Automatic parking control method, system and equipment and storage medium

Abstract

The invention discloses an automatic parking control method, system and device and a storage medium, and relates to the technical field of automatic driving, and the method comprises the steps: when a vehicle enters an automatic parking function, obtaining external environment information, carrying out longitudinal planning, and determining a remaining driving distance and a target vehicle speed; when the remaining driving distance is larger than a distance threshold value, or the remaining driving distance is smaller than or equal to the distance threshold value and the current vehicle speed is smaller than or equal to the target vehicle speed, friction torque corresponding to the current vehicle speed and gradient torque corresponding to the current gradient information are obtained, and target acceleration is obtained according to the speed difference between the current vehicle speed and the target vehicle speed; further obtaining a corresponding speed control torque; and according to the friction torque, the gradient torque and the speed control torque, the demand torque is obtained, and automatic parking is conducted according to the demand torque. The target speed can be accurately and stably tracked, and the accuracy of the parking system and the riding comfort are improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to an automatic parking control method, system, device and storage medium. Background Art

[0002] The vehicle autonomous driving system is a complex system that can automatically accelerate, brake, turn, follow, wait and perform other operations by sensing the surrounding environment and combining the vehicle's own status information, and finally reach the destination. In complex scenarios such as garages and parking lots where autonomous vehicles are required to drive at low speeds and there are many accidental factors, the longitudinal power control system of autonomous vehicles will face greater challenges. Power control is extremely important in the longitudinal control system. Power control in new energy vehicles is mainly achieved by controlling the torque of the motor.

[0003] In the related art, a parking longitudinal control method based on motor braking is provided, including: determining a desired torque value based on an initial vehicle speed, a given deceleration, and a slope of a current position of the vehicle; and controlling the parking and starting of the vehicle based on the desired torque value.

[0004] However, the above method mainly achieves braking by simply controlling the motor torque, and the driving safety and accuracy of the vehicle during parking needs to be improved. Summary of the invention

[0005] The present application provides an automatic parking control method, system, device and storage medium, which can solve the technical problems of insufficient vehicle driving safety and accuracy in the prior art.

[0006] In a first aspect, the present application provides an automatic parking control method, the automatic parking control method comprising:

[0007] When the vehicle enters the automatic parking function, it obtains external environment information and performs longitudinal planning to determine the remaining driving distance and target vehicle speed;

[0008] When the remaining driving distance is greater than the distance threshold, or the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is less than or equal to the target vehicle speed, the friction torque corresponding to the current vehicle speed and the slope torque corresponding to the current slope information are obtained, and the target acceleration is obtained according to the speed difference between the current vehicle speed and the target vehicle speed, thereby obtaining the corresponding speed control torque;

[0009] The required torque is obtained based on the friction torque, slope torque and speed control torque, and automatic parking is performed with the required torque.

[0010] In combination with the first aspect, in one implementation, when the remaining driving distance is less than or equal to a distance threshold and the current vehicle speed is greater than a target vehicle speed, the vehicle torque is set to a minimum value.

[0011] In combination with the first aspect, in one implementation, obtaining the friction torque corresponding to the current vehicle speed specifically includes:

[0012] Determine the vehicle speed range corresponding to the current vehicle speed;

[0013] Obtain the corresponding friction force interval according to the above vehicle speed interval, and calculate the corresponding friction force interval slope, so as to obtain the friction force corresponding to the current vehicle speed;

[0014] The corresponding friction torque is obtained according to the above friction force.

[0015] In combination with the first aspect, in one implementation, obtaining the slope torque corresponding to the current slope information specifically includes:

[0016] Determine the slope interval corresponding to the current slope vehicle speed;

[0017] Obtain the corresponding ramp resistance interval according to the above slope interval, and calculate the corresponding ramp resistance interval slope, and then obtain the ramp resistance corresponding to the current vehicle speed;

[0018] The corresponding slope torque is obtained according to the above slope resistance.

[0019] In combination with the first aspect, in one implementation, obtaining a target acceleration according to a speed difference between a current vehicle speed and a target vehicle speed, and then obtaining a corresponding speed control torque, specifically includes:

[0020] Obtaining a first P-term coefficient and a first I-term coefficient corresponding to the target vehicle speed, and a second P-term coefficient and a second I-term coefficient corresponding to the speed difference, and then calculating the target acceleration;

[0021] The third P-term coefficient and the third I-term coefficient corresponding to the target acceleration are obtained, and the speed control torque is obtained according to the target acceleration, the third P-term coefficient and the third I-term coefficient.

