System and method for automatically parking head or tail of vehicle out of position

Abstract

The invention provides a method and a device for automatically parking a vehicle head or a vehicle tail out of a position. The system comprises the following devices: an automatic parking system starting device; a sensing device; an automatic parking-out control device; a speed control device; a gear control device; a steering wheel control device; an environment perception information processing device and a user parking direction selection device; the distance between obstacles around the vehicle and the vehicle body is detected in real time through the automatic parking system during automatic parking, safety of the parking process is guaranteed, more importantly, when a driver cannot enter the vehicle, the automatic parking system can be started through the wireless control device, the driver can take over the vehicle without entering the vehicle, and the driver can take over the vehicle without entering the vehicle. The automatic and intelligent parking of the vehicle is realized, so that the convenience and safety of parking are improved, and the driving experience of a user is improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of parking systems, and in particular to a method and device for automatically parking a vehicle at the front or rear end. Background Art

[0002] In recent years, as the number of cars has increased exponentially, cars have brought convenience to users, but also some problems, such as parking difficulties, have become increasingly prominent. In particular, parking spaces in shopping malls and downtown areas are very tight and the space is not large, which not only makes parking difficult, but also requires high parking technology. In the existing technology, with the advancement of sensors, more and more vehicles use solutions based on ultrasonic radar and cameras for autonomous parking.

[0003] Among the autonomous parking models on the market, many mass-produced models such as Changan CS75, Haval H6, Shenshou, etc. only complete the autonomous parking in and parallel left and right parking out functions, and have not designed / disclosed the front or rear parking out functions of the vehicle. In actual parking, there are the following problems:

[0004] (1) Generally, it involves manual parking. Since the vehicle position needs to be adjusted, it is easy for the driver to improperly control the vehicle, resulting in scratches against nearby obstacles, which poses a safety risk.

[0005] (2) When a vehicle is parked in a narrow parking space, or when there are vehicles parked on both sides of the parking space, there is a problem that the vehicle owner cannot squeeze into the narrow space or it is inconvenient for the vehicle owner to directly open the door and get in and take over the vehicle.

[0006] (3) For most new electric vehicles, the charging port is installed at the front of the vehicle. After the vehicle is charged in the parking space, the user needs to manually drive the vehicle in reverse to park out. Summary of the invention

[0007] The object of the present invention is to solve the above-mentioned problem and provide a method and device for automatically parking the front or rear end of a vehicle.

[0008] The technical solution of the present disclosure is achieved as follows:

[0009] In a first aspect, the present disclosure provides a system for automatically parking a vehicle at the front or rear end, the system comprising the following devices:

[0010] Automatic parking system starting device; sensing device; automatic parking control device; speed control device; gear control device; steering wheel control device; environment perception information processing device and user parking direction selection device;

[0011] Any one of the automatic parking system starting device, the sensing device, the speed control device, the gear position control device, the steering wheel control device, the environment perception information processing device, and the user parking direction selection device is connected to the automatic parking control device;

[0012] The system operates as follows:

[0013] S1. Activate the parking system through the automatic parking system starting device, and the environment perception information processing device and the sensor device detect the vehicle's surrounding environment to determine the parking space boundary and the final parking end position;

[0014] S2, planning a parking path through the automatic parking control device, and performing real-time feedback control on the speed control device, the gear control device, and the steering wheel control device according to the planned parking path, and finally realizing the automatic parking action;

[0015] The system further comprises:

[0016] The wireless signal receiving device is used to activate the automatic parking system when receiving the automatic parking start instruction from the user through the remote control key or the user terminal.

[0017] The advantages or beneficial effects of the above technical solution include at least:

[0018] In a second aspect, the present disclosure further provides a method for automatically parking the front or rear of a vehicle out of a parking space based on the above system, the method comprising the following steps:

[0019] S10, receiving a start command from a user, and activating the automatic parking system for the front and rear ends of the vehicle according to the start command;

[0020] S20: The vehicle uses the body sensing system to capture the sensing information of the vehicle's surrounding environment in real time. The system determines the validity of the six parking directions of the front or rear of the vehicle based on the obstacle information, determines the posture of the parking end point, and provides the optional parking directions;

[0021] S30: The user selects a certain parking direction according to the demand, and performs trajectory planning according to the parking direction, the lateral distance between the vehicle and the parking end point, and the constraint conditions to calculate the parking path from the current vehicle position to the parking end point.

