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, the drivable area represents an area around the target parking space without an obstacle, and the target parking space is a parallel parking space; when the length of the target parking space is larger than the length of a vehicle body of the vehicle and smaller than or equal to a preset length threshold value, the vehicle is controlled to be parked into the target parking space from the drivable area according to the target reference point, and the vehicle can steer around the target reference point through four-wheel independent driving; the turning radius when the vehicle steers around the target reference point is smaller than the turning radius when the vehicle steers around the maximum front wheel turning angle. Thus, for the parallel parking space with the small size, the vehicle can rotate by a larger angle by steering around the target reference point, the posture of the vehicle body can be easily adjusted in a narrow driving area, the vehicle body can be parked in the parking space, 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. The turning radius of the vehicle is large when turning, and a lot of maneuvers are often required to adjust the vehicle's posture when parking in a narrow space, 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] A first aspect of the present disclosure provides a parking method, the method comprising:

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

[0006] When the length of the target parking space is greater than the body length of the vehicle and less than or equal to a preset length threshold, the vehicle is controlled to park from the drivable area into the target parking space according to the target reference point, 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 center of mass point, and when the vehicle turns around the target reference point, the vehicle body rotates around 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 includes a body corner point of the vehicle, and when the vehicle turns around the target reference point, the body rotates around the body corner point.

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

[0012] Performing trajectory planning according to the target reference point and preset constraints to obtain a target parking trajectory of the vehicle, wherein the preset constraints are used to ensure parking safety of the vehicle and / or reduce wheel wear;

[0013] The vehicle is controlled to park from the drivable area into the target parking space along the target parking trajectory.

[0014] Optionally, the preset constraint condition includes at least one of the following:

[0015] The distance between the vehicle and obstacles around the vehicle is greater than or equal to a safety distance threshold;

[0016] The number of times the function of steering the vehicle around the target reference point is used in the generated multiple parking paths to be selected is minimized;

[0017] Among the generated multiple parking paths to be selected, the angle at which the vehicle rotates around the target reference point is the smallest.

[0018] Optionally, before controlling the vehicle to park from the drivable area into the target parking space along the target parking trajectory, the method further includes:

[0019] When the target reference point is any one of the center of mass, the wheel axis, the front axle center, the rear axle center, and the vehicle body corner, determining the terminal position of the target reference point in the target parking space according to the target parking trajectory;

[0020] Controlling the vehicle to park in the target parking space from the drivable area along the target parking trajectory includes:

[0021] Controlling the vehicle to travel along the target parking trajectory toward the target parking space until the target reference point reaches the end position;

[0022] The vehicle is controlled to rotate around the target reference point so that the vehicle body is aligned in the target parking space.

[0023] Optionally, when the target parking trajectory represents a front-end parking mode, the target reference point is any one of the center point of the front axle, the center points of the two front wheels, the center of mass, and the two body corner points located at the front of the vehicle;

[0024] When the target parking trajectory represents a rear-end parking mode, the target reference point is any one of the center point of the rear axle, the center of mass, the two rear wheel axle centers and the two body corner points located at the rear of the vehicle.

[0025] Optionally, when the target parking trajectory represents a parking mode as a lateral parking mode, the target reference point includes a first reference point and a second reference point;

[0026] Controlling the vehicle to park in the target parking space from the drivable area along the target parking trajectory includes:

[0027] Controlling the vehicle to travel along the target parking trajectory from the drivable area to be horizontally aligned with the target parking space;

[0028] The vehicle is controlled to rotate alternately around the first reference point and the second reference point so that the vehicle body enters the target parking space and is aligned.

[0029] Optionally, the first reference point and the second reference point are the center point of the front axle and the center point of the rear axle of the vehicle respectively;

[0030] Alternatively, the first reference point and the second reference point are two diagonal points among the four wheel axis points of the vehicle;

[0031] Alternatively, the first reference point and the second reference point are two diagonal points among the four vehicle body corner points.

