Automatic parking control method, vehicle-mounted system and readable storage medium

Abstract

The invention discloses an automatic parking control method, a vehicle-mounted system and a readable storage medium. The method comprises the following steps: receiving a current expected parking track; according to the advancing direction, track division is conducted on the current expected parking track, and a first track and a second track are obtained; performing automatic parking according to the first track; the gear is switched to the gear corresponding to the second track within the preset range of the terminal point of the first track, and the next expected parking track is received until parking is finished; wherein the starting point in the next expected parking track corresponds to the end point of the first track, and the advancing direction corresponding to the starting point corresponds to the second track. In this way, the parking coherence is improved, and the parking efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of parking technology, and in particular to an automatic parking control method, a vehicle-mounted system, and a readable storage medium. Background Art

[0002] Parking, as one of the vehicle driving scenarios, places high demands on the driver's operating level. With the advancement of automotive technology, the assistance of reversing images and ultrasonic radars has reduced the difficulty of parking and improved the fault tolerance of parking, but it has not fundamentally helped drivers solve this pain point. With the development of intelligent driving, automatic parking systems have come into being. It does not rely on the driver's skills and experience, can flexibly respond to complex parking scenarios, and well solves parking anxiety and improves the driving experience. The framework of the automatic parking system is generally composed of four modules: perception, decision-making, planning, and control. As the final execution module, the control module plays an important role in the overall effect of parking. With the continuous iteration of automatic parking technology, while pursuing the success rate of parking, new requirements have been put forward for the continuity, smoothness and comfort of parking.

[0003] In the Automatic Parking System (APS), longitudinal control requires multiple gear shifts. Each gear shift is accompanied by a braking to a standstill and a start. Multiple parking reduces the continuity and smoothness of parking, affecting user comfort. Summary of the invention

[0004] The present application provides an automatic parking control method, a vehicle-mounted system, and a readable storage medium, which improve the continuity of parking and improve parking efficiency.

[0005] In a first aspect, the present application provides an automatic parking control method, the method comprising: receiving a current desired parking trajectory; dividing the current desired parking trajectory according to a travel direction to obtain a first trajectory and a second trajectory; performing automatic parking according to the first trajectory; switching the gear to a gear corresponding to the second trajectory within a preset range of the end point of the first trajectory, and receiving a next desired parking trajectory until parking is completed; wherein the starting point in the next desired parking trajectory corresponds to the end point of the first trajectory, and the travel direction corresponding to the starting point corresponds to the second trajectory.

[0006] The current desired parking trajectory includes a plurality of trajectory points, and the current desired parking trajectory is divided into trajectories according to the traveling direction to obtain a first trajectory and a second trajectory, including: determining a target trajectory point from the plurality of trajectory points according to the traveling direction; dividing the trajectory points before the target trajectory point and the target trajectory point among the plurality of trajectory points into the first trajectory; and dividing the trajectory points after the target trajectory point among the plurality of trajectory points into the second trajectory.

[0007] Among them, determining a target trajectory point from a plurality of trajectory points according to the traveling direction includes: traversing a plurality of trajectory points, determining a first inverse tangent value between a current trajectory point and a previous trajectory point; and a second inverse tangent value between a next trajectory point and the current trajectory point; in response to an absolute value of a difference between the first inverse tangent value and the second inverse tangent value being greater than a threshold, determining the current trajectory point as the target trajectory point, and ending the traversal.

[0008] Among them, automatic parking according to the first trajectory includes: obtaining the current position of the vehicle; determining a matching trajectory point from the first trajectory according to the current position; and performing automatic parking in combination with a reference speed corresponding to the matching trajectory point.

[0009] Among them, switching the gear to the gear corresponding to the second trajectory within a preset range of the end point of the first trajectory includes: obtaining a deceleration distance corresponding to the vehicle; obtaining a matching trajectory point in the first trajectory corresponding to the current position of the vehicle; obtaining a target distance between the matching trajectory point and the end point of the first trajectory; in response to the target distance being less than the deceleration distance, controlling the vehicle to enter a braking state, and switching the gear to the gear corresponding to the second trajectory when the actual speed of the vehicle is less than the first preset speed.

[0010] Wherein, obtaining the deceleration distance corresponding to the vehicle includes: obtaining the current speed of the vehicle, and the corresponding expected speed and expected acceleration; and obtaining the deceleration distance according to the current speed, the expected speed and the expected acceleration.

[0011] The step of obtaining the target distance between the matching trajectory point and the end point of the first trajectory includes: counting all trajectory points between the matching trajectory point and the end point of the first trajectory; respectively calculating the distances between adjacent trajectory points among all trajectory points, and taking the sum of all distances as the target distance.