[0022] The advantages or beneficial effects of the above method combined with the system compared with the prior art include at least:

[0023] The automatic parking system detects the distance between the obstacles around the vehicle and the vehicle body in real time during automatic parking to ensure the safety of the parking process. More importantly, when the driver is unable to enter the vehicle, the automatic parking system can be activated through a wireless control device, and the driver can take over the vehicle without entering the vehicle, realizing automated and intelligent parking, thereby improving the convenience and safety of parking and enhancing the user's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings illustrate exemplary embodiments of the present disclosure of embodiments of the present invention and, together with the description, are used to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are included in and constitute a part of this specification.

[0025] Figure 1 This is a structural block diagram of a system for automatically parking the front or rear of a vehicle according to an embodiment of the present invention;

[0026] Figure 2 The schematic diagram is a layout position diagram of the sensor device on the vehicle;

[0027] Figure 3 A flowchart of an automatic parking method according to an embodiment of the present invention;

[0028] Figure 4-1 This is a schematic diagram of an embodiment of the present invention before the parking space obstacle is processed;

[0029] Figure 4-2 A schematic diagram of parking space / exerciseable area boundary processing according to an embodiment of the present invention;

[0030] Figure 4-3 A mathematical model of the available space for automatic parking out of a parking space according to an embodiment of the present invention;

[0031] Figure 5 A schematic diagram of one of the parking paths for a vehicle turning right with its front facing forward;

[0032] Figure 6 A schematic diagram of another parking path for turning right with the front of the vehicle forward;

[0033] Figure 7 A control flow chart for each parking subpath stage;

[0034] Figure 8 Schematic diagram of six parking directions.

[0035] Figure numerals: 1, automatic parking system starting device; 2, driver getting off detection device; 3, sensing device; 4, automatic parking control device; 5, speed control device; 6, gear control device; 7, steering wheel control device; 8, vehicle closing device; 9, environment perception information processing device; 10, user parking direction selection device; Rd1~Rd12, ultrasonic radar sensors; Camera1~Camera4, cameras; ARC0, left or right turning path; ARC1, first turning path; ARC2, second turning path; ARC3, third turning path. DETAILED DESCRIPTION

[0036] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0037] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in the present disclosure may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] It should be understood that the term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0039] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0040] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0041] Reference Figure 1 The embodiment of the present invention provides a system for automatically parking the front or rear end of a vehicle, such as Figure 1As shown, an embodiment of the present invention provides a system for automatically parking the front or rear end of a vehicle, including an automatic parking system starting device 1, a driver getting off the vehicle detecting device 2, a sensing device 3, an automatic parking control device 4, a speed control device 5, a gear control device 6, a steering wheel control device 7 and a vehicle closing device 8, an environment perception information processing device 9, and a user parking direction selection device 10.

[0042] Any of the automatic parking exit system starting device 1, the driver exit detection device 2, the sensor device 3, the speed control device 5, the gear control device 6, the steering wheel control device 7, the vehicle closing device 8, the environment perception information processing device 9, and the user exit direction selection device 10 is connected to the automatic parking control device 4 to send a detection signal to the automatic parking control device 4 or receive control from the automatic parking control device 4. Among them, the automatic parking control device 4 is the control core of the vehicle front or rear automatic parking exit system.

[0043] The parking system is activated by the automatic parking system starter 1. After the parking system is started, the vehicle begins to detect the surrounding environment of the vehicle through the environment perception information processing device 9 and the sensor device 3 to determine the parking space boundary and the final parking end position. The parking path is planned by the automatic parking control device 4, and the speed control device 5, the gear control device 6, and the steering wheel control device 7 are controlled by real-time feedback according to the planned parking path, and the automatic parking out-of-position action is finally realized. During the process, the automatic parking system starter is used to automatically control the target distance, target speed, target gear, target turning angle, and target direction of the vehicle.

[0044] like Figure 2 As shown in the figure, the sensing device includes twelve ultrasonic radar sensors and four cameras installed around the vehicle body. The twelve sensors surround the vehicle to detect obstacles and avoid detection blind spots, ultimately obtaining accurate and complete environmental information. The four cameras (Camera1 to Camera4) are installed in the middle of the front and rear bumpers of the vehicle and on the sides of the two rearview mirrors to realize the surrounding environment information.

[0045] The twelve ultrasonic radar sensors include: a first ultrasonic radar sensor group (Rd1-Rd4) consisting of four ultrasonic radar sensors, a second ultrasonic radar sensor group (Rd5-Rd8) consisting of four ultrasonic radar sensors, and a third ultrasonic radar sensor group (Rd9-Rd12) consisting of four ultrasonic radar sensors;

[0046] The first ultrasonic radar sensor group (Rd1-Rd4) is respectively installed on the wheel arches of the four wheel hubs of the vehicle, with a ground clearance of 500mm-800mm, preferably, the ground clearance is 700mm; the second ultrasonic radar sensor group (Rd5-Rd8) is symmetrically arranged with the middle position of the front bumper as the symmetry axis, the sensing direction is parallel to the ground, and the ground clearance is 480mm-550mm; preferably, the ground clearance is 500mm;

[0047] The third ultrasonic radar sensor group (Rd9~Rd12) is symmetrically arranged with the middle position of the rear bumper as the symmetry axis, and the sensing direction is parallel to the ground, 500mm~800mm is preferred, and the height from the ground is 500mm; this can ensure that the sensor can effectively measure the distance and avoid reflection interference from the ground and smaller obstacles on the ground.