[0022] In combination with the first aspect, in one implementation, obtaining the required torque according to the friction torque, the slope torque and the speed control torque specifically includes:

[0023] The sum of the friction torque, slope torque and speed control torque is obtained as the required torque.

[0024] In combination with the first aspect, in one implementation, after the vehicle enters the automatic parking function, the method further includes:

[0025] When it is determined that the automatic parking control conditions are not met, the automatic parking function is exited;

[0026] When the safety protection strategy is triggered, braking, parking or exiting the automatic parking function, and the vehicle torque is set to the minimum value.

[0027] In a second aspect, the present application provides an automatic parking control system, the automatic parking control system comprising:

[0028] The perception and planning module is used to obtain external environment information and perform longitudinal planning when the vehicle enters the automatic parking function to determine the remaining driving distance and target vehicle speed;

[0029] a longitudinal control module, which is used to obtain the friction torque corresponding to the current vehicle speed and the slope torque corresponding to the current slope information when the remaining driving distance is greater than the distance threshold, or the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is less than or equal to the target vehicle speed, and obtain the target acceleration according to the speed difference between the current vehicle speed and the target vehicle speed, and then obtain the corresponding speed control torque; and obtain the required torque according to the friction torque, slope torque and speed control torque;

[0030] An actuator is used for performing automatic parking with the above-mentioned required torque.

[0031] In a third aspect, the present application provides an automatic parking control device, which includes a processor, a memory, and an automatic parking control program stored in the memory and executable by the processor, wherein when the automatic parking control program is executed by the processor, the steps of the automatic parking control method as described above are implemented.

[0032] In a fourth aspect, the present application provides a computer-readable storage medium, on which an automatic parking control program is stored, wherein when the automatic parking control program is executed by a processor, the steps of the automatic parking control method as described above are implemented.

[0033] The beneficial effects of the technical solution provided by this application include:

[0034] The automatic parking control method, system, device and storage medium of the present application, when the vehicle enters the automatic parking function, determines the remaining driving distance and the target vehicle speed by acquiring external environment information and performing longitudinal planning; then, when the remaining driving distance is greater than a distance threshold, or when the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is less than or equal to the target vehicle speed, obtains the friction torque corresponding to the current vehicle speed and the slope torque corresponding to the current slope information, and obtains the target acceleration according to the speed difference between the current vehicle speed and the target vehicle speed, and then obtains the corresponding speed control torque; that is, the required torque can be obtained according to the friction torque, slope torque and speed control torque, and automatic parking is performed with the required torque; driving force control is performed by controlling the torque of the motor, and the target speed is tracked accurately and stably, thereby improving the accuracy of the parking system and the riding comfort, and solving the technical problems of insufficient driving safety and accuracy of vehicles in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flowchart of an embodiment of an automatic parking control method of the present application;

[0036] Figure 2 This is a trend diagram of friction force with speed in the embodiment of this application;

[0037] Figure 3 This is a trend diagram of the slope resistance changing with the slope in the embodiment of the present application;

[0038] Figure 4 This is a trend diagram of the PI item coefficient changing with the target vehicle speed in the embodiment of the present application;

[0039] Figure 5 This is a trend diagram of the PI item coefficient changing with the speed difference in the embodiment of the present application;

[0040] Figure 6 This is a trend diagram of the PI term coefficient changing with acceleration in the embodiment of the present application;

[0041] Figure 7 A flowchart of another embodiment of the automatic parking control method of the present application;

[0042] Figure 8 This is a schematic diagram of the structure of an embodiment of the automatic parking control system of the present application;

[0043] Fig. 9 This is a schematic diagram of the hardware structure of the automatic parking control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] In a first aspect, an embodiment of the present application provides an automatic parking control method.

