Automatic parking method, device and system and vehicle

Abstract

The invention discloses an automatic parking method, device and system and a vehicle. The method comprises the steps that a target site of a target parking space is determined, and a first rear wheel of the vehicle is controlled to move to the target site; the first rear wheel is controlled to rotate to be parallel to the length direction of the target parking space; controlling the vehicle to rotate around the first rear wheel until the first rear wheel is aligned; and remaining wheels of the vehicle are controlled to return, and the vehicle is controlled to be poured into the target parking space. According to the technical scheme, the target position point of the first rear wheel at the target parking space is independently controlled to be parallel to the length direction of the target parking space, then the vehicle is controlled to rotate around the first rear wheel, and then the remaining wheels are controlled to return to be right, so that smaller and more compact turning of the vehicle is achieved in the automatic parking process; according to the automatic parking method, the adjustment frequency needed during parking is reduced, rapid and efficient parking operation is achieved, the automatic parking efficiency is improved, only the target position point of the target parking space needs to be determined in the process, and therefore the automatic parking efficiency can be further improved.

Description

Technical Field

[0001] The present application relates to the field of intelligent vehicle technology, and in particular to an automatic parking method, device, system and vehicle. Background Art

[0002] Automatic parking can park the vehicle automatically without manual control.

[0003] The steering of traditional vehicles is mainly achieved by the front wheels. During automatic parking, only the front wheels can be controlled for steering. It takes multiple times of maneuvering before the vehicle can be reversed into the parking space, which is slow and time-consuming.

[0004] In summary, how to improve the efficiency of automatic parking is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the invention

[0005] In view of this, an object of the present application is to provide an automatic parking method, device, system and vehicle for improving the efficiency of automatic parking.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] An automatic parking method, the automatic parking method comprising: determining a target position of a target parking space, controlling a first rear wheel of a vehicle to move to the target position; controlling the first rear wheel to rotate to be parallel to the length direction of the target parking space; controlling the vehicle to rotate around the first rear wheel until the first rear wheel is straightened; controlling the remaining wheels of the vehicle to straighten, and controlling the vehicle to reverse into the target parking space.

[0008] Optionally, before controlling the vehicle to rotate around the first rear wheel, the method further includes: controlling the second rear wheel to return to the center position;

[0009] Wherein, controlling the remaining wheels of the vehicle to return to the center position includes: controlling the front wheels of the vehicle to return to the center position.

[0010] Optionally, controlling the vehicle to rotate around the first rear wheel includes: obtaining the front wheel steering angle of the vehicle and the rotational speed of the second rear wheel; determining the front axle speed of the vehicle based on the front wheel steering angle of the vehicle and the rotational speed of the second rear wheel; controlling the movement of the second rear wheel based on the rotational speed of the second rear wheel, and controlling the front axle of the vehicle to move at the front axle speed.

[0011] Optionally, controlling the first rear wheel to rotate to be parallel to the length direction of the target parking space includes: obtaining a first angle between a body direction of the vehicle and the length direction of the target parking space, and obtaining a second angle between the first rear wheel and the body direction of the vehicle; determining a rotation angle required for the first rear wheel to become parallel to the length direction of the target parking space based on the first angle and the second angle; and controlling the first rear wheel to rotate the rotation angle so that the first rear wheel is parallel to the length direction of the target parking space.

[0012] Optionally, controlling the vehicle to reverse into the target parking space includes: obtaining a third angle between the body direction of the vehicle and the length direction of the target parking space, and determining whether the third angle does not exceed an angle threshold; if not, controlling the front wheels of the vehicle to rotate; if so, controlling the vehicle to reverse into the target parking space.

[0013] Optionally, controlling the first rear wheel of the vehicle to move to the target location comprises:

[0014] A driving path between the target location and the first rear wheel is determined, and the movement of the vehicle is controlled so that the first rear wheel moves along the driving path to the target location.

[0015] Optionally, determining the driving path between the target location and the first rear wheel includes: controlling an environmental perception system to collect data on the surrounding environment; performing positioning and mapping based on the data collected by the environmental perception system to determine the surrounding environment and the target location of the target parking space; determining an optimal driving path between the target location of the target parking space and the first rear wheel based on the surrounding environment and the target location of the target parking space; wherein the optimal driving path has the shortest distance and there are no obstacles on the optimal driving path.

[0016] Optionally, before controlling the movement of the vehicle, the method further includes: determining speed data of the vehicle when the first rear wheel is at each position on the optimal driving path, and determining front wheel turning angles and rear wheel turning angles of the vehicle when the first rear wheel is at each position on the optimal driving path;

[0017] Wherein, controlling the movement of the vehicle includes: controlling the movement of the vehicle according to the speed data, the front wheel steering angle and the rear wheel steering angle of the vehicle when the first rear wheel is at each position on the optimal driving path.

[0018] Optionally, determining the speed data of the vehicle when the first rear wheel is at each position on the optimal driving path includes: using polynomial programming to determine the corresponding speed and acceleration of the vehicle when the first rear wheel is at each position on the optimal driving path; wherein, the constraints of the polynomial programming include that the speed and acceleration of the vehicle when the first rear wheel is at the starting position and the ending position of the optimal driving path are both 0.

[0019] Optionally, determining the front wheel turning angle and the rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path includes: establishing a coordinate system with the target position as the origin, and determining the front wheel turning angle and the rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path according to the coordinates of each position on the optimal driving path, the speed and acceleration of the vehicle when the first rear wheel is at each position on the optimal driving path.

[0020] Optionally, when controlling the movement of the vehicle, it also includes: if an obstacle is detected on the optimal driving path and the vehicle triggers reverse AEB, determining the surrounding environment, and returning to execute the step of determining the optimal driving path between the target position of the target parking space and the first rear wheel based on the surrounding environment and the target position of the target parking space; if a moving obstacle is detected on the optimal driving path and the vehicle does not trigger reverse AEB, controlling the vehicle to decelerate, and when the obstacle leaves the optimal driving path, determining the speed data of the vehicle at the remaining positions of the first rear wheel on the optimal driving path based on the speed data of the vehicle at the current position of the first rear wheel on the optimal driving path.

[0021] An automatic parking device, the automatic parking device comprising: a determination module, used to determine a target position of a target parking space, and control a first rear wheel of a vehicle to reach the target position; a first control module, used to control the first rear wheel to rotate to be parallel to the length direction of the target parking space; a second control module, used to control the vehicle to rotate around the first rear wheel until the first rear wheel is straightened; and a third control module, used to control the remaining wheels of the vehicle to straighten, and control the vehicle to reverse into the target parking space.

[0022] An automatic parking system comprises: a distributed rear-wheel steering system for independently steering each rear wheel of a vehicle, a distributed rear-wheel drive system for independently driving each rear wheel of the vehicle, and a central parking controller, wherein the central parking controller is connected to the distributed rear-wheel steering system and the distributed rear-wheel drive system via a vehicle bus; the central parking controller is used to implement the steps of any of the automatic parking methods described above.

[0023] Optionally, the automatic parking system further includes an environment perception system connected to the central parking controller via the vehicle bus.