[0048] Furthermore, the vehicle is provided with a driver getting off detection device 2, which is used to detect whether the driver is in the car. In one embodiment, there are obstacles in a narrow alley or on both sides of the vehicle, and the road is narrow, so it is not easy for the driver to open the door and enter the car to control the driving. Improve user experience. Specifically, the driver getting off detection device 2 can be but is not limited to a gravity sensor provided on the driver's seat, which is used to collect the driver's weight information. When the gravity sensor detects the driver's weight information, it is determined that the driver has not gotten off the car and is in the car; when the gravity sensor cannot detect the driver's weight information, it is determined that the driver has gotten off the car. The driver getting off detection device 2 can also be other detection devices such as a camera.

[0049] like Figure 3 As shown, an embodiment of the present invention further provides a method for automatically parking the front or rear of a vehicle, comprising:

[0050] S10 receives a start command from a user, and activates the automatic parking system for the front and rear ends of the vehicle according to the start command;

[0051] The S20 vehicle uses the body perception system to capture the vehicle's surrounding environment perception information in real time. The system determines the effectiveness of the six parking directions of the front or rear of the vehicle based on the obstacle information, determines the posture of the parking end point, and provides optional parking directions;

[0052] S30 The user selects a certain parking direction according to demand, and trajectory planning is performed according to the parking direction, the lateral distance between the vehicle and the parking end point, and the constraint conditions to calculate the parking path from the current vehicle position to the parking end point.

[0053] S40 controls the vehicle to automatically park according to the planned parking path and parks the vehicle to the parking end position

[0054] Therefore, in step S10, the step of receiving a start instruction issued by a user and activating the automatic unparking system according to the start instruction may include:

[0055] S11: Detecting whether the user triggers the automatic parking button set in the vehicle;

[0056] S12: When it is detected that the user triggers the automatic parking unloading button, the automatic parking unloading system is activated.

[0057] In another embodiment, a wireless signal receiving device may be provided in the vehicle, and when the user issues an automatic parking start command to the wireless signal receiving device through a remote control key or a user terminal, the automatic parking system is activated. In this case, the automatic parking system start device 1 is the wireless signal receiving device provided in the vehicle, and the remote control key or the user terminal. When the remote control key is used, the user may press the automatic parking button provided on the remote control key to start the automatic parking function; when the user terminal is used, an automatic parking application (i.e., APP) may be pre-installed on the user terminal, and the user only needs to open the application and issue an automatic parking command to start the automatic parking function.

[0058] Therefore, in step S10, the step of receiving a start instruction issued by a user and activating the automatic unparking system according to the start instruction may include:

[0059] S13: Detecting whether the user sends an automatic parking start instruction to a wireless signal receiving device disposed in the vehicle through a remote control key or a user terminal;

[0060] S14: When it is detected that the user sends an automatic unparking start instruction to the wireless signal receiving device, the automatic unparking system is activated.

[0061] The above-mentioned automatic parking button or wireless signal receiving device is connected to the automatic parking control device 4, and is used to send an automatic parking activation command to the automatic parking control device 4. After receiving the automatic parking activation command, the automatic parking control device 4 obtains the current vehicle speed information from the vehicle's CAN bus or LIN bus in real time, and compares the current vehicle speed with the speed threshold preset by the system. If the current vehicle speed is less than the speed threshold, the obstacle detection processing result of the environment perception information processing device 9 is monitored at this time. If the obstacle is farther away from the vehicle than the safety threshold, the automatic parking function is activated, otherwise the automatic parking function will not be activated.

[0062] Therefore, after the automatic parking system is activated, the vehicle obtains obstacle boundary information based on the obstacle detection results of the environment perception information processing device 9 (12 radars and 4 cameras), and obtains the parking available space / exercise area boundary through fusion processing, such as Figure 4-2 shown.

[0063] It can be understood that the obstacle information around the vehicle is detected by radar to form an obstacle layer; the lane lines and road signs on the road in front of the vehicle are collected by the camera to form a lane line and road sign layer; the obstacle information around the vehicle is collected by the camera to form a drivable area boundary layer. The obstacle layer, lane line and road sign layer, and drivable area boundary layer are fused and fitted to obtain the drivable safe area and its boundary for parking.