[0046] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the automatic parking control method of the present application. The automatic parking control method includes:

[0047] S1. When the vehicle enters the automatic parking function, it obtains external environment information and performs longitudinal planning to determine the remaining driving distance and target vehicle speed;

[0048] S2. When the remaining driving distance is greater than the distance threshold, or the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is less than or equal to the target vehicle speed, the friction torque corresponding to the current vehicle speed and the slope torque corresponding to the current slope information are obtained, and the target acceleration is obtained according to the speed difference between the current vehicle speed and the target vehicle speed, and then the corresponding speed control torque is obtained;

[0049] S3. Obtain the required torque based on the friction torque, slope torque and speed control torque, and perform automatic parking with the required torque.

[0050] The automatic parking control method of the present application determines the remaining driving distance and the target vehicle speed by acquiring external environment information and performing longitudinal planning when the vehicle enters the automatic parking function; then, when the remaining driving distance is greater than a distance threshold, or when the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is less than or equal to the target vehicle speed, the friction torque corresponding to the current vehicle speed and the slope torque corresponding to the current slope information are acquired, and the target acceleration is acquired according to the speed difference between the current vehicle speed and the target vehicle speed, and then the corresponding speed control torque is acquired; the required torque can be acquired according to the friction torque, slope torque and speed control torque, and automatic parking is performed with the required torque; driving force control is performed by controlling the torque of the motor, and the target speed is tracked accurately and stably, thereby improving the accuracy of the parking system and the riding comfort, and solving the technical problems of insufficient driving safety and accuracy of vehicles in the prior art.

[0051] Based on the above embodiment, in this embodiment, when the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is greater than the target vehicle speed, the vehicle torque is set to the minimum value. The distance threshold can be set according to actual needs.

[0052] In this embodiment, when the remaining driving distance is less than or equal to the distance threshold, it indicates that the target distance of the current path is very small and it is necessary to stop the vehicle or slow down and shift gears. The current vehicle speed and the target vehicle speed are used to determine whether the vehicle torque needs to be set to the minimum value, thereby further improving parking stability and safety.

[0053] On the basis of the above-mentioned embodiment, in this embodiment, the torque calculation of the automatic parking longitudinal control is divided into three parts, including friction torque, ramp torque and speed control torque.

[0054] Further, in one embodiment, in the above step S2, obtaining the friction torque corresponding to the current vehicle speed specifically includes the following steps:

[0055] First, according to the current vehicle speed, the vehicle speed range corresponding to the current vehicle speed is determined.

[0056] Then, the corresponding friction force interval is obtained according to the above vehicle speed interval, and the corresponding friction force interval slope is calculated, and then the friction force corresponding to the current vehicle speed is obtained according to the friction force interval slope and the current vehicle speed.

[0057] Finally, the corresponding friction torque is obtained according to the above friction force.

[0058] Alternatively, if Figure 2 As shown, the speed is divided into n levels, namely 0m / s, V1, V2, V3, ..., V n , which is a monotonically increasing series; correspondingly, we get a monotonically decreasing series of friction force, namely F 静 , F1, F2, F3, ..., F n , then for the current vehicle speed V, the friction force calculation formula is:

[0059]

[0060] Among them, the speed range where the current speed V is located is [V m-1 , V m ], the corresponding friction range is [F m-1 , F m ].

[0061] In this embodiment, by dividing the vehicle speed into n gears in advance and obtaining the friction force corresponding to the vehicle speed in each gear, the vehicle speed range and friction force range can be quickly determined according to the current vehicle speed, and the friction force corresponding to the current vehicle speed can be quickly obtained as the dynamic friction force, and then the friction torque is calculated based on the estimation of the static friction force when the vehicle is stationary and the dynamic friction force when the vehicle is moving.

[0062] Further, in one embodiment, in the above step S2, obtaining the slope torque corresponding to the current slope information specifically includes the following steps:

[0063] First, according to the current slope, determine the slope range corresponding to the current slope vehicle speed.

[0064] Then, the corresponding ramp resistance interval is obtained according to the above slope interval, and the corresponding ramp resistance interval slope is calculated, and then the ramp resistance corresponding to the current vehicle speed is obtained according to the ramp resistance interval slope and the current slope.

[0065] Finally, the corresponding slope torque is obtained according to the above slope resistance.

[0066] Alternatively, if Figure 3 As shown, the slope is divided into n levels, namely 0, P1, P2, P3, ..., P n , which is a monotonically increasing series; accordingly, we get a monotonically increasing series of ramp resistance, namely 0, K1, K2, K3, ..., Kn , then for the current slope P of the vehicle, the slope resistance calculation formula is:

[0067]

[0068] Among them, the slope interval where the current slope P is located is [P m-1 , P m ], the corresponding friction range is [K m-1 , K m ]. In addition, for P in the range of 0 to P1, K is 0.