[0024] A vehicle is used to implement the steps of any one of the automatic parking methods described above.

[0025] The present application provides an automatic parking method, device, system and vehicle, wherein each rear wheel of the vehicle can be independently steered and driven, and the method comprises: determining a target position of a target parking space, controlling a first rear wheel of the vehicle to move to the target position; controlling the first rear wheel to rotate to be parallel to the length direction of the target parking space; controlling the vehicle to rotate around the first rear wheel until the first rear wheel is straightened; controlling the remaining wheels of the vehicle to straighten, and controlling the vehicle to reverse into the target parking space.

[0026] The above technical solution disclosed in the present application first controls the first rear wheel of the vehicle to move to the target position of the target parking space during automatic parking, then controls the first rear wheel of the vehicle to be parallel to the length direction of the target parking space, and then makes the vehicle rotate around the first rear wheel to achieve a compact turn, and controls the remaining wheels to return to the right position after the first rear wheel returns to the right position to achieve the straightening of the vehicle body, and finally controls the vehicle to reverse into the target parking space. In the above process, by first separately controlling the first rear wheel to be parallel to the length direction of the target parking space at the target position of the target parking space, then controlling the vehicle to rotate around the first rear wheel to make the first rear wheel return to the right position, and then controlling the remaining wheels to return to the right position, the vehicle can achieve a smaller and more compact turn during the automatic parking process, so as to reduce the number of adjustments required during parking, achieve fast and efficient parking operations, and improve the efficiency of automatic parking. Moreover, the above automatic parking process only needs to determine the target position of the target parking space, and does not need to accurately identify the target parking space, so the efficiency of automatic parking can be further improved.

[0027] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A flowchart of an automatic parking method provided in an embodiment of the present application;

[0029] Figure 2 A schematic diagram of a target location of automatic parking to a target parking space provided by an embodiment of the present application;

[0030] Figure 3 A schematic diagram of adjusting the rear wheels after automatically parking to a target location provided by an embodiment of the present application;

[0031] Figure 4 A schematic diagram of completing vehicle rotation provided in an embodiment of the present application;

[0032] Figure 5 A schematic diagram of a vehicle entering a warehouse provided in an embodiment of the present application;

[0033] Figure 6 A flowchart of another automatic parking method provided in an embodiment of the present application;

[0034] Figure 7 A schematic diagram of the distribution of the left rear wheel speed and the front wheel turning angle after the left rear wheel returns to the correct position provided in an embodiment of the present application;

[0035] Figure 8 A schematic diagram of the relationship between the first angle, the second angle and the rotation angle of the right rear wheel provided in an embodiment of the present application;

[0036] Fig. 9 A schematic diagram of the structure of an automatic parking device provided in an embodiment of the present application;

[0037] Fig.10 A schematic diagram of the structure of an automatic parking system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] Automatic parking means that the vehicle automatically parks itself without the need for manual control.

[0039] The steering of traditional vehicles is mainly achieved by the front wheels. During automatic parking, only the front wheels can be controlled to steer to achieve the parking operation. However, this method will make the vehicle's turning radius too large, and multiple parking maneuvers are required to reverse into the parking space. Especially in a narrow space, more parking maneuvers are required to reverse into the parking space, which is time-consuming and inefficient.

[0040] To this end, the present application provides an automatic parking method, device, system and vehicle for realizing one-time rapid automatic parking and improving parking efficiency.

[0041] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0042] See also Figures 1 to 5 ,in, Figure 1 A flow chart of an automatic parking method provided by an embodiment of the present application is shown. Figure 2 A schematic diagram of a target position of automatic parking to a target parking space provided by an embodiment of the present application is shown. Figure 3 A schematic diagram showing the adjustment of the rear wheels after automatic parking to a target location provided by an embodiment of the present application is shown. Figure 4A schematic diagram of completing vehicle rotation provided by an embodiment of the present application is shown. Figure 5 A schematic diagram of a vehicle entering a garage provided by an embodiment of the present application is shown. An automatic parking method provided by an embodiment of the present application may include:

[0043] S11: Determine a target location of a target parking space, and control the first rear wheel of the vehicle to move to the target location.

[0044] It should be noted that the executor of the automatic parking method provided in the embodiment of the present application may be a vehicle, an automatic parking device in a vehicle, an automatic parking system in a vehicle, or a central parking controller in an automatic parking system. The embodiment of the present application is described by taking the executor being the central parking controller in the automatic parking system as an example.

[0045] Each rear wheel of the vehicle mentioned in the embodiment of the present application can be steered independently, and each rear wheel can be driven independently. Among them, the vehicle can have a distributed rear wheel steering system and a distributed rear wheel drive system, and the independent steering of each rear wheel of the vehicle is realized by the distributed rear wheel steering system, and the independent drive of each rear wheel of the vehicle is realized by the distributed rear wheel drive system. Specifically, the distributed rear wheel steering system independently controls the steering angle of each rear wheel through the ECU (Electronic Control Unit, electronic control unit), for example, each rear wheel of the vehicle can have a corresponding ECU, a wheel steering motor, a driving rack, etc., under the control of the ECU, the wheel steering motor is operated to drive the corresponding rear wheel steering by driving the rack. Compared with the traditional vehicle drive mainly using the shaft motor to transmit power to the wheel end through the differential, each rear wheel in the distributed rear wheel drive system of the embodiment of the present application has a drive motor that independently controls the speed and drive torque, so that not only each rear wheel of the vehicle can be driven independently, but also the precise drive of each rear wheel can be achieved. Independent steering of the rear wheels of the vehicle can provide a smaller turning radius, making the vehicle more flexible in a narrow space. On the basis of independent driving of the rear wheels of the vehicle, the vehicle can be rotated around a virtual axis by increasing the speed of one rear wheel while reducing the speed of another rear wheel, thereby achieving a compact turn. Therefore, when parking, especially when parking in a space-constrained situation, the number of adjustments required can be significantly reduced by using the vehicle's rear wheels to independently steer and drive and perform automatic parking, achieving a more precise and efficient parking operation. For example Figure 2 As shown in the figure, there is an obstacle on the left side of the vehicle and a parking space obstacle on the right side. The lateral distance between the vehicle and the parking space obstacle is not enough for the vehicle to reverse in one go. Figure 2 When automatic parking is performed in the narrow space shown in the figure, the rear wheels of the vehicle can be steered and driven independently to enable the vehicle to automatically and quickly reverse into the target parking space in the narrow space, thereby improving the efficiency of automatic parking.

[0046] Specifically, after the vehicle turns on the automatic parking function at a certain position, the target parking space to be parked by the vehicle can be determined first, and the target position of the target parking space can be determined. The target position of the target parking space is the arrival point of a certain rear wheel of the vehicle during automatic parking and the adjustment of the vehicle parallel to the length direction of the target parking space is completed at this position. Specifically, the target position can be located in front of the target parking space and the distance from the nearest long side of the target parking space (that is, the side closest to the target position among the long sides of the target parking space) is a first preset distance (the specific size can be determined according to the width of the target parking space, the width of the vehicle, etc.), and the distance from the farthest long side of the target parking space (that is, the side farthest from the target position among the long sides of the target parking space) is greater than the width of the vehicle, so as to ensure that the vehicle can be safely and smoothly reversed into the target parking space. In addition, the target parking space can be selected by the central parking controller in combination with the driver's intention (for example, the driver specifies the parking range, etc.), or the driver can directly specify the target parking space. The target position of the target parking space can also be selected by the central parking controller or by the driver based on experience, etc.