[0032] Optionally, controlling the vehicle to park in the target parking space from the drivable area according to the target reference point includes:

[0033] 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.

[0034] Optionally, determining a drivable area corresponding to the target parking space includes:

[0035] Acquiring perception information of the vehicle;

[0036] Determining obstacle information and a target parking space around the vehicle based on the perception information;

[0037] The drivable area is determined according to the target parking space and the obstacle information.

[0038] 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.

[0039] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, the vehicle comprising:

[0040] a storage device, wherein the storage device stores a computer program;

[0041] 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.

[0042] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0043] In the disclosed embodiment, 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. Therefore, for a parallel parking space with a smaller size, the vehicle can achieve a larger angle of rotation by turning around the target reference point, and it is also easy to adjust the body posture and park in a narrow drivable area. In this way, the efficiency of automatic parking can be enhanced.

[0044] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0046] Figure 1 It is a schematic diagram of the principle of traditional vehicle steering in the related technology.

[0047] Figure 2 The figure is a schematic structural diagram of a four-wheel independent drive vehicle according to an exemplary embodiment.

[0048] Figure 3 The figure is a flowchart of a parking method according to an exemplary embodiment.

[0049] Figure 4 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.

[0050] Figure 5 The diagram is a 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.

[0051] Figure 6 The figure is a 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.

[0052] Figure 7 The figure 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.

[0053] Figure 8 The diagram is a schematic diagram of a scene in which a vehicle turns around a vehicle corner point according to an exemplary embodiment.

[0054] Fig. 9 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.

[0055] Fig.10 The figure is a schematic diagram of a scene of a vehicle reversing in an arc according to an exemplary embodiment.

[0056] Fig.11 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.

[0057] Fig.12 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.

[0058] Fig.13 The figure is a block diagram of a parking device according to an exemplary embodiment.

[0059] Fig.14 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0060] 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.

[0061] 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.

[0062] 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 principle of traditional vehicle steering shown in the figure shows that the position of the center of rotation O on the extension line of the rear wheel axis of the vehicle can be determined based on the front wheel turning angle between the front wheel and the direction of vehicle travel, and the distance between the left front wheel axis of the vehicle and the center of rotation O is the turning radius of the vehicle. When the parking space is narrow, it takes multiple maneuvers and repeated maneuvers to park in the parking space, which leads to low parking efficiency. In addition, the waiting time for 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.

[0063] 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.

[0064] 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, and the target parking space is a parallel parking space.

[0065] S302. When the length of the target parking space is greater than the body length of the vehicle and less than or equal to a preset length threshold, the vehicle is controlled to park from the drivable area into the target parking space according to the target reference point, 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.

[0066] For example, the drivable area is the area where the vehicle drivable during parking. The drivable area is connected to at least one boundary of the target parking space, and the vehicle can enter the target parking space. Parking spaces can be divided into three types according to their relationship with the direction of vehicle traffic: parallel, vertical, and diagonal. Among them, the target parking space is a parallel parking space, such as Figure 4-12 As shown, the parallel parking space is parallel to the shoulder of the road. When the parking space is a non-parallel parking space, the vehicle can be turned by controlling the front wheel steering to achieve parking by the rear end. When the length of the target parking space is greater than the body length of the vehicle and is less than or equal to the preset length threshold, in this case, the vehicle can be parked in the target parking space, but the space is small and it is difficult for the driver and automatic parking to park. When the length of the target parking space is less than the body length of the vehicle, the vehicle cannot be parked and can find other available parking spaces. When the length of the target parking space is greater than the preset length threshold, priority is given to controlling the vehicle's steering by front wheel steering to reduce tire wear. Among them, the preset length threshold can be set according to actual conditions and is not limited here.

