Automatic parking control method, system, device and storage medium

Abstract

An automatic parking control method, system, device, and storage medium relate to the field of autonomous driving technology. The method includes: when a vehicle enters the automatic parking function, obtaining external environmental information and performing longitudinal planning to determine the remaining driving distance and target vehicle speed; 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, obtaining the friction torque corresponding to the current vehicle speed and the slope torque corresponding to the current slope information, and obtaining the target acceleration based on the speed difference between the current vehicle speed and the target vehicle speed, thereby obtaining the corresponding speed control torque; obtaining the required torque based on the friction torque, slope torque, and speed control torque, and performing automatic parking with the required torque. This application can accurately and stably track the target speed, improving the accuracy of the parking system and the ride comfort.

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] An autonomous vehicle system is a complex system that senses its surroundings and, in combination with information about the vehicle's own state, automatically performs acceleration, braking, steering, following, waiting, and other maneuvers to reach its destination. In complex scenarios like garages and parking lots, where autonomous vehicles must operate at low speeds and are subject to numerous unpredictable factors, the longitudinal dynamics control system faces even greater challenges. Dynamics control is crucial within the longitudinal control system, and in new energy vehicles, this is primarily achieved by controlling the torque of the electric 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 the vehicle's initial speed, a given deceleration, and the slope of the vehicle's current position; and controlling the vehicle's parking and starting 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 speed;

[0008] When the remaining driving distance is greater than the 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 obtained, and the target acceleration is obtained based on 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 embodiment, 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 conjunction with the first aspect, in one embodiment, obtaining the friction torque corresponding to the current vehicle speed specifically includes:

[0012] Determine the 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, thereby obtaining the friction force corresponding to the current vehicle speed;

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

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

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

[0017] Obtain the corresponding slope resistance interval according to the above slope interval, and calculate the corresponding slope resistance interval slope, thereby obtaining the slope resistance corresponding to the current vehicle speed;

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

[0019] In conjunction with the first aspect, in one embodiment, obtaining a target acceleration based on 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 coefficient and the third I coefficient corresponding to the target acceleration are obtained, and the speed control torque is obtained according to the target acceleration, the third P coefficient and the third I coefficient.

[0022] In combination with the first aspect, in one embodiment, obtaining the required torque according to the friction torque, slope torque, and 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 conjunction with the first aspect, in one embodiment, 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 environmental information and perform longitudinal planning when the vehicle enters the automatic parking function, determining the remaining driving distance and target speed;

[0029] a longitudinal control module configured to obtain, 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 a target vehicle speed, a friction torque corresponding to the current vehicle speed and a slope torque corresponding to the current slope information, and to obtain a target acceleration based on the speed difference between the current vehicle speed and the target vehicle speed, thereby obtaining a corresponding speed control torque; and to obtain a required torque based on 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 determine the remaining driving distance and target vehicle speed by acquiring external environmental 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. A target acceleration is obtained based on the speed difference between the current vehicle speed and the target vehicle speed, and the corresponding speed control torque is then acquired. The required torque can be obtained based on the friction torque, slope torque, and speed control torque, and automatic parking is performed with the required torque. Driving force is controlled by controlling the torque of the motor, and the target speed is accurately and stably tracked, thereby improving the accuracy of the parking system and the ride comfort, thereby resolving the technical problems of insufficient vehicle driving safety and accuracy in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a flow chart of an embodiment of the 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 graph showing the slope resistance changing with the slope in the embodiment of the present application;

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

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

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

[0041] Figure 7 This is a flow chart of another embodiment of the automatic parking control method of the present application;

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

[0043] Figure 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 present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, 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 environmental information and performs longitudinal planning to determine the remaining driving distance and target speed;

[0048] S2. When the remaining distance is greater than the distance threshold, or when the remaining distance is less than or equal to the distance threshold and the current vehicle speed is less than or equal to the target speed, obtain the friction torque corresponding to the current vehicle speed and the slope torque corresponding to the current slope information, and obtain the target acceleration based on the speed difference between the current vehicle speed and the target speed, thereby obtaining the corresponding speed control torque;

[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 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 method acquires the friction torque corresponding to the current vehicle speed and the slope torque corresponding to the current slope information. A target acceleration is then acquired based on the speed difference between the current vehicle speed and the target vehicle speed, thereby acquiring the corresponding speed control torque. The required torque can be acquired based on the friction torque, slope torque, and speed control torque, and automatic parking is performed with the required torque. Driving force is controlled by controlling the torque of the motor, and the target speed is accurately and stably tracked, thereby improving the accuracy of the parking system and the ride comfort, thereby resolving the technical problems of insufficient vehicle driving safety and accuracy 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 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] Furthermore, 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 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. 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, as 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; accordingly, we get a monotonically decreasing series of friction force, namely F 静 , F1, F2, F3, ..., F n , then for the vehicle's current speed V, the friction force calculation formula is:

[0059]

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

[0061] In this embodiment, by pre-dividing the vehicle speed into n gears 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] Furthermore, 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, based on the current slope, determine the slope range corresponding to the current slope vehicle speed.

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

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

[0066] Alternatively, as 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 slope resistance interval can be quickly determined according to the current slope, and the slope resistance corresponding to the current slope can be quickly obtained, thereby obtaining the corresponding slope torque.

