Method, device, medium, and equipment for determining steering wheel request direction in automatic parking

Abstract

The present invention relates to the field of computer models, and discloses a method, device, medium, and equipment for determining the requested steering wheel direction in automatic parking. The method comprises: obtaining a desired arc trajectory of a vehicle; determining a first point and a second point on the desired arc trajectory; determining the left-right relative relationship between the vehicle and the desired arc trajectory based on the first point and the second point; if it is determined based on the left-right relative relationship that the vehicle is not on the desired arc trajectory, determining the inside-outside relative relationship between the vehicle and the desired arc trajectory based on the left-right relative relationship and the curvature of the second point; determining the requested steering wheel direction of the vehicle in the desired direction of movement of the vehicle based on the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship. The present invention ensures path tracking accuracy, effectively reduces the number of parking maneuvers, improves parking efficiency, and avoids the problem of abnormal back-steering during switching.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic parking, and in particular to a method, device, medium, and equipment for determining a steering wheel request direction in automatic parking. Background Art

[0002] In automated parking lateral position trajectory tracking, the front-end processing must first calculate the steering wheel or front wheel angle. Traditional methods simply confirm left or right steering based on the positive or negative x or y coordinates of the vehicle and trajectory information in the Cartesian coordinate system. However, this presents the following problems: 1. If only x or y coordinates are used for calculation, the lateral error is inaccurate. For example, as the vehicle's position changes, from being close to the x-axis to close to the y-axis, the lateral error calculation should switch from y-coordinate calculation to x-coordinate calculation. Using only one axis for calculation will introduce significant errors, resulting in poor trajectory tracking and steady-state deviation. Furthermore, if x and y axis switching logic is used, there is a potential risk of incorrect steering wheel reversal at the moment of switching when the switching conditions are met. This can ultimately lead to a complete reversal of the instantaneous trajectory tracking and the need for replanning, increasing the number of automated parking maneuvers and reducing parking efficiency. 2. Traditional methods use only a single sign of the coordinate deviation to determine the steering direction. This results in the inability to calculate the correct steering wheel request when reverse feedback correction is required due to the uniform sign of the deviation within the same area. This leads to poor lateral coordinate trajectory tracking, affecting the final parking posture and failing to meet customer needs. Summary of the Invention

[0003] In order to solve at least one of the above technical problems, the present invention provides a method, device, medium, and equipment for determining a steering wheel request direction in automatic parking.

[0004] According to a first aspect, an embodiment of the present invention provides a method for determining a steering wheel requested direction in automatic parking, comprising:

[0005] Obtaining the desired arc trajectory of the vehicle;

[0006] Determining a first point and a second point on the desired arc trajectory; wherein the first point is the point on the desired arc trajectory that is closest to the vehicle, and the second point is the next point on the desired arc trajectory to the first point;

[0007] determining a left-right relative relationship between the vehicle and the desired arc-shaped trajectory based on the first point and the second point;

[0008] If it is determined based on the left-right relative relationship that the vehicle is not located on the expected arc trajectory, determining an inside-outside relative relationship between the vehicle and the expected arc trajectory based on the left-right relative relationship and the curvature of the second point;

[0009] A steering wheel request direction of the vehicle in a desired vehicle movement direction is determined according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc.

[0010] In one embodiment, determining the left-right relative relationship between the vehicle and the expected arc-shaped trajectory based on the first point and the second point includes: determining the left-right relative relationship between the vehicle and the expected arc-shaped trajectory in a default movement direction of the vehicle based on the first point and the second point;

[0011] Correspondingly, determining the requested steering wheel direction of the vehicle in the desired direction of movement of the vehicle based on the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc includes:

[0012] determining a requested steering wheel direction of the vehicle in the default direction of motion of the vehicle based on the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc;

[0013] Determining whether the desired movement direction of the vehicle is consistent with the default movement direction of the vehicle;

[0014] If yes, taking the steering wheel requested direction of the vehicle in the default vehicle movement direction as the steering wheel requested direction of the vehicle in the desired vehicle movement direction;

[0015] Otherwise, the opposite direction of the steering wheel request direction of the vehicle in the default vehicle movement direction is used as the steering wheel request direction of the vehicle in the desired vehicle movement direction.

[0016] In one embodiment, the default moving direction of the vehicle is forward; correspondingly, determining the left-right relative relationship between the vehicle and the expected arc trajectory in the default moving direction of the vehicle based on the first point and the second point includes:

[0017] Determine a first vector and a second vector based on the first point and the second point; wherein the first vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the first point, and the second vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the second point;

[0018] Performing a cross product calculation on the first vector and the second vector to obtain a cross product result;

[0019] In the default movement direction of the vehicle, if the fork product result is greater than a first near-zero preset value, the vehicle is located on the left side of the expected arc trajectory; if the fork product result is less than the negative value of the first near-zero preset value, the vehicle is located on the right side of the expected arc trajectory; if the fork product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, the vehicle is located on the expected arc trajectory; wherein, the first near-zero preset value is greater than 0.