[0064] In this embodiment, obstacles, lane lines, and road signs are generally present in the road scene. During the parking process, the vehicle detects the surrounding environment perception information of the vehicle in real time: obstacle layer, lane line road sign layer, and drivable area boundary layer, and temporarily stores them in the local database of the vehicle, and performs fusion processing on the captured environmental perception information to obtain the boundary of the drivable safe area for the vehicle to automatically park, such as Figure 4-1 The diagram is shown before fusion processing.

[0065] It is understandable that the vehicle body perception module captures various types of information: obstacle layer, lane line road marking layer, drivable area boundary layer (such as vehicles, pedestrians, lane lines, traffic signs, curbs or walls, etc.). The three layers of information are represented by spline functions or spline curves. In numerical analysis of mathematical disciplines, splines are a special function defined by polynomial segments. A spline curve is a curve obtained by giving a set of control points. The general shape of the curve is controlled by these points. It can generally be divided into interpolation splines and approximation splines. Interpolation splines are usually used in digital drawing or animation design, and approximation splines are generally used to construct the surface of an object.

[0066] According to the principle of vehicle road safety bias, the inner envelope of the road is calculated and found. The layer with information closer to the inside of the three layers is used as the inner boundary of the road. The envelope boundary is fitted again to obtain the boundary of the safe area where the vehicle can park.

[0067] like Figure 4-3 The figure shows the information fusion and fitting process flow of the vehicle surrounding perception layer. The method for obtaining the safe driving area and its boundaries is as follows:

[0068] (1) Extract the spline curve information of the three layers near the current vehicle position respectively, and obtain the spline curve of the obstacle layer, the spline curve of the lane line road marking layer, and the spline curve of the drivable area boundary layer.

[0069] (2) A coordinate system is established with the center of the rear axle of the vehicle as the origin, the right side of the vehicle is the positive direction of the x-axis, and the forward direction of the vehicle is the positive direction of the y-axis. A grid map is established with equal intervals of step length H in the y-axis direction, and the spline curves of the obstacle layer, the spline curves of the lane line road marking layer, and the spline curves of the drivable area boundary layer are in the coverage area of ​​the grid map.

[0070] (3) Each spline curve has an intersection with each row of the grid map. The intersection closest to the vehicle is found based on the vehicle road safety principle or by traversing row by row. The found intersection is fitted to obtain the boundary of the safe driving area after the layer fusion. The safe driving area for the vehicle is determined based on the boundaries of the safe driving areas on both sides of the vehicle.

[0071] like Figure 4-3 As shown, the coordinate system is established with the center of the rear axle of the vehicle as the origin O(0,0), the right side of the vehicle is the positive direction of the x-axis, and the forward direction of the vehicle is the positive direction of the y-axis. A 16m x 8m grid map is established with a step length H of 10cm and an even interval. The coverage area is shown in the figure: 12m forward and 4m backward, 4m to the left and 4m to the right of the center of the rear axle of the vehicle.

[0072] Take the road boundary on the right side of the vehicle as an example. Each layer's spline curve has an intersection with each row of the raster map. The search is traversed from back to front, and the intersection points close to the vehicle are traversed row by row using the partial safety principle. Each row of intersection points found above is fitted to obtain the safe boundary of the vehicle driving area after the layer fusion.

[0073] The mathematical model for calculating the available space for parking is as follows: Figure 4-3 As shown. Obstacle boundaries on the left and right sides of the vehicle are obtained. To ensure parking safety, the distance PrkSpLen between the two boundaries must be greater than (vehicle width + 60cm) to activate the parking exit function. The end position of the vehicle is determined according to the obstacle boundaries on the left and right sides, and the end position is set to a safe distance of 50cm from the obstacle boundary EndposLen.

[0074] In step S30, trajectory planning is performed according to the parking direction, the lateral distance between the vehicle and the parking end point, and the constraint conditions, and the parking path from the current vehicle position to the parking end point is calculated. Specifically, the automatic parking control device 4 performs calculations based on the simplified model of Ackerman steering geometry to calculate the parking start point and the parking path from the parking start point to the parking end point: among which, forward left turn, forward right turn, backward left turn and backward right turn are all turning paths;

[0075] The turning path includes parking path 1 and parking path 2; wherein: parking path 1 has the following sub-paths arranged in order from the start to the end:

[0076] 1. Straight forward driving path, 2. Left or right turning path Arc0, left or right turning path Arc0 = 1 / 4 arc, 3. Reversing back to the normal path;

[0077] Parking path 1 also includes the following sub-paths:

[0078] 1. Straight reverse driving path, 2. Left or right turning path Arc0, left or right turning path Arc0 = 1 / 4 arc, 3. Straight return path;

