Vehicle positioning error correction method and device in automatic parking, medium and equipment

Abstract

The application relates to the field of computer models and discloses a vehicle positioning error correction method and device in automatic parking, a medium and equipment. The method comprises the following steps: entering a search parking space stage and determining a global coordinate system when receiving an automatic parking request; tracking and recording environment perception data under the global coordinate system in real time in the search parking space stage, determining each parking space in the search environment, and displaying each parking space on a vehicle screen; entering a vehicle parking-in stage and determining a parking coordinate system when a user selects a target parking space; converting the environment perception data under the global coordinate system tracked and recorded in the search parking space stage to the parking coordinate system, and planning a parking path; performing automatic parking, tracking and recording environment perception data under the parking coordinate system in real time during the parking process; determining the real-time deviation of a reference object, and correcting errors in real-time positioning of the vehicle. The application reduces the number of times of searching for a parking space, and avoids the problems of a skewed parking-in posture of the vehicle and collision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent parking, in particular to a vehicle positioning error correction method and device in automatic parking, medium and equipment. BACKGROUND

[0002] The automatic auxiliary parking system realizes the accurate parking of the vehicle by sensing the surrounding environment of the vehicle and positioning the position of the vehicle, so it is very important to accurately position the vehicle, the target parking space and the surrounding environment in the parking process.

[0003] In the parking process, the position of the vehicle changes, and the conventional vehicle positioning method is based on the estimation of the chassis signal, and the estimation process cannot guarantee its accuracy, so the error of the change of the position of the vehicle will cause the position of the target parking space and the obstacle in the coordinate system to deviate, thereby causing the parking attitude of the vehicle to be skewed, and even collision may occur in severe cases. SUMMARY

[0004] In order to solve at least one of the above technical problems, the present application provides a vehicle positioning error correction method and device in automatic parking, medium and equipment.

[0005] According to the first aspect, the vehicle positioning error correction method in automatic parking provided by the embodiments of the present application comprises:

[0006] Enter the search parking space stage when receiving the automatic parking request, and determine the global coordinate system according to the initial positioning when the vehicle enters the search parking space stage;

[0007] In the search parking space stage, the environmental perception data in the global coordinate system is tracked and recorded in real time, each parking space in the search environment is determined according to the environmental perception data in the global coordinate system, and the each parking space is displayed on the vehicle screen;

[0008] When the user selects a target parking space in each parking space displayed on the vehicle screen, enter the vehicle parking stage, and determine the parking coordinate system according to the target parking space;

[0009] Convert the environmental perception data in the global coordinate system tracked and recorded in the search parking space stage to the parking coordinate system, and plan the parking path according to the environmental perception data converted to the parking coordinate system;

[0010] According to the parking path, the automatic parking is carried out, and the environmental perception data in the parking coordinate system is tracked and recorded in real time in the parking process;

[0011] According to the environmental perception data in the parking coordinate system, determine the real-time deviation of at least one reference object, and according to the real-time deviation of at least one reference object, correct the real-time positioning error of the vehicle.

[0012] In an embodiment, the global coordinate system is determined according to an initial position of the vehicle when the vehicle enters the searching parking space stage, comprising:

[0013] taking the center position of the rear axle of the vehicle as the origin when the vehicle enters the searching parking space stage; taking the direction of the front of the vehicle as the positive direction of the horizontal coordinate axis, and taking the direction perpendicular to the horizontal coordinate axis and pointing to one side of the vehicle body as the vertical coordinate axis; and setting the heading angle of the positive direction of the horizontal coordinate axis as 0°;

[0014] And / or, the parking coordinate system is determined according to the target parking space, comprising:

[0015] taking a preset position in the target parking space as the origin; taking the direction perpendicular to the line between the two entrance angle points of the target parking space and pointing to the entrance of the target parking space as the positive direction of the vertical coordinate axis, and taking the direction perpendicular to the vertical coordinate axis and pointing to one side of the vehicle body as the horizontal coordinate axis; and setting the heading angle of the positive direction of the horizontal coordinate axis as 0°.

[0016] In an embodiment, the environment perception data recorded in the searching parking space stage includes a two-dimensional map corresponding to the communicable area of the vehicle determined based on each obstacle in the searching environment;

[0017] Correspondingly, the parking path is planned according to the environment perception data converted into the parking coordinate system, comprising: planning the parking path according to the two-dimensional map in the environment perception data converted into the parking coordinate system.

[0018] In an embodiment, the environment perception data recorded in the searching parking space stage includes lane line information;

[0019] Correspondingly, the real-time deviation of at least one reference object is determined according to the environment perception data in the parking coordinate system, and the real-time positioning of the vehicle is error-corrected according to the real-time deviation of at least one reference object, comprising:

[0020] calculating the real-time confidence of the lane line according to the lane line information recorded in the current tracking;

[0021] selecting the lane line as the first reference object when the real-time confidence of the lane line is higher than a first preset confidence;

[0022] real-time comparing the lane line heading of the first reference object recorded in the current tracking with the lane line heading recorded in the searching parking space stage;

[0023] determining the real-time deviation of the lane line heading of the first reference object according to the real-time comparison result;

[0024] determining a real-time rotation amount of the parking coordinate system according to the lane line heading real-time deviation of the first reference object, and performing real-time error correction on the heading of the vehicle according to the real-time rotation amount of the parking coordinate system.

[0025] In an embodiment, the recorded environment perception data tracked in the search parking space phase further includes the coordinates of the parking space corner points and the coordinates of the obstacle closest to the entry corner point of the parking space;

[0026] Correspondingly, the determination of the real-time deviation of at least one reference object according to the environment perception data in the parking coordinate system, and the error correction on the real-time positioning of the vehicle according to the real-time deviation of at least one reference object, further includes:

[0027] The distance from each parking space corner point to the corresponding side fisheye is calculated, and the distance from the obstacle closest to the entry corner point of the parking space to the corresponding side fisheye is calculated;

[0028] The real-time confidence of each parking space corner point is calculated according to the distance from each parking space corner point to the corresponding side fisheye, and the real-time confidence of the obstacle closest to the entry corner point of the parking space is calculated according to the distance from the obstacle closest to the entry corner point of the parking space to the corresponding side fisheye;

[0029] When there is a real-time confidence higher than the second preset confidence in the real-time confidence of each parking space corner point and the obstacle closest to the entry corner point of the parking space, the parking space corner point or the obstacle corresponding to the real-time confidence higher than the second preset confidence is selected as the second reference object;

[0030] The reference object coordinates tracked in the current tracking record and the reference object coordinates tracked in the search parking space phase for the second reference object are compared in real time;

[0031] According to the real-time comparison result, the real-time positioning deviation of the second reference object is determined, and the horizontal and vertical coordinates of the vehicle are corrected in real time according to the real-time positioning deviation of the second reference object.

[0032] In an embodiment, the method further includes:

[0033] After the parking path is planned, a first sub-phase, a second sub-phase and a third sub-phase of the parking process are defined; wherein the first sub-phase is the first time the vehicle backs up, the second sub-phase is the stage in which the vehicle advances to straighten the vehicle body, and the third sub-phase is the stage in which the vehicle backs up into the garage;

[0034] According to the vehicle action information in the parking process, the sub-phase of the parking process is determined;

[0035] Correspondingly, before the determining the real-time rotation amount of the parking coordinate system according to the real-time lane line heading deviation of the first reference object, the method further comprises:

[0036] If the parking process is in the first sub-stage or the second sub-stage, it is determined whether the real-time lane line heading deviation is higher than a first direction deviation threshold; if the real-time lane line heading deviation is higher than the first direction deviation threshold, the determining the real-time rotation amount of the parking coordinate system according to the real-time lane line heading deviation of the first reference object is performed.