[0047] After determining the target position of the target parking space, the first rear wheel among the rear wheels of the vehicle can be determined according to the position of the target position in the target parking space. Specifically, when the target position is close to the right side of the target parking space, the right rear wheel of the vehicle is determined as the first rear wheel, and when the target position is close to the left side of the target parking space, the left rear wheel of the vehicle is determined as the first rear wheel. It should be noted that the left and right sides of the target parking space mentioned above are determined based on the left and right of the driver in the main driving seat of the vehicle backing into the target parking space, that is, the left and right sides of the target parking space are determined in the same way as the left and right rear wheels of the vehicle. Figures 2 to 5 For example, if the target position of the target parking space is close to the right side of the target parking space, the right rear wheel of the vehicle may be determined as the first rear wheel.

[0048] After determining the target position of the target parking space and the first rear wheel of the vehicle, the movement of the vehicle can be controlled so that the first rear wheel of the vehicle can move to the target position of the target parking space. It should be noted that when the movement of the vehicle is controlled so that the first rear wheel of the vehicle reaches the target position, the vehicle can be stationary, that is, the vehicle speed can be 0, so that the steering of the first rear wheel can be adjusted later based on the independent steering of each rear wheel.

[0049] S12: Control the first rear wheel to rotate to be parallel to the length direction of the target parking space.

[0050] After the movement of the vehicle is controlled so that the first rear wheel of the vehicle moves along the driving path to the target position of the target parking space, the first rear wheel of the vehicle can be controlled to rotate based on the independent steerability of the rear wheels of the vehicle so that the first rear wheel of the vehicle is parallel to the length direction of the target parking space, thereby firstly adjusting the direction of the first rear wheel of the vehicle to facilitate the rotation of the vehicle based on the first rear wheel of the vehicle, so that the vehicle can make a compact turn.

[0051] like Figure 2 and Figure 3 As shown, after the vehicle reaches position 2 from position 1 and the right rear wheel of the vehicle reaches the target location, the right rear wheel can be controlled to rotate so that the right rear wheel is parallel to the length direction of the target parking space.

[0052] S13: Control the vehicle to rotate around the first rear wheel until the first rear wheel returns to the straight position.

[0053] After the first rear wheel of the vehicle is parallel to the length direction of the target parking space, the vehicle (specifically, the body of the vehicle) can be controlled to rotate around the first rear wheel of the vehicle until the first rear wheel is straightened, that is, until the body direction of the vehicle (the body direction is parallel to the straight line from the center of mass of the vehicle to the front of the vehicle) is parallel to the first rear wheel, so as to achieve a compact turn of the vehicle. Since the first rear wheel is parallel to the length direction of the target parking space after step S12, after the first rear wheel is straightened, the body direction of the vehicle is not only parallel to the first rear wheel but also parallel to the length direction of the target parking space, that is, the body alignment operation is achieved. Wherein, in the process of controlling the vehicle to rotate around the first rear wheel, the steering mechanism of the first rear wheel is not constrained, so that the body of the vehicle can rotate freely with the first rear wheel of the vehicle, and when the first rear wheel returns to the original position, a signal to stop rotating can be sent to stop the vehicle from rotating around the first rear wheel. And in the process of controlling the vehicle to rotate around the first rear wheel, the first rear wheel is controlled to be fixed (specifically, the motor corresponding to the first rear wheel can be controlled to stop rotating) and cannot move, so that the body of the vehicle rotates around the fixed point of the first rear wheel.

[0054] The above control of the vehicle to rotate around the first rear wheel is based on the fact that the rear wheels of the vehicle can be driven independently and the front axle of the vehicle can be driven. Specifically, the second rear wheel of the vehicle and the front axle of the vehicle (specifically, the two front wheels on the front axle) can be controlled to rotate so that the vehicle rotates around the first rear wheel.

[0055] S14: Control the remaining wheels of the vehicle to return to the correct position, and control the vehicle to reverse into the target parking space.

[0056] After controlling the vehicle to rotate around the first rear wheel so that the body of the vehicle is parallel to the first rear wheel and the length direction of the target parking space, the remaining wheels of the vehicle can be controlled to return to the straight position, that is, the remaining wheels of the vehicle are controlled to be parallel to the direction of the vehicle body. After that, the vehicle can be controlled to reverse into the target parking space.

[0057] Through the independent steering and independent driving of each rear wheel of the vehicle, the rear wheels that reach the target position can be controlled to rotate parallel to the length direction of the parking space, and then the vehicle can be controlled to rotate around the aforementioned wheels to reduce the turning radius of the vehicle and achieve compact turning of the vehicle, thereby making the vehicle more flexible in a small space, significantly reducing the number of adjustments required during the automatic parking process, and facilitating one-time rapid automatic parking into the warehouse to achieve more accurate and efficient parking operations. Moreover, the above automatic parking process does not require accurate identification of the target parking space, but only needs to determine the target position of the target parking space, so the efficiency of automatic parking can be further improved.

[0058] The above technical solution disclosed in the embodiment of the present application, when automatically parking, first controls the first rear wheel of the vehicle to move to the target position of the target parking space, then controls the first rear wheel of the vehicle to be parallel to the length direction of the target parking space, then makes the vehicle rotate around the first rear wheel to achieve a compact turn, controls the remaining wheels to return to the right position after the first rear wheel returns to the right position, so as to realize the straightening of the vehicle body, and finally controls the vehicle to reverse into the target parking space. In the above process, by first controlling the first rear wheel to be parallel to the length direction of the target parking space at the target position of the target parking space, then controlling the vehicle to rotate around the first rear wheel to return to the right position, and then controlling the remaining wheels to return to the right position, the vehicle can achieve a smaller and more compact turn during the automatic parking process, so as to reduce the number of adjustments required during parking, realize fast and efficient parking operations, and improve the efficiency of automatic parking. Moreover, the above automatic parking process only needs to determine the target position of the target parking space, and does not need to accurately identify the target parking space, so the efficiency of automatic parking can be further improved.

[0059] See also Figure 6 , which shows a flow chart of another automatic parking method provided by an embodiment of the present application. An automatic parking method provided by an embodiment of the present application may further include, before controlling the vehicle to rotate around the first rear wheel:

[0060] Control the second rear wheel to return to the normal position;

[0061] Wherein, controlling the remaining wheels of the vehicle to return to the correct position may include:

[0062] Control the front wheels of the vehicle to return to the straight position.