[0079] The length of the left or right turning path Arc0 Arc0Len = the minimum turning radius of the vehicle RM in*π / 2 and the length from point C to point D LinC2D;

[0080] Parking path 2 has the following subpaths arranged in order from start to end:

[0081] 1. Straight forward driving path, 2. First turning path Arc1, first turning path Arc1 < 1 / 4 arc, 3. Second turning path Arc2, first turning path Arc2 < 1 / 4 arc, 4. Third turning path Arc3, third turning path Arc3 < 1 / 4 arc;

[0082] The turning direction of the first turning path Arc1 is consistent with the turning direction of the third turning path Arc3, and the turning direction of the second turning path Arc2 is opposite to the turning direction of the first turning path Arc1;

[0083] The length of the first turning path Arc1 Arc1Len = the minimum turning radius of the vehicle RMi n*π / 2;

[0084] The length of the second turning path Arc2 Arc2Len = the turning radius of the vehicle R*π / 2;

[0085] The length of the third turning path Arc3 Arc3Len = the turning radius of the vehicle R*π2;

[0086] In step S30, if PrkSpLen>(vehicle width+1m), then select parking path 1; if PrkSpLen<(vehicle width+1m), then select parking path 2;

[0087] PrkSpLen is the minimum obstacle boundary length required for the parking path;

[0088] Taking the example of turning right with the front of the car forward, considering the parking time, the preferred option is Figure 5 The parking path shown is parking path one: go straight from point A to point B + turn the steering wheel fully to the right + drive forward 1 / 4 arc Arc0 + return to point C + reverse from point C to point D to reach the parking end position.

[0089] Based on the simplified model of Ackermann steering geometry, the automatic parking control device 4 can calculate the length LinA2B from point A to point B, the distance L1 from point B to the right side of the obstacle at the parking end position, the trajectory length LinC2D from the parking out position to the middle of the end position (the length from point C to point D) and the minimum obstacle boundary length PrkSpLen required under the parking path according to the lateral distance D2 between the vehicle and the obstacle boundary on the right, with the constraint that the vehicle does not collide with the obstacles on both sides of the parking space when it is parked at the target position and the vehicle is located in the middle of the parking end position C after passing Arc1 (so that the vehicle body is flush with the obstacle boundary and 50 cm away from the obstacle boundary when the vehicle is reversed for the last time). If PrkSpLen is greater than or equal to (vehicle width + 1m), it is determined that parking can be performed according to parking path 1, thereby obtaining the distance L1 from point B to the right side of the obstacle at the parking end position and the parking path: the length of Arc0 Arc0Len = the minimum turning radius of the vehicle RM in*π / 2 and the length from point C to point D LinC2D, and the parking stop condition is that the vehicle has reached point D; if the calculated required minimum parking space width PrkSpLen is less than (vehicle width + 1m), then select the following Figure 6 The parking path shown is parking path two.

[0090] Parking path two: go straight to point B + turn the steering wheel to the right + drive forward an arc Arc1 (Arc1 < 1 / 4 arc) to reach point C + turn left on the spot + turn left and back an arc Arc2 to reach point D + turn the steering wheel to the right + drive forward an arc Arc3 (Arc3 < 1 / 4 arc) to reach point E + straighten the vehicle body + return to the original position + reach the parking end.

[0091] Based on the simplified model of Ackerman steering geometry, the automatic parking control device 4 can calculate the length from point A to point B, LinA2B, based on the lateral distance D2 between the vehicle and the right obstacle boundary, with the constraint that the vehicle does not collide with the obstacles on both sides of the parking space when it is parked at the target position and the vehicle is located in the middle of the parking end position C after Arc1 (so that the vehicle body is flush with the obstacle boundary and 50cm away from the obstacle boundary when the vehicle is reversed for the last time), and the minimum obstacle boundary length PrkSpLen required under the parking path. At this time, PrkSpLen is less than (vehicle width + 1m), then the parking path: the length of Arc1 Arc1Len = the minimum turning radius RM in*π / 2 of the vehicle; the length of Arc2 Arc2Len = the turning radius R*π / 2 of the vehicle and the length of Arc3 Arc3Len = the turning radius R*π / 2 of the vehicle. The parking stop condition is that the vehicle has reached point E.

[0092] The methods for parking the other five are similar and will not be elaborated on here.

[0093] The turning radius in the above is based on the current vehicle position and the final parking position, and the key point information of the vehicle's driving trajectory (center coordinates, radius) is obtained through the trajectory algorithm search.