[0012] The method further includes: when the vehicle speed is lower than a second preset speed and within a preset range of the end point of the first trajectory, updating the desired parking trajectory according to the moving direction of the second trajectory to generate a next desired parking trajectory.

[0013] In a second aspect, the present application provides a vehicle-mounted system, which includes a memory and a processor coupled to the memory, the memory storing at least one computer program, and when the at least one computer program is loaded and executed by the processor, it is used to implement the method provided in the first aspect.

[0014] In a third aspect, the present application provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the method provided in the first aspect.

[0015] The beneficial effects of the present application are as follows: Different from the prior art, the automatic parking control method, vehicle-mounted system, and readable storage medium provided by the present application, when issuing the current desired parking trajectory, issue a trajectory with two travel directions, and then can divide the first trajectory and the second trajectory by distinguishing the travel directions; perform automatic parking according to the first trajectory; switch the gear to the gear corresponding to the second trajectory within the preset range of the end point of the first trajectory, and receive the next desired parking trajectory, and continue to divide the parking trajectory and control the parking until the parking is completed; wherein, the starting point in the next desired parking trajectory corresponds to the end point of the first trajectory, and the travel direction corresponding to the starting point of the next desired parking trajectory corresponds to the second trajectory. This process improves the continuity of parking and the parking efficiency by switching gears and starting without stopping, without stopping to wait for the next desired parking trajectory to be issued. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0017] Figure 1 It is a flowchart of an embodiment of an automatic parking control method provided by the present application;

[0018] Figure 2 yes Figure 1 A schematic diagram of a flow chart of an embodiment of step 13;

[0019] Figure 3 It is a flowchart of an embodiment of an automatic parking control method provided by the present application;

[0020] Figure 4 yes Figure 3 A schematic diagram of a flow chart of an embodiment of step 32;

[0021] Figure 5 It is a flowchart of an embodiment of an automatic parking control method provided by the present application;

[0022] Figure 6 It is a structural schematic diagram of an embodiment of a vehicle-mounted system provided by the present application;

[0023] Figure 7 It is a structural schematic diagram of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It will be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some but not all structures related to the present application are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0025] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0026] Parking, as one of the vehicle driving scenarios, places high demands on the driver's operating level. With the advancement of automotive technology, the assistance of reversing images and ultrasonic radars has reduced the difficulty of parking and improved the fault tolerance of parking, but it has not fundamentally helped drivers solve this pain point. With the development of intelligent driving, automatic parking systems have come into being. It does not rely on the driver's skills and experience, can flexibly respond to complex parking scenarios, and well solves parking anxiety and improves the driving experience. The framework of the automatic parking system is generally composed of four modules: perception, decision-making, planning, and control. As the final execution module, the control module plays an important role in the overall effect of parking. With the continuous iteration of automatic parking technology, while pursuing the success rate of parking, new requirements have been put forward for the continuity, smoothness and comfort of parking.

[0027] In the Automatic Parking System (APS), longitudinal control requires multiple gear shifts. Each gear shift is accompanied by a braking to a standstill and a start. Multiple parking reduces the continuity and smoothness of parking, affecting user comfort.

[0028] Based on this, the present application proposes that when issuing the current desired parking trajectory, a trajectory with two travel directions is issued, and then the first trajectory and the second trajectory can be divided by distinguishing the travel directions; automatic parking is performed according to the first trajectory; the gear is switched to the gear corresponding to the second trajectory within the preset range of the end point of the first trajectory, and the next desired parking trajectory is received, and the parking trajectory division and parking control are continued until the parking is completed; wherein, the starting point in the next desired parking trajectory corresponds to the end point of the first trajectory, and the travel direction corresponding to the starting point of the next desired parking trajectory corresponds to the second trajectory. This process improves the continuity of parking and the parking efficiency by switching gears and starting without stopping, without stopping to wait for the issuance of the next desired parking trajectory. Please refer to the following embodiments for details.

[0029] See also Figure 1 , Figure 1 1 is a flow chart of an embodiment of an automatic parking control method provided by the present application. The method comprises:

[0030] Step 11: Receive the current desired parking trajectory.

[0031] In some embodiments, the current desired parking trajectory can be planned by a planning module in the automatic parking system. The planning module can output a desired parking trajectory consisting of 201 discrete points, described as S = [s1, s2, ..., s 201 ]. Each discrete point has a structure s i =[X i Y i θ i k i v i ], containing the vehicle's location information X i Y i , vehicle heading angle information θ i , the curvature information k of the trajectory i And the reference velocity information v of the trajectory point i .