[0063] In the embodiment of the present application, after controlling the first rear wheel to rotate to be parallel to the length direction of the target parking space, before controlling the vehicle to rotate around the first rear wheel, the second rear wheel of the vehicle can be controlled to return to the original position based on the independent steering of each rear wheel of the vehicle, so that the second rear wheel of the vehicle is parallel to the direction of the vehicle body. Specifically, a return instruction can be sent to the second rear wheel, and the second rear wheel drives the second rear wheel to turn to the initial position according to the memory, and waits for the rear wheel of the vehicle to turn to the initial position. Figure 2 As shown, after the right rear wheel is controlled to be parallel to the length direction of the target parking space, the left rear wheel can be controlled to return to the straight position so that the left rear wheel is parallel to the vehicle body direction. After the second rear wheel of the vehicle is controlled to return to the straight position, the vehicle can be controlled to rotate around the first rear wheel. Specifically, the longitudinal speed of the vehicle body can be controlled to remain unchanged, and the second rear wheel and the front axle can be controlled to rotate to achieve the rotation of the vehicle around the first rear wheel. By first controlling the second rear wheel of the vehicle to return to the straight position and then controlling the vehicle to rotate around the first rear wheel, the utilization rate of the driving force during rotation can be improved, and the wear on the tires can be reduced.

[0064] On the basis of the above, controlling the remaining wheels of the vehicle to return to the correct direction means controlling the front wheels of the vehicle to rotate so that the front wheels of the vehicle return to the correct direction and are parallel to the body direction of the vehicle.

[0065] An automatic parking method provided by an embodiment of the present application controls a vehicle to rotate around a first rear wheel, which may include:

[0066] Obtain the front wheel turning angle and the rotation speed of the second rear wheel of the vehicle;

[0067] Determine the front axle speed of the vehicle according to the front wheel turning angle of the vehicle and the rotation speed of the second rear wheel;

[0068] The second rear wheel is controlled to move according to the rotation speed of the second rear wheel, and the front axle of the vehicle is controlled to move at the front axle speed.

[0069] In the embodiment of the present application, the specific implementation process of controlling the vehicle to rotate around the first rear wheel can be: first obtain the front wheel turning angle of the vehicle (i.e. the angle between the front wheel direction and the body direction of the vehicle), and the speed V of the second rear wheel can be obtained x0 , where the speed of the second rear wheel V x0 The size of can be set by relevant personnel based on experience, for example, the speed V of the second rear wheel can be x0 It can be 0.5m / s. Then, according to the front wheel angle of the vehicle and the speed of the second rear wheel V x0 ,use Calculate the front axle speed V of the vehicle f Afterwards, the obtained speed V of the second rear wheel can be used to x0Control the second rear wheel to move (that is, control the second rear wheel to obtain the rotation speed V x0 The longitudinal speed of the vehicle body is kept constant, and the front axle of the vehicle is controlled to move at the calculated front axle speed V f To move the front wheels of the vehicle in a V f The vehicle body can freely rotate around the first rear wheel. Figure 7 , which shows a schematic diagram of the distribution of the left rear wheel speed and the front wheel turning angle after the left rear wheel returns to the correct position provided by an embodiment of the present application, wherein the speed of the left rear wheel after returning to the correct position is V x0 , the front wheel turning angle is In the figure, it is located on the front axle and is in the direction of the vehicle body. The diagonal line of the angle is parallel to the direction of the front wheels.

[0070] Through the above process, the vehicle can be accurately and efficiently rotated around the first rear wheel of the vehicle, thereby facilitating more accurate and efficient parking operations.

[0071] An automatic parking method provided by an embodiment of the present application, controlling the first rear wheel to rotate to be parallel to the length direction of the target parking space, may include:

[0072] Acquire a first angle between a body direction of the vehicle and a length direction of the target parking space, and acquire a second angle between the first rear wheel and the body direction of the vehicle;

[0073] Determining a rotation angle required for the first rear wheel to be parallel to the length direction of the target parking space according to the first included angle and the second included angle;

[0074] The first rear wheel is controlled to rotate at a rotation angle so that the first rear wheel is parallel to a length direction of the target parking space.

[0075] In the embodiment of the present application, the process of controlling the first rear wheel to rotate to be parallel to the length direction of the target parking space may specifically be:

[0076] (1) First, a first angle β between the vehicle body direction and the length direction of the target parking space is obtained by the vehicle's environmental perception system, and a second angle α between the first rear wheel and the vehicle body direction is obtained by a distributed rear wheel steering system, etc., wherein the vehicle body direction refers to the length direction of the vehicle body.

[0077] (2) Based on the first angle β between the vehicle body direction and the length direction of the target parking space and the second angle α between the first rear wheel and the vehicle body direction, the required turning angle for the first rear wheel to be parallel to the length direction of the parking space is calculated as β-α. Figure 8As shown, it shows a schematic diagram of the relationship between the first angle, the second angle and the turning angle of the right rear wheel provided in an embodiment of the present application, wherein the angle between the vehicle body direction and the length direction of the target parking space is β, and the angle between the vehicle body direction and the right rear wheel is α. According to β and α, the turning angle required for the right rear wheel to be parallel to the length direction of the target parking space is determined to be β-α.

[0078] (3) Control the first rear wheel to rotate β-α so that the first rear wheel is parallel to the length direction of the target parking space. Specifically, a command to rotate the first rear wheel by an angle of β-α can be sent to the first rear wheel of the vehicle, and the wheel steering motor is activated to drive the steering of the first rear wheel by pushing the movement of the rack. The angle of rotation of the first rear wheel can be calculated by a gear pulse counter. When the angle of rotation of the first rear wheel is equal to β-α, the vehicle steering motor stops, thereby achieving precise steering of the first rear wheel.

[0079] By means of the above, the first rear wheel of the vehicle can be accurately controlled to rotate parallel to the length direction of the target parking space, thereby facilitating a more precise parking operation.

[0080] An automatic parking method provided in an embodiment of the present application controls a vehicle to back into a target parking space, which may include:

[0081] Obtaining a third angle between the vehicle body direction and the length direction of the target parking space, and determining whether the third angle does not exceed an angle threshold;

[0082] If not, the front wheels of the vehicle are controlled to rotate;

[0083] If so, the vehicle is controlled to reverse into the target parking space.

[0084] After the remaining wheels of the vehicle are controlled to return to the correct position, the specific process of controlling the vehicle to reverse into the target parking space may be: the third angle between the vehicle body direction and the length direction of the target parking space is obtained by the environment perception system, and it is determined whether the third angle between the vehicle body direction and the length direction of the target parking space does not exceed the angle threshold. The value of the angle threshold may be obtained based on experience, experiments, etc.

[0085] If it is determined that the third angle between the vehicle body direction and the length direction of the target parking space does not exceed the angle threshold, it is determined that the vehicle body direction is substantially consistent with the length direction of the target parking space, and therefore the vehicle can be controlled to reverse into the target parking space.