[0037] If the parking process is in the third sub-stage, it is determined whether the real-time lane line heading deviation exceeds a second direction deviation threshold; if the real-time lane line heading deviation exceeds the second direction deviation threshold, the determining the real-time rotation amount of the parking coordinate system according to the real-time lane line heading deviation of the first reference object is performed; wherein the second direction deviation threshold is smaller than the first direction deviation threshold.

[0038] Correspondingly, before the performing the real-time error correction of the lateral and longitudinal coordinates of the vehicle according to the real-time positioning deviation of the second reference object, the method further comprises:

[0039] If the parking process is in the first sub-stage or the second sub-stage, it is determined whether the real-time positioning deviation of the second reference object is higher than a first position deviation threshold; if the real-time positioning deviation of the second reference object is higher than the first position deviation threshold, the performing the correction of the lateral and longitudinal coordinates of the vehicle according to the real-time positioning deviation of the second reference object is performed.

[0040] If the parking process is in the third sub-stage, it is determined whether the real-time positioning deviation of the second reference object is higher than a second position deviation threshold; if the real-time positioning deviation of the second reference object is higher than the second position deviation threshold, the performing the correction of the lateral and longitudinal coordinates of the vehicle according to the real-time positioning deviation of the second reference object is performed; wherein the second position deviation threshold is lower than the first position deviation threshold.

[0041] In one embodiment, a relationship between the real-time confidence of the lane line and a first distance conforms to a linear relationship or a normal distribution relationship; the smaller the first distance is, the greater the real-time confidence corresponding to the lane line is; the first distance is a distance between the lane line and a line connecting the left and right fisheye lenses;

[0042] Correspondingly, a relationship between the real-time confidence of each parking angle point and a second distance conforms to a linear relationship or a normal distribution relationship; the smaller the second distance is, the greater the real-time confidence corresponding to the parking angle point is; the second distance is a distance between the parking angle point and the corresponding fisheye lens;

[0043] And / or, a real-time confidence of an obstacle closest to an entry corner point of a parking space is in a linear relationship or a normal distribution relationship with a third distance; the smaller the third distance is, the greater the real-time confidence corresponding to the obstacle closest to the entry corner point of the parking space is; the third distance is a distance between the obstacle closest to the entry corner point of the parking space and a corresponding side fisheye.

[0044] According to a second aspect, an automatic parking vehicle positioning error correction device is provided, and the device comprises:

[0045] A first determination module is configured to enter a parking space searching stage when receiving an automatic parking request, and determine a global coordinate system according to an initial positioning of a vehicle when the vehicle enters the parking space searching stage;

[0046] A parking space searching module is configured to track and record environment perception data in the global coordinate system in real time in the parking space searching stage, determine each parking space in a searching environment according to the environment perception data in the global coordinate system, and display the each parking space on a vehicle screen;

[0047] A second determination module is configured to enter a vehicle parking-in stage when a user selects a target parking space from the each parking space displayed on the vehicle screen, and determine a parking coordinate system according to the target parking space;

[0048] A path planning module is configured to convert the environment perception data in the global coordinate system tracked and recorded in the parking space searching stage to the parking coordinate system, and plan a parking path according to the environment perception data converted to the parking coordinate system;

[0049] An automatic parking module is configured to perform automatic parking according to the parking path, and track and record environment perception data in the parking coordinate system in real time during parking;

[0050] A positioning correction module is configured to determine a real-time deviation of at least one reference object according to the environment perception data in the parking coordinate system, and perform error correction on real-time positioning of the vehicle according to the real-time deviation of the at least one reference object.

[0051] According to a third aspect, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. When the computer program is executed in a computer, the computer program causes the computer to execute the method provided in the first aspect.

[0052] According to a fourth aspect, a computing device is provided, and the computing device comprises a memory and a processor. The memory stores executable code, and the processor executes the executable code to implement the method provided in the first aspect.

[0053] The embodiment of the present application has the following technical effects: the global coordinate system is determined according to the initial positioning when the vehicle enters the search parking space stage, the environment perception data under the global coordinate system is tracked and recorded in real time in the search parking space stage, each parking space in the search environment is determined according to the environment perception data under the global coordinate system, and the each parking space is displayed on the vehicle screen. When the user selects a target parking space in the each parking space displayed on the vehicle screen and enters the vehicle parking-in stage, the parking coordinate system is determined according to the target parking space, then the environment perception data under the global coordinate system tracked and recorded in the search parking space stage is converted to the parking coordinate system, and then the parking path is planned based on the environment perception data converted to the parking coordinate system, and then automatic parking is performed according to the parking path, the environment perception data under the parking coordinate system is tracked and recorded in real time in the parking process, so that the real-time deviation of at least one reference object is determined, and the real-time positioning of the vehicle is error-corrected according to the real-time deviation of at least one reference object. Since the environment perception data is tracked and recorded in the parking-in process, the real-time deviation of the reference object is determined based on the environment perception data, and the positioning error of the vehicle is corrected according to the real-time deviation of the reference object, the error of the vehicle positioning is compensated, which reduces the number of times of searching for the garage and improves the parking-in efficiency, and ensures the accuracy of the parking-in and avoids the problems of the skewed parking-in attitude and collision of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0055] Figure 1 is a flow diagram of a vehicle positioning error correction method in automatic parking in an embodiment of the present application;

[0056] Figure 2 is a schematic diagram of a parking space in an embodiment of the present application;

[0057] Figure 3 is a schematic diagram of an actual scene in an embodiment of the present application;

[0058] Figure 4 is a structural block diagram of a vehicle positioning error correction device in automatic parking in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application.

[0060] In a first aspect, the embodiments of the present application provide a vehicle positioning error correction method in automatic parking, referring to Figure 1 The method comprises the following steps S110-S160:

[0061] S110, entering a search parking space stage when receiving an automatic parking request, and determining a global coordinate system according to an initial positioning of the vehicle when the vehicle enters the search parking space stage;

[0062] For example, a user applies for automatic parking on the vehicle, so that the automatic parking system of the vehicle receives the automatic parking request, and then enters the first stage: the search parking space stage. The so-called search parking space stage refers to the process of searching for each parking space in the surrounding environment and displaying each searched parking space for the user to select.

[0063] It can be seen that the position of the vehicle when it enters the search parking space stage is the initial position, and then the global coordinate system is determined according to the initial position.

[0064] In one embodiment, the step S110 of determining the global coordinate system according to the initial positioning of the vehicle when the vehicle enters the search parking space stage comprises: taking the center position of the rear axle of the vehicle when the vehicle enters the search parking space stage as the origin; taking the direction of the vehicle head when the vehicle enters the search parking space stage as the positive direction of the horizontal coordinate axis, and taking the direction perpendicular to the horizontal coordinate axis and pointing to one side of the vehicle body as the vertical coordinate axis; and setting the heading angle of the vehicle when it enters the search parking space stage to 0°.