[0067] For example, 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 made 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 are turning at the maximum turning angle is the turning radius when the vehicle only controls the front wheels to steer and the front wheels are turning at the maximum turning angle. This turning radius is also called the minimum turning radius. The minimum turning radius refers to the radius of the circle of the track that the center of the outer steering wheel rolls on the supporting 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 vehicle's front wheels, the vehicle's wheelbase and the track width of the wheels. For example Figure 1 As shown in FIG. 1 , when the vehicle turns right at the maximum front wheel turning angle θ, the corresponding minimum turning radius may be the line between the turning center O and the left front wheel axis of the vehicle. The minimum turning radius may be used to characterize the ability of a vehicle to pass through narrow curved areas or bypass insurmountable obstacles.

[0068] Here, 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 due to four-wheel independent drive. The stronger its ability to pass through narrow curved areas or bypass insurmountable obstacles, the vehicle can achieve a larger angle of rotation 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 from the drivable area into a smaller parallel parking space can effectively enhance the vehicle's steering ability during parking and increase the available scenarios of the vehicle's automatic parking function.

[0069] In the disclosed embodiment, 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. Therefore, for a parallel parking space with a smaller size, the vehicle can achieve a larger angle of rotation by turning around the target reference point, and it is also easy to adjust the body posture and park in a narrow drivable area. In this way, the efficiency of automatic parking can be enhanced.

[0070] As an optional embodiment, the target reference point includes a center of mass point, and when the vehicle turns around the target reference point, the vehicle body rotates around the center of mass point;

[0071] Alternatively, the target reference point includes the 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;

[0072] 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 with the center point of the front axle or the center point of the rear axle as the center;

[0073] Alternatively, the target reference point includes a body corner point of the vehicle, and when the vehicle turns around the target reference point, the body rotates around the body corner point.

[0074] For example, refer to Figure 4-8 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.

[0075] For example, a vehicle has the ability to turn around its own geometric center or center of mass, where the vehicle's center of rotation is the vehicle's geometric center or center of mass. The four-wheel independent drive technology is used to control the motors of the left and right wheels to output equal and opposite torques, so that the resultant force on the vehicle's geometric center or center of mass is 0. After controlling the wheel angle, the vehicle is subjected to a resultant torque in the same direction. Therefore, the vehicle body does not translate, but rotates clockwise or counterclockwise around its geometric center or center of mass, thereby achieving in-situ rotation around the vehicle's geometric center or center of mass. Under ideal conditions, the turning radius of the vehicle around its own geometric center or center of mass is 0, and the vehicle can turn around or make a U-turn in a small space. Figure 4 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.

[0076] 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. Taking the case where the rotation center is the center point of the rear axle of the vehicle and the rotation direction is clockwise, the vehicle turning radius can be 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 vehicle rotates counterclockwise, the vehicle turning radius 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, it can be combined with four-wheel independent drive technology and EPB (Electrical Park Brake) technology. For example, EPB control locks 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, EPB control locks 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. Figure 5 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.

[0077] For example, the vehicle has the ability to turn around the wheel axis, and the vehicle's rotation center is one of the wheel axis. For example, if the vehicle rotates clockwise with the right rear wheel axis as the rotation center, the turning radius is the distance between the right rear wheel axis and the left front wheel axis. 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. Figure 6 , 7 , the numbers shown in the figure are the steps when the vehicle is parked in the parking space. Figure 6 In the process, after the vehicle drives to a position horizontally aligned with the horizontal parking space on the side, in the first step, the vehicle rotates a certain angle around the axis point of the right rear wheel, and the head of the vehicle can be tilted to park in the parking space. In the second step, the vehicle rotates a certain angle around the axis point of the left front wheel, and the tail of the vehicle is straightened to park in the parking space. When the length of the parking space is short, the rotation angle is smaller 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. Figure 7 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.

[0078] For example, the vehicle also has the ability to turn around the corner of the vehicle. Figure 8 In the figure, the front of the vehicle faces downward. For a horizontal parking space with a narrow passage, the vehicle can be tilted and reversed into the parking space in step ①, so that the right front corner moves to the position indicated by the arrow of number ①. Then, in step ②, the vehicle is rotated with the left rear corner as the center until the vehicle body is aligned with the parking space, so that the left rear corner moves to the position indicated by the arrow of number ②, and a single-step parking can be achieved.

