this way.

[0136] S1407. Method for vertical parking spaces or diagonal parking spaces.

[0137] The first type of situation, such as Fig.10 For the end parking space shown, you can choose to rotate around the center of the front axle to park in the space. A single rotation can achieve a large-angle adjustment of the vehicle's position and posture, allowing you to park quickly in the space.

[0138] The second type of situation, such as Fig.11 In the scenario shown, the vehicle can park in a vertical parking space in front of the target parking space. The vehicle can rotate around the center of the rear axle to adjust the vehicle's posture by a large angle with a single rotation, and park quickly in the parking space.

[0139] The third case, such as Fig.13 In the scenario shown, if the road width is extremely small when parking in a vertical parking space, the vehicle can use the ability to rotate around the point on the target horizontal axis of the vehicle to park. F is the posture of the vehicle in the initial parking state, A is the posture of the vehicle when avoiding obstacles, and B is the posture of the vehicle after driving to the front of the target parking space. After the vehicle rotates around the point on the target horizontal axis, the vehicle posture is adjusted from posture B to posture C, and after parking in the target parking space from posture C, it is adjusted from posture C to posture D to complete parking. This parking method has a higher utilization rate of parking space and solves the problem that traditional vehicles cannot park in extreme scenarios.

[0140] S1408: Determine whether the parking trajectory is successfully solved. If yes, execute step S1409; otherwise, execute step S1410.

[0141] S1409: Automatic parking is performed according to the calculated trajectory. At the same time, sensors are used to detect surrounding obstacles in real time, and collision risk detection and screening are performed for dynamic obstacles that appear during the parking process, so as to avoid obstacles.

[0142] S1410, parking is completed. Whether the automatic parking is successful is determined based on whether the parking trajectory is successfully solved and whether the desired position is reached. For example, if the parking trajectory is successfully solved and the vehicle is parked in the target parking space, the automatic parking is successful; if the parking trajectory is not solved, or if the parking trajectory is successfully solved but the vehicle is not parked in the target parking space, the automatic parking is unsuccessful.

[0143] The disclosed embodiments improve the success rate and efficiency of the automatic parking system, thereby reducing the difficulty and time of parking, and at the same time expand the available scenarios of the automatic parking function. It can be used in environments with limited drivable space, such as narrow roads, complex surrounding obstacles, etc., thereby improving the driver's experience.

[0144] Reference Fig.15 , Fig.15 FIG. 1 is a block diagram of a parking device according to an exemplary embodiment. Fig.15 As shown, the parking device includes:

[0145] The first determination module 1510 is configured to determine a drivable area corresponding to the target parking space, where the drivable area represents an area around the target parking space that does not include obstacles;

[0146] The control module 1520 is configured to control the vehicle to park in the target parking space from the drivable area according to the function of the vehicle turning around the target reference point, wherein when the vehicle turns around the target reference point, the turning radius is smaller than the turning radius when the vehicle turns at the maximum turning angle of the front wheels through four-wheel independent driving.

[0147] As an optional embodiment, the target reference point includes a geometric center point or a center of mass point, and the function of the vehicle turning around the target reference point includes the vehicle body rotating around the geometric center point or the center of mass point;

[0148] Alternatively, the target reference point includes a wheel axis point, and the function of the vehicle turning around the target reference point includes the vehicle body rotating around the wheel axis point;

[0149] Alternatively, the target reference point includes a front axle center point or a rear axle center point, and the function of the vehicle turning around the target reference point includes the vehicle body rotating around the front axle center point or the rear axle center point;

[0150] Alternatively, the target reference point is located on a target horizontal axis, which is an axis at which the geometric center of the vehicle is located and which is horizontally perpendicular to the direction of travel of the vehicle. The function of the vehicle turning around the target reference point includes the vehicle body rotating around a point on the target horizontal axis as the center.

[0151] As an optional embodiment, the parking device further includes:

[0152] The second determination module is configured to determine the target reference point according to the type of the target parking space and the road width in the drivable area.

[0153] As an optional embodiment, the second determining module includes:

[0154] The first determination submodule is configured to determine that the target reference point includes the geometric center point or the centroid point of the vehicle when the target parking space is a parallel parking space, the two long sides of the target parking space are connected to the drivable area, and the road width in the drivable area meets the width condition, wherein the width condition indicates that the road widths on both sides of the target parking space are greater than or equal to a first threshold.

