Parking method and related device

Abstract

The invention provides a parking method and a related device, and is applied to the technical field of vehicle control. According to the embodiment of the invention, the position information of the first parking space and the surrounding environment information of the first parking space can be obtained, the target parking path of the vehicle is determined according to the information of the current pose point of the vehicle, the position information of the first parking space and the surrounding environment information of the first parking space, and according to the target parking path, the parking space is parked through the multiple motors. And the vehicle is controlled to rotate around the first rotation center at a certain posture point, so that the posture of the vehicle is adjusted, and successful parking is achieved. Therefore, the vehicle can rotate around the first rotation center for position adjustment, the attitude angle of the vehicle can still be adjusted in the scene that the right-front left-rear and left-front right-rear adjustment modes cannot be achieved, the efficiency and safety of automatic parking are effectively improved, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a parking method and related devices. Background Art

[0002] With the advancement of industrial technology and the improvement of people's living standards, cars as a means of transportation play an increasingly important role in people's daily lives, and consumers' demand for cars is also increasing.

[0003] With the advent of the era of intelligent driving, more and more consumers are beginning to consider using smart cars. Automatic parking assistance is a technical method to solve the problem of parking. During the parking process, the movement of traditional vehicles is subject to kinematic constraints and non-holonomic dynamic constraints, which prevents the vehicle from slipping during movement. For example, it cannot achieve instantaneous lateral movement. Front-wheel drive vehicles must rely on the steering of the front wheels to achieve operations such as lane change and steering. They cannot drive too fast on curves, etc.

[0004] A driving path that satisfies kinematic constraints and non-holonomic dynamic constraints often requires a larger space. When users use intelligent driving, if the space is too small to meet the above requirements, it is usually impossible to pre-plan the vehicle's regular driving path, resulting in failure of automatic parking, poor user experience of automatic parking, and low efficiency of automatic parking. Summary of the invention

[0005] The embodiments of the present application provide a parking method and related devices, which can better cope with narrow parking environments, such as parking in dead-end roads and narrow passages. The parking path is divided into three stages: a pre-entry path, a rotation path, and an entry path. This can effectively improve the efficiency of automatic parking and enhance the user experience.

[0006] In a first aspect, an embodiment of the present application provides a parking method, the method being used to control parking of a vehicle, the vehicle comprising a plurality of wheels and a plurality of motors, each of the plurality of wheels being controlled by one of the plurality of motors, the method comprising:

[0007] Acquire location information of a first parking space and surrounding environment information of the first parking space;

[0008] Determine a target parking path of the vehicle according to information of a current posture point of the vehicle, position information of the first parking space, and surrounding environment information of the first parking space, wherein the target parking path includes a conventional driving path and a rotation path, wherein the conventional driving path includes a straight driving path and / or a curved driving path, and the rotation path is a path formed by the vehicle rotating around a first rotation center of the vehicle, wherein the rotation of the vehicle is achieved by the multiple motors controlling the multiple wheels respectively, and the first rotation center is located in a rotatable area formed by connecting the centers of the multiple wheels;

[0009] The vehicle is controlled to park according to the target parking path.

[0010] In the embodiment of the present application, a four-wheel independent steering vehicle is used, and a four-wheel independent steering motor is adopted. The four wheels of the vehicle can be independently controlled. On the basis of supporting the conventional driving path, the rotation path of the vehicle around a certain rotation center of the vehicle (for example, around a single wheel) can be realized, thereby breaking the non-complete kinematic constraints of traditional vehicles, so that the vehicle can effectively drive on a path smaller than the minimum turning radius or even on a discontinuous path, greatly improving the flexibility, passability and mobility of the vehicle, and being able to better cope with narrow parking environments, such as dead-end road scenes and narrow channel scenes.

[0011] Moreover, compared with some automatic parking path methods, this application adopts a combination of conventional path planning, four-motor on-the-spot rotation, rotation around a single wheel of the vehicle and other planning methods, and divides the parking path planning into three stages: pre-entry planning, rotation path and entry planning, which can effectively improve the efficiency of automatic parking and enhance the user experience.