[0020] In one embodiment, determining the arc inner-outer relative relationship between the vehicle and the expected arc trajectory based on the left-right relative relationship and the curvature of the second point includes at least one of the following:

[0021] When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory;

[0022] When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is less than a negative value of a second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0023] When the vehicle is located on the right side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0024] In the default moving direction of the vehicle, when the vehicle is located on the right side of the expected arc-shaped trajectory, if the curvature is less than the negative value of a second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory.

[0025] In one embodiment, determining the requested steering wheel direction of the vehicle in the default vehicle movement direction based on the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc includes at least one of the following:

[0026] If the curvature is greater than the second near-zero preset value and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn left;

[0027] If the curvature is greater than the second near-zero preset value and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn right;

[0028] If the curvature is less than the negative value of the second near-zero preset value and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn right;

[0029] If the curvature is less than the negative value of the second near-zero preset value and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn left;

[0030] If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the left side of the expected arc-shaped trajectory, then the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn right;

[0031] If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the right side of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn left.

[0032] In one embodiment, the method further comprises: if the vehicle is located on the desired arc trajectory, not steering the vehicle.

[0033] In one embodiment, determining the left-right relative relationship between the vehicle and the expected arc trajectory based on the first point and the second point includes: determining the left-right relative relationship between the vehicle and the expected arc trajectory in the expected movement direction of the vehicle based on the first point and the second point.

[0034] According to a second aspect, an embodiment of the present invention provides a device for determining a steering wheel request direction in automatic parking, comprising:

[0035] A trajectory acquisition module, used to obtain the desired arc trajectory of the vehicle;

[0036] a two-point determination module, configured to determine a first point and a second point on the desired arc-shaped trajectory; wherein the first point is the point on the desired arc-shaped trajectory that is closest to the vehicle, and the second point is the next point to the first point on the desired arc-shaped trajectory;

[0037] a left-right determination module, configured to determine a left-right relative relationship between the vehicle and the desired arc-shaped trajectory based on the first point and the second point;

[0038] an inside-outside determination module configured to determine an inside-outside relative relationship between the vehicle and the expected arc trajectory based on the left-right relative relationship and the curvature of the second point if it is determined that the vehicle is not located on the expected arc trajectory based on the left-right relative relationship;

[0039] The direction determination module is used to determine the steering wheel request direction of the vehicle in the expected direction of movement of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc.

[0040] According to a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed in a computer, the computer is caused to execute the method provided in the first aspect.

[0041] According to a fourth aspect, an embodiment of the present invention provides a computing device including a memory and a processor, wherein the memory stores executable code, and when the processor executes the executable code, the method provided in the first aspect is implemented.

[0042] The embodiments of the present invention have the following technical effects: first, a desired arc trajectory of a vehicle is obtained; then, the closest point to the vehicle and the next point to the first point on the desired arc trajectory are found to obtain a first point and a second point. Then, based on these two points, the left-right relative relationship between the vehicle and the desired arc trajectory is determined. If the vehicle is not on the desired arc trajectory, the inside-outside relative relationship between the vehicle and the desired arc trajectory is determined based on the left-right relative relationship and the curvature of the second point. Furthermore, the requested steering wheel direction of the vehicle in the desired direction of motion is determined based on the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship. As can be seen, in the embodiments of the present invention, the requested steering wheel direction is determined based on the left-right relative relationship, the inside-outside relative relationship, and other factors between the vehicle and the desired arc trajectory, and is independent of the region in which the vehicle's actual position is located. Therefore, even within the same region, the requested steering wheel direction can be accurately calculated due to changes in the inside-outside relative relationship. Compared to traditional methods that determine the desired steering direction based solely on the positive or negative sign of a single coordinate deviation, the embodiments of the present invention can avoid the errors caused by single-axis calculation, namely, reducing lateral error and steady-state deviation, ensuring path tracking accuracy, effectively reducing the number of parking maneuvers, and improving parking efficiency. Furthermore, since the embodiment of the present invention does not use only the x-axis or y-axis coordinates for calculation, there is no need to switch from one axis to another, and thus the problem of abnormal reverse printing during switching will not occur. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 is a flow chart of a method for determining a steering wheel request direction in automatic parking according to one embodiment of the present invention;

[0045] Figure 2 is a schematic diagram of an embodiment of the present invention in which a vehicle is located outside an arc of a desired arc trajectory when moving forward;

[0046] Figure 3 is a schematic diagram of an embodiment of the present invention in which a vehicle is located inside an arc of a desired arc trajectory when moving forward;

[0047] Figure 4 is a schematic diagram of an embodiment of the present invention in which a vehicle is located outside an arc of a desired arc trajectory when reversing;

[0048] Figure 5 is a schematic diagram of an embodiment of the present invention in which a vehicle is located inside an arc of a desired arc trajectory when reversing;

[0049] Figure 6 1 is a structural block diagram of a device for determining a steering wheel request direction in automatic parking according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention are described clearly and completely below. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0051] In a first aspect, an embodiment of the present invention provides a method for determining a steering wheel request direction in automatic parking, see Figure 1 The method includes the following steps S110 to S150:

[0052] S110, obtaining a desired arc trajectory of the vehicle;

[0053] The expected arc trajectory refers to the vehicle's expected trajectory. This trajectory is arc-shaped, hence the name. The expected arc trajectory consists of multiple discrete points. The first and second points mentioned below are two of these discrete points. Each of these discrete points has a unique number. The expected arc trajectory has a direction, and the numbers of the discrete points are sorted from smallest to largest along the direction of the expected arc trajectory.