[0079] As an optional embodiment, controlling the vehicle to park in the target parking space from the drivable area according to the target reference point includes:

[0080] Performing trajectory planning according to the target reference point and preset constraints to obtain a target parking trajectory of the vehicle, wherein the preset constraints are used to ensure parking safety of the vehicle and / or reduce wheel wear;

[0081] Control the vehicle to park in the target parking space from the drivable area along the target parking trajectory.

[0082] For example, trajectory planning can be performed according to the target reference point and preset constraints, and the vehicle can be controlled to park in the target parking space according to the planned parking trajectory. The preset constraints can be set according to actual conditions. By setting the preset constraints to ensure parking safety or reduce wheel wear, the vehicle can be controlled to park without collision, and the wheel wear of the wheel can be ensured to be as small as possible to avoid shortening the wheel life.

[0083] As an optional embodiment, the preset constraint condition includes at least one of the following:

[0084] The distance between the vehicle and obstacles around the vehicle is greater than or equal to the safety distance threshold;

[0085] The number of times the function of steering the vehicle around the target reference point is used in the generated multiple parking paths to be selected is minimized;

[0086] Among the generated multiple parking paths to be selected, the angle at which the vehicle rotates around the target reference point is the smallest.

[0087] For example, to ensure the parking safety of the vehicle, the preset constraint condition may at least include that the distance between the vehicle and the obstacles around the vehicle is greater than or equal to a safety distance threshold, wherein the safety distance threshold may be calibrated according to actual conditions, for example, 20 cm. In order to reduce the degree of wheel wear, the vehicle may be controlled to minimize the number of turns and / or the turning angle of the vehicle around the target reference point.

[0088] The present invention sets preset constraints for parking trajectory planning. Among the generated multiple parking paths to be selected, the optimal solution can be solved according to the preset constraints to determine the wheel steering angle and the driving distance. The steering angle is minimized as much as possible on the basis of ensuring one-time parking, so as to reduce tire wear.

[0089] As an optional embodiment, before controlling the vehicle to park in the target parking space from the drivable area along the target parking trajectory, the method further includes:

[0090] When the target reference point is any one of the center of mass, the wheel axis, the front axle center, the rear axle center, and the body corner, the terminal position of the target reference point in the target parking space is determined according to the target parking trajectory;

[0091] Controlling the vehicle to park in the target parking space from the drivable area along the target parking trajectory, including:

[0092] Control the vehicle to drive along the target parking trajectory toward the target parking space until the target reference point reaches the end position;

[0093] The vehicle is controlled to rotate around the target reference point so that the vehicle body is aligned in the target parking space.

[0094] For example, when the target reference point is determined to be any one of the center of mass, the wheel axis, the front axle center, the rear axle center, and the body corner, the vehicle can be parked in the target parking space in a single-step parking manner. Figure 4 , 5 Schematic diagram of the scenario, when the target reference point is one, the vehicle can achieve single-step parking. Specifically, the vehicle can determine the terminal position of the target reference point in the target parking space according to the target parking trajectory, and control the vehicle to drive toward the target parking space along the target parking trajectory until the target reference point reaches the terminal position, and then control the vehicle to rotate a certain angle with the target reference point as the center, so that the vehicle body is straightened in the target parking space.

[0095] It can be understood that in the case of single-step parking, when the vehicle enters the target parking space but has not yet rotated, the target reference point of the rotation is at the end position when parking is completed, that is, in an ideal state, the position of the target reference point before and after the rotation remains unchanged. Here, for scenarios where it is impossible to park in a narrow parallel parking space or it takes multiple attempts to park, the number of attempts can be greatly reduced, thereby improving parking efficiency.

