Parking method, medium and vehicle

Abstract

The present disclosure relates to a parking method, a medium and a vehicle, and relates to the technical field of vehicles. The parking method comprises: determining a drivable area corresponding to a target parking space, the drivable area representing an area around the target parking space and not including obstacles; and controlling the vehicle to park into the target parking space from the drivable area according to a target reference point, wherein the vehicle can be turned around the target reference point through four-wheel independent driving, and a turning radius of the vehicle when turning around the target reference point is smaller than a turning radius of the vehicle when turning at a maximum turning angle of front wheels. In the present disclosure, the turning radius of the vehicle when turning around the target reference point is smaller than the turning radius of the vehicle when turning at a maximum turning angle of front wheels through four-wheel independent driving, so that the vehicle can rotate at a larger angle in a limited space. Thus, the vehicle can more easily adjust the body posture in a narrow drivable area, and the automatic parking efficiency is improved.

Description

Parking methods, media and vehicles Technical Field

[0001] This disclosure relates to the field of vehicle technology, and more specifically, to a parking method, medium, and vehicle. Background Technology

[0002] In related technologies, automatic parking functions typically move a vehicle along a planned trajectory to a designated parking space by controlling acceleration and steering wheel angle. However, traditional vehicles have a large turning radius when turning, and often require extensive maneuvering and adjustments to the vehicle's posture when parking in narrow spaces, resulting in low efficiency for automatic parking. Summary of the Invention

[0003] To overcome the problems existing in related technologies, this disclosure provides a parking method, medium, and vehicle.

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

[0005] Determine the drivable area corresponding to the target parking space, wherein the drivable area represents the area surrounding the target parking space excluding obstacles;

[0006] Based on the target reference point, the vehicle is controlled to park in the target parking space from the drivable area, wherein the vehicle is capable of turning around the target reference point by independent four-wheel 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 at the maximum turning angle of the front wheels.

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

[0008] Alternatively, the target reference point may include the wheel axle center point, and the vehicle body rotates around the wheel axle center point when the vehicle turns around the target reference point.

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

[0010] Alternatively, the target reference point is located on the target horizontal axis, which is the axis where the geometric center of the vehicle is located and 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 a point on the target horizontal axis.

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

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

[0013] Optionally, the target reference point is determined based on the type of the target parking space and the road width in the drivable area, including:

[0014] If the target parking space is a parallel parking space, both 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 centroid point of the vehicle, wherein the width condition indicates that the road width on both sides of the target parking space is greater than or equal to a first threshold.

[0015] Optionally, the target reference point is determined based on the type of the target parking space and the road width in the drivable area, including:

[0016] If the target parking space is a parallel parking space, at least one long side of the target parking space connects to the drivable area, and the road width in the drivable area is greater than or equal to a second threshold, the target reference point is determined to include the wheel axle center of the vehicle.

[0017] Optionally, the target reference point is determined based on the type of the target parking space and the road width in the drivable area, including:

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

[0019] Optionally, the target reference point is determined based on the type of the target parking space and the road width in the drivable area, including:

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

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

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

[0023] Optionally, the driveable area corresponding to the target parking space is determined, including:

[0024] Obtain the perception information of the vehicle;

[0025] Based on the perceived information, the obstacle information around the vehicle and the target parking space are determined;

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

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

[0028] Based on the drivable area and the target reference point, a parking trajectory is planned to obtain the target parking trajectory;

[0029] Based on the vehicle's ability to turn around the target reference point, the vehicle is controlled to park in the target parking space from the drivable area along the target parking trajectory.

[0030] According to a second aspect of the present disclosure, a computer-readable storage medium is provided having computer program instructions stored thereon, which, when executed by a processor, implement the parking method provided by the first aspect of the present disclosure.

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

[0032] A storage device, wherein a computer program is stored in the storage device;

[0033] A control device is provided for executing the computer program to implement the parking method provided in the first aspect of the present disclosure.

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

[0035] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0036] In this embodiment, based on the vehicle's ability to turn around a 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 independent four-wheel drive makes the turning radius smaller than the turning radius when the vehicle's front wheels turn at their maximum angle. This allows the vehicle to rotate at a greater angle within a limited space. Therefore, the vehicle can more easily adjust its posture in narrow drivable areas, enhancing the efficiency of automatic parking.

[0037] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

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

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

[0040] Figure 2 is a schematic diagram of a traditional vehicle maneuvering in a narrow space when parking, according to related technologies.

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

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

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

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

[0045] Figure 7 is a schematic diagram illustrating the function of a vehicle turning about the wheel axis point according to an exemplary embodiment.

[0046] Figure 8 is a schematic diagram illustrating a scenario in which a vehicle turns about the wheel axis point according to an exemplary embodiment.

[0047] Figure 9 is a schematic diagram illustrating the function of a vehicle turning around the center point of the front axle or the center point of the rear axle according to an exemplary embodiment.

[0048] Figure 10 is a schematic diagram illustrating a scenario in which a vehicle turns about the center of the front axle according to an exemplary embodiment.

[0049] Figure 11 is a schematic diagram illustrating a scenario in which a vehicle turns around the center of the rear axle according to an exemplary embodiment.

[0050] Figure 12 is a schematic diagram illustrating the point steering function of a vehicle about a target transverse axis according to an exemplary embodiment.

[0051] Figure 13 is a schematic diagram of a scenario in which a vehicle makes a point turn around a target transverse axis according to an exemplary embodiment.