[0012] In a possible implementation of the first aspect, the turning radius of the curved driving path is greater than or equal to the minimum turning radius of the vehicle, and the turning radius of the rotating path is less than the minimum turning radius of the vehicle, and the minimum turning radius is the turning radius of the vehicle when steering control is performed with the front wheels at the maximum turning angle and four wheels turning in the same direction.

[0013] In yet another possible implementation of the first aspect, the surrounding environment information of the first parking space is used to indicate information about obstacles around the first parking space, and the rotation path satisfies: there are no obstacles within the range of the rotation path.

[0014] In another possible implementation of the first aspect, the method further includes:

[0015] determining a parking space for the vehicle according to information about obstacles around the first parking space;

[0016] The first rotation center is determined according to information about the parking space of the vehicle, the size of the vehicle, and the current position point of the vehicle.

[0017] In another possible implementation of the first aspect, the method further includes:

[0018] Determining a position range of an end point of the rotation path according to the parking space of the vehicle and the size of the vehicle, the end point of the rotation path being a position point where a rear axle center of the vehicle is located after rotation;

[0019] Determining the position range of the rotation starting point of the rotation path according to the rotation radius of the rotation path and the position range of the end point of the rotation path, wherein the rotation radius of the rotation path is related to the first rotation center and the size of the vehicle, and the rotation starting point of the rotation path is the position point of the rear axle center before the vehicle rotates;

[0020] Determine a first conventional driving path according to the position range of the rotation starting point of the rotation path and the current posture point of the vehicle, wherein the first conventional driving path is a path formed from the current posture point of the vehicle to the rotation starting point of the rotation path, and the current posture point is the posture point where the current rear axle center of the vehicle is located;

[0021] The rotation path and the second regular driving path are determined, wherein the rotation path is a path formed by the vehicle rotating around the first rotation center and from the rotation starting point to the rotation end point with the rotation radius, and the second regular driving path is a path formed from the end point of the rotation path to a target posture point, and the target posture point is the posture point where the rear axle center of the vehicle is located after the vehicle is parked in the first parking space.

[0022] In yet another possible implementation of the first aspect, determining the first regular driving path according to a position range of a rotation starting point of the rotation path and a current posture point of the vehicle includes:

[0023] Determine a plurality of conventional driving paths according to a position range of a rotation starting point of the rotation path, a position of the current pose point, kinematic constraints, and non-holonomic dynamic constraints;

[0024] The first regular driving path is determined, where the first regular driving path is a regular driving path with the smallest cost among the multiple regular driving paths.

[0025] In yet another possible implementation of the first aspect, the information of the current position point of the vehicle includes a driving direction of the vehicle, and the method further includes:

[0026] When the driving direction of the vehicle is such that the front of the vehicle enters the parking space, the first rotation center is determined to be the first front wheel of the vehicle according to the parking space and the size of the vehicle.

[0027] When the vehicle is traveling in a direction such that the rear end of the vehicle is parked in the parking space, the first rotation center is determined to be the first rear wheel of the vehicle according to the parking space and the size of the vehicle.

[0028] In another possible implementation manner of the first aspect, the first rotation center is the right front wheel of the vehicle.

[0029] The target parking path includes a first pre-parking path, a first rotation path and a first parking path.

[0030] The first pre-warehouse entry path includes a third conventional driving path, the third conventional driving path is a path formed from the current posture point to the first warehouse entry preparation posture point, the first warehouse entry preparation posture point is the posture point where the rear axle center of the vehicle is located before the vehicle rotates,

[0031] The first rotation path is a path formed by the vehicle rotating around the right front wheel of the vehicle at the first storage preparation position with a first rotation radius, and the first rotation radius is related to the wheelbase of the vehicle and the width of the vehicle;

[0032] The first warehousing path includes a fourth regular driving path, which is a path formed from the second warehousing preparation posture point to the target posture point, and the second warehousing preparation posture point is the posture point where the center of the rear axle of the vehicle is located after rotation.