[0065] It can be seen that the horizontal coordinate of the center position of the rear axle of the vehicle when it enters the search parking space stage in the global coordinate system is 0, the vertical coordinate is 0, and the heading angle is 0.

[0066] For example, referring to Figure 3 The center position of the rear axle of the vehicle in the initial position is taken as the origin of the global coordinate system, the direction of the vehicle head is taken as the positive direction of the horizontal coordinate axis, and the direction perpendicular to the horizontal coordinate axis and pointing to the left side of the vehicle body is taken as the positive direction of the vertical coordinate, that is, the global coordinate system adopts the left-hand coordinate system.

[0067] S120, in the search parking space stage, real-time tracking records the environment perception data in the global coordinate system, determines each parking space in the search environment according to the environment perception data in the global coordinate system, and displays the each parking space on the vehicle screen;

[0068] Environmental perception data can be collected by a perception system, which refers to a hardware perception system based on vision and / or ultrasound. For example, a hardware perception system based on vision can be equipped with fisheye lenses on the left and right sides of a vehicle, which can capture images of the surrounding environment.

[0069] That is to say, the perception system on the vehicle collects environmental perception data in real time, and then projects the collected environmental perception data into the global coordinate system to obtain the environmental perception data in the global coordinate system, thereby realizing the tracking and recording of the environmental perception data in the global coordinate system, which can also be called tracking memory.

[0070] The environmental perception data tracked and recorded during the parking space search phase may include: a two-dimensional map corresponding to the vehicle's communicable area determined based on various obstacles in the search environment, lane line information, the coordinates of parking space corners, and the coordinates of the obstacle closest to the parking space's entrance corner. Lane lines are lines in the middle of a road that indicate road direction.

[0071] It can be seen that the two-dimensional map corresponding to the vehicle's communicable area is a two-dimensional map of the area where the vehicle can pass, which is surrounded by various obstacles in the surrounding environment. The lane line information is the curve equation of the lane line, and the lane line is represented by a cubic equation. Because the lane line is not a point, it cannot be represented by coordinates. Usually a parking space has four corner points, so the coordinates of the parking space corner points can be the coordinates of the four corner points of the parking space, and the area surrounded by the four corner points constitutes a parking space. Among the four corner points, there are two entry corner points, for example, entry corner points A and B. The obstacles closest to the entry corner points of the parking space may include the obstacle closest to the entry corner point A of the parking space and the obstacle closest to the entry corner point B of the parking space.

[0072] It is understandable that based on the environmental perception data in the global coordinate system, each parking space in the search environment can be determined and displayed on the vehicle screen, so that the user can see each searched parking space, each parking space has its own number.

[0073] Among them, the coordinate system used in the vehicle search stage is the global coordinate system because the global coordinate system is more convenient for searching parking spaces.

[0074] S130, when the user selects a target parking space from among the parking spaces displayed on the vehicle screen, the vehicle enters a parking phase, and a parking coordinate system is determined according to the target parking space;

[0075] It can be seen that after the user sees the parking spaces on the vehicle screen, the user can select a target parking space according to habits or preferences. After the user selects the target parking space, the automatic parking system switches from the search parking space stage to the vehicle parking-in stage, that is, enters the second stage. The coordinate system used in the vehicle parking-in stage is the parking coordinate system.

[0076] In one embodiment, the parking coordinate system is determined according to the target parking space in S130, which can include: taking a preset position in the target parking space as the origin; a direction perpendicular to a line between two entrance corner points of the target parking space and pointing to the entrance of the target parking space is the positive direction of the longitudinal coordinate axis, and a direction perpendicular to the longitudinal coordinate axis and pointing to one side of the vehicle body is the horizontal coordinate axis; and the heading angle of the positive direction of the horizontal coordinate axis is set to 0°.

[0077] For example, referring to Figure 2 , the center point of a line between two corner points C and D at the tail of the target parking space is taken as the origin of the parking coordinate system, a direction perpendicular to a line between two entrance corner points A and B of the target parking space and pointing to the entrance of the target parking space is the positive direction of the longitudinal coordinate axis, a direction perpendicular to the longitudinal coordinate axis and pointing to the right side of the vehicle body is the positive direction of the horizontal coordinate axis, and the heading angle of the positive direction of the horizontal coordinate axis is set to 0°.

[0078] For another example, referring to Figure 3 , the origin of the parking coordinate system is a position point where the rear axle center of the vehicle should be after parking in the target parking space, the x-axis points to the right side of the vehicle body, and the y-axis points to the entrance of the target parking space.

[0079] S140, converting the environment perception data in the global coordinate system tracked and recorded in the search parking space stage to the parking coordinate system, and planning a parking path according to the environment perception data converted to the parking coordinate system;

[0080] That is, the environment perception data in the global coordinate system tracked and recorded in the search parking space stage is converted to the parking coordinate system to obtain the environment perception data in the parking coordinate system, and then the parking path is planned according to the environment perception data in the parking coordinate system.

[0081] In the path planning, the path planning is performed in the parking coordinate system because it is more convenient to perform the path planning in the parking coordinate system.

[0082] In an embodiment, in the case that the tracking recorded environment perception data in the searching parking space stage includes a two-dimensional map corresponding to the vehicle communicable area determined based on each obstacle in the searching environment, the planning of the parking path according to the environment perception data converted to the parking coordinate system in S140 can include: planning the parking path according to the two-dimensional map in the environment perception data converted to the parking coordinate system.

[0083] It can be seen that, based on the two-dimensional map corresponding to the vehicle communicable area, the planning of the parking path can be performed to obtain the planned parking path.

[0084] S150, automatically parking according to the parking path, and tracking and recording the environment perception data in the parking coordinate system in real time during the parking process;

[0085] It can be seen that, after obtaining the parking path, the automatic parking operation is performed according to the parking path, and the environment perception data collected by the perception system in real time is projected to the parking coordinate system to obtain the environment perception data in the parking coordinate system, so as to realize the tracking and recording of the environment perception data in the parking coordinate system, that is, the tracking and memory.

[0086] S160, determining the real-time deviation of at least one reference object according to the environment perception data in the parking coordinate system, and correcting the real-time positioning of the vehicle according to the real-time deviation of the at least one reference object.

[0087] It can be seen that, based on the environment perception data in the parking coordinate system, at least one reference object can be determined, and the real-time deviation of the at least one reference object can be determined, and the real-time positioning of the vehicle is corrected based on the real-time deviation of the at least one reference object, so as to obtain more accurate vehicle positioning information, and the automatic parking can be performed based on the more accurate vehicle positioning information, so as to improve the parking effect. That is, because the environment perception data is tracked and memorized during the parking-in process, the real-time deviation of the reference object is determined based on the environment perception data, and then the positioning error of the vehicle is corrected according to the real-time deviation of the reference object, so that the error of the vehicle positioning is compensated, which reduces the number of times of parking and improves the parking efficiency, and ensures the accuracy of the parking-in and avoids the problems of the skewed parking-in attitude of the vehicle and the collision.