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

[0053] Figure 15 is a block diagram illustrating a parking device according to an exemplary embodiment.

[0054] Figure 16 is a block diagram illustrating a vehicle according to an exemplary embodiment.

[0055] Figure 17 is a schematic diagram of another scenario illustrating a vehicle turning around a geometric center point or centroid point according to an exemplary embodiment.

[0056] Figure 18 is a schematic diagram of another scenario illustrating a vehicle turning around the center point of the front axle or the center point of the rear axle according to an exemplary embodiment.

[0057] Figure 19 is a schematic diagram of another scenario illustrating vehicle steering about the center point of the front axle wheel according to an exemplary embodiment.

[0058] Figure 20 is a schematic diagram of another scenario in which a vehicle turns about the center point of the front axle wheel, according to an exemplary embodiment.

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

[0060] Figure 22 is a schematic diagram illustrating a scenario of a vehicle reversing in a straight line outside a parking space, according to an exemplary embodiment.

[0061] Figure 23 is a schematic diagram of a vehicle reversing in a circular arc according to an exemplary embodiment.

[0062] Figure 24 is a schematic diagram illustrating a scenario where the front of a vehicle turns in an arc when parking in a parking space, according to an exemplary embodiment.

[0063] Figure 25 is a schematic diagram of a parking process when a vehicle is parked laterally into a parking space, according to an exemplary embodiment. Detailed Implementation

[0064] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0065] With the rapid development of intelligent driving technology globally, automatic parking technology has also matured. Automatic Parking Assist (APA) systems utilize onboard sensors distributed throughout the vehicle and its surroundings to measure the relative distance, speed, and angle between the vehicle and surrounding objects. For example, parking radar can automatically identify available parking spaces. Using image information from a 360° panoramic camera combined with ultrasonic radar sensors, it can perceive and identify parking spaces and the surrounding environment. Then, the onboard processor / onboard computing platform or cloud computing platform calculates the operation process to control the vehicle to park automatically. APA automatic parking requires no human intervention; it can automatically identify parking spaces and complete automatic parking and exiting in most parking scenarios with the help of onboard sensors, processors, and control systems, greatly simplifying parking operations. However, in reality, some parking spaces have narrow lanes and short lengths, making it almost impossible to park manually or with APA. Drivers often give up after multiple failed attempts.

[0066] Traditional vehicles, during automatic parking, do not slip 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 considerable space. As shown in Figure 1, a schematic diagram of the steering principle of a traditional vehicle is obtained. Based on the front wheel angle between the front wheels and the vehicle's direction of travel, the position of the rotation center O on the extended line of the vehicle's rear wheel axis can be determined. The distance between the center of the left front wheel axle and the rotation center O is the vehicle's turning radius. When parking space is limited, parking requires multiple maneuvers and repeated maneuvers to successfully park. Referring to Figure 2, the solid line box represents the starting position of the vehicle's parking, the dashed line box represents the position after the vehicle has moved twice along the dashed line, and the arc-shaped dashed line represents the trajectory of the vehicle during parking. In a narrow space, the vehicle moves sequentially along the direction of the arrow on the arc-shaped curve to park in the space, requiring multiple maneuvers to adjust the vehicle's posture. This results in low parking efficiency, and the frequent starts, stops, and gear shifts during repeated maneuvers lead to a poor driver experience. When the road width for parking scenarios decreases further, such as in small side parking spaces with obstacles in front and behind, the limited space makes it impossible to complete the parking operation even after multiple attempts, resulting in automatic parking failure. These shortcomings greatly limit the application scenarios of automatic parking systems and affect the driver's experience.

[0067] Referring to FIG3, which is a flowchart illustrating a parking method according to an exemplary embodiment, the parking method includes the following steps.

[0068] S301. Determine the drivable area corresponding to the target parking space. The drivable area represents the area around the target parking space that does not include obstacles.

[0069] S302. Based on the vehicle's function of turning around the target reference point, control the vehicle to park from the drivable area into the target parking space. 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 drive.

[0070] For example, the drivable area is the area where the vehicle can drive during parking. The drivable area must connect to at least one boundary of the target parking space for the vehicle to enter. The target reference point can be located within the area formed by connecting the axle centers of the four wheels sequentially, or it can be outside this area. However, when the vehicle turns around the target reference point, the independent drive of the four wheels allows the turning radius to be smaller than the turning radius when the vehicle is turning at its maximum front wheel angle. The turning radius when the vehicle is turning at its maximum front wheel angle is the turning radius when the front wheels are turned at their maximum angle, and this turning radius is also called the minimum turning radius. The minimum turning radius refers to the radius of the circle traced by the center of the outer steering wheel on the support plane when the steering wheel is turned to its limit and the vehicle is turning at its lowest stable speed. Therefore, it is related to the turning angle of the front wheels, the wheelbase, and the track width. As shown in Figure 1, when the vehicle turns right at its maximum front wheel angle θ, the corresponding minimum turning radius can be the line connecting the steering center O and the axle center of the left front wheel. The minimum turning radius can be used to characterize a vehicle's ability to navigate narrow, winding areas or bypass insurmountable obstacles. Therefore, a vehicle with four-wheel independent drive has a smaller turning radius when turning around a target reference point than when the vehicle is turning at its maximum front wheel angle. This means it has a stronger ability to navigate narrow, winding areas or bypass insurmountable obstacles, allowing the vehicle to rotate at greater angles within a limited space. Combined with the vehicle's ability to turn around a target reference point using four-wheel independent drive, controlling the vehicle to park from a drivable area into a target parking space effectively enhances the vehicle's steering ability during parking, increasing the availability of automatic parking functions.