[0033] In this way, for a dead-end parking scenario where the front of the vehicle is parked in, the processing device can use the order from inside the garage to outside the garage for planning, and finally flip the planning results to obtain the final target parking path. The target parking path planning is divided into three stages: outside the garage planning, on-site turning point planning, and entry planning. Using different algorithms and vehicle motion models for trajectory planning can effectively improve the efficiency of automatic parking and enhance the user experience.

[0034] In another possible implementation manner of the first aspect, the first rotation center is the right rear wheel of the vehicle.

[0035] The target parking path includes a second pre-parking path, a second rotation path, and a second parking path.

[0036] The second pre-warehouse entry path includes a fifth conventional driving path, the fifth conventional driving path is a path formed from the current posture point to the third warehouse entry preparation posture point, the third warehouse entry preparation posture point is the posture point where the rear axle center of the vehicle is located before the vehicle rotates,

[0037] The second rotation path is a path formed by the vehicle rotating around the right rear wheel of the vehicle at the third parking preparation position with a second rotation radius, and the second rotation radius is related to the width of the vehicle;

[0038] The second warehousing path includes a sixth regular driving path, which is a path formed from a fourth warehousing preparation posture point to a target posture point, and the fourth warehousing preparation posture point is a posture point where the center of the rear axle of the vehicle is located after rotation.

[0039] In this way, for parking scenarios such as dead-end roads where the rear of the vehicle is parked in or parking scenarios such as narrow passages, the processing device can use the order from inside the garage to outside the garage for planning, and finally flip the planning results to obtain the final target parking path. The target parking path planning is divided into three stages: outside the garage planning, on-site turning point planning, and entry planning. Using different algorithms and vehicle motion models for trajectory planning can effectively improve the efficiency of automatic parking and enhance the user experience.

[0040] In another possible implementation of the first aspect, the method further includes:

[0041] determining a rotatable space in the parkable space according to the size of the vehicle;

[0042] Determining a plurality of rotational positions and a first rotational center of the vehicle at the plurality of rotational positions in the rotatable space, and determining rotational paths formed by the vehicle rotating at the plurality of rotational positions around the first rotational center at the plurality of rotational positions respectively;

[0043] Planning a first conventional driving path according to information of a current posture point of the vehicle and a rotational position among the multiple rotational positions closest to the current posture point;

[0044] planning a second conventional driving path according to the position of the first parking space and the rotational position of the position closest to the first parking space among the plurality of rotational positions;

[0045] A conventional driving path between the plurality of rotational positions is planned.

[0046] The above provides a method for planning a parking path. In this embodiment, the vehicle can sense the environment in which it is located and the environment near the parking space, determine the space that can be rotated, and then flexibly determine one or more rotation positions in the rotatable space according to needs, and flexibly determine the first rotation center at each rotation position according to the surrounding environment, thereby completing the storage planning. Since the vehicle's attitude angle can be flexibly and conveniently adjusted by rotating around the first rotation center, this embodiment will plan a parking path that includes a rotation path as much as possible when there is a rotatable space, and can even perform multiple rotations. Parking can also be performed under difficult parking conditions such as narrow roads and dead-end roads, which significantly improves the success rate of planning parking paths and improves the efficiency of automatic parking.

[0047] In a second aspect, an embodiment of the present application provides a parking method, the method being used to control a vehicle to park out of a parking space, the vehicle comprising a plurality of wheels and a plurality of motors, each of the plurality of wheels being controlled by one of the plurality of motors, the method comprising:

[0048] Obtaining parking position information and surrounding environment information of the first parking space;

[0049] Determine a target parking path for the vehicle according to information of a current position point of the vehicle, the parking position information, and information about the surrounding environment of the first parking space, wherein the target parking path includes a conventional driving path and a rotation path, wherein the conventional driving path includes a straight driving path and / or a curved driving path, and the rotation path is a path formed by the vehicle rotating around a first rotation center of the vehicle, wherein the rotation of the vehicle is achieved by the plurality of motors controlling the plurality of wheels respectively, and the first rotation center is located within a rotatable area formed by connecting the centers of the plurality of wheels;

[0050] The vehicle is controlled to park out of the first parking space according to the target parking exit path.