[0088] In an embodiment, in the case that the tracking recorded environment perception data in the searching parking space stage includes lane line information, the determining of the real-time deviation of at least one reference object according to the environment perception data in the parking coordinate system in S160, and the correction of the real-time positioning of the vehicle according to the real-time deviation of the at least one reference object can include the following steps S161a-S165a:

[0089] S161 a, according to the lane line information recorded in the current tracking, calculate the real-time confidence of the lane line;

[0090] Specifically, the real-time confidence of the lane line can be determined according to the distance between the lane line and the line connecting the left and right fisheye. In order to facilitate the description, the distance between the lane line and the line connecting the left and right fisheye is defined as the first distance. The smaller the first distance, the greater the real-time confidence corresponding to the lane line. That is, the closer the lane line is to the line connecting the left and right fisheye, the greater the real-time confidence of the lane line. The relationship between the real-time confidence of the lane line and the first distance can conform to a linear relationship or a normal distribution relationship.

[0091] That is, in one embodiment, the relationship between the real-time confidence of the lane line and the first distance conforms to a linear relationship or a normal distribution relationship; the smaller the first distance, the greater the real-time confidence corresponding to the lane line; the first distance is the distance between the lane line and the line connecting the left and right fisheye.

[0092] For example, according to the normal distribution model to determine the real-time confidence of the lane line, the normal distribution model is expressed as follows:

[0093] Where x is a variable, representing the first distance, of course, it can also represent the second distance and the third distance mentioned below. The closer the distance, the higher the confidence. u and σ are constants, and the choice of σ is very important, which controls the speed of the confidence decreasing with the degree of deviation. Smaller σ means that the confidence decreases rapidly. Larger σ means that even if the vehicle is not exactly in the center, a relatively high confidence can be obtained. In order to achieve the participation of correction only in the case of relatively high confidence, a smaller σ can be selected.

[0094] S162 a, when the real-time confidence of the lane line is higher than the first preset confidence, the lane line is selected as the first reference;

[0095] That is, the real-time confidence of the lane line changes with the parking process of the vehicle, and the closer the vehicle is to the lane line, the higher the real-time confidence of the lane line. When the real-time confidence of the lane line is greater than the first preset confidence, the lane line is taken as the first reference.

[0096] In fact, throughout the entire process of the vehicle parking stage, whether it is the first sub-stage, the second sub-stage or the third sub-stage mentioned later, the lane line is beside or below the vehicle, and the distance is very close. Therefore, in the three sub-stages, the real-time confidence of the lane line is actually very high, so the heading of the lane line can be used to correct the heading of the vehicle in the three sub-stages.

[0097] S163 a, comparing the lane line heading recorded in the current tracking record and the lane line heading recorded in the searching parking space stage in real time;

[0098] It can be understood that the lane line heading will not change whether in the vehicle parking-in stage or in the searching vehicle stage, so the lane line heading recorded in the parking-in process and the lane line heading recorded in the searching parking space stage should be consistent in theory, but the error of vehicle positioning in the parking process will cause the deviation of the lane line heading recorded by the perception system from the lane line heading recorded before.

[0099] S164 a, determining the real-time deviation of the lane line heading of the first reference object according to the real-time comparison result;

[0100] S165 a, determining the real-time rotation amount of the parking coordinate system according to the real-time deviation of the lane line heading of the first reference object, and correcting the heading of the vehicle in real time according to the real-time rotation amount of the parking coordinate system.

[0101] It can be seen that the real-time comparison result of the lane line heading can know the real-time deviation of the lane line heading, and then according to the real-time deviation of the lane line heading, it can be known how much the real-time rotation amount of the parking coordinate system is, that is, how much the horizontal coordinate axis of the parking coordinate system rotates compared with the originally determined horizontal coordinate axis, and then the heading of the vehicle is corrected in real time according to the real-time rotation amount of the parking coordinate system.

[0102] The lane line is used to correct the heading of the vehicle.

[0103] Thus, the error of the heading of the vehicle can be corrected.

[0104] In one embodiment, in the case that the environmental perception data recorded in the searching parking space stage further includes the coordinates of the parking angle points and the coordinates of the obstacle closest to the entrance angle point of the parking space, the step S160 of determining the real-time deviation of at least one reference object according to the environmental perception data in the parking coordinate system and correcting the real-time positioning of the vehicle according to the real-time deviation of at least one reference object can further include the following steps S161b-S165b:

[0105] S161b, calculating the distance from each parking angle point to the corresponding side fisheye, and calculating the distance from the obstacle closest to the entrance angle point of the parking space to the corresponding side fisheye;

[0106] For example, referring to Figure 2, the parking space angle points A and C correspond to the fisheye on the left side of the vehicle, and the parking space angle points B and D correspond to the fisheye on the right side of the vehicle, so the distance from the parking space angle points A and C to the fisheye on the left side of the vehicle is calculated, and the distance from the parking space angle points B and D to the fisheye on the right side of the vehicle is calculated.

[0107] For another example, the obstacle closest to the entrance angle point A is a vehicle p parked on the left side of the target parking space, and the obstacle closest to the entrance angle point B is a vehicle q parked on the right side of the target parking space, so the distance from the vehicle p to the fisheye on the left side of the vehicle k is calculated, and the distance from the vehicle q to the fisheye on the right side of the vehicle k is calculated.

[0108] S162b, according to the distance from each parking space angle point to the fisheye on the corresponding side, the real-time confidence of each parking space angle point is calculated respectively; and according to the distance from the obstacle closest to the entrance angle point of the parking space to the fisheye on the corresponding side, the real-time confidence of the obstacle closest to the entrance angle point of the parking space is calculated;

[0109] In one embodiment, the relationship between the real-time confidence of each parking space angle point and the second distance conforms to a linear relationship or a normal distribution relationship; the smaller the second distance is, the greater the real-time confidence corresponding to the parking space angle point is; the second distance is the distance between the parking space angle point and the fisheye on the corresponding side;

[0110] In one embodiment, the relationship between the real-time confidence of the obstacle closest to the entrance angle point of the parking space and the third distance conforms to a linear relationship or a normal distribution relationship; the smaller the third distance is, the greater the real-time confidence corresponding to the obstacle closest to the entrance angle point of the parking space is; the third distance is the distance between the obstacle closest to the entrance angle point of the parking space and the fisheye on the corresponding side.

[0111] It can be seen that the calculation process of the real-time confidence of the parking space angle point, the real-time confidence of the obstacle closest to the entrance angle point of the parking space and the real-time confidence of the lane line in the above is the same. The smaller the distance is, the higher the real-time confidence is, and the relationship between the distance and the real-time confidence can be a linear relationship or a normal distribution relationship.

[0112] S163b, when there is a real-time confidence higher than the second preset confidence in each real-time confidence of each parking space angle point and the obstacle closest to the entrance angle point of the parking space, the parking space angle point or the obstacle corresponding to the real-time confidence higher than the second preset confidence is selected as the second reference;

[0113] S164b, the reference object coordinates recorded in the current tracking stage and the reference object coordinates recorded in the search parking space stage are compared in real time for the second reference;

[0114] S165b, determining a real-time positioning deviation of the second reference object according to the real-time comparison result, and performing real-time error correction on the lateral and longitudinal coordinates of the vehicle according to the real-time positioning deviation of the second reference object.