[0071] As shown in Figure 4, the arrows indicate the vehicle's normal driving direction. Four-wheel independent drive means that each wheel's rotation direction, speed, and torque are controlled by an independent motor. Through mutual cooperation, the four wheels enable more flexible and accurate steering, providing powerful steering capabilities. It can turn on the spot and make U-turns in confined spaces. Even when the space does not meet the minimum turning radius required for traditional vehicle turning scenarios, the vehicle can still change direction, enter specific areas, or avoid obstacles, demonstrating its agile steering ability.

[0072] In this embodiment, based on the vehicle's steering function around a 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 independent four-wheel drive makes the turning radius smaller than the turning radius when the front wheels turn at their maximum angle, allowing the vehicle to rotate at a greater angle within a limited space. Therefore, the vehicle can more easily adjust its posture in narrow drivable areas, enhancing the efficiency of automatic parking.

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

[0074] Alternatively, the target reference point may include the wheel axle center point, and the vehicle's steering function around the target reference point may include the vehicle body rotating around the wheel axle center point.

[0075] Alternatively, the target reference point may include the center point of the front axle or the center point of the rear axle, and the vehicle's steering function around the target reference point may include the vehicle body rotating around the center point of the front axle or the center point of the rear axle.

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

[0077] For example, based on the aforementioned flexible steering capability of four-wheel independent drive, the inventors propose a function that allows the vehicle to turn around different reference points for different parking scenarios, thereby determining the turning radius suitable for different parking situations. Referring to Figures 5-13 and 17-21, the vehicle can achieve different flexible steering functions through four-wheel independent drive technology, where four motors can individually control the wheel-side motors to output torque of different magnitudes and directions, thereby improving the vehicle's dynamic performance and body posture adjustment capabilities. Specifically, it can achieve steering around any point among the vehicle's geometric center point or center of mass, wheel axle center point, front axle center point or rear axle center point, and points on the target transverse axis. In addition, it can also achieve steering around vehicle corner points. The following will explain this in conjunction with specific parking scenarios.

[0078] For example, a vehicle has the ability to turn around its own geometric center or center of mass. Referring to Figure 5, the vehicle's center of rotation is its geometric center or center of rotation, and M represents clockwise rotation. Through four-wheel independent drive technology, the motors on the left and right wheels output equal and opposite torques, ensuring that the net force on the vehicle's geometric center or center of mass is zero. After controlling the wheel's turning angle, the vehicle experiences a net torque in the same direction, so the vehicle body does not translate but instead turns in place around its geometric center or center of mass, thus achieving the function of rotating in place around the vehicle's geometric center or center of mass. Ideally, the turning radius of the vehicle around its own geometric center or center of mass is zero, allowing the vehicle to turn in place and make U-turns in confined spaces. As shown in Figures 6 and 17, for parallel parking spaces with driving lanes on both sides, the vehicle enters the space at an angle. Once the vehicle's center of mass is located in the center of the parking space, it can achieve single-step parking by rotating in place around its center of mass.

[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. As shown in Figure 9, taking the center of rotation as the center point of the rear axle and the direction of rotation as clockwise as an example, the turning radius of the vehicle is the distance between the center point of the rear axle and the center point of the left front wheel axle. If the direction of rotation is counterclockwise, the turning radius of the vehicle is the distance between the center point of the rear axle and the center point of the right front wheel axle. Specifically, this can be achieved by combining four-wheel independent drive technology and EPB (Electrical Park Brake) technology. For example, EPB controls and locks the rear axle wheels, while the front axle wheels rotate in the opposite direction, enabling the vehicle to rotate around the center point of the rear axle. Similarly, EPB controls and locks the front axle wheels, while the rear axle wheels rotate in the opposite direction, enabling the vehicle to rotate around the center point of the front axle. As shown in Figure 18, after the vehicle travels a certain distance from position A, it rotates around the center of mass O1 to position B for the first time. After traveling a certain distance, it tilts and enters the parking space, changing to position C. In position 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, a vehicle has the ability to turn around a wheel axle. The vehicle's center of rotation is one of the wheel axles, as shown in Figure 7. M represents clockwise rotation. Taking the right rear wheel axle as the center of rotation, the vehicle rotates clockwise around the right rear wheel axle, and its turning radius is the distance between the right rear wheel axle and the left front wheel axle. By combining four-wheel independent drive technology and EPB technology, the four-wheel independent drive motors apply different torques to each wheel. By using EPB technology to control the wheel direction, the vehicle can rotate around a single wheel axle. Referring to Figures 19 and 20, the numbers shown in the figures represent the steps involved in parking a vehicle in a parking space. In Figure 19, after the vehicle is driven to a position aligned horizontally with the side parking space, the first step involves the vehicle rotating around the right rear wheel axle at a certain angle, allowing the front of the vehicle to tilt and park in the space. The second step involves the vehicle rotating around the left front wheel axle at a certain angle, straightening the rear of the vehicle to park in the space. When the parking space is short, the rotation angle is smaller each time, and this process is repeated until the vehicle is fully parked, achieving a parking effect that is approximately equivalent to lateral translation. In Figure 20, for a side parking space located at a corner, when the vehicle is driven behind the parking space, the first step involves the vehicle rotating around its center of gravity to tilt, with the front of the vehicle facing the parking space. The second step involves the vehicle driving forward a certain distance before entering the parking space. The third step involves the vehicle rotating around the left front wheel axle at a certain angle until it is fully parked and straightened.