[0096] As an optional embodiment, when the target parking trajectory represents a parking mode of front-end parking, the target reference point is any one of the center point of the front axle, the center points of the two front wheels, the center of mass, and the two body corner points located at the front of the vehicle;

[0097] When the target parking trajectory represents a rear-end parking mode, the target reference point is any one of the center point of the rear axle, the center of mass, the two rear wheel axle centers, and the two body corner points located at the rear of the vehicle.

[0098] 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. Figure 9-10 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.

[0099] For example, based on single-step parking, for difficult parking spaces, especially corner parking spaces and narrow aisle parking spaces, the vehicle is difficult to park in. Therefore, the vehicle can be parked in the front direction. At this time, the target reference point can be the center point of the front axle, the center point of the two front wheels, the center of mass, and any one of the two corner points of the vehicle body at the front. Fig.11 The vehicle can first make a circular turn on the road by combining the function of the vehicle around the target reference point, then start to drive a straight distance and drive into the parking space with the front of the vehicle. When the right front wheel reaches the end position of parking completion, the right front wheel can be rotated at a certain angle, and the vehicle body can be straightened to complete parking. Compared with the conventional method of parking into the parking space with the rear end of the vehicle, this method can improve parking efficiency and the diversity of parking methods.

[0100] As an optional embodiment, when the target parking trajectory represents a parking mode as a lateral parking mode, the target reference point includes a first reference point and a second reference point;

[0101] Controlling the vehicle to park in the target parking space from the drivable area along the target parking trajectory, including:

[0102] Control the vehicle to travel along the target parking trajectory from the drivable area to be horizontally aligned with the target parking space;

[0103] The vehicle is controlled to rotate alternately around the first reference point and the second reference point so that the vehicle body enters the target parking space and is aligned.

[0104] For example, the lateral parking method can be used to park in a parallel parking space with a narrow passage. Because the passage is too narrow, the distance between the vehicle and the parking space line before parking is small, and the vehicle is difficult to turn. Fig.12 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.

[0105] As an optional embodiment, the first reference point and the second reference point are respectively a front axle center point and a rear axle center point of the vehicle;

[0106] Alternatively, the first reference point and the second reference point are two diagonal points among the four wheel axis points of the vehicle;

[0107] Alternatively, the first reference point and the second reference point are two diagonal points among the four corner points of the vehicle body.

[0108] Here, the first reference point and the second reference point are the center point of the front axle and the center point of the rear axle of the vehicle, respectively. Alternatively, the first reference point and the second reference point can be diagonal points to each other, such as two diagonal points among the four wheel axis points of the vehicle, or two diagonal points among the four body corner points, so that the steering angle and the number of steering times can be reduced by rotating around the two diagonal points alternately.

[0109] For example, when the first reference point is the axis point of the left front wheel of the vehicle, the second reference point is the axis point of the right rear wheel of the vehicle; when the first reference point is the axis point of the left rear wheel of the vehicle, the second reference point is the axis point of the right front wheel of the vehicle. When the first reference point is the left front corner of the vehicle, the second reference point is the right rear corner of the vehicle; when the first reference point is the left rear corner of the vehicle, the second reference point is the right front corner of the vehicle. Figure 8 In the scenario shown, the vehicle can also park sideways into the parking space by rotating around the right front corner point in step ① and around the left rear corner point in step ②.

[0110] As an optional embodiment, controlling the vehicle to park in the target parking space from the drivable area according to the target reference point includes:

[0111] 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.

[0112] 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.

[0113] For example, at low speed, the motion of the vehicle satisfies the following constraints:

[0114]

[0115] 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 Lis 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 It 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.

[0116] As an optional embodiment, determining the drivable area corresponding to the target parking space includes:

[0117] Obtaining vehicle perception information;

[0118] Determine the obstacle information and target parking space around the vehicle based on the perceived information;

[0119] Determine the drivable area based on the target parking space and obstacle information.

[0120] 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.