[0115] It can be understood that when the parking just starts, the second distance and the third distance are relatively large, at this time, each real-time confidence is relatively small, and the confidence is relatively low, so the reference object is uncertain, and the real-time error correction is not performed on the lateral and longitudinal coordinates of the vehicle. When the parking proceeds, the second distance and the third distance become smaller and smaller, so each real-time confidence increases. When the real-time confidence increases to be higher than the second preset confidence, the parking space angle point or the obstacle corresponding to the real-time confidence higher than the second preset confidence is taken as the second reference object, and then the real-time comparison is performed on the coordinates of the second reference object at this time and the coordinates before the comparison, so as to obtain a real-time comparison result. According to the real-time comparison result, it can be known that the coordinates of the second reference object have deviated by how much, and then the real-time error correction is performed on the lateral and longitudinal coordinates of the vehicle by using the deviation.

[0116] At this time, the error correction is performed on the lateral and longitudinal coordinates of the vehicle.

[0117] In order to further refine the parking process, the method provided by the embodiment of the application further includes the following steps 1 and 2.

[0118] 1. After the parking path is planned, a first sub-stage, a second sub-stage and a third sub-stage of the parking process are defined; wherein the first sub-stage is a stage of first backward movement of the vehicle, the second sub-stage is a stage of forward movement of the vehicle to straighten the vehicle body, and the third sub-stage is a stage of backward movement of the vehicle into the garage;

[0119] 2. The sub-stage of the parking process is determined according to the vehicle action information in the parking process.

[0120] It can be seen that the parking process is divided into three sub-stages, first backward movement is performed, then the vehicle body is straightened by forward movement, and finally the vehicle is backward moved into the garage. As to which sub-stage is, the vehicle action information can be used to determine, for example, steering of the steering wheel, backward movement or forward movement, etc. Referring to Figure 3 It can be seen that the state of the vehicle in different sub-stages.

[0121] Further, before S165a, the method further includes:

[0122] (1) If the parking process is in the first sub-stage or the second sub-stage, it is determined whether the lane line heading real-time deviation is higher than a first direction deviation threshold; if the lane line heading real-time deviation is higher than the first direction deviation threshold, the real-time rotation amount of the parking coordinate system is determined according to the lane line heading real-time deviation of the first reference object;

[0123] (2) If the parking process is in the third sub-stage, it is determined whether the lane line heading real-time deviation exceeds a second direction deviation threshold; if the lane line heading real-time deviation exceeds the second direction deviation threshold, the real-time rotation amount of the parking coordinate system is determined according to the lane line heading real-time deviation of the first reference object; wherein the second direction deviation threshold is smaller than the first direction deviation threshold.

[0124] It can be seen that after the lane line heading real-time deviation is calculated, it is first determined whether the lane line heading real-time deviation is greater than the direction deviation threshold; if it is greater than the direction deviation threshold, the real-time rotation amount of the parking coordinate system is determined according to the lane line heading real-time deviation of the first reference object. It can be seen that when the lane line heading real-time deviation is relatively small, the heading of the vehicle can not be corrected for error, and only when the lane line heading real-time deviation is relatively large, the heading of the vehicle is corrected for error. Moreover, the second direction deviation threshold is smaller than the first direction deviation threshold. It can be seen that the heading error correction range of the first sub-stage and the second sub-stage is relatively wide, because when the lane line heading real-time deviation of the two sub-stages is relatively large, it can be corrected in the third sub-stage. The heading error correction range of the third sub-stage is relatively narrow, so that the heading error correction can be performed in time in the third sub-stage. In this way, the continuity of the parking trajectory of the vehicle can be ensured, and the number of times of re-planning is relatively small.

[0125] That is, in order to ensure the continuity of the parking trajectory and the small number of times of re-planning, a correction triggering mechanism is set, which triggers the correction operation only when the lane line heading real-time deviation exceeds a certain error, otherwise the continuity of the parking trajectory cannot be ensured, and the number of times of re-planning will be large. Moreover, the heading deviation in the first sub-stage and the second sub-stage can be corrected when re-planning in the third sub-stage, so the correction triggering range in the first sub-stage and the second sub-stage can be widened, and of course the heading deviation must be corrected when it is relatively large, otherwise it will be difficult to enter the garage in the third sub-stage, and even collision problems will occur.

[0126] Further, before the real-time error correction of the lateral and longitudinal coordinates of the vehicle according to the real-time positioning deviation of the second reference object in S165b, the method can further include:

[0127] (1) If the parking process is in the first sub-stage or the second sub-stage, it is judged whether the real-time positioning deviation of the second reference object is higher than a first position deviation threshold; if the real-time positioning deviation of the second reference object is higher than the first position deviation threshold, the correction of the lateral and longitudinal coordinates of the vehicle according to the real-time positioning deviation of the second reference object is performed.

[0128] (2) If the parking process is in the third sub-stage, it is judged whether the real-time positioning deviation of the second reference object is higher than a second position deviation threshold; if the real-time positioning deviation of the second reference object is higher than the second position deviation threshold, the correction of the lateral and longitudinal coordinates of the vehicle according to the real-time positioning deviation of the second reference object is performed; wherein the second position deviation threshold is lower than the first position deviation threshold.

[0129] It can be seen that after the real-time positioning deviation of the second reference object is calculated, it is first judged whether the real-time positioning deviation of the second reference object is greater than the position deviation threshold; if it is greater than the position deviation threshold, the lateral and longitudinal coordinates of the vehicle are corrected according to the real-time positioning deviation of the second reference object. It can be seen that when the position deviation threshold is small, the lateral and longitudinal coordinates of the vehicle can not be corrected, and only when the real-time positioning deviation of the second reference object is large, the lateral and longitudinal coordinates of the vehicle are corrected. Moreover, the second position deviation threshold is smaller than the first position deviation threshold. It can be seen that the position deviation threshold of the first sub-stage and the second sub-stage is relatively high, because when the real-time positioning deviation of the second reference object in the two sub-stages is relatively large, it can be corrected in the third sub-stage. The position deviation threshold of the third sub-stage is relatively low, so that the lateral and longitudinal coordinate error correction of the vehicle can be performed in the third sub-stage in time. In this way, the continuity of the parking trajectory of the vehicle can be ensured, and the number of times of parking garage is relatively small.

[0130] It can be understood that during the entire automatic parking process, the vehicle needs to be positioned by the chassis system. Specifically, the vehicle steering wheel angle and wheel speed pulse can be used to calculate the turning radius corresponding to each steering wheel angle according to the Ackerman steering and the mapping relationship between the steering wheel angle and the vehicle turning angle, and then the arc length of the driving is calculated according to the turning radius and the wheel speed pulse, and then the lateral and longitudinal coordinate components of the vehicle are calculated based on the arc length.

[0131] In actual scenarios, in order to eliminate the time difference between the data collected by the perception system and the vehicle positioning information determined by the chassis system during the vehicle driving process, time synchronization needs to be performed between the perception system and the chassis. That is, in order to compensate for the different frequencies of the chassis system and the perception system, each frame of information needs to be time-synchronized before coordinate conversion. Moreover, in order to eliminate single-frame errors, multi-frame fusion error processing can also be performed.

[0132] In some special scenarios, such as a parking space with a column, the boundary point of the column needs to be remembered. Therefore, in addition to collecting parking space information, the perception system can also mark some attributes of the parking space, such as whether there is a column or not.