[0069] When the vehicle is on an uphill slope, the slope P takes a positive value, that is, K takes a positive value; when the vehicle is on a downhill slope, the slope P takes a negative value, that is, K takes a negative value.

[0070] In this embodiment, by pre-dividing the current slope into n gears and obtaining the slope resistance corresponding to each gear slope, the slope interval and ramp resistance interval can be quickly determined according to the current slope, and the ramp resistance corresponding to the current slope can be quickly obtained, thereby obtaining the corresponding slope torque.

[0071] Further, in one embodiment, in the above step S2, the target acceleration is obtained according to the speed difference between the current vehicle speed and the target vehicle speed, and then the corresponding speed control torque is obtained, which specifically includes:

[0072] First, the first P-term coefficient and the first I-term coefficient corresponding to the target vehicle speed, and the second P-term coefficient and the second I-term coefficient corresponding to the speed difference are obtained, and then the target acceleration is calculated.

[0073] Then, the third P-term coefficient and the third I-term coefficient corresponding to the target acceleration are obtained, and the speed control torque is obtained according to the target acceleration, the third P-term coefficient and the third I-term coefficient.

[0074] Optionally, according to a preset correspondence table between the target vehicle speed and the P-item coefficient and the I-item coefficient, the first P-item coefficient K corresponding to the target vehicle speed can be obtained: p1 and the first I coefficient K i1 According to the preset correspondence table between the speed difference and the P-term coefficient and the I-term coefficient, the second P-term coefficient K corresponding to the speed difference can be obtained. p2 and the second I coefficient K i2 , and then the target acceleration a can be obtained as:

[0075] a=K p1 K p2 Δv+K i1 K i2 δ+K d ε

[0076] Among them, Δv is the speed difference, δ is the integral error, K d is the differential coefficient, and ε is the differential error.

[0077] In this embodiment, when the target vehicle speed is small and the speed difference is large, a stronger feedback adjustment is required. The coefficient can be adaptively adjusted according to different situations to obtain better performance. The change trend is as follows: Figure 4 and Figure 5 shown.

[0078] Then, according to the preset correspondence table between acceleration, P-term coefficient and I-term coefficient, the third P-term coefficient K corresponding to the target acceleration is obtained. p3 and the third term coefficient K i3 , and then perform PI control to calculate the torque according to the vehicle target acceleration. The table trend is as follows Figure 6 , the above speed control torque T is obtained as:

[0079] T=ml(aK p3 +K i3 φ)

[0080] Where m is the vehicle mass, l is the wheel radius, and φ is the acceleration integral error.

[0081] In this embodiment, when tracking the target vehicle speed, the acceleration estimation is performed by using PID control, and the coefficient can be adaptively adjusted according to different situations to achieve better followability and improve the robustness to the external environment.

[0082] Optionally, when braking is required, the torque is set to a minimum value, and the braking is implemented by hydraulic pressure.

[0083] Further, in one embodiment, the required torque is obtained according to the friction torque, slope torque and speed control torque, which specifically includes:

[0084] The sum of the friction torque, slope torque and speed control torque is obtained as the required torque.

[0085] Furthermore, in one embodiment, after the vehicle enters the automatic parking function, the following steps are also included:

[0086] Determine whether the automatic parking control conditions are met and whether the safety protection strategy is triggered.

[0087] When it is determined that the automatic parking control conditions are not met, the automatic parking function is exited;

[0088] When the safety protection strategy SST (System Secrurity Theory) is triggered, braking, parking or exiting the automatic parking function, and the vehicle torque is set to the minimum value.

[0089] Optionally, the above automatic parking control conditions are conditions set by the state machine STM itself, including: each vehicle sensor has no fault, the actuator is normal, the current environment information allows the vehicle to be controlled, etc. Among them, the current environment information allows the vehicle to be controlled, that is, the ramp is within the limit, there are available parking paths and parking spaces, etc.

[0090] When the state machine STM determines that the current state can control the vehicle through automatic parking, automatic parking is achieved through automatic parking longitudinal control; if it is determined that the automatic parking control conditions are not met, automatic parking longitudinal control of the vehicle is not allowed, and the automatic parking function is exited and ended.