[0121] Reference Fig.13 , Fig.13 The figure is a block diagram of a parking device according to an exemplary embodiment.

[0122] like Fig.13 As shown, the parking device includes:

[0123] The determination module 1301 is configured to 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, and the target parking space is a parallel parking space;

[0124] The control module 1302 is configured to control the vehicle to park in the target parking space from the drivable area according to the target reference point when the length of the target parking space is greater than the body length of the vehicle and less than or equal to a preset length threshold, 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.

[0125] As an optional embodiment, the target reference point includes a center of mass point, and when the vehicle turns around the target reference point, the vehicle body rotates around the center of mass point;

[0126] Alternatively, the target reference point includes the 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;

[0127] 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 with the center point of the front axle or the center point of the rear axle as the center;

[0128] Alternatively, the target reference point includes a body corner point of the vehicle, and when the vehicle turns around the target reference point, the body rotates around the body corner point.

[0129] As an optional embodiment, the control module 1302 includes:

[0130] A trajectory planning submodule is configured to perform trajectory planning according to a target reference point and preset constraints to obtain a target parking trajectory of the vehicle, wherein the preset constraints are used to ensure parking safety of the vehicle and / or reduce wheel wear;

[0131] The control submodule is configured to control the vehicle to park in a target parking space from a drivable area along a target parking trajectory.

[0132] As an optional embodiment, the preset constraint condition includes at least one of the following:

[0133] The distance between the vehicle and obstacles around the vehicle is greater than or equal to the safety distance threshold;

[0134] The number of times the function of steering the vehicle around the target reference point is used in the generated multiple parking paths to be selected is minimized;

[0135] Among the generated multiple parking paths to be selected, the angle at which the vehicle rotates around the target reference point is the smallest.

[0136] As an optional embodiment, the parking device further includes:

[0137] The terminal position determination module is configured to determine the terminal position of the target reference point in the target parking space according to the target parking trajectory when the target reference point is any one of the center of mass, the wheel axis, the front axle center, the rear axle center and the vehicle body corner point;

[0138] The control submodule is specifically configured as follows:

[0139] Control the vehicle to drive along the target parking trajectory toward the target parking space until the target reference point reaches the end position;

[0140] The vehicle is controlled to rotate around the target reference point so that the vehicle body is aligned in the target parking space.

[0141] As an optional embodiment, when the target parking trajectory represents a parking mode of front-end parking, the target reference point is any one of the center point of the front axle, the center points of the two front wheels, the center of mass, and the two body corner points located at the front of the vehicle;

[0142] When the target parking trajectory represents a rear-end parking mode, the target reference point is any one of the center point of the rear axle, the center of mass, the two rear wheel axle centers, and the two body corner points located at the rear of the vehicle.

[0143] As an optional embodiment, when the target parking trajectory represents a parking mode as a lateral parking mode, the target reference point includes a first reference point and a second reference point;

[0144] The control submodule is specifically configured as follows:

[0145] Control the vehicle to travel along the target parking trajectory from the drivable area to be horizontally aligned with the target parking space;

[0146] The vehicle is controlled to rotate alternately around the first reference point and the second reference point so that the vehicle body enters the target parking space and is aligned.

[0147] As an optional embodiment, the first reference point and the second reference point are respectively a front axle center point and a rear axle center point of the vehicle;

[0148] Alternatively, the first reference point and the second reference point are two diagonal points among the four wheel axis points of the vehicle;

[0149] Alternatively, the first reference point and the second reference point are two diagonal points among the four corner points of the vehicle body.

[0150] As an optional embodiment, the control module 1302 is further configured to:

[0151] 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.

[0152] As an optional embodiment, the determining module 1301 is further configured to:

[0153] Obtaining vehicle perception information;

[0154] Determine the obstacle information and target parking space around the vehicle based on the perceived information;

[0155] Determine the drivable area based on the target parking space and obstacle information.

[0156] 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.

[0157] 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.