[0054] S120, determining a first point and a second point on the desired arc trajectory; wherein the first point is the point on the desired arc trajectory closest to the vehicle, and the second point is the next point on the desired arc trajectory to the first point;

[0055] In actual scenarios, the coordinates of the points in the embodiments of the present invention may be coordinates in a Cartesian coordinate system or in a Frenet coordinate system, where the Frenet coordinate system is a tangential-normal coordinate system.

[0056] For example, in the pre-processing of the lateral coordinate deviation feedback control, the expected arc trajectory includes multiple discrete points in the Cartesian coordinate system, and the i-th discrete point is recorded as (x i ,y i ), i = 0, 1, 2..., the coordinates of the vehicle are [actPt.X, actPt.Y], and the square of the distance between the vehicle and the i-th discrete point in the desired arc trajectory is: (actPt.Xx i ) 2 +(actPt.Yy i ) 2 This method calculates the distance between the vehicle and each discrete point on the desired arc. By comparing the distances, we find the discrete point with the smallest distance, point a. The coordinates of point a are labeled (vecAEndPt.X, vecAEndPt.Y). The next numbered point on the desired arc is point b, and its coordinates are labeled (vecBEndPt.X, vecBEndPt.Y).

[0057] When the vehicle is moving forward and is located outside the arc of the desired arc trajectory, the schematic diagram of the first point a and the second point b is shown in FIG. Figure 2 When the vehicle is moving forward and is located inside the arc of the desired arc trajectory, the first point a and the second point b are shown in FIG. Figure 3 When the vehicle is moving backward and is outside the arc of the desired arc trajectory, the first point a and the second point b are shown in FIG. Figure 4 When the vehicle is moving backward and is located inside the desired arc trajectory, the first point a and the second point b are shown in the diagram. Figure 5 .

[0058] S130, determining a left-right relative relationship between the vehicle and the expected arc-shaped trajectory based on the first point and the second point;

[0059] The left-right relative relationship refers to whether the vehicle is located on the left side, right side, or on the expected arc trajectory, that is, it reflects the left-right relative relationship between the vehicle and the expected arc trajectory.

[0060] It can be seen that the left-right relative relationship between the vehicle and the desired arc trajectory can be determined based on the two points determined in S120 .

[0061] S140: If it is determined based on the left-right relative relationship that the vehicle is not located on the expected arc trajectory, determining an inside-outside relative relationship between the vehicle and the expected arc trajectory based on the left-right relative relationship and the curvature of the second point;

[0062] The so-called relative relationship between inside and outside the arc refers to whether the vehicle is located on the inside or outside of the arc of the desired arc trajectory.

[0063] That is, if the left-right relative relationship obtained in S130 indicates that the vehicle is located on the left or right side of the desired arc trajectory, then it is necessary to further determine the inside-outside relative relationship of the vehicle with respect to the desired arc trajectory. The process of determining the inside-outside relative relationship is based on the left-right relative relationship obtained in S130 and the curvature of the second point.

[0064] S150: Determine a requested steering wheel direction of the vehicle in a desired direction of movement of the vehicle based on the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc.

[0065] The desired movement direction of the vehicle is the direction in which the vehicle is expected to move, which may be forward or backward.

[0066] That is to say, based on the curvature of the second point, the left-right relative relationship obtained in S130, and the inside-outside relative relationship of the arc obtained in S140, the steering wheel request direction of the vehicle in the desired direction of movement of the vehicle can be obtained, that is, it can be known whether the steering wheel needs to be turned left or right.

[0067] It can be seen that in the embodiment of the present invention, the requested direction of the steering wheel is determined based on the left-right relative relationship between the vehicle and the desired arc trajectory, the relative relationship between the inside and outside of the arc, etc., and has nothing to do with the area where the actual posture of the vehicle is located. Therefore, even in the same area, the requested direction of the steering wheel can be correctly calculated due to the change in the relative relationship between the inside and outside of the arc. Compared with the traditional method of determining the direction in which the steering wheel needs to be turned only by the positive and negative deviation of a single coordinate, the embodiment of the present invention can avoid the error caused by the use of single-axis calculation, that is, reduce lateral errors, reduce steady-state deviations, ensure path tracking accuracy, effectively reduce the number of parking times, and improve parking efficiency. In addition, since the embodiment of the present invention does not only use the coordinates of the x-axis or y-axis for calculation, there is no need to switch from one axis to another, so there will be no problem of abnormal reverse steering during switching.