[0091] Optionally, when the safety protection strategy is triggered, the system can judge and choose to brake, park or exit the automatic parking function according to the specific situation.

[0092] In this embodiment, the safety of automatic parking can be further improved through automatic parking control conditions and safety protection strategies.

[0093] like Figure 7 As shown, in one embodiment, the automatic parking control method specifically includes:

[0094] A1. Enter the automatic parking function and receive external environment information and vehicle body information;

[0095] Among them, the perceived external environment information includes various obstacles, parking spaces, pedestrian information, etc.; the vehicle body information includes the current vehicle speed;

[0096] A2. Based on the external environment information, longitudinal planning obtains the required environment information and lateral planning information, and then calculates the corresponding remaining driving distance and target speed;

[0097] A3. Determine whether the automatic parking control conditions are met. If so, go to A4; otherwise, end.

[0098] A4. Determine whether the current state triggers the security protection strategy. If so, go to A5; otherwise, go to A7.

[0099] A5. Determine whether to track the target vehicle speed. If so, turn to A6; otherwise, turn to A7.

[0100] Among them, when the remaining driving distance is greater than the distance threshold, or the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is less than or equal to the target vehicle speed, it is necessary to track the target vehicle speed transmitted by the longitudinal planning; when the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is greater than the target vehicle speed, there is no need to track the target vehicle speed, and the vehicle torque is directly set to the minimum value.

[0101] A6. Obtain the friction torque, ramp torque and speed control torque respectively, and then get the required torque, and turn to A8.

[0102] A7. Set the vehicle torque to the minimum value and use it as the required torque;

[0103] A8 delivers the required torque to the actuator and ends.

[0104] In this embodiment, the final required torque is sent to the actuator motor to complete the automatic driving power longitudinal control, and the vehicle body information is updated to form a closed loop.

[0105] The control method of this embodiment is not only applicable to the longitudinal control of new energy vehicles in low-speed automatic parking scenarios, but also to automatic parking scenarios of other intelligent driving vehicles. It can not only effectively control the driving force of new energy vehicles, but also improve the accuracy of the parking system and the comfort of riding while ensuring safety.

[0106] In a second aspect, an embodiment of the present application also provides an automatic parking control system.

[0107] In one embodiment, the automatic parking control system includes a perception planning module, a longitudinal control module and an actuator.

[0108] The above-mentioned perception planning module is used to obtain external environment information and perform longitudinal planning when the vehicle enters the automatic parking function to determine the remaining driving distance and target vehicle speed.

[0109] The longitudinal control module is used to obtain the friction torque corresponding to the current vehicle speed and the slope torque corresponding to the current slope information when the remaining driving distance is greater than the distance threshold, or the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is less than or equal to the target vehicle speed, and obtain the target acceleration according to the speed difference between the current vehicle speed and the target vehicle speed, and then obtain the corresponding speed control torque; and obtain the required torque according to the friction torque, slope torque and speed control torque.

[0110] The actuator is used to perform automatic parking with the required torque.

[0111] Furthermore, in one embodiment, the longitudinal control module is also used for:

[0112] When the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is greater than the target vehicle speed, the vehicle torque is set to a minimum value.

[0113] Furthermore, in one embodiment, the longitudinal control module is also used for:

[0114] Determine the vehicle speed range corresponding to the current vehicle speed;

[0115] Obtain the corresponding friction force interval according to the above vehicle speed interval, and calculate the corresponding friction force interval slope, so as to obtain the friction force corresponding to the current vehicle speed;

[0116] The corresponding friction torque is obtained according to the above friction force.

[0117] Furthermore, in one embodiment, the longitudinal control module is also used for:

[0118] Determine the slope interval corresponding to the current slope vehicle speed;

[0119] Obtain the corresponding ramp resistance interval according to the above slope interval, and calculate the corresponding ramp resistance interval slope, and then obtain the ramp resistance corresponding to the current vehicle speed;

[0120] The corresponding slope torque is obtained according to the above slope resistance.