[0133] In theory, neither the target parking space, the surrounding environmental obstacles, nor the lane line heading will change during the search vehicle phase or the vehicle parking-in phase. However, as the positioning error of the vehicle occurs during the parking-in process, the information such as the target parking space, the surrounding environmental obstacles, and the lane line heading collected by the perception system in real time will deviate from the previously recorded information, and this deviation is caused by the positioning error of the vehicle. Therefore, the coordinates of the target parking space corner point, the coordinates of the nearest obstacle, and the lane line heading with obvious features are monitored in real time during the entire parking-in process, and then the heading, the horizontal and vertical coordinates of the vehicle in the parking coordinate system are corrected according to the deviation of the information, so as to correct the relative relationship between the vehicle positioning and the lane line heading of the target parking space corner point and the nearest obstacle, thereby realizing accurate obstacle avoidance and parking-in of the vehicle. Since the positioning error of the vehicle is tracked, remembered, and corrected during the parking-in process, the positioning error of the previous process can be compensated before the warehouse planning, which not only ensures the parking-in efficiency, but also ensures the accuracy of the parking-in.

[0134] In a second aspect, an embodiment of the present application provides a vehicle positioning error correction device in automatic parking, which is shown in Figure 4 The device 100 comprises:

[0135] A first determination module 110 is configured to enter a search parking space phase when receiving an automatic parking request, and determine a global coordinate system according to the initial positioning of the vehicle when the vehicle enters the search parking space phase.

[0136] A parking space search module 120 is configured to track and record environmental perception data in the global coordinate system in real time in the search parking space phase, determine each parking space in the search environment according to the environmental perception data in the global coordinate system, and display the each parking space on a vehicle screen.

[0137] A second determination module 130 is configured to enter a vehicle parking-in phase when a user selects a target parking space from the each parking space displayed on the vehicle screen, and determine a parking coordinate system according to the target parking space.

[0138] A path planning module 140 is configured to convert the environmental perception data in the global coordinate system tracked and recorded in the search parking space phase to the parking coordinate system, and plan a parking path according to the environmental perception data converted to the parking coordinate system.

[0139] An automatic parking module 150 is configured to perform automatic parking according to the parking path, and track and record environmental perception data in the parking coordinate system in real time during the parking process.

[0140] The positioning correction module 160 is configured to determine a real-time deviation of at least one reference object according to the environment perception data in the parking coordinate system, and correct the real-time positioning of the vehicle according to the real-time deviation of the at least one reference object.

[0141] In an embodiment, the first determining module is specifically configured to: take the center position of the rear axle of the vehicle when the vehicle enters the searching parking space stage as the origin; take the direction of the vehicle head when the vehicle enters the searching parking space stage as the positive direction of the horizontal coordinate axis, and take the direction perpendicular to the horizontal coordinate axis and pointing to one side of the vehicle body as the vertical coordinate axis; and / or the second determining module is specifically configured to: take the preset position in the target parking space as the origin; take the direction perpendicular to the line between the two entrance angle points of the target parking space and pointing to the entrance of the target parking space as the positive direction of the vertical coordinate axis, and take the direction perpendicular to the vertical coordinate axis and pointing to one side of the vehicle body as the horizontal coordinate axis; and / or take the heading angle of the positive direction of the horizontal coordinate axis as 0°.

[0142] In an embodiment, the environment perception data recorded in the searching parking space stage includes: a two-dimensional map corresponding to the communicable area of the vehicle determined based on each obstacle in the searching environment; and correspondingly, the path planning module is configured to plan the parking path according to the environment perception data converted into the parking coordinate system, including: planning the parking path according to the two-dimensional map in the environment perception data converted into the parking coordinate system.

[0143] In an embodiment, the environment perception data recorded in the searching parking space stage includes lane line information;

[0144] Correspondingly, the positioning correction module includes:

[0145] The first calculating unit is configured to calculate the real-time confidence of the lane line according to the lane line information recorded in the current tracking;

[0146] The first selecting unit is configured to select the lane line as the first reference object when the real-time confidence of the lane line is higher than a first preset confidence;

[0147] The first comparing unit is configured to compare the heading of the lane line recorded in the current tracking and the heading of the lane line recorded in the searching parking space stage in real time for the first reference object;

[0148] The first determining unit is configured to determine the real-time deviation of the heading of the lane line of the first reference object according to the real-time comparison result;

[0149] The first correction unit is configured to determine a real-time rotation amount of the parking coordinate system according to the real-time deviation of the lane heading of the first reference object, and perform real-time error correction on the heading of the vehicle according to the real-time rotation amount of the parking coordinate system.

[0150] In one embodiment, the environmental perception data tracked and recorded during the parking space search phase further includes the coordinates of the corner points of the parking space and the coordinates of the obstacle closest to the entrance corner point of the parking space;

[0151] Correspondingly, the positioning correction module further includes:

[0152] The second calculation unit is used to calculate the distance from each parking space corner point to the corresponding side fisheye, and calculate the distance from the obstacle closest to the entrance corner point of the parking space to the corresponding side fisheye;

[0153] The third calculation unit is used to calculate the real-time confidence of each parking space corner point according to the distance from each parking space corner point to the corresponding side fisheye; and calculate the real-time confidence of the obstacle closest to the parking space entrance corner point according to the distance from the obstacle closest to the parking space entrance corner point to the corresponding side fisheye;

[0154] a second selection unit configured to select, when a real-time confidence level higher than a second preset confidence level exists among the real-time confidence levels of the parking space corner points and the obstacles closest to the entrance corner point of the parking space, the parking space corner point or the obstacle corresponding to the real-time confidence level higher than the second preset confidence level as the second reference object;

[0155] a second comparing unit, configured to compare in real time the reference object coordinates currently tracked and recorded for the second reference object with the reference object coordinates tracked and recorded during the parking space search phase;

[0156] The second correction unit is used to determine the real-time positioning deviation of the second reference object according to the real-time comparison result, and perform real-time error correction on the horizontal and vertical coordinates of the vehicle according to the real-time positioning deviation of the second reference object.

[0157] In one embodiment, the apparatus may further include:

[0158] a stage definition module, configured to define, after planning the parking path, a first sub-stage, a second sub-stage, and a third sub-stage of the parking process; wherein the first sub-stage is the stage in which the vehicle initially backs up, the second sub-stage is the stage in which the vehicle advances to straighten the vehicle body, and the third sub-stage is the stage in which the vehicle backs up into the parking space;

[0159] a stage determination module, configured to determine the sub-stage of the parking process based on vehicle motion information during the parking process;

[0160] Correspondingly, the device further comprises:

[0161] The first judging module is configured to, before the first correction unit determines the real-time rotation amount of the parking coordinate system according to the real-time lane line heading deviation of the first reference object, judge whether the real-time lane line heading deviation is higher than a first direction deviation threshold if the parking process is in the first sub-stage or the second sub-stage; if the real-time lane line heading deviation is higher than the first direction deviation threshold, the first correction unit determines the real-time rotation amount of the parking coordinate system according to the real-time lane line heading deviation of the first reference object.

[0162] The second judging module is configured to, before the first correction unit determines the real-time rotation amount of the parking coordinate system according to the real-time lane line heading deviation of the first reference object, judge whether the real-time lane line heading deviation exceeds a second direction deviation threshold if the parking process is in the third sub-stage; if the real-time lane line heading deviation exceeds the second direction deviation threshold, the first correction unit determines the real-time rotation amount of the parking coordinate system according to the real-time lane line heading deviation of the first reference object; wherein the second direction deviation threshold is lower than the first direction deviation threshold.