[0032] In other embodiments, the number of track points can be set according to actual conditions, such as 101, 301, or 401.

[0033] In some embodiments, these trajectory points in the current desired parking trajectory may at least constitute trajectories of at least two different travel directions, such as forward and backward.

[0034] Step 12: Divide the current desired parking trajectory according to the traveling direction to obtain a first trajectory and a second trajectory.

[0035] In some embodiments, all trajectory points in the current parking desired trajectory correspond to serial number identifiers, and these trajectory points can be sorted according to the serial number identifiers, and then the trajectory point before the direction of travel is changed is found from these trajectory points, and the trajectory point is used as the trajectory division basis to obtain the first trajectory and the second trajectory. For example, the trajectory points after the trajectory point can constitute the second trajectory, and the remaining trajectory points constitute the first trajectory.

[0036] Step 13: Perform automatic parking according to the first trajectory.

[0037] In some embodiments, see Figure 2 , step 13 can be the following process:

[0038] Step 131: Get the current position of the vehicle.

[0039] In some embodiments, the current location of the vehicle may be acquired using a positioning system on the vehicle.

[0040] Step 132: Determine a matching trajectory point from the first trajectory according to the current position.

[0041] In some embodiments, the distance calculation may be performed between the current position and all the trajectory points in the first trajectory point to find the trajectory point corresponding to the minimum distance, and the trajectory point may be used as the matching trajectory point.

[0042] In some embodiments, the Euclidean distance calculation may be performed between the current position and all the trajectory points in the first trajectory point to find the trajectory point corresponding to the minimum distance, and the trajectory point is used as the matching trajectory point.

[0043] Step 133: Automatic parking is performed in combination with the reference speed corresponding to the matching trajectory point.

[0044] At this time, the speed of the matching trajectory point is the reference speed of the vehicle. Combining the gear position and the reference speed, the vehicle can be controlled longitudinally so that the vehicle has the desired mobility in the longitudinal direction.

[0045] Step 14: Switch the gear to a gear corresponding to the second trajectory within a preset range of the end point of the first trajectory, and receive the next desired parking trajectory until the parking is completed.

[0046] In some embodiments, if the gear corresponding to the first trajectory is a forward gear, the gear is switched to a reverse gear within a preset range of the end point of the first trajectory.

[0047] In some embodiments, the preset range of the end point can be set according to actual conditions. For example, the range between the trajectory point where the speed starts to decelerate in the first trajectory and the end point is determined as the preset range. For example, the preset range can be fixedly set, such as 5 trajectory points before the end point as the preset range, and 10 trajectory points as the preset range.

[0048] The starting point of the next desired parking trajectory corresponds to the end point of the first trajectory, and the moving direction corresponding to the starting point corresponds to the second trajectory.

[0049] The gear is switched to the gear corresponding to the second trajectory within a preset range of the end point of the first trajectory, and the next desired parking trajectory is received and used as the current desired parking trajectory, and the operations of step 12 to step 14 are repeated until the parking is completed.

[0050] In an application scenario, the total parking trajectory includes trajectory 1, trajectory 2, trajectory 3 and trajectory 4. Automatic parking starts, and trajectory 1 and trajectory 2 are sent to the control module as the current parking desired trajectory, and the control module divides the current parking desired trajectory into trajectory 1 and trajectory 2 in the above manner. Then, parking is performed according to trajectory 1, the gear is switched to the gear corresponding to trajectory 2 within the preset range of the end point of trajectory 1, and the next parking desired trajectory is received, and the next parking desired trajectory is composed of trajectory 2 and trajectory 3. At this time, the control module divides the next parking desired trajectory into trajectory 2 and trajectory 3 in the above manner. Then, parking is performed according to trajectory 2, the gear is switched to the gear corresponding to trajectory 3 within the preset range of the end point of trajectory 2, and the next parking desired trajectory is received, and the next parking desired trajectory is composed of trajectory 3 and trajectory 4. Then, parking is performed according to trajectory 3, and the gear is switched to the gear corresponding to trajectory 4 within the preset range of the end point of trajectory 3. If trajectory 4 is the last trajectory, the gear is switched to the gear corresponding to trajectory 4 and parking is performed according to trajectory 4 until parking is completed. That is, each issued parking desired trajectory contains two trajectories with different travel directions, so as to facilitate finding the trajectory point corresponding to the gear switching and realize gear shifting without stopping.