[0081] For example, the vehicle also has the ability to turn around its corners. Referring to Figure 21, the front of the vehicle is facing downwards. For narrow parallel parking spaces, the vehicle can also tilt and reverse into the space, then rotate around the left rear corner of the vehicle until the vehicle body is aligned with the parking space, achieving single-step parking.

[0082] As an optional embodiment, before controlling the vehicle to park from the drivable area into the target parking space based on the vehicle's steering function around the target reference point, the method further includes:

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

[0084] Specifically, the target reference point can be further determined based on information such as the type and location 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 a target reference point based on the type of the target parking space and the road width in the drivable area includes:

[0086] If the target parking space is a parallel parking space, both 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 centroid point of the vehicle. The width condition indicates that the road width on both sides of the target parking space is greater than or equal to the first threshold.

[0087] For example, outside the target parking space, the vehicle can drive to any position that allows for in-situ turning and adjust its posture to park. Similarly, within the target parking space, the vehicle can adjust its posture to park. When the target parking space is a parallel parking space, and the width of the parallel parking space is limited, but the driving area is sufficient for the vehicle to rotate in place, the optimal entry method is to insert the vehicle diagonally into the space, and then rotate it around its geometric center to park. Referring to the scenario diagram in Figure 6, the arrow indicates the vehicle's driving direction, P is the vehicle's posture in the initial parking state, A is the vehicle's posture after diagonally inserting into the target parking space, and B is the vehicle's posture after rotating within the target parking space. After diagonally inserting into the target parking space, the vehicle can quickly adjust its posture to park by rotating it in place around its geometric center or centroid, thus eliminating the need for multiple maneuvers and improving the efficiency of automatic parking. In this scenario, as shown in Figures 5 and 6, the road widths on both sides of the target parking space meet the condition of being greater than the first threshold. The first threshold can be greater than or equal to the difference between half the vehicle length and half the width of the target parking space.

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

[0089] In one scenario, a target reference point is determined based on the type of the target parking space and the road width within the drivable area, including:

[0090] If 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 the second threshold, the target reference point is determined to include the wheel axle center of the vehicle.

[0091] For example, a vehicle's ability to steer around its wheel axle allows for significant adjustments to its position within a confined space. Furthermore, by controlling the independent torque, wheel speed, and rotation direction of each wheel, ideally, when the vehicle alternates between small-angle rotations in opposite directions around the axles of the front and rear wheels on one side, it gains strong lateral movement capabilities. This feature also enhances the vehicle's agility and significantly improves its automatic parking capabilities. Specifically, referring to the scenario diagram in Figure 8, the vehicle moves to a suitable position and then performs a clockwise single-pivot oscillation around the axle of the left front wheel (wheel1) to adjust its posture from position A to position B. Then, it performs a counter-clockwise single-pivot oscillation around the axle of the left rear wheel (wheel4) to adjust its posture to position C. This single-pivot oscillation enables lateral movement and parking in a parallel parking space. The specific changes in vehicle posture are shown on the right side of Figure 8. The combination of front and rear single-pivot oscillations allows for lateral movement and posture adjustment, greatly expanding the vehicle's mobility and flexibility. The road width within the drivable area is greater than a second threshold, wherein the second threshold may be greater than or equal to the vehicle width, so that the vehicle can enter the drivable area.

[0092] For example, during vehicle movement control, based on the positional relationship between the target parking space and the vehicle, a target point among the wheel axle centers can be determined as the rotation center. This target point can be one of the wheel axle centers. For instance, if the target parking space is on the left side of the vehicle's direction of travel, the vehicle's posture can be adjusted using the left front wheel axle center or the left rear wheel axle center. Similarly, if the target parking space is on the right side of the vehicle's direction of travel, the vehicle's posture can be adjusted using the right front wheel axle center or the right rear wheel axle center. The target point can also be a wheel axle center on the same side of the vehicle. For example, referring to Figure 8, if the target parking space is on the left side of the vehicle's direction of travel, the vehicle's posture can be adjusted by sequentially using the axle centers of the left front wheel (wheel1) and the left rear wheel (wheel4); if the target parking space is on the right side of the vehicle's direction of travel, the vehicle's posture can be adjusted by sequentially using the axle centers of the right front wheel (wheel2) and the right rear wheel (wheel3).

[0093] In another scenario, a target reference point is determined based on the type of the target parking space and the road width within the drivable area, including:

[0094] If the target parking space is not a 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 the third threshold, the target reference point is determined to include the center point of the front axle or the center point of the rear axle of the vehicle.