[0155] As an optional embodiment, the second determining module includes:

[0156] The second determination submodule is configured to determine that the target reference point includes the wheel axis point of the vehicle when the target parking space is a parallel parking space, at least one long side of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a second threshold.

[0157] As an optional embodiment, the second determining module includes:

[0158] The third determination submodule is configured to determine that the target reference point includes the front axle center point or the rear axle center point of the vehicle when the target parking space is a non-parallel parking space, any short side of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a third threshold.

[0159] As an optional embodiment, the second determining module includes:

[0160] The fourth determination submodule is configured to determine that the target reference point is located on the target horizontal axis when the target parking space is a non-parallel parking space, any short side of the target parking space is connected to the drivable area, and the road width in the drivable area is less than a fourth threshold, wherein the target horizontal axis is the axis where the geometric center of the vehicle is located and is horizontally perpendicular to the vehicle's driving direction.

[0161] As an optional embodiment, the control module 1520 is specifically configured as follows:

[0162] According to the target reference point, the wheel speed, torque and turning angle of each wheel of the vehicle are controlled to park the vehicle from the drivable area into the target parking space.

[0163] As an optional embodiment, the first determining module 1510 includes:

[0164] An acquisition module, configured to acquire perception information of the vehicle;

[0165] A third determination module is configured to determine obstacle information around the vehicle and a target parking space based on the perception information;

[0166] The fourth determination module is configured to determine a drivable area according to the target parking space and obstacle information.

[0167] As an optional embodiment, the control module 1520 is specifically configured as follows:

[0168] According to the drivable area and the target reference point, the parking trajectory is planned to obtain the target parking trajectory;

[0169] According to the function of the vehicle turning around the target reference point, the vehicle is controlled to park from the drivable area into the target parking space along the target parking trajectory.

[0170] In the disclosed embodiment, according to the function of turning the vehicle around the target reference point, the vehicle is controlled to park in the target parking space from the drivable area. When the vehicle turns around the target reference point, the four-wheel independent drive makes the turning radius smaller than the turning radius when the vehicle turns at the maximum turning angle of the front wheels, so that the vehicle can achieve a larger angle of rotation in a limited space. As a result, the vehicle can more easily adjust the body posture in a narrow drivable area, which enhances the efficiency of automatic parking.

[0171] Regarding the parking device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the parking method, and will not be elaborated here.

[0172] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and the parking method of the present disclosure is implemented when the program instructions are executed by a processor.

[0173] The present disclosure also provides a vehicle, the vehicle comprising:

[0174] a storage device, wherein the storage device stores a computer program;

[0175] The control device is used to execute a computer program to implement the parking method disclosed in the present invention.

[0176] As an optional embodiment, the vehicle includes four motors, each motor driving a corresponding wheel.

[0177] Fig.16 1 is a block diagram of a vehicle 1600 according to an exemplary embodiment. For example, the vehicle 1600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 1600 may be an autonomous vehicle or a semi-autonomous vehicle.

[0178] Reference Fig.16, the vehicle 1600 may include various subsystems, for example, an infotainment system 1610, a perception system 1620, a decision control system 1630, a drive system 1640, and a computing platform 1650. The vehicle 1600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 1600 may be interconnected by wire or wireless means.

[0179] In some embodiments, the infotainment system 1610 may include a communication system, an entertainment system, and a navigation system, etc.

[0180] The perception system 1620 may include several sensors for sensing information about the environment around the vehicle 1600. For example, the perception system 1620 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0181] The decision control system 1630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0182] The drive system 1640 may include components that provide powered motion for the vehicle 1600. In one embodiment, the drive system 1640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0183] Some or all functions of the vehicle 1600 are controlled by a computing platform 1650. The computing platform 1650 may include at least one processor 1651 and a memory 1652, and the processor 1651 may execute instructions 1653 stored in the memory 1652.

[0184] The processor 1651 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0185] Memory 1652 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0186] In addition to instructions 1653 , memory 1652 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 1652 may be used by computing platform 1650 .

[0187] In the embodiment of the present disclosure, the processor 1651 may execute the instruction 1653 to complete all or part of the steps of the above-mentioned parking method.

[0188] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and the computer program has a code portion for executing the above parking method when executed by the programmable device.