[0158] The present disclosure also provides a vehicle, the vehicle comprising:

[0159] a storage device, wherein the storage device stores a computer program;

[0160] The control device is used to execute a computer program to implement the parking method disclosed in the present invention.

[0161] Fig.14 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.

[0162] Reference Fig.14 , 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.

[0163] In some embodiments, the infotainment system 1610 may include a communication system, an entertainment system, and a navigation system, etc.

[0164] 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.

[0165] The decision control system 1630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0166] 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.

[0167] 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.

[0168] 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.

[0169] 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.

[0170] 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 .

[0171] 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.

[0172] 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.

[0173] 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.

[0174] 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: The method comprises: Determine a drivable area corresponding to a target parking space, wherein the drivable area represents an area around the target parking space that does not include obstacles, and the target parking space is a parallel parking space; When the length of the target parking space is greater than the body length of the vehicle and less than or equal to a preset length threshold, the vehicle is controlled to park from the drivable area into the target parking space according to the target reference point, 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 center of mass point, and when the vehicle turns around the target reference point, the vehicle body rotates around 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 includes a body corner point of the vehicle, and when the vehicle turns around the target reference point, the body rotates around the body corner point.

3. The parking method according to claim 1, 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 trajectory planning according to the target reference point and preset constraints to obtain a target parking trajectory of the vehicle, wherein the preset constraints are used to ensure parking safety of the vehicle and / or reduce wheel wear; The vehicle is controlled to park from the drivable area into the target parking space along the target parking trajectory.

4. The parking method according to claim 3, characterized in that: The preset constraint condition includes at least one of the following: The distance between the vehicle and obstacles around the vehicle is greater than or equal to a safety distance threshold; The number of times the function of steering the vehicle around the target reference point is used in the generated multiple parking paths to be selected is minimized; Among the generated multiple parking paths to be selected, the angle at which the vehicle rotates around the target reference point is the smallest.

5. The parking method according to claim 3, characterized in that: Before controlling the vehicle to park from the drivable area into the target parking space along the target parking trajectory, the method further includes: When the target reference point is any one of the center of mass, the wheel axis, the front axle center, the rear axle center, and the vehicle body corner, determining the terminal position of the target reference point in the target parking space according to the target parking trajectory; Controlling the vehicle to park in the target parking space from the drivable area along the target parking trajectory includes: Controlling the vehicle to travel along the target parking trajectory toward the target parking space until the target reference point reaches the end position; The vehicle is controlled to rotate around the target reference point so that the vehicle body is aligned in the target parking space.

6. The parking method according to claim 5, characterized in that: When the target parking trajectory represents a front-end parking mode, the target reference point is any one of the center point of the front axle, the center points of the two front wheels, the center of mass, and the two body corner points located at the front of the vehicle; When the target parking trajectory represents a rear-end parking mode, the target reference point is any one of the center point of the rear axle, the center of mass, the two rear wheel axle centers and the two body corner points located at the rear of the vehicle.

7. The parking method according to claim 3, characterized in that: When the target parking trajectory represents a parking mode as a lateral parking mode, the target reference point includes a first reference point and a second reference point; Controlling the vehicle to park in the target parking space from the drivable area along the target parking trajectory includes: Controlling the vehicle to travel along the target parking trajectory from the drivable area to be horizontally aligned with the target parking space; The vehicle is controlled to rotate alternately around the first reference point and the second reference point so that the vehicle body enters the target parking space and is aligned.

8. The parking method according to claim 7, characterized in that: The first reference point and the second reference point are respectively the center point of the front axle and the center point of the rear axle of the vehicle; Alternatively, the first reference point and the second reference point are two diagonal points among the four wheel axis points of the vehicle; Alternatively, the first reference point and the second reference point are two diagonal points among the four vehicle body corner points.

9. The parking method according to any one of claims 1 to 8, 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.

10. The parking method according to any one of claims 1 to 8, 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.

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

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