[0095] For example, non-parallel parking spaces include perpendicular, angled, or irregular parking spaces. Vehicles can achieve localized swaying around a single pivot point (front or rear axle center) through independent torque control of the wheels. This is similar to the ability to rotate around the wheel axis, expanding the vehicle's swaying adjustment capabilities and making it suitable for parking in narrow perpendicular or angled spaces. Referring to the scenario diagram in Figure 10, P represents the vehicle's initial parking posture, A represents the posture without turning, after the vehicle rotates around the front axle center, the vehicle posture is adjusted from posture A to posture B, and C represents the vehicle's posture after parking in the target space. Referring to the scenario diagram in Figure 11, F represents the vehicle's initial parking posture, A represents the vehicle's posture during obstacle avoidance, B represents the vehicle's posture after moving to the front of the target parking space, after the vehicle rotates around the rear axle center, the vehicle posture is adjusted from posture B to posture C, and after parking in the target space from posture C, the posture is adjusted from posture C to posture D. Once the vehicle is in the appropriate position, it can achieve a large-angle adjustment of its position and posture with a single rotation around the center of the front or rear axle, allowing it to park directly in the parking space. The road width in the drivable area must be greater than or equal to the third threshold. The third threshold should be determined based on the vehicle's turning radius, turning angle, and body size, or set using empirical values; no restrictions are imposed here.

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

[0097] If 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 the fourth threshold, the target reference point is determined to be located on the target horizontal axis, where 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.

[0098] For example, the vehicle has the ability to rotate around a point on the vehicle's target transverse axis. Referring to Figure 12, the vehicle's rotation center is located on the vehicle's transverse axis, and the vehicle's turning radius is the distance between the rotation center point and the wheel axle center point on the other side of the vehicle, which is opposite to the rotation center point. 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 at the maximum turning angle of the front wheels.

[0099] For example, a vehicle can rotate and oscillate around a point on the target horizontal axis by independently controlling the torque of its wheels, as shown in Figure 13. F represents the vehicle's initial parking posture, A represents its posture during obstacle avoidance, and B represents its posture after reaching the target parking space. After rotating around the point on the target horizontal axis, the vehicle's posture is adjusted from posture B to posture C. After parking in the target parking space from posture C, the posture is adjusted back to posture D. In the scenario of parking in a perpendicular parking space where the road width is less than the fourth threshold, the vehicle's ability to rotate around the target horizontal axis is utilized to park within the target space, making efficient use of the available driving space and enhancing the vehicle's automatic parking capability. The fourth threshold can be the same as the third threshold mentioned above, or it can also be the length of the vehicle.

[0100] As an optional embodiment, controlling the vehicle to park from the drivable area into the target parking space based on the vehicle's steering function around the target reference point includes:

[0101] Based on the target reference point, control the wheel speed, torque, and rotation angle of each wheel of the vehicle to enable the vehicle to park from the drivable area into the target parking space.

[0102] For example, parking speeds are generally low, and higher vehicle speeds may cause skidding, reducing the accuracy of the estimated turning radius. Therefore, at low speeds, based on a determined target reference point, the wheel speed, torque, and rotation angle of each wheel can be controlled to allow the vehicle to park within the target parking space according to the drivable area. Specifically, at low speeds, for example, the vehicle speed can be less than 30 km / h. The wheel speed, torque, and rotation angle of each wheel can be calculated and determined based on the target reference point. In the different scenarios shown in Figure 5-13, the rotation direction of each wheel speed, torque, and rotation angle is not shown, indicating that the specific wheel speed, torque, and rotation angle controlled differ depending on the target reference point.

[0103] For example, at low speeds, the vehicle's motion satisfies the following constraints:

[0104]

[0105] Among them, v R This represents the combined velocity of the right front wheel and the right rear wheel; v L The left wheel's combined velocity is the combined velocity of the left front and left rear wheels; L is the vehicle's track width; r is the vehicle's turning radius; v is the combined velocity of the vehicle's wheels, where the linear velocity vectors of each wheel are combined to form the linear velocity vector of the entire wheel system; ω is the vehicle's angular velocity during turning. At low speeds, the speed difference (v) of the left wheel is adjusted through independent and precise control of the four wheels. R -v L), speed difference of the right side wheel (v) R +v L This can be achieved beyond just differential control of the vehicle, ensuring that the vehicle's turning radius r ≤ r min r min This is the minimum turning radius when the vehicle is turning at its maximum front wheel angle. Therefore, it is possible to 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, controlling the vehicle to park from the drivable area into the target parking space based on the vehicle's steering function around the target reference point 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 based on the vehicle's steering function around the target reference point. The preset scenario indicates that the target parking space is a dead-end parking space.

[0108] For example, referring to Figure 2, in a scenario where the target parking space is an end-of-the-way space, the vehicle cannot use the lane for parking. Conventional parking methods include multiple maneuvers to adjust the vehicle's posture, as shown in Figure 2. The drivable area is narrower than the vehicle's length, preventing large-angle turns and necessitating further maneuvers. Therefore, when the parking scenario corresponding to the drivable area and the target parking space is a preset scenario, the vehicle can be controlled to park within the target space based on its steering function around the target reference point. In non-preset scenarios, the same parking method as for traditional non-four-wheel-drive vehicles can be used to control the vehicle to park within the target space. For example, a single-step or multi-step parking path can be generated using methods such as circular arcs with straight lines, RS curves, Dubins curves, spiral curves, and hybrid A* algorithms. A step threshold can also be set. When the number of steps in generating a multi-step parking path exceeds the threshold, the vehicle can be controlled to park from the drivable area into the target space based on its steering function around the target reference point, thus improving parking efficiency.