[0051] In this embodiment, when the current desired parking trajectory is issued, a trajectory with two travel directions is issued, and then the first trajectory and the second trajectory can be divided by distinguishing the travel directions; automatic parking is performed according to the first trajectory; the gear is switched to the gear corresponding to the second trajectory within the preset range of the end point of the first trajectory, and the next desired parking trajectory is received, and the parking trajectory division and parking control are continued until the parking is completed; wherein, the starting point of the next desired parking trajectory corresponds to the end point of the first trajectory, and the travel direction corresponding to the starting point of the next desired parking trajectory corresponds to the second trajectory. This process improves the continuity of parking and the parking efficiency by switching gears and starting without stopping, and there is no need to stop and wait for the issuance of the next desired parking trajectory.

[0052] See also Figure 3 , Figure 3 1 is a flow chart of another embodiment of the automatic parking control method provided by the present application. The method comprises:

[0053] Step 31: Receive the current desired parking trajectory.

[0054] Step 32: Determine a target track point from a plurality of track points according to the traveling direction.

[0055] See also Figure 4 , step 32 may be the following process:

[0056] Step 321: traverse a number of trajectory points and determine the first inverse tangent value between the current trajectory point and the previous trajectory point.

[0057] In some embodiments, the X-coordinate difference and the Y-coordinate difference between the current trajectory point and the previous trajectory point may be calculated, and then the first inverse tangent value may be obtained using the X-coordinate difference and the Y-coordinate difference.

[0058] Step 322: Determine a second inverse tangent value between the next trajectory point and the current trajectory point.

[0059] In some embodiments, the X-coordinate difference and the Y-coordinate difference between the next track point and the current track point may be calculated, and then the second inverse tangent value may be obtained using the X-coordinate difference and the Y-coordinate difference.

[0060] Step 323: In response to the absolute value of the difference between the first arctangent value and the second arctangent value being greater than a threshold, the current trajectory point is determined as a target trajectory point, and the traversal ends.

[0061] The following contents are explained:

[0062] For the i-th (i≥2) point s i :

[0063] dx1=x i -x i-1 ;

[0064] dy1=y i -y i-1 ;

[0065] dx2=x i+1 -x i ;

[0066] dy2=y i+1 -y i ;

[0067]

[0068] Among them, x i represents the x-coordinate value of the i-th trajectory point, x i-1 represents the x-coordinate value of the i-1th trajectory point, x i+1 Indicates the x coordinate value of the i+1th trajectory point, yi Represents the y coordinate value of the i-th trajectory point, y i+1 Represents the y coordinate value of the i+1th trajectory point, y i-1 Represents the y coordinate value of the i-1th trajectory point, represents the first inverse tangent value above, Represents the second inverse tangent value mentioned above.

[0069] if The absolute value of is greater than π / 4, then s i That is the shift point (target trajectory point).

[0070] Step 33: Divide the trajectory points before the target trajectory point and the target trajectory point among the plurality of trajectory points into the first trajectory.

[0071] Step 34: Divide the trajectory points after the target trajectory point among the plurality of trajectory points into the second trajectory.

[0072] Step 35: Perform automatic parking according to the first trajectory.

[0073] Step 36: Switch the gear to a gear corresponding to the second trajectory within a preset range of the end point of the first trajectory, and receive the next desired parking trajectory until the parking is completed.

[0074] The starting point of the next desired parking trajectory corresponds to the end point of the first trajectory, and the moving direction corresponding to the starting point corresponds to the second trajectory.

[0075] The gear is switched to the gear corresponding to the second trajectory within a preset range of the end point of the first trajectory, and the next desired parking trajectory is received and used as the current desired parking trajectory, and the operations of steps 22 to 36 are repeated until the parking is completed.

[0076] In this embodiment, when the current desired parking trajectory is issued, a trajectory with two travel directions is issued, and then the first trajectory and the second trajectory can be divided by distinguishing the travel directions; automatic parking is performed according to the first trajectory; the gear is switched to the gear corresponding to the second trajectory within the preset range of the end point of the first trajectory, and the next desired parking trajectory is received, and the parking trajectory division and parking control are continued until the parking is completed; wherein, the starting point of the next desired parking trajectory corresponds to the end point of the first trajectory, and the travel direction corresponding to the starting point of the next desired parking trajectory corresponds to the second trajectory. This process improves the continuity of parking and the parking efficiency by switching gears and starting without stopping, and there is no need to stop and wait for the issuance of the next desired parking trajectory.

[0077] Furthermore, by calculating the arctangent value of three trajectory points and then determining the target trajectory point, the accuracy of trajectory division can be improved.