[0094] As can be seen from the above, the method for automatically parking the front or rear of a vehicle provided by the embodiment of the present invention can cover parking in six directions at the front and rear of the vehicle, namely: straight forward, straight backward, forward left turn, forward right turn, backward left turn and backward right turn. Figure 8 shown.

[0095] After the parking starting point A and the parking path are obtained through the above calculations, in step 40, the automatic parking control device 4 controls the speed control device 5, the gear control device 6, and the steering wheel control device 7 to control the vehicle to automatically move (straight or reverse) to the parking starting point A.

[0096] In step 40, the automatic parking control device 4 controls the speed control device 5, the gear control device 6, and the steering wheel control device 7 to control the vehicle to automatically park according to the planned parking path and park the vehicle out of the parking space. Specifically, in the process of controlling the vehicle to automatically park out of the parking space, the distance between the current vehicle and the surrounding obstacles is calculated in real time through the distance measurement information of the radars Rd1 to Rd12, and the parking path is adjusted in real time according to the distance measurement information. The control process is as follows: Figure 7 shown.

[0097] Since the parking path calculated in step S30 includes multiple parking sub-paths (e.g. Figure 5 The parking path shown includes parking sub-path straight line AB, arc BC, and straight line CD. The entire parking path is composed of various parking sub-paths. Each parking sub-path has a corresponding parking path length and a corresponding steering wheel angle to be executed. The entire parking path control includes multiple parking sub-paths that are sequential in time. Figure 7 The control flow of any parking sub-path is shown in FIG. 3 , in which ultrasonic radar ranging information is obtained through the sensor device 3 , the information of the current vehicle and surrounding obstacles is calculated, and the parking sub-path is adjusted in real time.

[0098] like Figure 7 As shown, the specific parking control process for each parking sub-path includes: S41: controlling the vehicle to park according to the parking path length to be executed for the current parking sub-path and the corresponding steering wheel angle, and inputting the ranging values ​​collected by the ultrasonic radars Rd1 to Rd12 to the automatic parking control device 4;

[0099] S42: the automatic parking control device 4 determines whether the vehicle's travel distance is greater than or equal to the length of the parking path to be executed by the current parking sub-path. If not, the process proceeds to step S43; if yes, the process proceeds to step S45;

[0100] S43: The automatic parking control device 4 determines the relationship between the ranging values ​​collected by the ultrasonic radars Rd1-Rd12 and the preset collision threshold. If the ranging values ​​of the ultrasonic radars Rd1-Rd12 are all less than the collision threshold, the parking sub-path control is continued. If the ranging value of one of the ultrasonic radars Rd1-Rd12 is greater than or equal to the collision threshold, the process proceeds to step S44.

[0101] S44: ending the control of the current parking sub-path, recalculating the parking sub-path, obtaining an updated parking sub-path length and steering wheel angle, and returning to step S41;

[0102] S45: Determine whether the parking end condition is met. If so, the parking is completed and the driver takes over the vehicle. If not, proceed to step S46;

[0103] S46: completing the parking control of the current parking sub-path and entering the parking control of the next parking sub-path until the parking end condition is met and the vehicle is parked at the end position.

[0104] The collision threshold is adjusted and configured according to the actual situation. As a preferred value, the collision threshold is between 30cm and 60cm. The distance of 30cm to 60cm is the safe distance reserved between the vehicle and the obstacle to avoid scratches. During automatic parking, if the distance is less than the set value, the vehicle will brake, shift gears / or re-plan the route to bypass / avoid the obstacle. It is further preferred that the actual vehicle is determined based on driving experience / parking comfort / vehicle matching parts control, etc. Set threshold: 30cm is preferred.

[0105] The vehicle closing device 8 can be a window motor, a light switch, an ignition off control switch, etc. The control signal to the vehicle closing device 8 can be automatically sent by the automatic parking control device 4 after parking is completed, or sent by the user through a remote control key or a user terminal to a wireless signal receiving device in the vehicle, and then transmitted to the vehicle closing device 8 by the wireless signal receiving device.

[0106] In summary, the embodiment of the present invention provides a system for automatically parking the front or rear of a vehicle. When the automatic parking function is activated, the vehicle gives a parking direction selection based on the surrounding environment information. After the user selects a parking direction, the vehicle automatically parks. The entire parking process does not require human participation, and fully automatic parking can be achieved. In this way, in a narrow parking space or when it is difficult for the driver to get in the car from the main driver's door, the automatic parking is started first and then the vehicle is taken over. The vehicle parking is automated and intelligent to improve the convenience and safety of parking and enhance the user's driving experience.

[0107] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes using the technical contents disclosed above without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

[0108] In addition, it should be noted that the directions or positional relationships indicated by terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present disclosure and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present disclosure.