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

[0110] Acquire vehicle perception information;

[0111] Based on the perceived information, determine the obstacle information around the vehicle and the target parking space;

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

[0113] For example, the vehicle uses visual and ultrasonic sensors to perceive its surroundings, acquire sensory information, identify surrounding obstacles, and convert them into point obstacles, line obstacles, and polygonal obstacles. The visual sensors calculate and analyze the acquired sensory information to obtain parking space information and status around the vehicle, and determine available parking spaces. When multiple available parking spaces are available, they can be displayed on the vehicle's infotainment system, allowing the driver to select any space as the target parking space, or to designate a parking space within a distance threshold from the vehicle as the target parking space. For the target parking space, the parking boundary can be extracted based on boundary information such as surrounding walls and pillars, and the drivable area can be further obtained by combining obstacle information with the target parking space.

[0114] As an optional embodiment, controlling the vehicle to park from the drivable area into the target parking space based on the vehicle's steering function around the target reference point includes:

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

[0116] Based on the vehicle's ability to turn around the target reference point, the system controls the vehicle to park in the target parking space from the drivable area along the target parking trajectory.

[0117] For example, after obtaining the target parking trajectory, the vehicle's automatic parking function is used to perform an automatic parking operation. Simultaneously, sensors are used to detect surrounding obstacles in real time, and collision risk calculations are performed for dynamic obstacles appearing during the parking process, thereby achieving obstacle avoidance. Furthermore, the success of automatic parking can be determined by whether the target parking trajectory was successfully calculated and whether the vehicle has reached the desired target parking space.

[0118] For example, the vehicle can perform circular reversing, as shown in Figures 22 and 23. When the vehicle is driving on the road, reversing can be performed by combining the vehicle's four-wheel independent drive function with the function of reversing around a target reference point. For example, based on the detected parking space width, road width, and vehicle size, it can be determined whether the vehicle's steering function around the target reference point, achieved through four-wheel independent drive, is used for parking, and the wheel torsion angle and vehicle travel distance are determined. While ensuring single-step parking, the steering angle is minimized to reduce tire wear.

[0119] For example, when the parking system determines that the lane is narrow or the vehicle is close to an obstacle, the turning radius can be reduced by utilizing the vehicle's four-wheel independent drive function to rotate around a target reference point. As shown in Figures 22 and 23, taking the vehicle turning around its wheel axis and parking in a space as an example, the vehicle moves forward in the road. After selecting a parking space, the vehicle begins parking. When the vehicle reaches the target position in front of the parking space, it begins to reverse in an arc. The starting position of the arc reversing can be determined by the user's driving position. For example, if the vehicle is close to the obstacle, it can start reversing in an arc when it is relatively close to the target parking space, or it can start reversing in an arc when it is relatively far from the obstacle. 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 reversing. During the reversing process, the distance between the vehicle and the obstacle should be greater than or equal to a safe distance, such as 20cm. After driving straight or reversing within the parking space to reach the rotation position, you can rotate around the target reference point until the parking space is straight. The target reference point for the vehicle is the right rear corner of the vehicle or the center point of the rear axle. This way, the rotation angle can be smaller, reducing tire wear.

[0120] For example, depending on the actual situation, the target reference point during rotation can be any point among the vehicle's geometric center or center of mass, wheel axle center, front axle center or rear axle center, a point on the target horizontal axis, and a vehicle corner point. It can be understood that in the case of single-step parking, before the vehicle has rotated after entering the target parking space, the target reference point for rotation remains at its endpoint when parking is complete; that is, the target reference point position remains unchanged before and after rotation.

[0121] For example, similar to the rear-end parking process described above, a vehicle can be parked front-end, as shown in Figures 24 and 25. The vehicle can first make an arc turn around a target reference point on the road, then drive straight for a distance until the front of the vehicle enters the parking space. When the right front wheel reaches the final position of parking completion, it can rotate around the right front wheel by a certain angle to straighten the vehicle and complete parking. Lateral parking can be used in parallel parking spaces with narrow lanes. Due to the narrow lanes, the distance between the vehicle and the parking space line is small before parking, making it difficult for the vehicle to turn. In this case, as shown in Figure 25, the vehicle can drive until it is horizontally aligned with the parallel parking space, rotate a small angle around the left front wheel axle to bring the left rear wheel into the parking space line, then rotate a larger angle around the left rear wheel axle to bring the front of the vehicle into the line, and then rotate a small angle around the right front wheel axle to bring the rear of the vehicle into the parking space line, straightening the vehicle and completing parking. By performing multiple rotations around a single wheel axle, the vehicle can be moved into the parking space in multiple steps, achieving a parking effect similar to lateral translation. If the starting position of the vehicle is far from the parking space, additional rotations around a single wheel can be made to complete the lateral parking.

[0122] In this embodiment, when a vehicle cannot park in a space using conventional APA parking or requires multiple maneuvers, it can achieve single-step parking by utilizing four-wheel independent drive. Furthermore, while existing technology only allows vehicles to park rear-end, this solution allows the vehicle to park front-end, and further enables lateral parking. This makes it easier for the vehicle to adjust its posture in narrow driving areas, increasing its parking capacity, expanding parking scenarios, improving parking efficiency, and enhancing the diversity of parking methods.

[0123] Referring to FIG14, FIG14 is a flowchart illustrating another parking method according to an exemplary embodiment. As shown in FIG14, the parking method includes:

[0124] S1400 After the driver activates the automatic parking function on the vehicle's infotainment system, they check whether the doors are closed, the chassis response status, and whether all sensors are working properly. Once the checks are passed, the automatic parking function is confirmed to be activated.