[0078] See also Figure 5 , Figure 5 1 is a flow chart of another embodiment of the automatic parking control method provided by the present application. The method comprises:

[0079] Step 51: Receive the current desired parking trajectory.

[0080] Step 52: Divide the current desired parking trajectory according to the traveling direction to obtain a first trajectory and a second trajectory.

[0081] Step 53: Perform automatic parking according to the first trajectory.

[0082] In some embodiments, steps 51 to 53 may refer to any embodiment of the present application and will not be described in detail here.

[0083] Step 54: During the automatic parking process, obtain the deceleration distance corresponding to the vehicle.

[0084] In some embodiments, during the parking process, the actual parking trajectory is tracked. When the vehicle follows the vicinity of the end point of the first trajectory (within a preset range), the vehicle enters a deceleration state. At this time, the current speed of the vehicle is read through the chassis, and the corresponding expected speed and expected acceleration are determined. The expected speed is less than the current speed. Therefore, the current speed of the vehicle, as well as the corresponding expected speed and expected acceleration are obtained; the deceleration distance is obtained according to the current speed, expected speed, and expected acceleration.

[0085] In some embodiments, the deceleration distance may be calculated using the following formula:

[0086] The deceleration distance Braking_Dist is Among them, a e represents the expected acceleration, V l represents the desired speed, V h Indicates the current speed of the vehicle.

[0087] Step 55: Obtain the matching trajectory point in the first trajectory corresponding to the current position of the vehicle.

[0088] In some embodiments, the current position of the vehicle changes as the vehicle progresses during the parking process.

[0089] In some embodiments, the current location of the vehicle may be acquired using a positioning system on the vehicle.

[0090] In some embodiments, the distance calculation may be performed between the current position and all the trajectory points in the first trajectory point to find the trajectory point corresponding to the minimum distance, and the trajectory point may be used as the matching trajectory point.

[0091] In some embodiments, the Euclidean distance calculation may be performed between the current position and all the trajectory points in the first trajectory point to find the trajectory point corresponding to the minimum distance, and the trajectory point is used as the matching trajectory point.

[0092] Step 56: Obtain the target distance between the matching trajectory point and the end point of the first trajectory.

[0093] In some embodiments, all trajectory points between the matching trajectory point and the end point of the first trajectory may be counted; the distances between adjacent trajectory points among all trajectory points are calculated respectively, and the sum of all distances is used as the target distance. That is, all trajectory points between the matching trajectory point and the end point of the first trajectory (including the matching trajectory point and the end point of the first trajectory) are found, and then the distance formed by all trajectory points is calculated.

[0094] In some embodiments, the distance from the matching trajectory point to the end point of the first trajectory is calculated as follows:

[0095] For the distance between the i-th trajectory point and the i+1-th trajectory point, when k i With k i+1 When it is 0, it is considered that the i-th trajectory point and the i+1-th trajectory point are connected by a straight line, and the corresponding:

[0096] dx1=x i+1 -x i ,dy1=y i+1 -y i ,

[0097] When k i With k i+1 When it is not 0, dθ=|θ i -θ i+1 |, At this time, it is considered that the i-th trajectory point and the i+1-th trajectory point are connected by an arc, and the curvature of the arc is The corresponding turning radius is dθ corresponds to s i With s i+1 The difference between the central angles of the circles corresponding to the radii, therefore, D i→i+1 That is, from s i to i+1 The above calculation is repeated until the distance Remain_Dist (target distance) from the matching point to the end point of the first trajectory is calculated.

[0098] Step 57: In response to the target distance being less than the deceleration distance, the vehicle is controlled to enter a braking state, and the gear is switched to a gear corresponding to the second trajectory when the actual speed of the vehicle is less than the first preset speed.

[0099] In some embodiments, when the actual speed of the vehicle is lower than 1 km / h, the gear is switched to the gear corresponding to the second track. At this time, the vehicle is still in motion. Since the gear is inconsistent with the actual direction, the vehicle will slowly brake to a stop. That is, when the vehicle reaches the end of the first track, the parking operation is completed and the gear switching operation is also completed. There is no need to perform the gear switching operation after parking.

[0100] Step 58: Receive the next desired parking trajectory until parking is completed.

[0101] The starting point of the next desired parking trajectory corresponds to the end point of the first trajectory, and the moving direction corresponding to the starting point corresponds to the second trajectory.

[0102] In step 58, the next desired parking trajectory is received, and steps 52 to 57 are repeated. If there is a next desired parking trajectory, the process is repeated until parking is completed.