[0121] Furthermore, in one embodiment, the longitudinal control module is also used for:

[0122] Obtaining a first P-term coefficient and a first I-term coefficient corresponding to the target vehicle speed, and a second P-term coefficient and a second I-term coefficient corresponding to the speed difference, and then calculating the target acceleration;

[0123] The third P-term coefficient and the third I-term coefficient corresponding to the target acceleration are obtained, and the speed control torque is obtained according to the target acceleration, the third P-term coefficient and the third I-term coefficient.

[0124] Furthermore, in one embodiment, the longitudinal control module is also used for:

[0125] The sum of the friction torque, slope torque and speed control torque is obtained as the required torque.

[0126] Furthermore, in one embodiment, the automatic parking control system further includes a state machine STM, which is used to determine whether the current state of the vehicle satisfies the automatic parking control conditions; if not, a message to exit the automatic parking function is sent, and the longitudinal control module is not allowed to control the vehicle.

[0127] Furthermore, in one embodiment, the automatic parking control system further includes a safety protection strategy module. The safety protection strategy module is used to determine whether the safety protection strategy is triggered, and when the safety protection strategy is triggered, send a message of braking, parking or exiting the automatic parking function, and notify the actuator to set the vehicle torque to the minimum value.

[0128] like Figure 8 As shown, in one embodiment, the automatic parking control system includes a state machine STM, a safety protection strategy module, a perception planning module, a longitudinal control module, an actuator and a body information module. The perception planning module includes a perception information submodule and a longitudinal planning submodel.

[0129] The state machine STM above determines whether the longitudinal control module controls the vehicle, which is the first control priority; the safety protection strategy module determines whether the longitudinal control module stops the vehicle in time and exits the automatic parking function, which is the second control priority; then the corresponding remaining driving distance and target speed are given through the perception information and longitudinal planning. The longitudinal control module calculates the driving force and torque in combination with the vehicle body information, and finally gives it to the actuator for control and feedback of new vehicle body information.

[0130] Furthermore, the state machine STM mainly includes a system for controlling various functions and modes in the automatic driving system, and is used to send a request to the longitudinal control module to control the vehicle, so that the longitudinal control module starts to operate.

[0131] The above-mentioned safety protection strategy module mainly sends exit information when encountering various safety warnings or needing to exit normally during automatic parking, allowing the longitudinal control module to perform smooth or emergency braking to ensure the safety of the system.

[0132] The information obtained by the above-mentioned perception information submodule mainly includes information detected by various on-board sensors and radars, such as: information collected by cameras, ultrasonic radars, millimeter-wave radars, lidars, etc., which are used to perceive obstacles, marking lines, parking space lines and other information in the current scene.

[0133] The above longitudinal planning sub-model is mainly used to obtain the remaining driving distance and target speed of the automatic parking system based on the surrounding information obtained by perception, and provide it to the longitudinal control module for calculating the driving force to obtain the torque required by the motor.

[0134] The above longitudinal control module is mainly used for torque calculation, which is divided into three parts: friction torque, ramp torque, and speed control torque, so as to control the speed.

[0135] The above-mentioned actuator mainly includes a motor system in the longitudinal power system for driving the vehicle.

[0136] The above-mentioned vehicle body information module is mainly used to obtain various status information of the vehicle body and chassis, such as current vehicle speed, current wheel speed direction information, vehicle status information, etc.

[0137] Among them, the functional implementation of each module in the above-mentioned automatic parking control system corresponds to the various steps in the above-mentioned automatic parking control method embodiment, and its functions and implementation processes are no longer repeated here one by one.

[0138] In a third aspect, an embodiment of the present application provides an automatic parking control device, which may be a device with data processing capabilities.

[0139] Reference Fig. 9 , Fig. 9Schematic diagram of the hardware structure of the automatic parking control device involved in the embodiment of the present application. In the embodiment of the present application, the automatic parking control device may include a processor, a memory, a communication interface and a communication bus.

[0140] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0141] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces for interconnecting the components inside the automatic parking control device, and interfaces for interconnecting the automatic parking control device with other devices (such as other computing devices or user devices). The physical interface may be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device may be a display, a keyboard, etc.

[0142] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0143] The processor may be a general-purpose processor, which may call the automatic parking control program stored in the memory and execute the automatic parking control method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the automatic parking control program is called may refer to the various embodiments of the automatic parking control method of the present application, which will not be described in detail here.