[0068] In actual scenarios, there are two implementation methods:

[0069] (1) The left-right relative relationship determined in S130 is the left-right relative relationship under the default direction of motion of the vehicle. Thus, the arc inside-outside relative relationship determined in S140 is also the arc inside-outside relative relationship under the default direction of motion of the vehicle. Therefore, in S150, the steering wheel request direction under the default direction of motion of the vehicle is first determined based on the left-right relative relationship and the arc inside-outside relative relationship under the default direction of motion of the vehicle, and then the steering wheel request direction under the desired direction of motion of the vehicle is determined. Among them, the default direction of motion of the vehicle is the direction extracted and specified, and the default direction of motion of the vehicle usually does not change. For example, forward is specified as the default direction of motion of the vehicle. Of course, backward can also be specified as the default direction of motion of the vehicle.

[0070] (2) The left-right relative relationship in the desired direction of movement of the vehicle is directly determined in S130. Thus, the inside-outside relative relationship of the arc determined in S140 is also the inside-outside relative relationship of the arc in the desired direction of movement of the vehicle. Therefore, the steering wheel request direction in the desired direction of movement of the vehicle is directly obtained in S150.

[0071] Based on the above implementation (1), in one embodiment, determining the left-right relative relationship between the vehicle and the expected arc-shaped trajectory based on the first point and the second point in S130 may include S131:

[0072] S131. Determine, based on the first point and the second point, a left-right relative relationship between the vehicle and the expected arc-shaped trajectory in a default moving direction of the vehicle;

[0073] Correspondingly, determining the requested steering wheel direction of the vehicle in the desired direction of movement of the vehicle based on the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc in S150 may include S151 to S154:

[0074] S151: Determine a requested steering wheel direction of the vehicle in the default vehicle movement direction based on the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc;

[0075] S152: Determine whether the desired movement direction of the vehicle is consistent with the default movement direction of the vehicle;

[0076] S153: If yes, using the steering wheel requested direction of the vehicle in the default vehicle movement direction as the steering wheel requested direction of the vehicle in the desired vehicle movement direction;

[0077] S154: Otherwise, take the opposite direction of the steering wheel request direction of the vehicle in the default vehicle movement direction as the steering wheel request direction of the vehicle in the desired vehicle movement direction.

[0078] It can be seen that what is determined in S130 is the left-right relative relationship under the vehicle's default direction of motion, and then after executing S140, the relative relationship between the inside and outside of the arc under the vehicle's default direction of motion is obtained. For this reason, in S150, the steering wheel request direction under the vehicle's default direction of motion is first determined, and then a determination is made as to whether the vehicle's default direction of motion and the vehicle's desired direction of motion are consistent. If they are consistent, the steering wheel request direction under the vehicle's default direction of motion is directly used as the steering wheel request direction under the vehicle's desired direction of motion. If they are inconsistent, it means that the vehicle's default direction of motion and the vehicle's desired direction of motion are opposite. In this case, the opposite direction of the steering wheel request direction under the vehicle's default direction of motion is used as the steering wheel request direction under the vehicle's desired direction of motion. For example, if the steering wheel request direction under the vehicle's default direction of motion is to turn left, then the steering wheel request direction under the vehicle's desired direction of motion is to turn right.

[0079] The advantage of achieving this in this way is that each time the lateral coordinate deviation feedback control pre-processing is required, the left-right relative relationship determination rules in S130 are the same. Therefore, it is only necessary to set up a set of left-right relative relationship determination rules for the case of the vehicle's default movement direction, and there is no need to set up separate left-right relative relationship determination rules for forward and backward. Finally, it is only necessary to process the steering wheel request in the opposite direction in S150 when the vehicle's default movement direction and the vehicle's expected movement direction are inconsistent.

[0080] In one embodiment, taking the default moving direction of the vehicle as forward as an example, determining the left-right relative relationship between the vehicle and the expected arc trajectory in the default moving direction of the vehicle based on the first point and the second point in S131 may include the following steps S131a to S131c:

[0081] S131a. Determine a first vector and a second vector based on the first point and the second point; wherein the first vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the first point, and the second vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the second point;

[0082] For example, see Figures 2 to 5 , the first vector A and the second vector B constructed based on the first point a and the second point b mentioned above are:

[0083] First vector A: [(vecAEndPt.X-actPt.X), (vecAEndPt.Y-actPt.Y)];

[0084] Second vector B: [(vecBEndPt.X-actPt.X), (vecBEndPt.Y-actPt.Y)].

[0085] It can be seen that the first vector A is the vector formed by the vehicle pointing to the first point a, and the vector B is the vector formed by the vehicle pointing to the second point b.

[0086] S131b, performing a cross product calculation on the first vector and the second vector to obtain a cross product result;

[0087] For example, the cross product calculation process is:

[0088] crossProd = (vecAEndPt.X - actPt.X)*(vecBEndPt.Y - actPt.Y) - (vecAEndPt.Y - actPt.Y)*(vecBEndPt.X - actPt.X); where crossProd is the cross product result.

[0089] S131c. In the default movement direction of the vehicle, if the fork product result is greater than a first near-zero preset value, the vehicle is located on the left side of the expected arc-shaped trajectory; if the fork product result is less than the negative value of the first near-zero preset value, the vehicle is located on the right side of the expected arc-shaped trajectory; if the fork product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, the vehicle is located on the expected arc-shaped trajectory; wherein, the first near-zero preset value is greater than 0.