[0103] When the vehicle is within a preset range of the end point of the first trajectory and the vehicle speed is lower than a second preset speed, the desired parking trajectory is updated according to the moving direction of the second trajectory to generate a next desired parking trajectory.

[0104] Similarly, the trajectory points in the next desired parking trajectory can at least form at least two trajectories with different directions of travel, such as forward and backward, so that according to the above process, trajectory division, vehicle control, gear switching and other operations are performed again according to the next desired parking trajectory until parking is completed.

[0105] In some embodiments, when planning the next desired parking trajectory, real-time adjustments can be made based on the end point of the vehicle parking according to the first trajectory and in combination with the perceived real-time positioning of the vehicle.

[0106] In this embodiment, when the current desired parking trajectory is issued, a trajectory with two travel directions is issued, and then the first trajectory and the second trajectory can be divided by distinguishing the travel directions; automatic parking is performed according to the first trajectory; the gear is switched to the gear corresponding to the second trajectory within the preset range of the end point of the first trajectory, and the next desired parking trajectory is received, and the parking trajectory division and parking control are continued until the parking is completed; wherein, the starting point of the next desired parking trajectory corresponds to the end point of the first trajectory, and the travel direction corresponding to the starting point of the next desired parking trajectory corresponds to the second trajectory. This process improves the continuity of parking and the parking efficiency by switching gears and starting without stopping, and there is no need to stop and wait for the issuance of the next desired parking trajectory.

[0107] In some embodiments, the automatic parking system framework is generally composed of four modules: perception, decision-making, planning, and control. The control module, as the final execution module, plays an important role in the overall effect of parking.

[0108] In related automatic parking systems, the control module is strongly dependent on the upper-level planning module. The gear information is generally transmitted from the planning module to the chassis for execution, and the control module lacks independent decision-making capabilities. In this application, the decision on gear information is placed in the control module for judgment, and the gear information of the planning module is only used as a reference.

[0109] In the relevant automatic parking system, when the planning module plans the trajectory, the vehicle needs to remain stationary, so the control module is required to completely stop the vehicle and keep it parked until the planning module updates the next trajectory or updates the parking status. After receiving the new trajectory information, the control module will track and control the next trajectory. In this application, the planning module plans all the trajectory information for entering and exiting the warehouse at the beginning stage. When the tracked trajectory segment enters the end, the planning module only needs to update the trajectory, and the control module does not need to stop the vehicle.

[0110] In related automatic parking systems, the trajectory sent by the planning module to the control module is mostly a single-segment trajectory, that is, the trajectory only contains forward or backward driving information. In this application, the trajectory sent by the planning includes both forward driving information and backward driving information. The control module can shift gears and start accordingly, which greatly improves the continuity of parking.

[0111] See also Figure 6 , Figure 6 1 is a schematic diagram of the structure of an embodiment of the vehicle-mounted system provided by the present application. The vehicle-mounted system 60 includes a memory 61 and a processor 62 coupled to the memory 61. The memory 61 stores at least one computer program. When the at least one computer program is loaded and executed by the processor 62, it is used to implement the following method:

[0112] Receiving a current desired parking trajectory; dividing the current desired parking trajectory according to a traveling direction to obtain a first trajectory and a second trajectory; performing automatic parking according to the first trajectory; switching a gear to a gear corresponding to the second trajectory within a preset range of an end point of the first trajectory, and receiving a next desired parking trajectory until parking is completed; wherein a starting point in the next desired parking trajectory corresponds to an end point of the first trajectory, and a traveling direction corresponding to the starting point corresponds to the second trajectory.

[0113] In some embodiments, when at least one computer program is loaded and executed by the processor 62, it is also used to implement the following method: determine a target trajectory point from a number of trajectory points according to the direction of travel; divide the trajectory points before the target trajectory point and the target trajectory point among the number of trajectory points into a first trajectory; divide the trajectory points after the target trajectory point among the number of trajectory points into a second trajectory.

[0114] In some embodiments, when at least one computer program is loaded and executed by the processor 62, it is also used to implement the following method: traverse a number of trajectory points, determine the first inverse tangent value between the current trajectory point and the previous trajectory point; and the second inverse tangent value between the next trajectory point and the current trajectory point; in response to the absolute value of the difference between the first inverse tangent value and the second inverse tangent value being greater than a threshold, determine the current trajectory point as the target trajectory point and end the traversal.

[0115] In some embodiments, when at least one computer program is loaded and executed by the processor 62, it is also used to implement the following method: obtaining the current position of the vehicle; determining a matching trajectory point from the first trajectory based on the current position; and performing automatic parking in combination with a reference speed corresponding to the matching trajectory point.