[0109] Those skilled in the art should understand that the above embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. For those skilled in the art, other changes or modifications may be made based on the above disclosure, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A vehicle front or rear automatic parking system, characterized in that: The system comprises the following devices: Automatic parking system starting device; sensing device; automatic parking control device; speed control device; gear control device; steering wheel control device; environment perception information processing device and user parking direction selection device; The automatic parking system starter, the sensor, the speed control device, the gear control device, the steering wheel control device, the environment perception information processing device, and the user parking direction selection device are all connected to the automatic parking control device; The automatic parking system activation device is used to activate the parking system; The environmental perception information processing device and the sensor device are used to detect the surrounding environment of the vehicle and determine the parking space boundary and the final parking end position; The automatic parking control device is used to plan the parking path, and performs real-time feedback control on the speed control device, gear control device, and steering wheel control device according to the planned parking path, ultimately realizing the automatic parking out action.

2. The vehicle front or rear automatic parking system according to claim 1, characterized in that: The sensor device is used to detect obstacles; The sensor device includes twelve ultrasonic radar sensors and four cameras installed around the vehicle body. The twelve ultrasonic radar sensors include: a first ultrasonic radar sensor group consisting of four ultrasonic radar sensors (Rd1-Rd4), a second ultrasonic radar sensor group consisting of four ultrasonic radar sensors (Rd5-Rd8), and a third ultrasonic radar sensor group consisting of four ultrasonic radar sensors (Rd9-Rd12); The first ultrasonic radar sensor group is respectively installed on the wheel arches of the four wheel hubs of the vehicle, with a ground clearance of 500 mm to 800 mm; The second ultrasonic radar sensor group is arranged symmetrically with the middle position of the front bumper as the symmetry axis, with the sensing direction parallel to the ground and the height from the ground being 480mm to 550mm; The third ultrasonic radar sensor group is symmetrically arranged with the middle position of the rear bumper as the symmetry axis, and the sensing direction is parallel to the ground, 500mm to 800mm.

3. The vehicle front or rear automatic parking system according to claim 2, characterized in that: The ultrasonic radar sensor comprises a transmitting unit and a receiving unit; The sending unit is used to send out ultrasonic signals at a fixed time, and the ultrasonic radar receiving unit is used to receive the reflected signal, and calculate the distance of the obstacle from the ultrasonic radar according to the time difference between sending and receiving and the sound wave transmission speed.

4. The vehicle front or rear automatic parking system according to claim 2, characterized in that: The system further comprises: A wireless signal receiving device, used to activate the automatic parking system upon receiving an automatic parking start instruction from a user via a remote control key or a user terminal; The vehicle closing device is used to control the window motor, the light switch or the ignition off control switch; the control signal of the vehicle closing device is automatically sent by the automatic parking control device after parking is completed; The wireless signal receiving device is further used to receive a control signal sent by a user through a remote control key or a user terminal, and then transmit the control signal to the vehicle closing device.

5. The vehicle front or rear automatic parking system according to claim 2, characterized in that: Driver exit detection device; used to detect whether the driver is in the car; The driver getting off the vehicle detection device includes a gravity sensor disposed on the driver's seat, which is used to collect the driver's weight information. When the gravity sensor detects the driver's weight information, it is determined that the driver is in the vehicle; When the gravity sensor cannot detect the driver's weight information, it is determined that the driver has gotten off the vehicle.

6. A method for automatically parking the front or rear of a vehicle based on the system of claims 1-5, characterized in that: The method comprises the following steps: S10, receiving a start command from a user, and activating the automatic parking system for the front and rear ends of the vehicle according to the start command; S20, capturing the vehicle's surrounding environment perception information in real time, determining the validity of the six parking directions of the front or rear of the vehicle based on the obstacle information, determining the posture of the parking end point, and providing optional parking directions; S30: The user selects a certain parking direction according to the demand, and performs trajectory planning according to the parking direction, the lateral distance between the vehicle and the parking end point, and the constraint conditions to calculate the parking path from the current vehicle position to the parking end point. S40: Control the vehicle to automatically park according to the planned parking path, and park the vehicle to the parking end position.

7. The method for automatically parking the front or rear of a vehicle out of a parking space according to claim 6, characterized in that: In step S10, the sensor device detects that PrkSpLen>vehicle width+60cm, and allows activation of the parking function; the sensor device detects that PrkSpLen<vehicle width+60cm, and does not allow activation of the parking function; The PrkSpLen is the distance between obstacles on both sides of the vehicle body.