[0090] The first near-zero preset value is a value close to 0, which can be set as needed, for example, 1*10 -6 .

[0091] If the cross product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, it indicates that the cross product result is close to 0. If the cross product result is greater than the first near-zero preset value, it can be approximately considered that the cross product result is positive. If the cross product result is less than the negative value of the first near-zero preset value, it can be approximately considered that the cross product result is negative.

[0092] As can be seen, in the vehicle's default motion direction, if the cross product result is approximately positive, it means the vehicle is on the left side of the desired arc trajectory; if the cross product result is approximately negative, it means the vehicle is on the right side of the desired arc trajectory; if the cross product result is close to 0, it means the vehicle is on the desired arc trajectory. It can be seen that the cross product result can reflect the left-right relative relationship between the vehicle and the desired arc trajectory.

[0093] Among them, S131c provides a set of rules for determining the left-right relative relationship under the vehicle's default movement direction, and the vehicle's default movement direction is forward.

[0094] In one embodiment, determining the arc inner and outer relative relationship between the vehicle and the expected arc trajectory based on the left-right relative relationship and the curvature of the second point in S140 includes at least one of the following four items:

[0095] (1) In the default moving direction of the vehicle, when the vehicle is located on the left side of the expected arc-shaped trajectory, if the curvature is greater than a second near-zero preset value, the vehicle is located on the inner side of the arc of the expected arc-shaped trajectory;

[0096] (2) in the default moving direction of the vehicle, when the vehicle is located on the left side of the expected arc-shaped trajectory, if the curvature is less than the negative value of the second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0097] (3) in the default moving direction of the vehicle, when the vehicle is located on the right side of the expected arc-shaped trajectory, if the curvature is greater than a second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0098] (4) In the default movement direction of the vehicle, when the vehicle is located on the right side of the expected arc trajectory, if the curvature is less than the negative value of the second near-zero preset value, the vehicle is located on the inner side of the arc of the expected arc trajectory.

[0099] In the definition of curvature, it is considered that hitting to the left is positive and hitting to the right is negative.

[0100] The second near-zero preset value is a value close to 0, which can be set as needed, for example, 1*10 -6 .

[0101] Among them, if the curvature is less than the negative value of the second near-zero preset value, the curvature is approximately considered to be a negative value; if the curvature is greater than the second near-zero preset value, the curvature is approximately considered to be a positive value; if the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, the curvature is considered to be close to 0.

[0102] In actual scenarios, when the vehicle is on the right side of the expected curved trajectory, if the curvature of the second point is close to 0, the vehicle is still considered to be on the right side of the expected curved trajectory. When the vehicle is on the left side of the expected curved trajectory, if the curvature of the second point is close to 0, the vehicle is still considered to be on the left side of the expected curved trajectory.

[0103] As can be seen, the above four items provide S140 with a set of rules for determining the relative relationship between the inside and outside of the arc in the vehicle's default direction of motion, which is forward. In practice, if the vehicle's default direction of motion is reverse, then S140 can also use the above rules for determining the relative relationship between the inside and outside of the arc. That is, the above rules for determining the relative relationship between the inside and outside of the arc apply to both directions.

[0104] In one embodiment, determining the requested steering wheel direction of the vehicle in the default vehicle movement direction according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc in S151 may include at least one of the following six items:

[0105] (1) If the curvature is greater than the second near-zero preset value and the vehicle is located inside the arc of the desired arc trajectory, the steering wheel request direction of the vehicle in the default vehicle motion direction is to turn left;

[0106] (2) if the curvature is greater than the second near-zero preset value and the vehicle is located outside the arc of the desired arc trajectory, the steering wheel request direction of the vehicle in the default vehicle motion direction is to turn right;

[0107] That is, based on (1) and (2) above, when the curvature at the second point is approximately considered to be a positive value, if the vehicle is on the inner side of the arc of the desired arc trajectory, the steering wheel request direction under the default movement direction of the vehicle is to turn left; if the vehicle is on the outer side of the arc of the desired arc trajectory, the steering wheel request direction under the default movement direction of the vehicle is to turn right.

[0108] (3) if the curvature is less than the negative value of the second near-zero preset value and the vehicle is located outside the arc of the desired arc trajectory, the steering wheel request direction of the vehicle in the default vehicle motion direction is to turn right;

[0109] (4) if the curvature is less than the negative value of the second near-zero preset value and the vehicle is located inside the arc of the desired arc trajectory, the steering wheel request direction of the vehicle in the default vehicle motion direction is to turn left;

[0110] That is, based on (3) and (4) above, when the curvature at the second point is approximately considered to be a negative value, if the vehicle is on the outside of the arc of the desired arc trajectory, the steering wheel request direction under the default movement direction of the vehicle is to turn right; if the vehicle is on the inside of the arc of the desired arc trajectory, the steering wheel request direction under the default movement direction of the vehicle is to turn left.

[0111] (5) If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the left side of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn right;

[0112] (6) If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the right side of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn left.