[0071] Furthermore, in one embodiment, in the above step S2, the target acceleration is obtained based on the speed difference between the current vehicle speed and the target vehicle speed, and 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 of speed difference, P coefficient and I coefficient, the second P 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] Where Δv is the velocity difference, δ is the integral error, and 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, stronger feedback regulation 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-item coefficient and I-item coefficient, the third P-item 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 lookup 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, by using PID control to estimate the acceleration, the coefficient can be adaptively adjusted according to different situations, thereby achieving better tracking performance and improving robustness to the external environment.

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

[0083] Furthermore, in one embodiment, the required torque is obtained based on the friction torque, slope torque, and speed control torque, specifically including:

[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 further 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 aforementioned automatic parking control conditions are conditions set by the state machine STM itself, including: all vehicle sensors are fault-free, actuators are functioning normally, and current environmental information allows vehicle control. Current environmental information allowing vehicle control means that the slope is within limits, there is an available parking path and parking space, 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, you 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 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 external environmental information, longitudinal planning obtains required environmental 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, proceed to A4; otherwise, end.

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

[0099] A5. Determine whether the target vehicle speed is being tracked. If so, proceed to A6; otherwise, proceed 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 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 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 obtain 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 autonomous 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 ride comfort 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 based on 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 based on 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 further configured to:

[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 further configured to:

[0114] Determine the 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, thereby obtaining 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 further configured to:

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

[0119] Obtain the corresponding slope resistance interval according to the above slope interval, and calculate the corresponding slope resistance interval slope, thereby obtaining the slope 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 further configured to:

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

[0124] Furthermore, in one embodiment, the longitudinal control module is further configured to:

[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 configured to determine whether a safety protection strategy is triggered and, when the safety protection strategy is triggered, issue a message to brake, park, or exit the automatic parking function, and notify the actuator to set the vehicle torque to a 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 vehicle body information module. The perception planning module includes a perception information submodule and a longitudinal planning submodel.

[0129] The state machine (STM) determines whether the longitudinal control module controls the vehicle, which is the first priority. The safety strategy module determines whether the longitudinal control module should stop the vehicle and exit the automatic parking function, which is the second priority. Next, the remaining driving distance and target speed are determined based on the acquired perception information and longitudinal planning. The longitudinal control module calculates the driving force and torque based on the vehicle body information, and finally transmits the calculations to the actuators for control, while also feeding back the updated 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 requiring normal exit 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 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 then provide it to the longitudinal control module to calculate the driving force and thus 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 their functions and implementation processes are no longer repeated here.

[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 Figure 9 , Figure 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, memory, and communication interface.

[0141] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces, used to interconnect components within the automatic parking control system, as well as interfaces used to interconnect the automatic parking control system with other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber optic, and ATM interfaces; user devices can include displays and keyboards.

[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 that can invoke an automatic parking control program stored in a memory and execute the automatic parking control method provided by the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The methods executed when the automatic parking control program is invoked can be referred to in the various embodiments of the automatic parking control method of the present application and will not be further described here.

[0144] Those skilled in the art will understand that Figure 9 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[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 this 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 for description only 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 the "first", "second" and "third" to different types.

[0150] In the description of the embodiments of this application, the words "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 this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[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; “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 are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed 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 the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, 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, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling 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 do not 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 speed; 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 a target vehicle speed, obtaining a friction torque corresponding to the current vehicle speed and a slope torque corresponding to the current slope information, and obtaining a target acceleration based on a speed difference between the current vehicle speed and the target vehicle speed, thereby obtaining a corresponding speed control torque; A 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, wherein: 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.

3. The automatic parking control method according to claim 1, wherein: Get the friction torque corresponding to the current vehicle speed, including: Determine the speed range corresponding to the current vehicle speed; Obtaining a corresponding friction force interval according to the vehicle speed interval, and calculating the corresponding friction force interval slope, thereby obtaining the 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, wherein: Get the slope torque corresponding to the current slope information, including: Determine the slope interval corresponding to the current slope speed; Obtaining a corresponding slope resistance interval according to the slope interval, and calculating the corresponding slope resistance interval slope, thereby obtaining the slope 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, wherein: The target acceleration is obtained based on the speed difference between the current vehicle speed and the target vehicle speed, and the corresponding speed control torque is obtained, specifically including: 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 coefficient and a third I coefficient corresponding to the target acceleration are obtained, and a speed control torque is obtained according to the target acceleration, the third P coefficient, and the third I coefficient.

6. The automatic parking control method according to claim 1, wherein: Obtaining the required torque according to the friction torque, slope torque, and speed control torque specifically includes: The sum of the friction torque, the gradient torque, and the speed control torque is obtained as the required torque.

7. The automatic parking control method according to claim 1, wherein: 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 environmental information and perform longitudinal planning when the vehicle enters the automatic parking function, determining the remaining driving distance and target speed; a longitudinal control module configured to, 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 a target vehicle speed, obtain a friction torque corresponding to the current vehicle speed and a slope torque corresponding to the current slope information, and obtain a target acceleration based on a speed difference between the current vehicle speed and the target vehicle speed, thereby obtaining a corresponding speed control torque; and obtain a required torque based on the friction torque, slope torque, and 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 according to 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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