[0086] If it is determined that the third angle between the body direction of the vehicle and the length direction of the target parking space exceeds the angle threshold, it is determined that the body direction of the vehicle is relatively different from the length direction of the target parking space. Therefore, the front wheels of the vehicle can be controlled to rotate to fine-tune the body direction of the vehicle. After the fine-tune, the step of obtaining the third angle between the body direction of the vehicle and the length direction of the target parking space can be returned to, and the step of controlling the vehicle to back into the target parking space can be executed until the third angle between the body direction of the vehicle and the length direction of the target parking space does not exceed the angle threshold. Alternatively, the vehicle can be controlled to back into the target parking space after the fine-tune.

[0087] Of course, the vehicle may be controlled to reverse into the target parking space in a straight line when the third angle between the vehicle body direction and the length direction of the target parking space does not exceed the angle threshold, or controlled to reverse into the target parking space when the third angle between the vehicle body direction and the length direction of the target parking space exceeds the angle threshold, and the steering angle of the front wheels of the vehicle may be adjusted during the process of controlling the vehicle to reverse into the target parking space.

[0088] By acquiring the third angle between the vehicle body direction and the length direction of the target parking space and controlling the vehicle according to the relationship between the third angle and the angle threshold, a more accurate and efficient parking operation can be achieved.

[0089] An automatic parking method provided in an embodiment of the present application controls a first rear wheel of a vehicle to move to a target location, which may include:

[0090] A driving path between the target location and the first rear wheel is determined, and the movement of the vehicle is controlled so that the first rear wheel moves along the driving path to the target location.

[0091] The specific process of controlling the first rear wheel of the vehicle to move to the target location is to first determine the driving path between the target location of the target parking space and the first rear wheel of the vehicle, and then control the movement of the vehicle so that the first rear wheel of the vehicle reaches the target location along the determined driving path, thereby facilitating the parallelism of the vehicle and the length direction of the target parking space at the target location and reversing into the parking space. There are no static obstacles on the driving path to reduce the risk of collision of the vehicle during the parking process. Figure 2 As shown, the dotted line between the right rear wheel of the vehicle at position 1 and the target site represents the driving path between the target site and the first rear wheel of the vehicle. The movement of the vehicle is controlled so that the vehicle moves from position 1 to position 2, and the right rear wheel moves from the initial position (i.e., the position of the right rear wheel in position 1) along the dotted line to the target site during this process.

[0092] An automatic parking method provided in an embodiment of the present application, determining a driving path between a target location and a first rear wheel, may include:

[0093] Control the environmental perception system to collect data about the surrounding environment;

[0094] Perform positioning and mapping based on the data collected by the environmental perception system to determine the target location of the surrounding environment and the target parking space;

[0095] An optimal driving path between the target location of the target parking space and the first rear wheel is determined according to the surrounding environment and the target location of the target parking space; wherein the optimal driving path has the shortest distance and has no obstacles on it.

[0096] In the embodiment of the present application, the process of determining the driving path between the target position of the target parking space and the first rear wheel of the vehicle may specifically be:

[0097] 1) Establish a vehicle coordinate system with the current position of the vehicle as the origin, and collect data about the surrounding environment through the vehicle's environmental perception system; the vehicle's environmental perception system may specifically include a laser radar, a millimeter-wave radar, an ultrasonic radar (at least one of the above three radars) and a visual camera mounted on the vehicle body.

[0098] 2) Based on the data collected by the environmental perception system, a multi-sensor fusion algorithm is used for positioning and mapping to accurately identify and analyze the surrounding environment (including obstacles, road signs and traffic conditions), and determine the target parking space (which can be selected automatically or in combination with the driver's intention), and select the target site on the target parking space in combination with the vehicle position and the mapping of the target parking space. Specifically, the location of obstacles contained in the surrounding environment, the location of the target site of the target parking space, etc. can be identified. That is, the central parking controller includes an environmental perception processing module for processing the data collected by the environmental perception system.

[0099] The above process realizes the perception fusion of the surrounding environment by utilizing the vehicle's environmental perception system, and the above process can locate the precise position of the vehicle relative to the target point of the target parking space, so as to calculate the optimal driving path between the target point of the target parking space and the first rear wheel of the vehicle.

[0100] 3) After determining the surrounding environment and the target location of the target parking space through positioning and mapping, the optimal driving path between the target location of the target parking space and the first rear wheel can be calculated based on the location of obstacles in the surrounding environment, the location of the target location of the target parking space, and the location of the vehicle. The optimal driving path not only has the shortest distance, but also has no obstacles in the surrounding environment on the optimal driving path, so as to ensure that the first rear wheel of the vehicle can directly reach the target location along this optimal driving path, thereby avoiding potential obstacles and ensuring vehicle driving safety. It should be noted that Figure 2The dotted line in specifically represents the optimal driving path for the right rear wheel of the vehicle to reach the target location of the target parking space.

[0101] By determining the path with the shortest distance between the target position of the target parking space and the first rear wheel of the vehicle and without obstacles as the optimal driving path, the first rear wheel of the vehicle can reach the target position of the target parking space quickly and without touching any obstacles, thereby improving the efficiency of automatic parking and reducing the risk of collision of the vehicle during parking.

[0102] An automatic parking method provided by an embodiment of the present application may further include, before controlling the movement of the vehicle:

[0103] Determine the speed data of the vehicle when the first rear wheel is at each position on the optimal driving path, and determine the front wheel turning angle and rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path;

[0104] Among them, controlling the movement of the vehicle may include:

[0105] The movement of the vehicle is controlled according to the speed data, the front wheel steering angle and the rear wheel steering angle of the vehicle when the first rear wheel is at each position on the optimal driving path.

[0106] In an embodiment of the present application, before controlling the movement of the vehicle, the speed data corresponding to the vehicle when the first rear wheel of the vehicle is at each position on the optimal driving path can be determined first, and the front wheel turning angle and rear wheel turning angle corresponding to the vehicle when the first rear wheel of the vehicle is at each position on the optimal driving path can be determined, wherein the determined front wheel turning angle is the turning angle of the two front wheels (that is, the turning angles of the two front wheels are the same), and the rear wheel turning angle is the turning angle of the two rear wheels (that is, the turning angles of the two rear wheels are the same, that is, the rear wheels can rotate in a follow-up manner). That is, the automatic parking process can be as follows: a vehicle coordinate system is established with the current position of the vehicle as the origin, and the surrounding environment is perceived and integrated through the radar (specifically, it can be at least one of a laser radar, a millimeter-wave radar, and an ultrasonic radar) and a visual camera mounted on the vehicle body; the driver can actively select a target parking space, and the target position in the parking process is determined according to the target parking space, and the optimal driving path from the right (left) rear wheel of the vehicle to the target position of the target parking space is calculated by the vehicle coordinate system, and the global optimal front wheel turning angle and rear wheel turning angle are calculated through the trajectory, and the speed data of the vehicle at each position is determined, and the movement of the vehicle is controlled according to the determined motion parameters, so that the right (left) rear wheel of the vehicle can reach the target position of the target parking space; the right (left) rear wheel is controlled to rotate so that the right (left) rear wheel is parallel to the length direction of the target parking space, and the left (right) rear wheel is controlled to be parallel to the direction of the vehicle body, and the right (left) drive motor stops running to realize the straightening operation of the vehicle body; the vehicle is controlled to enter the warehouse.