[0113] That is, based on (5) and (6) above, when the curvature of the second point is close to 0, if the vehicle is on the left side of the desired arc trajectory, the steering wheel request direction under the vehicle's default motion direction is to turn right; if the vehicle is on the right side of the desired arc trajectory, the steering wheel request direction under the vehicle's default motion direction is to turn left.

[0114] As can be seen, the above six items provide a set of rules for determining the requested steering wheel direction in S151 based on the vehicle's default direction of motion, which is forward. In practice, if the vehicle's default direction of motion is reverse, then the requested steering wheel direction can also be determined in S151 according to the above rules. In other words, the above rules apply to both directions.

[0115] In one embodiment, the method may further include: if the vehicle is located on the desired arc trajectory, not steering the vehicle.

[0116] It can be seen that if the vehicle is on the desired arc trajectory, then there is no need to adjust the direction at this time.

[0117] In one embodiment, based on the above implementation method (2), determining the left-right relative relationship between the vehicle and the expected arc trajectory based on the first point and the second point in S130 may include: determining the left-right relative relationship between the vehicle and the expected arc trajectory in the expected movement direction of the vehicle based on the first point and the second point.

[0118] It can be seen that the left-right relative relationship in the desired direction of movement of the vehicle is directly determined in S130, and then the inside-outside relative relationship of the arc determined in S140 is also the inside-outside relative relationship of the arc in the desired direction of movement of the vehicle. Therefore, the steering wheel request direction in the desired direction of movement of the vehicle is directly obtained in S150.

[0119] Among them, if the vehicle's expected movement direction is consistent with the vehicle's default movement direction, then the left-right relative relationship determination rule used in S130 is the same as the left-right relative relationship determination rule provided in S131c. If they are inconsistent, then the left-right relative relationship determination rule used in S130 is opposite to the left-right relative relationship determination rule provided in S131c. For example, for backward movement: if the cross product result is less than the negative value of the first near-zero preset value, then the vehicle is located on the left side of the expected arc trajectory; if the cross product result is greater than the first near-zero preset value, then the vehicle is located on the right side of the expected arc trajectory; if the cross product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, then the vehicle is located on the expected arc trajectory. It can be seen that the left-right relative relationship determination rules are different for the two directions of forward movement and backward movement.

[0120] The benefit of implementing method (2) is that although two sets of left-right relative relationship determination rules need to be set for forward and reverse in S130, the final steering wheel request direction can be directly obtained in S150, and there is no need to perform consistency judgment between the vehicle's default movement direction and the vehicle's expected movement direction, thereby reducing the number of steps.

[0121] When using traditional means, the steering wheel of the vehicle will reverse for a period of time. This is caused by the change in the sign of the lateral deviation calculation during the change of the vehicle heading. If the method provided by the embodiment of the present invention is adopted, the angle of the steering wheel request direction will rise smoothly, and there will be no reverse problem. It can be seen that the embodiment of the present invention ensures that the steering wheel will not reverse abnormally when switching. Moreover, the steering wheel request direction is determined based on the left-right relative relationship between the vehicle and the desired arc trajectory, the relative relationship between the inside and outside of the arc, etc., and has nothing to do with the area where the actual posture of the vehicle is located. It can be seen that even in the same area, the steering wheel request direction can be correctly calculated due to the change in the relative relationship between the inside and outside of the arc, which can ensure the path tracking accuracy, effectively reduce the number of parking times, and improve parking efficiency.

[0122] In a second aspect, an embodiment of the present invention provides a device for determining a steering wheel request direction in automatic parking, see Figure 6 , the device 100 includes:

[0123] The trajectory acquisition module 110 is used to obtain the desired arc trajectory of the vehicle;

[0124] a two-point determination module 120 configured to determine a first point and a second point on the desired arc-shaped trajectory; wherein the first point is the point on the desired arc-shaped trajectory closest to the vehicle, and the second point is the next point on the desired arc-shaped trajectory to the first point;

[0125] a left-right determination module 130 for determining a left-right relative relationship between the vehicle and the desired arc-shaped trajectory based on the first point and the second point;

[0126] an inside-outside determination module 140 for determining an inside-outside relative relationship between the vehicle and the expected arc trajectory based on the left-right relative relationship and the curvature of the second point if it is determined that the vehicle is not on the expected arc trajectory based on the left-right relative relationship;

[0127] The direction determination module 150 is configured to determine a steering wheel request direction of the vehicle in a desired vehicle movement direction according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc.

[0128] In one embodiment, the left and right determination module includes:

[0129] a first determining unit, configured to determine, based on the first point and the second point, a left-right relative relationship between the vehicle and the expected arc-shaped trajectory in a default moving direction of the vehicle;

[0130] Correspondingly, the direction determination module includes:

[0131] a second determining unit, configured to determine a requested steering wheel direction of the vehicle in the default vehicle movement direction according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc;

[0132] A consistency judgment unit is used to judge whether the vehicle's expected movement direction is consistent with the vehicle's default movement direction; if so, the steering wheel request direction of the vehicle in the vehicle's default movement direction is used as the steering wheel request direction of the vehicle in the vehicle's expected movement direction; otherwise, the opposite direction of the steering wheel request direction of the vehicle in the vehicle's default movement direction is used as the steering wheel request direction of the vehicle in the vehicle's expected movement direction.