[0125] S1401, Environmental Perception and Mapping / Location. The system uses visual and ultrasonic sensors to perceive the surrounding environment, identify obstacle information, and convert it into point obstacles, line obstacles, and polygonal obstacles. The resulting perception and obstacle information is used to build a map, and the positioning module determines the vehicle's pose.

[0126] S1402 The visual sensor analyzes the obtained perception information to obtain information on available parking spaces in the surrounding area and the status of the parking spaces, 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 boundaries based on the boundary information of surrounding walls, pillars, etc., and further obtain the drivable parking area by combining obstacle information with 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 where parking is difficult. If so, proceed to step S1405; otherwise, proceed to step S1404.

[0128] S1404. Use conventional automatic parking methods for path planning.

[0129] S1405. Determine whether the parking space is a perpendicular parking space or an angled parking space. If yes, proceed to step S1407; otherwise, proceed to step S1406.

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

[0131] S1406. When parallel parking spaces are limited, the parallel parking method shall be adopted.

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

[0133] As shown in Figure 6, the space in front and behind the target parking space is limited, but the driving space is sufficient for the vehicle to rotate around itself. The best way for the vehicle to enter the parking space is to adjust from position P to position A by inserting it at an angle, and then rotate it around its own geometric center to adjust from position A to position B, so that it can be parked in the target parking space.

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

[0135] As shown in Figure 8, the space in front of, behind, and to the left of the target parking space is restricted, making it impossible to park by rotating around the vehicle within the space. In this case, the vehicle's ability to rotate around its wheel axis can be used for parking. First, the vehicle moves to the upper right corner of the target parking space, at which point the vehicle's posture is position A. Next, 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 changes in vehicle posture are shown in Figure 8. In parallel parking scenarios where the road width is sufficient for the vehicle to enter, this method can be used to park in the parallel parking space.

[0136] S1407, Methods for perpendicular or angled parking spaces.

[0137] In the first case, as shown in Figure 10, for end-of-the-way parking spaces, you can choose to park by rotating around the center of the front axle. A single rotation allows for a large-angle adjustment of the vehicle's position, enabling quick parking.

[0138] In the second scenario, as shown in Figure 11, a vehicle can park in a perpendicular parking space that allows it to use the lane in front of the target parking space. The vehicle can rotate around the center of its rear axle to achieve a large-angle adjustment of its position in a single rotation, allowing it to quickly park in the space.

[0139] In the third scenario, as shown in Figure 13, if the road width is extremely narrow when parking in a perpendicular space, the vehicle can park by rotating around a point on the target horizontal axis. F represents the vehicle's initial parking pose, A represents the vehicle's pose during obstacle avoidance, and B represents the vehicle's pose after reaching the target parking space. After rotating around a point on the target horizontal axis, the vehicle adjusts its posture from pose B to pose C, and then parks in the target space from pose C. Finally, it adjusts from pose C to pose D to complete the parking. This parking method has a higher utilization rate of parking space and solves the problem of traditional vehicles being unable to park in extreme scenarios.

[0140] S1408. Determine whether the parking trajectory was successfully solved. If yes, proceed to step S1409; otherwise, proceed to step S1410.

[0141] S1409. Based on the calculated trajectory, perform automatic parking. Simultaneously, sensors are used to detect surrounding obstacles in real time, and collision risk detection and screening are performed on dynamic obstacles appearing during parking, thereby achieving obstacle avoidance.

[0142] S1410, Parking complete. The success of automatic parking is determined by whether the parking trajectory was successfully calculated and whether the desired position was reached. For example, if the parking trajectory is successfully calculated and the vehicle parks within the target space, automatic parking is successful; if the parking trajectory is not calculated, or if the parking trajectory is successfully calculated but the vehicle does not park within the target space, automatic parking fails.

[0143] The embodiments disclosed herein improve the success rate and efficiency of the automatic parking system, thereby reducing the difficulty and time of parking. At the same time, they expand the applicable scenarios of the automatic parking function, making it usable in environments with limited driving space, such as narrow roads and complex surrounding obstacles, thus enhancing the driver's experience.

[0144] Referring to FIG15, FIG15 is a block diagram illustrating a parking device according to an exemplary embodiment. As shown in FIG15, the parking device includes:

[0145] The first determining module 1510 is configured to determine the drivable area corresponding to the target parking space, wherein the drivable area represents the 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 based on the vehicle's turning function around the target reference point. 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 independent four-wheel drive.

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

[0148] Alternatively, the target reference point may include the wheel axle center point, and the vehicle's steering function around the target reference point may include the vehicle body rotating around the wheel axle center point.

[0149] Alternatively, the target reference point may include the center point of the front axle or the center point of the rear axle, and the vehicle's steering function around the target reference point may include the vehicle body rotating around the center point of the front axle or the center point of the rear axle.

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

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

[0152] The second determining module is configured to determine the target reference point based on 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 determining submodule is configured to determine the target reference point, including the geometric center point or centroid point of the vehicle, when the target parking space is a parallel parking space, both 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 width condition indicates that the road width on both sides of the target parking space is greater than or equal to a first threshold.

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

[0156] The second determining submodule is configured to determine the target reference point, including the wheel axle 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 the target reference point, including 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 the 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 the fourth threshold. 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] Based on the target reference point, control the wheel speed, torque, and rotation angle of each wheel of the vehicle to enable the vehicle to park from the drivable area into the target parking space.