[0107] On the basis of the above, the movement of the vehicle can be controlled according to the speed data, front wheel steering angle and rear wheel steering angle corresponding to the vehicle when the first rear wheel of the vehicle is at each position on the optimal driving path, so that the first rear wheel of the vehicle can accurately reach the target position of the target parking space along the determined optimal driving path under the control of the central parking controller.

[0108] An automatic parking method provided by an embodiment of the present application, determining the speed data of the vehicle when the first rear wheel is at each position on the optimal driving path, may include:

[0109] Using polynomial programming to determine the speed and acceleration of the vehicle at each position of the first rear wheel on the optimal driving path;

[0110] The constraints of the polynomial programming may include that the speed and acceleration of the vehicle are both 0 when the first rear wheel is at the starting position and the ending position of the optimal driving path.

[0111] In the embodiment of the present application, polynomial planning can be performed on the position on the optimal driving path, so as to determine the speed and acceleration of the vehicle when the first rear wheel is at each position on the optimal driving path by using polynomial planning. Among them, the constraint conditions of the above polynomial planning include that the speed and acceleration of the vehicle at the starting position and the ending position of the first rear wheel on the optimal driving path are both 0, so as to not only ensure that the acceleration jitter of the vehicle is minimized when the first rear wheel moves along the optimal driving path, but also ensure that the vehicle can be just stationary when the first rear wheel of the vehicle reaches the target position of the target parking space, so as to better control the first rear wheel to rotate to be parallel to the length direction of the target parking space.

[0112] The above polynomial planning may specifically be a quintic polynomial planning, and the quintic polynomial planning is specifically as follows:

[0113] x(t)=p 0 +p 1 t+p 2 t 2 +p 3 t 3 +p 4 t 4 +p 5 t 5

[0114]

[0115] Where x(t) is the path length between the position of the first rear wheel of the vehicle on the optimal driving path at time t and the starting position of the optimal driving path, t 0 Indicates the start time, t f Indicates the end time, x endrepresents the total path length of the optimal driving path (that is, the path length from the starting position to the end position of the optimal driving path), p 0 、p 1 、p 2 、p 3 、p 4 、p 5 is the coefficient of the quintic polynomial programming. The first constraint of the two constraints is the constraint at the starting position of the optimal driving path. Indicates that the speed of the vehicle is 0 when the first rear wheel is at the starting position of the optimal driving path. It means that the acceleration of the vehicle is 0 when the first rear wheel is at the starting position of the optimal driving path. The second constraint of the two constraints is the constraint at the end position of the optimal driving path. Indicates that the speed of the vehicle is 0 when the first rear wheel is at the end position of the optimal driving path. It indicates that the acceleration of the vehicle is 0 when the first rear wheel is at the end position of the optimal driving path.

[0116] An automatic parking method provided by an embodiment of the present application, determining the front wheel turning angle and the rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path, may include:

[0117] A coordinate system is established with the target location as the origin, and the front wheel turning angle and the rear wheel turning angle of the vehicle at each position on the optimal driving path are determined according to the coordinates of each position on the optimal driving path and the speed and acceleration of the vehicle at each position on the optimal driving path.

[0118] The specific process of determining the front wheel turning angle and the rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path can be: establish a coordinate system with the target site as the origin, and determine the front wheel turning angle and the rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path according to the determined speed and acceleration of the vehicle when the first rear wheel is at each position on the optimal driving path and the coordinates of each position on the optimal driving path in the coordinate system established with the target site as the origin.

[0119] Specifically, you can use:

[0120]

[0121] Calculate the vehicle's position when the first rear wheel is at each position on the optimal driving path Among them, δ f is the front wheel turning angle at the current position on the optimal driving path, δ r is the rear wheel turning angle at the current position on the optimal driving path, is the vehicle status information of the vehicle at the current moment, y is the distance between the vehicle and the target location in the y direction at the current moment, is the acceleration of the vehicle in the y-axis direction, that is, the second-order derivative of the y-axis, is the rate of change of the ego vehicle’s angle (where the ego vehicle’s angle can be determined based on the ego vehicle’s coordinates), is the instantaneous speed of the vehicle in the y-axis direction, C αf is the front wheel cornering stiffness, C αr is the rear wheel cornering stiffness, m is the mass of the vehicle, V x is the longitudinal velocity of the vehicle, l f is the distance from the front axle to the center of mass, l r is the distance from the rear axle to the center of mass, I z is the moment of inertia of the vehicle.

[0122] By using the above formula, the front wheel turning angle and the rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path can be calculated, so that the central parking controller can control the rotation of the front wheel and the rear wheel respectively according to the front wheel turning angle and the rear wheel turning angle at each position on the optimal driving path, so that the first rear wheel of the vehicle can accurately travel along the optimal driving path.

[0123] An automatic parking method provided in an embodiment of the present application may further include, when controlling the movement of a vehicle:

[0124] If an obstacle is detected on the optimal driving path and the vehicle triggers reverse AEB, the surrounding environment is determined, and the process returns to the step of determining the optimal driving path between the target location of the target parking space and the first rear wheel based on the surrounding environment and the target location of the target parking space;

[0125] If a moving obstacle is detected on the optimal driving path and the vehicle does not trigger reverse AEB, the vehicle is controlled to decelerate and, when the obstacle leaves the optimal driving path, the vehicle's speed data at the remaining positions of the first rear wheel on the optimal driving path is determined based on the vehicle's speed data at the current position of the first rear wheel on the optimal driving path.

[0126] In the implementation of this application, when controlling the movement of the vehicle, the central parking controller will also intelligently adjust the speed and acceleration of the vehicle according to the characteristics of the optimal driving path and the dynamic performance of the vehicle, so as to automatically adjust the speed parameters of the vehicle, so as to better cope with upcoming turns or obstacles and ensure that the target location is reached efficiently and safely.

[0127] Specifically, if an obstacle is detected on the optimal driving path and the vehicle triggers the reverse AEB (Autonomous Emergency Braking) to make the vehicle stop urgently, the central parking controller can reuse the environment perception system to determine the surrounding environment, and return to execute the optimal driving path between the target location of the target parking space and the first rear wheel according to the surrounding environment and the target location of the target parking space, and subsequent related steps, that is, the optimal driving path can be re-determined based on the current position of the vehicle, the surrounding environment and the target location of the target parking space, and the speed data of the vehicle when the first rear wheel is at each position on the optimal driving path (specifically, it can be determined by using a quintic polynomial programming method), the front wheel angle and the rear wheel angle of the vehicle are re-determined. The specific determination process is similar to the above and will not be repeated here. Afterwards, the movement of the vehicle is controlled according to the re-determined speed data of the vehicle when the first rear wheel is at each position on the optimal driving path, the front wheel angle and the rear wheel angle.