[0133] In one embodiment, the default moving direction of the vehicle is forward;

[0134] Correspondingly, the first determining unit is specifically configured to perform the following steps:

[0135] Determine a first vector and a second vector based on the first point and the second point; wherein the first vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the first point, and the second vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the second point;

[0136] Performing a cross product calculation on the first vector and the second vector to obtain a cross product result;

[0137] In the default movement direction of the vehicle, if the fork product result is greater than a first near-zero preset value, the vehicle is located on the left side of the expected arc trajectory; if the fork product result is less than the negative value of the first near-zero preset value, the vehicle is located on the right side of the expected arc trajectory; if the fork product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, the vehicle is located on the expected arc trajectory; wherein, the first near-zero preset value is greater than 0.

[0138] In one embodiment, the left and right determination module is specifically configured to perform at least one of the following:

[0139] When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory;

[0140] When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is less than a negative value of a second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0141] When the vehicle is located on the right side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory;

[0142] In the default moving direction of the vehicle, when the vehicle is located on the right side of the expected arc-shaped trajectory, if the curvature is less than the negative value of a second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory.

[0143] In one embodiment, the direction determination module is specifically configured to perform at least one of the following:

[0144] If the curvature is greater than the second near-zero preset value and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn left;

[0145] If the curvature is greater than the second near-zero preset value and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn right;

[0146] If the curvature is less than the negative value of the second near-zero preset value and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn right;

[0147] If the curvature is less than the negative value of the second near-zero preset value and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn left;

[0148] If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the left side of the expected arc-shaped trajectory, then the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn right;

[0149] If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the right side of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn left.

[0150] In one embodiment, the apparatus further comprises:

[0151] The zero output module is configured to not steer the vehicle if the vehicle is on the desired arc trajectory.

[0152] In one embodiment, the left-right determination module is specifically configured to determine, based on the first point and the second point, a left-right relative relationship between the vehicle and the expected arc-shaped trajectory in the expected movement direction of the vehicle.

[0153] It is understandable that the explanation, specific implementation, beneficial effects, examples, etc. of the relevant contents in the device provided by the embodiment of the present invention can be found in the corresponding parts of the method provided in the first aspect, and will not be repeated here.

[0154] In a third aspect, an embodiment of the present invention provides a computer-readable medium having computer instructions stored thereon. When the computer instructions are executed by a processor, the processor executes the method provided in the first aspect.

[0155] Specifically, a system or device equipped with a storage medium can be provided, on which software program codes that implement the functions of any of the above-mentioned embodiments are stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program codes stored in the storage medium.

[0156] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute part of the present invention.

[0157] Examples of storage media for providing program code 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 code can be downloaded from a server computer via a communication network.

[0158] In addition, it should be clear that the functions of any of the above embodiments can be achieved not only by executing the program code read by the computer, but also by enabling the operating system operating on the computer to complete part or all of the actual operations based on the instructions of the program code.

[0159] In addition, it can be understood that the program code read from the storage medium is written into a memory provided in an expansion board inserted into the computer or into a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above embodiments.

[0160] It is understandable that the explanation, specific implementation methods, beneficial effects, examples, etc. of the relevant contents in the computer-readable medium provided in the embodiment of the present invention can be found in the corresponding parts of the method provided in the first aspect, and will not be repeated here.

[0161] In a fourth aspect, an embodiment of this specification provides a computing device, comprising a memory and a processor, wherein the memory stores executable code, and when the processor executes the executable code, it implements the method in any one of the embodiments in the specification.

[0162] It is understandable that the explanation, specific implementation, beneficial effects, examples, etc. of the relevant contents in the computing device provided by the embodiment of the present invention can be found in the corresponding parts of the method provided in the first aspect, and will not be repeated here.

[0163] It should be noted that the terms used in the present invention are only for describing specific embodiments and are not intended to limit the scope of this application. As shown in the present specification and claims, unless the context clearly indicates an exception, the words "one", "an", "a kind of" and / or "the" do not specifically refer to the singular, but may also include the plural. The terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method or device comprising a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements that are inherent to such process, method or device. In the absence of further restrictions, the elements defined by the sentence "comprise a..." do not exclude the presence of other identical elements in the process, method or device comprising the elements.

[0164] It should also be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0165] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining a steering wheel request direction in automatic parking, characterized in that: The method comprises: Obtaining the desired arc trajectory of the vehicle; Determining a first point and a second point on the desired arc trajectory; wherein the first point is the point on the desired arc trajectory that is closest to the vehicle, and the second point is the next point on the desired arc trajectory to the first point; determining a left-right relative relationship between the vehicle and the desired arc-shaped trajectory based on the first point and the second point; If it is determined based on the left-right relative relationship that the vehicle is not located on the expected arc trajectory, determining an inside-outside relative relationship between the vehicle and the expected arc trajectory based on the left-right relative relationship and the curvature of the second point; A steering wheel request direction of the vehicle in a desired vehicle movement direction is determined according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc.