[0163] Correspondingly, the device further comprises:

[0164] The third judging module is configured to, before the second correction unit performs real-time error correction on the lateral and longitudinal coordinates of the vehicle according to the real-time positioning deviation of the second reference object, judge whether the real-time positioning deviation of the second reference object is higher than a first position deviation threshold if the parking process is in the first sub-stage or the second sub-stage; if the real-time positioning deviation of the second reference object is higher than the first position deviation threshold, the second correction unit performs real-time error correction on the lateral and longitudinal coordinates of the vehicle according to the real-time positioning deviation of the second reference object.

[0165] The fourth judging module is configured to, before the second correction unit performs real-time error correction on the lateral and longitudinal coordinates of the vehicle according to the real-time positioning deviation of the second reference object, judge whether the real-time positioning deviation of the second reference object is higher than a second position deviation threshold if the parking process is in the third sub-stage; if the real-time positioning deviation of the second reference object is higher than the second position deviation threshold, the second correction unit performs real-time error correction on the lateral and longitudinal coordinates of the vehicle according to the real-time positioning deviation of the second reference object; wherein the second position deviation threshold is lower than the first position deviation threshold.

[0166] In one embodiment, a relationship between the real-time confidence of the lane line and a first distance conforms to a linear relationship or a normal distribution relationship; the smaller the first distance, the greater the real-time confidence corresponding to the lane line; the first distance is a distance between the lane line and a line connecting the left and right fisheye cameras; and / or, a relationship between the real-time confidence of each parking angle point and a second distance conforms to a linear relationship or a normal distribution relationship; the smaller the second distance, the greater the real-time confidence corresponding to the parking angle point; the second distance is a distance between the parking angle point and the corresponding side fisheye camera; and / or, a relationship between the real-time confidence of the obstacle closest to the entrance angle point of the parking space and a third distance conforms to a linear relationship or a normal distribution relationship; the smaller the third distance, the greater the real-time confidence corresponding to the obstacle closest to the entrance angle point of the parking space; the third distance is a distance between the obstacle closest to the entrance angle point of the parking space and the corresponding side fisheye camera.

[0167] It can be understood that the explanations, specific embodiments, advantages, examples, and the like of the device provided in the embodiments of the present application can refer to the corresponding parts in the method provided in the first aspect, and will not be described here.

[0168] In a third aspect, a computer readable medium is provided, and the computer readable medium stores computer instructions. When the computer instructions are executed by a processor, the processor executes the method provided in the first aspect.

[0169] Specifically, a system or device equipped with a storage medium can be provided, and the storage medium stores software program codes for implementing the functions of any of the above embodiments, and the computer (or CPU or MPU) of the system or device reads and executes the program codes stored in the storage medium.

[0170] In this case, the program codes read from the storage medium can implement the functions of any of the above embodiments, and thus the program codes and the storage medium storing the program codes constitute a part of the present application.

[0171] Embodiments of the storage medium for providing the program codes include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, the program codes can be downloaded from a server computer via a communication network.

[0172] In addition, it should be clear that not only the program codes read by the computer can be executed, but also the operating system and the like operating on the computer can be instructed based on the program codes to complete part or all of the actual operations, thereby implementing the functions of any of the above embodiments.

[0173] Further, it is understood that the programs read out from the storage medium can be written to the storage device installed in the extension board inserted into the computer or the storage device provided in the extension module connected to the computer, and then the CPU or the like mounted on the extension board or the extension module is caused to perform part or all of the actual operation based on the instructions of the program codes, thereby realizing the functions of any of the above-described embodiments.

[0174] It is understood that the explanation of the related content in the computer readable medium, the specific implementation, the beneficial effects, the examples and the like provided by the embodiments of the present application can refer to the corresponding parts in the method provided by the first aspect, and will not be repeated here.

[0175] In a fourth aspect, an embodiment of the present specification provides a computing device, comprising a memory and a processor, wherein the memory stores executable codes, and the processor executes the executable codes to realize the method in any of the embodiments of the specification.

[0176] It is understood that the explanation of the related content in the computer readable medium, the specific implementation, the beneficial effects, the examples and the like provided by the embodiments of the present application can refer to the corresponding parts in the method provided by the first aspect, and will not be repeated here.

[0177] It should be noted that the terms used in the present application are only for describing specific embodiments, and are not intended to limit the scope of the present application. As shown in the specification and claims of the present application, unless the context clearly indicates otherwise, "one", "a", "an" and / or "the" do not specifically refer to the singular, but also include the plural. The terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such process, method or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method or device including the element.

[0178] It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are used only to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise specifically defined and limited, the terms "mount", "connect", "connect" and the like should be broadly understood, for example, can be fixedly connected, can also be detachably connected, or integrally connected; can be mechanically connected, can also be electrically connected; can be directly connected, can also be indirectly connected through an intermediate medium; can be internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0179] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application.

Claims

1. A method for correcting vehicle positioning errors in automatic parking, characterized in that: include: Entering a parking space search phase upon receiving an automatic parking request, and determining a global coordinate system based on the initial positioning of the vehicle when entering the parking space search phase; During the parking space search phase, the environmental perception data in the global coordinate system is tracked and recorded in real time, each parking space in the search environment is determined based on the environmental perception data in the global coordinate system, and each parking space is displayed on the vehicle screen; When the user selects a target parking space from among the parking spaces displayed on the vehicle screen, the vehicle enters the parking phase and a parking coordinate system is determined according to the target parking space; converting the environmental perception data in the global coordinate system tracked and recorded during the parking space search phase into the parking coordinate system, and planning a parking path based on the environmental perception data converted into the parking coordinate system; Performing automatic parking according to the parking path, and tracking and recording the environmental perception data in the parking coordinate system in real time during the parking process; determining a real-time deviation of at least one reference object based on environmental perception data in the parking coordinate system, and performing error correction on the real-time positioning of the vehicle based on the real-time deviation of the at least one reference object; the environmental perception data includes lane line information, and calculating a real-time confidence level of the lane line based on the currently tracked and recorded lane line information; Selecting the lane line as the first reference object when the real-time confidence level of the lane line is higher than a first preset confidence level; performing a real-time comparison of the lane heading currently tracked and recorded for the first reference object with the lane heading tracked and recorded during the parking space search phase; Determining a real-time lane heading deviation of the first reference object based on the real-time comparison result; The real-time rotation amount of the parking coordinate system is determined according to the real-time deviation of the lane heading of the first reference object, and the real-time error correction of the vehicle heading is performed according to the real-time rotation amount of the parking coordinate system.

2. The method according to claim 1, characterized in that The determining of the global coordinate system according to the initial positioning of the vehicle when entering the parking space search phase includes: The center position of the vehicle's rear axle when the vehicle enters the parking space search phase is used as the origin; the vehicle's front direction when the vehicle enters the parking space search phase is used as the positive direction of the horizontal coordinate axis, and the direction perpendicular to the horizontal coordinate axis and pointing to the side of the vehicle body is used as the vertical coordinate axis; the vehicle's heading angle when entering the parking space search phase is set to 0°; And / or, determining a parking coordinate system according to the target parking space includes: Take the preset position in the target parking space as the origin; the direction perpendicular to the line between the two entrance corner points of the target parking space and pointing to the entrance of the target parking space is the positive direction of the vertical coordinate axis, and the direction perpendicular to the vertical coordinate axis and pointing to the side of the vehicle body is the horizontal coordinate axis; set the heading angle of the positive direction of the horizontal coordinate axis to 0°.