[0116] In some embodiments, when at least one computer program is loaded and executed by the processor 62, it is also used to implement the following method: obtaining a deceleration distance corresponding to the vehicle; obtaining a matching trajectory point in the first trajectory corresponding to the current position of the vehicle; obtaining a target distance between the matching trajectory point and the end point of the first trajectory; in response to the target distance being less than the deceleration distance, controlling the vehicle to enter a braking state, and switching the gear to a gear corresponding to the second trajectory when the actual speed of the vehicle is less than the first preset speed.

[0117] In some embodiments, when at least one computer program is loaded and executed by the processor 62, it is also used to implement the following method: obtaining the current speed of the vehicle, and the corresponding expected speed and expected acceleration; obtaining the deceleration distance according to the current speed, expected speed and expected acceleration.

[0118] In some embodiments, when at least one computer program is loaded and executed by the processor 62, it is also used to implement the following method: counting the trajectory points to be calculated between the matching trajectory point and the end point of the first trajectory; calculating the distances between adjacent trajectory points respectively, and taking the sum of all distances as the target distance.

[0119] In some embodiments, when at least one computer program is loaded and executed by the processor 62, it is also used to implement the following method: when the vehicle speed is lower than a second preset speed and within a preset range of the end point of the first trajectory, the desired parking trajectory is updated according to the moving direction of the second trajectory to generate the next desired parking trajectory.

[0120] In some embodiments, when at least one computer program is loaded and executed by the processor 62, it is also used to implement the method of any of the above embodiments.

[0121] See also Figure 7 , Figure 71 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application. The computer-readable storage medium 70 stores computer-executable instructions 71, which are used to implement the following method when executed by a processor:

[0122] Receiving a current desired parking trajectory; dividing the current desired parking trajectory according to a traveling direction to obtain a first trajectory and a second trajectory; performing automatic parking according to the first trajectory; switching a gear to a gear corresponding to the second trajectory within a preset range of an end point of the first trajectory, and receiving a next desired parking trajectory until parking is completed; wherein a starting point in the next desired parking trajectory corresponds to an end point of the first trajectory, and a traveling direction corresponding to the starting point corresponds to the second trajectory.

[0123] In some embodiments, when the computer execution instruction 71 is executed by the processor, it is also used to implement the following method: determine a target trajectory point from a number of trajectory points according to the direction of travel; divide the trajectory points before the target trajectory point and the target trajectory point among the number of trajectory points into a first trajectory; divide the trajectory points after the target trajectory point among the number of trajectory points into a second trajectory.

[0124] In some embodiments, when the computer execution instruction 71 is executed by the processor, it is also used to implement the following method: traverse a number of trajectory points, determine the first inverse tangent value between the current trajectory point and the previous trajectory point; and the second inverse tangent value between the next trajectory point and the current trajectory point; in response to the absolute value of the difference between the first inverse tangent value and the second inverse tangent value being greater than a threshold, determine the current trajectory point as the target trajectory point and end the traversal.

[0125] In some embodiments, when the computer execution instruction 71 is executed by the processor, it is also used to implement the following method: obtaining the current position of the vehicle; determining a matching trajectory point from the first trajectory based on the current position; and performing automatic parking in combination with a reference speed corresponding to the matching trajectory point.

[0126] In some embodiments, when the computer execution instruction 71 is executed by the processor, it is also used to implement the following method: obtaining a deceleration distance corresponding to the vehicle; obtaining a matching trajectory point in the first trajectory corresponding to the current position of the vehicle; obtaining a target distance between the matching trajectory point and the end point of the first trajectory; in response to the target distance being less than the deceleration distance, controlling the vehicle to enter a braking state, and switching the gear to the gear corresponding to the second trajectory when the actual speed of the vehicle is less than the first preset speed.

[0127] In some embodiments, when the computer execution instruction 71 is executed by the processor, it is also used to implement the following method: obtaining the current speed of the vehicle, and the corresponding expected speed and expected acceleration; and obtaining the deceleration distance according to the current speed, expected speed and expected acceleration.

[0128] In some embodiments, when the computer execution instruction 71 is executed by the processor, it is also used to implement the following method: counting the trajectory points to be calculated between the matching trajectory point and the end point of the first trajectory; calculating the distances between adjacent trajectory points respectively, and taking the sum of all distances as the target distance.

[0129] In some embodiments, when the computer execution instruction 71 is executed by the processor, it is also used to implement the following method: when the vehicle speed is lower than the second preset speed and within the preset range of the end point of the first trajectory, the desired parking trajectory is updated according to the moving direction of the second trajectory to generate the next desired parking trajectory.