[0189] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0190] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A parking method, characterized in that: include: Determine a drivable area corresponding to the target parking space, where the drivable area represents an area around the target parking space that does not include obstacles; According to the target reference point, the vehicle is controlled to park from the drivable area into the target parking space, wherein the vehicle can turn around the target reference point through four-wheel independent drive, and the turning radius of the vehicle when turning around the target reference point is smaller than the turning radius of the vehicle when turning with the maximum turning angle of the front wheels.

2. The parking method according to claim 1, characterized in that: The target reference point includes a geometric center point or a center of mass point, and when the vehicle turns around the target reference point, the vehicle body rotates around the geometric center point or the center of mass point; Alternatively, the target reference point includes a wheel axis point, and when the vehicle turns around the target reference point, the vehicle body rotates around the wheel axis point as the center; Alternatively, the target reference point includes the center point of the front axle or the center point of the rear axle, and when the vehicle turns around the target reference point, the vehicle body rotates around the center point of the front axle or the center point of the rear axle; Alternatively, the target reference point is located on a target horizontal axis, which is an axis at which the geometric center of the vehicle is located and which is horizontally perpendicular to the direction of travel of the vehicle. When the vehicle turns around the target reference point, the vehicle body rotates around the point on the target horizontal axis.

3. The parking method according to claim 1, characterized in that: Before controlling the vehicle to park in the target parking space from the drivable area according to the target reference point, the method further includes: The target reference point is determined according to the type of the target parking space and the road width in the drivable area.

4. The parking method according to claim 3, characterized in that: Determining the target reference point according to the type of the target parking space and the road width in the drivable area includes: When the target parking space is a parallel parking space, two long sides of the target parking space are connected to the drivable area, and the road width in the drivable area meets the width condition, the target reference point is determined to include the geometric center point or the center of mass point of the vehicle, wherein the width condition represents that the road widths on both sides of the target parking space are greater than or equal to a first threshold.

5. The parking method according to claim 3, characterized in that: Determining the target reference point according to the type of the target parking space and the road width in the drivable area includes: When the target parking space is a parallel parking space, at least one long side of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a second threshold, it is determined that the target reference point includes the wheel axis point of the vehicle.

6. The parking method according to claim 3, characterized in that: Determining the target reference point according to the type of the target parking space and the road width in the drivable area includes: When the target parking space is a non-parallel parking space, any short side of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a third threshold, it is determined that the target reference point includes the front axle center point or the rear axle center point of the vehicle.

7. The parking method according to claim 3, characterized in that: Determining the target reference point according to the type of the target parking space and the road width in the drivable area includes: When the target parking space is a non-parallel parking space, any short side of the target parking space is connected to the drivable area, and the road width in the drivable area is less than a fourth threshold, it is determined that the target reference point is located on a target horizontal axis, wherein the target horizontal axis is an axis at which the geometric center of the vehicle is located and which is horizontally perpendicular to the driving direction of the vehicle.

8. The parking method according to any one of claims 1 to 7, characterized in that: According to the target reference point, controlling the vehicle to park in the target parking space from the drivable area includes: According to the target reference point, the wheel speed, torque and rotation angle of each wheel of the vehicle are controlled so that the vehicle is parked from the drivable area into the target parking space.

9. The parking method according to any one of claims 1 to 7, characterized in that: Determine the drivable area corresponding to the target parking space, including: Acquiring perception information of the vehicle; Determining obstacle information and a target parking space around the vehicle based on the perception information; The drivable area is determined according to the target parking space and the obstacle information.

10. The parking method according to any one of claims 1 to 7, characterized in that: According to the target reference point, controlling the vehicle to park in the target parking space from the drivable area includes: Performing parking trajectory planning according to the drivable area and the target reference point to obtain a target parking trajectory; According to the function of the vehicle turning around the target reference point, the vehicle is controlled to park from the drivable area into the target parking space along the target parking trajectory.

11. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the parking method described in any one of claims 1-10 is implemented.

12. A vehicle, characterized in that: The vehicle comprises: a storage device, wherein the storage device stores a computer program; A control device, wherein the control device is used to execute the computer program to implement the parking method described in any one of claims 1-10.

13. The vehicle according to claim 12, characterized in that The vehicle includes four motors, each of which drives a corresponding wheel.

Images