3. The method according to claim 1, characterized in that The environmental perception data tracked and recorded during the parking space search phase includes: a two-dimensional map corresponding to the vehicle communicable area determined based on various obstacles in the search environment; Correspondingly, planning the parking path according to the environmental perception data converted into the parking coordinate system includes: planning the parking path according to the two-dimensional map in the environmental perception data converted into the parking coordinate system.

4. The method according to claim 1, wherein The environmental perception data tracked and recorded during the parking space search phase also includes the coordinates of the corner points of the parking space and the coordinates of the obstacle closest to the entrance corner point of the parking space; Correspondingly, determining a real-time deviation of at least one reference object based on the environmental perception data in the parking coordinate system, and performing error correction on the real-time positioning of the vehicle based on the real-time deviation of the at least one reference object, further includes: Calculate the distance from each parking space corner point to the corresponding side fisheye, and calculate the distance from the obstacle closest to the parking space entrance corner point to the corresponding side fisheye; The real-time confidence of each parking space corner point is calculated based on the distance from each parking space corner point to the corresponding side fisheye. The real-time confidence of the obstacle closest to the parking space entrance corner point is calculated based on the distance from the obstacle closest to the parking space entrance corner point to the corresponding side fisheye. When a real-time confidence level higher than a second preset confidence level exists among the real-time confidence levels of the parking space corner points and the obstacles closest to the entrance corner point of the parking space, the parking space corner point or obstacle corresponding to the real-time confidence level higher than the second preset confidence level is selected as the second reference object; performing a real-time comparison of the reference object coordinates currently tracked and recorded for the second reference object with the reference object coordinates tracked and recorded during the parking space search phase; According to the real-time comparison result, the real-time positioning deviation of the second reference object is determined, and the horizontal and vertical coordinates of the vehicle are corrected in real time according to the real-time positioning deviation of the second reference object.

5. The method according to claim 4, characterized in that Also includes: After planning the parking path, defining a first sub-stage, a second sub-stage, and a third sub-stage of the parking process; wherein the first sub-stage is the stage in which the vehicle backs up for the first time, the second sub-stage is the stage in which the vehicle moves forward to straighten the vehicle body, and the third sub-stage is the stage in which the vehicle backs up into the parking space; Determining the sub-stage of the parking process based on vehicle motion information during the parking process; Correspondingly, before determining the real-time rotation amount of the parking coordinate system based on the real-time lane heading deviation of the first reference object, the method further includes: If the parking process is in the first sub-stage or the second sub-stage, determining whether the real-time lane heading deviation is greater than a first direction deviation threshold; if the real-time lane heading deviation is greater than the first direction deviation threshold, determining the real-time rotation amount of the parking coordinate system based on the real-time lane heading deviation of the first reference object; If the parking process is in the third sub-stage, determining whether the real-time lane heading deviation exceeds a second direction deviation threshold; if the real-time lane heading deviation exceeds the second direction deviation threshold, determining the real-time rotation amount of the parking coordinate system based on the real-time lane heading deviation of the first reference object; wherein the second direction deviation threshold is less than the first direction deviation threshold; And / or, correspondingly, before performing real-time error correction on the horizontal and vertical coordinates of the vehicle according to the real-time positioning deviation of the second reference object, the method further includes: If the parking process is in the first sub-stage or the second sub-stage, determining whether the real-time positioning deviation of the second reference object is greater than a first position deviation threshold; if the real-time positioning deviation of the second reference object is greater than the first position deviation threshold, correcting the horizontal and vertical coordinates of the vehicle according to the real-time positioning deviation of the second reference object; If the parking process is in the third sub-stage, it is determined whether the real-time positioning deviation of the second reference object is higher than a second position deviation threshold; if the real-time positioning deviation of the second reference object is higher than the second position deviation threshold, the horizontal and vertical coordinates of the vehicle are corrected according to the real-time positioning deviation of the second reference object; wherein the second position deviation threshold is lower than the first position deviation threshold.

6. The method according to claim 4, characterized in that The relationship between the real-time confidence of the lane line and the first distance conforms to a linear relationship or a normal distribution relationship; the smaller the first distance, the greater the real-time confidence of the lane line; the first distance is the distance between the lane line and the line connecting the left and right fisheyes; And / or, the relationship between the real-time confidence level of each parking space corner point and the second distance conforms to a linear relationship or a normal distribution relationship; the smaller the second distance, the greater the real-time confidence level corresponding to the parking space corner point; the second distance is the distance between the parking space corner point and the corresponding side fisheye; And / or, the relationship between the real-time confidence of the obstacle closest to the entrance corner point of the parking space and the third distance conforms to a linear relationship or a normal distribution relationship; the smaller the third distance, the greater the real-time confidence corresponding to the obstacle closest to the entrance corner point of the parking space; the third distance is the distance between the obstacle closest to the entrance corner point of the parking space and the corresponding side fisheye.

7. A vehicle positioning error correction device in automatic parking, characterized in that: include: a first determining module, configured to enter a parking space search phase upon receiving an automatic parking request, and determine a global coordinate system based on an initial positioning of the vehicle when entering the parking space search phase; a parking space search module, configured to track and record the environmental perception data in the global coordinate system in real time during the parking space search phase, determine each parking space in the search environment based on the environmental perception data in the global coordinate system, and display each parking space on the vehicle screen; a second determining module, configured to enter a vehicle parking phase after the user selects a target parking space from among the parking spaces displayed on the vehicle screen, and determine a parking coordinate system according to the target parking space; a path planning module, configured to convert the environmental perception data in the global coordinate system tracked and recorded during the parking space search phase into the parking coordinate system, and plan a parking path based on the environmental perception data converted into the parking coordinate system; an automatic parking module, configured to automatically park the vehicle according to the parking path and to track and record the environmental perception data in the parking coordinate system in real time during the parking process; a positioning correction module, configured to determine a real-time deviation of at least one reference object based on environmental perception data in the parking coordinate system, and perform error correction on the real-time positioning of the vehicle based on the real-time deviation of the at least one reference object; the environmental perception data including lane line information; calculate a real-time confidence level of the lane line based on the currently tracked and recorded lane line information; and select the lane line as a first reference object when the real-time confidence level of the lane line is higher than a first preset confidence level; performing a real-time comparison of the lane heading currently tracked and recorded for the first reference object with the lane heading tracked and recorded during the parking space search phase; Based on the real-time comparison result, the real-time deviation of the lane line heading of the first reference object is determined; the real-time rotation amount of the parking coordinate system is determined based on the real-time deviation of the lane line heading of the first reference object, and the real-time error correction of the vehicle heading is performed based on the real-time rotation amount of the parking coordinate system.

8. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed in a computer, the computer is caused to execute the method according to any one of claims 1 to 6.

9. A computing device, characterized in that The method comprises a memory and a processor, wherein the memory stores executable code, and when the processor executes the executable code, the method according to any one of claims 1 to 6 is implemented.

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