2. The method according to claim 1, characterized in that Determining the left-right relative relationship between the vehicle and the expected arc-shaped trajectory based on the first point and the second point includes: determining, based on the first point and the second point, a left-right relative relationship between the vehicle and the expected arc-shaped trajectory in a default moving direction of the vehicle; Correspondingly, determining the requested steering wheel direction of the vehicle in the desired direction of movement of the vehicle based on the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc includes: determining a requested steering wheel direction of the vehicle in the default direction of motion of the vehicle based on the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc; Determining whether the desired movement direction of the vehicle is consistent with the default movement direction of the vehicle; If yes, taking the steering wheel requested direction of the vehicle in the default vehicle movement direction as the steering wheel requested direction of the vehicle in the desired vehicle movement direction; Otherwise, the opposite direction of the steering wheel request direction of the vehicle in the default vehicle movement direction is used as the steering wheel request direction of the vehicle in the desired vehicle movement direction.

3. The method according to claim 2, characterized in that The default movement direction of the vehicle is forward; correspondingly, determining the left-right relative relationship between the vehicle and the expected arc trajectory in the default movement direction of the vehicle based on the first point and the second point includes: Determine a first vector and a second vector based on the first point and the second point; wherein the first vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the first point, and the second vector is a vector formed by the coordinates of the vehicle pointing to the coordinates of the second point; Performing a cross product calculation on the first vector and the second vector to obtain a cross product result; In the default movement direction of the vehicle, if the fork product result is greater than a first near-zero preset value, the vehicle is located on the left side of the expected arc trajectory; if the fork product result is less than the negative value of the first near-zero preset value, the vehicle is located on the right side of the expected arc trajectory; if the fork product result is less than or equal to the first near-zero preset value and greater than or equal to the negative value of the first near-zero preset value, the vehicle is located on the expected arc trajectory; wherein, the first near-zero preset value is greater than 0.

4. The method according to claim 2, characterized in that Determining the arc inner and outer relative relationship between the vehicle and the expected arc trajectory based on the left-right relative relationship and the curvature of the second point includes at least one of the following: When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory; When the vehicle is located on the left side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is less than a negative value of a second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory; When the vehicle is located on the right side of the expected arc-shaped trajectory in the default moving direction of the vehicle, if the curvature is greater than a second near-zero preset value, the vehicle is located outside the arc of the expected arc-shaped trajectory; In the default moving direction of the vehicle, when the vehicle is located on the right side of the expected arc-shaped trajectory, if the curvature is less than the negative value of a second near-zero preset value, the vehicle is located inside the arc of the expected arc-shaped trajectory.

5. The method according to claim 2, characterized in that The determining, based on the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc, of the requested steering wheel direction of the vehicle in the default direction of movement of the vehicle includes at least one of the following: If the curvature is greater than a second near-zero preset value and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn left; If the curvature is greater than the second near-zero preset value and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn right; If the curvature is less than the negative value of the second near-zero preset value and the vehicle is located outside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn right; If the curvature is less than the negative value of the second near-zero preset value and the vehicle is located inside the arc of the expected arc trajectory, the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn left; If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the left side of the expected arc-shaped trajectory, then the steering wheel request direction of the vehicle in the default vehicle movement direction is to turn right; If the curvature is less than or equal to the second near-zero preset value and greater than or equal to the negative value of the second near-zero preset value, and the vehicle is located on the right side of the expected arc trajectory, the steering wheel request direction of the vehicle in the default movement direction of the vehicle is to turn left.

6. The method according to claim 1, characterized in that Also includes: If the vehicle is located on the desired arc trajectory, the steering wheel is not turned.

7. The method according to claim 1, characterized in that Determining the left-right relative relationship between the vehicle and the expected arc-shaped trajectory based on the first point and the second point includes: A left-right relative relationship between the vehicle and the expected arc-shaped trajectory in the expected moving direction of the vehicle is determined based on the first point and the second point.

8. A device for determining a steering wheel request direction in automatic parking, characterized in that: The device comprises: A trajectory acquisition module, used to obtain the desired arc trajectory of the vehicle; a two-point determination module, configured to determine a first point and a second point on the desired arc-shaped trajectory; wherein the first point is the point on the desired arc-shaped trajectory that is closest to the vehicle, and the second point is the next point to the first point on the desired arc-shaped trajectory; a left-right determination module, configured to determine a left-right relative relationship between the vehicle and the desired arc-shaped trajectory based on the first point and the second point; an inside-outside determination module configured to determine an inside-outside relative relationship between the vehicle and the expected arc trajectory based on the left-right relative relationship and the curvature of the second point if it is determined that the vehicle is not located on the expected arc trajectory based on the left-right relative relationship; The direction determination module is used to determine the steering wheel request direction of the vehicle in the expected direction of movement of the vehicle according to the curvature of the second point, the left-right relative relationship, and the inside-outside relative relationship of the arc.

9. 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 7.

10. 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 7 is implemented.

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