8. The method for automatically parking the front or rear of a vehicle out of a parking space according to claim 6, characterized in that: In step S10, the device for initiating the command is connected to the automatic parking control device, and the device for initiating the command includes an automatic parking button or a wireless signal receiving device; When the device for starting the instruction is an automatic parking button, the method for automatically parking the front or rear of the vehicle out of the parking space further includes the following steps: S11: Detecting whether the user triggers the automatic parking button set in the vehicle; S12: When it is detected that the user triggers the automatic parking out button, the automatic parking out system is activated; When the device for starting the instruction is a wireless signal receiving device, the method for automatically parking the front or rear of the vehicle out of the parking space further includes the following steps: S13: Detecting whether the user sends an automatic parking start instruction to a wireless signal receiving device disposed in the vehicle through a remote control key or a user terminal; S14: When it is detected that the user sends an automatic unparking start instruction to the wireless signal receiving device, the automatic unparking system is activated.

9. The method for automatically parking the front or rear of a vehicle out of a parking space according to claim 3, characterized in that: In S30, the parking path is composed of a plurality of parking sub-paths; In step 40, the automatic parking control device controls the speed control device, the gear control device, and the steering wheel control device to automatically park the vehicle according to the planned parking path, and parks the vehicle out of the parking space. In the process of controlling the vehicle to automatically park out of the parking space, the distance between the current vehicle and the surrounding obstacles is calculated in real time through the distance measurement information of the sensor device, and the parking path is adjusted in real time according to the distance measurement information; The specific parking control process for each parking sub-path includes: S41: Controlling the vehicle to park according to the length of the parking path to be executed in the current parking sub-path and the corresponding steering wheel angle, and inputting the ranging value collected by the ultrasonic radar detector (Rd1-Rd12) to the automatic parking control device; S42: the automatic parking control device determines whether the vehicle's travel distance is greater than or equal to the length of the parking path to be executed by the current parking sub-path. If not, the process proceeds to step S43; if yes, the process proceeds to step S45; S43: The automatic parking control device determines the relationship between the ranging values ​​collected by the ultrasonic radars Rd1-Rd12 and the preset collision threshold. If the ranging values ​​of the ultrasonic radars Rd1-Rd12 are all less than the collision threshold, the parking sub-path control is continued. If the ranging value of one of the ultrasonic radars Rd1-Rd12 is greater than or equal to the collision threshold, the process proceeds to step S44. S44: ending the control of the current parking sub-path, recalculating the parking sub-path, obtaining an updated parking sub-path length and steering wheel angle, and returning to step S41; S45: Determine whether the parking end condition is met. If so, the parking is completed and the driver takes over the vehicle. If not, proceed to step S46; S46: completing the parking control of the current parking sub-path and entering the parking control of the next parking sub-path until the parking end condition is met and the vehicle is parked at the end position; The collision threshold is between 20 cm and 30 cm.

10. The method for automatically parking the front or rear of a vehicle out of a parking space according to claim 1, characterized in that: In step S30, the six parking directions that the user can select are: straight forward, straight backward, forward turn left, forward turn right, backward turn left and backward turn right; Among them, forward left turn, forward right turn, backward left turn and backward right turn are all turning paths; The turning-out path includes parking path 1 and parking path 2; Wherein: the parking path 1 has the following sub-paths arranged in order from the start to the end:

1. Straight forward driving path, 2. Left or right turning path (Arc0), the left or right turning path (Arc0) = 1 / 4 arc, 3. Reverse return path; The parking path 1 also includes the following sub-paths:

1. Straight reverse driving path, 2. Left or right turning path (Arc0), the left or right turning path (Arc0) = 1 / 4 arc, 3. Straight return path; The length of the left or right turning path (Arc0) Arc0Len = the minimum turning radius of the vehicle RMin*π / 2 and the length from point C to point D LinC2D; Parking path 2 has the following subpaths arranged in order from start to end:

1. Straight forward driving path, 2. First turning path (Arc1), the first turning path (Arc1) is less than 1 / 4 arc, 3. Second turning path (Arc2), the first turning path (Arc2) is less than 1 / 4 arc, 4. Third turning path (Arc3), the third turning path (Arc3) is less than 1 / 4 arc; The turning direction of the first turning path (Arc1) is consistent with the turning direction of the third turning path (Arc3), and the turning direction of the second turning path (Arc2) is opposite to the turning direction of the first turning path (Arc1); The length of the first turning path (Arc1) Arc1 Len = the minimum turning radius of the vehicle RMin*π / 2; The length of the second turning path (Arc2) Arc2Len = the turning radius of the vehicle R*π / 2; The length of the third turning path (Arc3) Arc3Len = the turning radius of the vehicle R*π / 2; In step S30, if PrkSpLen>(vehicle width+1m), then select parking path 1; if PrkSpLen<(vehicle width+1m), then select parking path 2; PrkSpLen is the minimum obstacle boundary length required for the parking path.

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