[0128] If an obstacle is detected on the optimal driving path and the obstacle is moving, and the vehicle has not triggered AEB, the vehicle can be controlled to perform a deceleration operation to perform a deceleration movement. After waiting for the obstacle to leave the planned optimal driving path, the speed data of the vehicle at the remaining positions of the first rear wheel on the optimal driving path can be determined based on the speed data of the vehicle when the first rear wheel is at the current position on the optimal driving path. Specifically, based on the speed data of the vehicle when the first rear wheel is at the current position on the optimal driving path, polynomial planning can be used to determine the speed data of the vehicle at the remaining positions of the first rear wheel on the optimal driving path, wherein at this time, the speed and acceleration of the first rear wheel at the starting position of the optimal driving path in the constraints of the polynomial planning are the speed and acceleration of the vehicle at the current position, respectively. Specifically, quintic polynomial planning can be used to determine the speed data of the vehicle at the remaining positions of the first rear wheel on the optimal driving path, wherein the quintic polynomial planning here can be specifically: Among them, x c V represents the path length between the current position of the first rear wheel of the vehicle on the optimal driving path and the starting position of the optimal driving path, that is, the path length that the first rear wheel of the vehicle has currently traveled along the optimal driving path. c represents the speed of the vehicle at the current position of the first rear wheel on the optimal driving path, a c The acceleration of the vehicle when the first rear wheel is at the current position on the optimal driving path is indicated. Afterwards, the movement of the vehicle can be controlled according to the speed data of the vehicle when the first rear wheel is at each remaining position on the optimal driving path.

[0129] The present application also provides an automatic parking device, wherein each rear wheel of the vehicle can be independently steered and driven. Fig. 9, which shows a schematic structural diagram of an automatic parking device provided in an embodiment of the present application. The automatic parking device may include:

[0130] A determination module 91, for determining a target location of a target parking space, and controlling the first rear wheel of the vehicle to move to the target location;

[0131] A first control module 92, used for controlling the first rear wheel to rotate to be parallel to the length direction of the target parking space;

[0132] A second control module 93, used for controlling the vehicle to rotate around the first rear wheel until the first rear wheel returns to the straight position;

[0133] The third control module 94 is used to control the remaining wheels of the vehicle to return to the correct position and control the vehicle to reverse into the target parking space.

[0134] An automatic parking device provided in an embodiment of the present application may further include:

[0135] a fourth control module, configured to control the second rear wheel to return to the center position before controlling the vehicle to rotate around the first rear wheel;

[0136] The third control module 94 may include:

[0137] The first control unit is used to control the front wheels of the vehicle to return to the straight position.

[0138] In an automatic parking device provided in an embodiment of the present application, the second control module 93 may include:

[0139] A first acquisition unit, used to acquire a front wheel turning angle and a second rear wheel rotation speed of the vehicle;

[0140] a first determining unit, for determining a front axle speed of the vehicle according to a front wheel turning angle of the vehicle and a rotation speed of a second rear wheel;

[0141] The second control unit is used to control the movement of the second rear wheel according to the rotation speed of the second rear wheel, and control the front axle of the vehicle to move at the front axle speed.

[0142] In an automatic parking device provided in an embodiment of the present application, the first control module 92 may include:

[0143] a second acquisition unit, configured to acquire a first angle between a body direction of the vehicle and a length direction of the target parking space, and to acquire a second angle between the first rear wheel and the body direction of the vehicle;

[0144] a second determining unit, configured to determine a rotation angle required for the first rear wheel to be parallel to the length direction of the target parking space according to the first included angle and the second included angle;

[0145] The third control unit is used to control the first rear wheel to rotate at an angle so that the first rear wheel is parallel to the length direction of the target parking space.

[0146] In an automatic parking device provided in an embodiment of the present application, the third control module 94 may include:

[0147] a judgment unit, used for obtaining a third angle between the body direction of the vehicle and the length direction of the target parking space before controlling the vehicle to reverse into the target parking space, and judging whether the third angle does not exceed an angle threshold;

[0148] a fourth control unit, configured to control the front wheels of the vehicle to rotate if the third angle exceeds an angle threshold;

[0149] The fifth control unit is used to control the vehicle to reverse into a target parking space if the third angle does not exceed the angle threshold.

[0150] In an automatic parking device provided in an embodiment of the present application, the determination module 91 may include:

[0151] The third determining unit is used to determine a driving path between the target location and the first rear wheel, and control the movement of the vehicle so that the first rear wheel moves to the target location along the driving path.

[0152] In an automatic parking device provided by an embodiment of the present application, the third determining unit may include:

[0153] The first control subunit is used to control the environment perception system to collect data about the surrounding environment;

[0154] The first determination subunit is used to perform positioning and mapping based on the data collected by the environment perception system to determine the target location of the surrounding environment and the target parking space;

[0155] The second determination subunit is used to determine the optimal driving path between the target location of the target parking space and the first rear wheel according to the surrounding environment and the target location of the target parking space; wherein the optimal driving path has the shortest distance and has no obstacles on the optimal driving path.

[0156] In an automatic parking device provided by an embodiment of the present application, the third determining unit may further include:

[0157] A third determining subunit is used to determine the speed data of the vehicle when the first rear wheel is at each position on the optimal driving path, and to determine the front wheel turning angle and the rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path;

[0158] Among them, the third determination unit controls the movement of the vehicle so that the first rear wheel moves to the target location along the driving path, and is specifically used to control the movement of the vehicle according to the vehicle speed data, front wheel steering angle and rear wheel steering angle when the first rear wheel is at each position on the optimal driving path.

[0159] In an automatic parking device provided by an embodiment of the present application, a third determining subunit determines speed data of a vehicle when the first rear wheel is at each position on an optimal driving path, specifically for determining the speed and acceleration of the vehicle when the first rear wheel is at each position on the optimal driving path by using polynomial programming;

[0160] The constraints of the polynomial programming may include that the speed and acceleration of the vehicle are both 0 when the first rear wheel is at the starting position and the ending position of the optimal driving path.

[0161] An automatic parking device provided by an embodiment of the present application, wherein a third determining subunit determines a front wheel turning angle and a rear wheel turning angle of the vehicle when the first rear wheel is at each position on an optimal driving path, and is specifically used to establish a coordinate system with a target point as the origin, and determine the front wheel turning angle and the rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path according to the coordinates of each position on the optimal driving path, the speed and acceleration of the vehicle when the first rear wheel is at each position on the optimal driving path.

[0162] In an automatic parking device provided by an embodiment of the present application, the third determining unit may further include:

[0163] a third determination subunit, configured to determine the surrounding environment and return to execute the step of determining the optimal driving path between the target location of the target parking space and the first rear wheel according to the surrounding environment and the target location of the target parking space when controlling the movement of the vehicle and if an obstacle is detected on the optimal driving path and the vehicle triggers the reverse AEB;

[0164] The fourth determination subunit is used to control the vehicle to decelerate if a moving obstacle is detected on the optimal driving path and the vehicle does not trigger the reversing AEB, and to determine the speed data of the vehicle at the remaining positions of the first rear wheel on the optimal driving path based on the speed data of the vehicle at the current position of the first rear wheel on the optimal driving path when the obstacle leaves the optimal driving path.