[0130] In some embodiments, the computer-executable instruction 71 is also used to implement the method of any of the above embodiments when executed by the processor.

[0131] In summary, the automatic parking control method, vehicle-mounted system, and readable storage medium provided by the present application, when issuing the current desired parking trajectory, issue a trajectory with two travel directions, and then can divide the first trajectory and the second trajectory by distinguishing the travel directions; perform automatic parking according to the first trajectory; switch the gear to the gear corresponding to the second trajectory within the preset range of the end point of the first trajectory, and receive the next desired parking trajectory, and continue to divide the parking trajectory and control parking until the parking is completed; wherein, the starting point in the next desired parking trajectory corresponds to the end point of the first trajectory, and the travel direction corresponding to the starting point of the next desired parking trajectory corresponds to the second trajectory. This process improves the continuity of parking and the parking efficiency by switching gears and starting without stopping, and there is no need to stop and wait for the issuance of the next desired parking trajectory.

[0132] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device implementation described above is only illustrative, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0133] If the integrated units in the above other embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor 10 (processor) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0134] The above description is only an implementation method of the present application, and does 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 used 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: Receive the current desired parking trajectory; Dividing the current desired parking trajectory according to the traveling direction to obtain a first trajectory and a second trajectory; Performing automatic parking according to the first trajectory; The gear is switched to a gear corresponding to the second trajectory within a preset range of the end point of the first trajectory, and a next desired parking trajectory is received until parking is completed; wherein a starting point in the next desired parking trajectory corresponds to the end point of the first trajectory, and a moving direction corresponding to the starting point corresponds to the second trajectory.

2. The method according to claim 1, characterized in that The current desired parking trajectory includes a plurality of trajectory points, and the current desired parking trajectory is divided according to the traveling direction to obtain a first trajectory and a second trajectory, including: Determine a target track point from the plurality of track points according to the traveling direction; Dividing the trajectory points before the target trajectory point and the target trajectory point among the plurality of trajectory points into the first trajectory; The trajectory points after the target trajectory point among the plurality of trajectory points are divided into the second trajectory.

3. The method according to claim 2, characterized in that The step of determining a target track point from the plurality of track points according to the traveling direction includes: Traversing the plurality of trajectory points, and determining a first inverse tangent value between a current trajectory point and a previous trajectory point; and a second inverse tangent value between the next trajectory point and the current trajectory point; In response to the absolute value of the difference between the first inverse tangent value and the second inverse tangent value being greater than a threshold, the current trajectory point is determined as the target trajectory point, and the traversal ends.

4. The method according to claim 1, characterized in that: The automatic parking according to the first trajectory includes: Get the current location of the vehicle; Determining a matching trajectory point from the first trajectory according to the current position; Automatic parking is performed in combination with a reference speed corresponding to the matching trajectory point.

5. The method according to claim 1, characterized in that The step of switching the gear to a gear corresponding to the second trajectory within a preset range of the end point of the first trajectory includes: Get the deceleration distance corresponding to the vehicle; Obtaining a matching trajectory point in the first trajectory corresponding to the current position of the vehicle; Obtaining a target distance between the matching trajectory point and an end point of the first trajectory; In response to the target distance being less than the deceleration distance, the vehicle is controlled to enter a braking state, and the gear is switched to a gear corresponding to the second trajectory when the actual speed of the vehicle is less than a first preset speed.

6. The method according to claim 5, characterized in that The obtaining of the deceleration distance corresponding to the vehicle includes: Obtaining the current speed of the vehicle, and the corresponding expected speed and expected acceleration; The deceleration distance is obtained according to the current speed, the expected speed and the expected acceleration.

7. The method according to claim 5, characterized in that The obtaining of a target distance between the matching trajectory point and an end point of the first trajectory includes: Counting all trajectory points between the matching trajectory point and the end point of the first trajectory; The distances between adjacent trajectory points in all the trajectory points are calculated respectively, and the sum of all distances is used as the target distance.

8. The method according to claim 1, characterized in that The method further includes: when the vehicle speed is lower than a second preset speed and within a preset range of the end point of the first trajectory, updating the desired parking trajectory according to the moving direction of the second trajectory to generate the next desired parking trajectory.

9. A vehicle-mounted system, characterized in that: The vehicle-mounted system includes a memory and a processor coupled to the memory, the memory stores at least one computer program, and when the at least one computer program is loaded and executed by the processor, it is used to implement the method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, they are used to implement the method according to any one of claims 1 to 8.

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