[0144] Those skilled in the art will understand that Fig. 9 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0145] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0146] The computer-readable storage medium of the present application stores an automatic parking control program, wherein when the automatic parking control program is executed by a processor, the steps of the automatic parking control method described above are implemented.

[0147] Among them, the method implemented when the automatic parking control program is executed can refer to the various embodiments of the automatic parking control method of the present application, and will not be repeated here.

[0148] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0149] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0150] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0151] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0152] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0153] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0154] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An automatic parking control method, characterized in that: The method comprises: When the vehicle enters the automatic parking function, it obtains external environment information and performs longitudinal planning to determine the remaining driving distance and target vehicle speed; When the remaining driving distance is greater than the distance threshold, or the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is less than or equal to the target vehicle speed, the friction torque corresponding to the current vehicle speed and the slope torque corresponding to the current slope information are obtained, and the target acceleration is obtained according to the speed difference between the current vehicle speed and the target vehicle speed, thereby obtaining the corresponding speed control torque; The required torque is obtained according to the friction torque, the slope torque and the speed control torque, and automatic parking is performed with the required torque.

2. The automatic parking control method according to claim 1, characterized in that: When the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is greater than the target vehicle speed, the vehicle torque is set to a minimum value.

3. The automatic parking control method according to claim 1, characterized in that: Get the friction torque corresponding to the current vehicle speed, including: Determine the vehicle speed range corresponding to the current vehicle speed; Obtaining a corresponding friction force interval according to the vehicle speed interval, and calculating a corresponding friction force interval slope, thereby obtaining a friction force corresponding to the current vehicle speed; A corresponding friction torque is obtained according to the friction force.

4. The automatic parking control method according to claim 1, characterized in that: Get the slope torque corresponding to the current slope information, including: Determine the slope interval corresponding to the current slope vehicle speed; Obtaining a corresponding ramp resistance interval according to the slope interval, and calculating the corresponding ramp resistance interval slope, thereby obtaining the ramp resistance corresponding to the current vehicle speed; The corresponding slope torque is obtained according to the slope resistance.

5. The automatic parking control method according to claim 1, characterized in that: The target acceleration is obtained according to the speed difference between the current vehicle speed and the target vehicle speed, and then the corresponding speed control torque is obtained, which specifically includes: Obtaining a first P-term coefficient and a first I-term coefficient corresponding to the target vehicle speed, and a second P-term coefficient and a second I-term coefficient corresponding to the speed difference, and then calculating the target acceleration; A third P-term coefficient and a third I-term coefficient corresponding to the target acceleration are obtained, and the speed control torque is obtained according to the target acceleration, the third P-term coefficient and the third I-term coefficient.

6. The automatic parking control method according to claim 1, characterized in that: According to the friction torque, the slope torque and the speed control torque, the required torque is obtained, specifically including: The sum of the friction torque, the slope torque and the speed control torque is obtained as the required torque.

7. The automatic parking control method according to claim 1, characterized in that: After the vehicle enters the automatic parking function, it also includes: When it is determined that the automatic parking control conditions are not met, the automatic parking function is exited; When the safety protection strategy is triggered, braking, parking or exiting the automatic parking function, and the vehicle torque is set to the minimum value.

8. An automatic parking control system, characterized in that: The system comprises: The perception and planning module is used to obtain external environment information and perform longitudinal planning when the vehicle enters the automatic parking function to determine the remaining driving distance and target vehicle speed; a longitudinal control module, which is used to obtain the friction torque corresponding to the current vehicle speed and the slope torque corresponding to the current slope information when the remaining driving distance is greater than the distance threshold, or the remaining driving distance is less than or equal to the distance threshold and the current vehicle speed is less than or equal to the target vehicle speed, and obtain the target acceleration according to the speed difference between the current vehicle speed and the target vehicle speed, and then obtain the corresponding speed control torque; and obtain the required torque according to the friction torque, the slope torque and the speed control torque; An actuator is used for performing automatic parking with the required torque.

9. An automatic parking control device, characterized in that: The automatic parking control device includes a processor, a memory, and an automatic parking control program stored in the memory and executable by the processor, wherein when the automatic parking control program is executed by the processor, the steps of the automatic parking control method as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an automatic parking control program, wherein when the automatic parking control program is executed by a processor, the steps of the automatic parking control method according to any one of claims 1 to 7 are implemented.

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