[0165] The present application also provides an automatic parking system. Fig.10, which shows a schematic structural diagram of an automatic parking system provided by an embodiment of the present application, the automatic parking system may include: a distributed rear-wheel steering system for independently steering each rear wheel of a vehicle, a distributed rear-wheel drive system for independently driving each rear wheel of the vehicle, and a central parking controller, the central parking controller is connected to the distributed rear-wheel steering system and the distributed rear-wheel drive system through a vehicle bus;

[0166] The central parking controller is used to implement the steps of any of the above-mentioned automatic parking methods.

[0167] Among them, the vehicle bus mentioned above can specifically be a vehicle CAN (Controller Area Network) bus.

[0168] An automatic parking system provided in an embodiment of the present application may further include an environment sensing system connected to a central parking controller via a vehicle bus.

[0169] An embodiment of the present application also provides a vehicle, which is used to implement the steps of any of the above-mentioned automatic parking methods.

[0170] For the description of the relevant parts of an automatic parking device, system and vehicle provided in the embodiments of the present application, reference can be made to the detailed description of the corresponding parts in an automatic parking method provided in the embodiments of the present application, which will not be repeated here.

[0171] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0172] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0173] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0174] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0175] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0176] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An automatic parking method, characterized in that: The automatic parking method comprises: Determining a target location of a target parking space, and controlling a first rear wheel of the vehicle to move to the target location; Controlling the first rear wheel to rotate to be parallel to the length direction of the target parking space; Controlling the vehicle to rotate around the first rear wheel until the first rear wheel returns to a straight position; The remaining wheels of the vehicle are controlled to return to the center, and the vehicle is controlled to reverse into the target parking space.

2. The automatic parking method according to claim 1, characterized in that: Before controlling the vehicle to rotate around the first rear wheel, the method further includes: Control the second rear wheel to return to the normal position; Wherein, controlling the remaining wheels of the vehicle to return to the correct position comprises: Control each front wheel of the vehicle to return to the straight position.

3. The automatic parking method according to claim 2, characterized in that: Controlling the vehicle to rotate around the first rear wheel comprises: Obtaining the front wheel turning angle and the rotation speed of the second rear wheel of the vehicle; Determining a front axle speed of the vehicle according to a front wheel turning angle of the vehicle and a rotation speed of the second rear wheel; The second rear wheel is controlled to move according to the rotation speed of the second rear wheel, and the front axle of the vehicle is controlled to move at the front axle speed.

4. The automatic parking method according to claim 1, characterized in that: Controlling the first rear wheel to rotate to be parallel to the length direction of the target parking space includes: Acquire a first angle between a body direction of the vehicle and a length direction of the target parking space, and acquire a second angle between the first rear wheel and a body direction of the vehicle; determining a rotation angle required for the first rear wheel to be parallel to the length direction of the target parking space according to the first angle and the second angle; The first rear wheel is controlled to rotate by the rotation angle so that the first rear wheel is parallel to a length direction of the target parking space.

5. The automatic parking method according to any one of claims 1 to 4, characterized in that: Controlling the vehicle to back into the target parking space includes: acquiring a third angle between the body direction of the vehicle and the length direction of the target parking space, and determining whether the third angle does not exceed an angle threshold; If not, controlling the front wheels of the vehicle to rotate; If so, the vehicle is controlled to reverse into the target parking space.

6. The automatic parking method according to claim 1, characterized in that: Controlling the first rear wheel of the vehicle to move to the target location includes: A driving path between the target location and the first rear wheel is determined, and the movement of the vehicle is controlled so that the first rear wheel moves along the driving path to the target location.

7. The automatic parking method according to claim 6, characterized in that: Determining a driving path between the target location and the first rear wheel includes: Control the environmental perception system to collect data about the surrounding environment; Performing positioning and mapping based on the data collected by the environment perception system to determine the surrounding environment and the target location of the target parking space; An optimal driving path between the target location of the target parking space and the first rear wheel is determined according to the surrounding environment and the target location of the target parking space; wherein the optimal driving path has the shortest distance and has no obstacles.

8. The automatic parking method according to claim 7, characterized in that: Before controlling the movement of the vehicle, the method further includes: Determine speed data of the vehicle when the first rear wheel is at each position on the optimal driving path, and determine front wheel turning angle and rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path; Wherein, controlling the movement of the vehicle includes: The movement of the vehicle is controlled according to the speed data, the front wheel steering angle, and the rear wheel steering angle of the vehicle when the first rear wheel is at each position on the optimal driving path.

9. The automatic parking method according to claim 8, characterized in that: Determining speed data of the vehicle when the first rear wheel is at each position on the optimal driving path includes: Using polynomial programming to determine the speed and acceleration of the vehicle when the first rear wheel is at each position on the optimal driving path; The constraints of the polynomial programming include that the speed and acceleration of the vehicle are both 0 when the first rear wheel is at the starting position and the ending position of the optimal driving path.

10. The automatic parking method according to claim 9, characterized in that: Determining the front wheel turning angle and the rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path includes: A coordinate system is established with the target location as the origin, and the front wheel turning angle and the rear wheel turning angle of the vehicle when the first rear wheel is at each position on the optimal driving path are determined according to the coordinates of each position on the optimal driving path and the speed and acceleration of the vehicle when the first rear wheel is at each position on the optimal driving path.

11. The automatic parking method according to any one of claims 7 to 10, characterized in that: When controlling the movement of the vehicle, the method further includes: If an obstacle is detected on the optimal driving path and the vehicle triggers reverse AEB, determining the surrounding environment, and returning to the step of determining the optimal driving path between the target location of the target parking space and the first rear wheel based on the surrounding environment and the target location of the target parking space; If a moving obstacle is detected on the optimal driving path and the vehicle has not triggered reverse AEB, the vehicle is controlled to decelerate, and when the obstacle leaves the optimal driving path, the speed data of the vehicle at the remaining positions of the first rear wheel on the optimal driving path is determined based on the speed data of the vehicle at the current position of the first rear wheel on the optimal driving path.

12. An automatic parking device, characterized in that: The automatic parking device comprises: a determination module, configured to determine a target location of a target parking space, and control the first rear wheel of the vehicle to move to the target location; A first control module, configured to control the first rear wheel to rotate to be parallel to the length direction of the target parking space; a second control module, configured to control the vehicle to rotate around the first rear wheel until the first rear wheel returns to a straight position; The third control module is used to control the remaining wheels of the vehicle to return to the center position, and control the vehicle to reverse into the target parking space.

13. An automatic parking system, characterized in that: include: A distributed rear wheel steering system for independently steering each rear wheel of the vehicle, a distributed rear wheel drive system for independently driving each rear wheel of the vehicle, and a central parking controller, wherein the central parking controller is connected to the distributed rear wheel steering system and the distributed rear wheel drive system via a vehicle bus; The central parking controller is used to implement the steps of the automatic parking method as described in any one of claims 1 to 11.

14. The automatic parking system according to claim 13, characterized in that: The automatic parking system also includes an environment perception system connected to the central parking controller via the vehicle bus.

15. A vehicle, characterized in that: The vehicle is used to implement the steps of the automatic parking method according to any one of claims 1 to 11.

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