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

[0164] The acquisition module is configured to acquire the vehicle's perception information;

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

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

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

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

[0169] Based on the vehicle's ability to turn around the target reference point, the system controls the vehicle to park in the target parking space from the drivable area along the target parking trajectory.

[0170] In this embodiment, based on the vehicle's steering function around a 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 independent four-wheel drive makes the turning radius smaller than the turning radius when the front wheels turn at their maximum angle, allowing the vehicle to rotate at a greater angle within a limited space. Therefore, the vehicle can more easily adjust its posture in narrow drivable areas, enhancing the efficiency of automatic parking.

[0171] Regarding the parking device in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the parking method, and will not be elaborated upon here.

[0172] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the parking method of this disclosure.

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

[0174] A storage device containing computer programs;

[0175] A control device is provided for executing a computer program to implement the parking method of this disclosure.

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

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

[0178] Referring to Figure 16, the vehicle 1600 may include various subsystems, such as 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. Furthermore, each subsystem and component of the vehicle 1600 can be interconnected via wired 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 surrounding the vehicle 1600. For example, the perception system 1620 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[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 to 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 internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0183] Some or all of the 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, the processor 1651 being able to execute instructions 1653 stored in the memory 1652.

[0184] Processor 1651 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0185] The 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 instruction 1653, memory 1652 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 1652 can be used by computing platform 1650.

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

[0188] In another exemplary embodiment, a computer program product is also provided, the computer program product comprising a computer program executable by a programmable device, the computer program having a code portion for performing the parking method described above when executed by the programmable device.

[0189] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of this disclosure. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0190] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A parking method, characterized in that, include: Determine the drivable area corresponding to the target parking space, wherein the drivable area represents the area surrounding the target parking space excluding obstacles; Based on a target reference point, the vehicle is controlled to park from the drivable area into the target parking space. The vehicle is capable of turning around the target reference point via independent four-wheel drive. The turning radius of the vehicle when turning around the target reference point is smaller than the turning radius when the vehicle is turning at its maximum front wheel angle. When the target reference point includes a center of gravity, and the vehicle body rotates around the center of gravity when turning around the target reference point, the motors driving the left and right wheels of the vehicle output equal and opposite torques. When the target reference point includes a wheel axle center, and the vehicle body rotates around the wheel axle center when turning around the target reference point, or when the target reference point includes a front axle center or a rear axle center, the... When the vehicle turns around a target reference point, the vehicle body rotates around the center point of the front axle or the center point of the rear axle; or, when the target reference point is located on the target transverse axis and the vehicle body rotates around a point on the target transverse axis; or, when the target reference point includes the center point of the rear axle, the rear axle wheels are locked and the front axle wheels rotate in the opposite direction; or, when the target reference point includes the center point of the front axle, the front axle wheels are locked and the rear axle wheels rotate in the opposite direction, the rotation of the vehicle is achieved by controlling four motors to output torques of different magnitudes and directions to drive the wheels. The four motors drive the four wheels respectively. The target transverse axis is the axis where the geometric center of the vehicle is located and is horizontally perpendicular to the direction of travel of the vehicle.

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

3. The parking method according to claim 2, characterized in that, Determining the target reference point based on the type of the target parking space and the road width in the drivable area includes: determining that the target reference point includes the centroid of the vehicle when the target parking space is a parallel parking space, both 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 width condition indicates that the road width on both sides of the target parking space is greater than or equal to a first threshold.

4. The parking method according to claim 2, characterized in that, Determining the target reference point based on the type of the target parking space and the road width in the drivable area includes: determining that the target reference point includes the wheel axle center of the vehicle when the target parking space is a parallel parking space, at least one long side of the target parking space connects to the drivable area, and the road width in the drivable area is greater than or equal to a second threshold.

5. The parking method according to claim 2, characterized in that, Determining the target reference point based on 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 connects to the drivable area, and the road width in the drivable area is greater than or equal to a third threshold, determining that the target reference point includes the center point of the front axle or the center point of the rear axle of the vehicle.

6. The parking method according to claim 2, characterized in that, Determining the target reference point based on the type of the target parking space and the road width in the drivable area includes: determining 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 connects to the drivable area, and the road width in the drivable area is less than a fourth threshold. The target horizontal axis is the axis where the geometric center of the vehicle is located and is horizontally perpendicular to the direction of vehicle travel.

7. The parking method according to any one of claims 1-6, characterized in that, Determining the drivable area corresponding to the target parking space includes: acquiring the vehicle's perception information; determining the obstacle information around the vehicle and the target parking space based on the perception information; and determining the drivable area based on the target parking space and the obstacle information.

8. The parking method according to any one of claims 1-6, characterized in that, Controlling a vehicle to park in the target parking space from the drivable area based on a target reference point includes: planning a parking trajectory based on the drivable area and the target reference point to obtain a target parking trajectory; and controlling the vehicle to park in the target parking space from the drivable area along the target parking trajectory based on the vehicle's ability to turn around the target reference point.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the program instructions are executed by the processor, they implement the parking method according to any one of claims 1-8.

10. A vehicle, characterized in that, The vehicle includes: a storage device storing a computer program; and a control device for executing the computer program to implement the parking method according to any one of claims 1-8.

11. The vehicle according to claim 10, characterized in that, The vehicle includes four motors, each of which drives one wheel.

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