[0051] In a possible implementation of the second aspect, the turning radius of the curved driving path is greater than or equal to the minimum turning radius of the vehicle, and the turning radius of the rotating path is less than the minimum turning radius of the vehicle, and the minimum turning radius is the turning radius of the vehicle when steering control is performed with the front wheels at the maximum turning angle and four wheels turning in the same direction.

[0052] In a possible implementation manner of the second aspect, the surrounding environment information of the first parking space is used to indicate information of obstacles around the first parking space, and the rotation path satisfies: there are no obstacles within the rotation path; and the method further includes:

[0053] determining a parking space for the vehicle according to information about obstacles around the first parking space;

[0054] determining at least one rotatable space in the parking space according to the size of the vehicle;

[0055] Determine one or more rotational positions and a first rotational center of the vehicle at the one or more rotational positions in the at least one rotatable space, and determine a rotational path formed by the vehicle rotating at the one or more rotational positions around the first rotational centers at the plurality of rotational positions;

[0056] Planning a first conventional driving path according to information of a current posture point of the vehicle and a rotational position of one or more rotational positions closest to the current posture point;

[0057] planning a second conventional driving route according to the parking position information and a rotational position of the one or more rotational positions closest to the parking position;

[0058] When the number of the rotational positions is plural, a regular driving path between the plural rotational positions is planned.

[0059] In a third aspect, an embodiment of the present application provides a processing device, the processing device is included in a vehicle, the vehicle includes a plurality of wheels and a plurality of motors, each of the plurality of wheels is controlled by one of the plurality of motors, the processing device includes an acquisition unit and a processing unit,

[0060] The acquisition unit is used to acquire the position information of the first parking space and the surrounding environment information of the first parking space;

[0061] The processing unit is used for:

[0062] Determine a target parking path of the vehicle according to information of a current posture point of the vehicle, position information of the first parking space, and surrounding environment information of the first parking space, wherein the target parking path includes a conventional driving path and a rotation path, wherein the conventional driving path includes a straight driving path and / or a curved driving path, and the rotation path is a path formed by the vehicle rotating around a first rotation center of the vehicle, wherein the rotation of the vehicle is achieved by the multiple motors controlling the multiple wheels respectively, and the first rotation center is located in a rotatable area formed by connecting the centers of the multiple wheels;

[0063] The vehicle is controlled to park according to the target parking path.

[0064] In a possible implementation of the third aspect, the turning radius of the curved driving path is greater than or equal to the minimum turning radius of the vehicle, and the turning radius of the rotating path is less than the minimum turning radius of the vehicle, and the minimum turning radius is the turning radius of the vehicle when steering control is performed with the front wheels at the maximum turning angle and four wheels turning in the same direction.

[0065] In yet another possible implementation of the third aspect, the surrounding environment information of the first parking space is used to indicate information about obstacles around the first parking space, and the rotation path satisfies: there are no obstacles within the range of the rotation path.

[0066] In yet another possible implementation manner of the third aspect, the processing unit is further configured to:

[0067] determining a parking space for the vehicle according to information about obstacles around the first parking space;

[0068] The first rotation center is determined according to information about the parking space of the vehicle, the size of the vehicle, and the current position point of the vehicle.

[0069] In yet another possible implementation manner of the third aspect, the processing unit is further configured to:

[0070] Determining a position range of an end point of the rotation path according to the parking space of the vehicle and the size of the vehicle, the end point of the rotation path being a position point where a rear axle center of the vehicle is located after rotation;

[0071] Determining the position range of the rotation starting point of the rotation path according to the rotation radius of the rotation path and the position range of the end point of the rotation path, wherein the rotation radius of the rotation path is related to the first rotation center and the size of the vehicle, and the rotation starting point of the rotation path is the position point of the rear axle center before the vehicle rotates;

[0072] Determine a first conventional driving path according to the position range of the rotation starting point of the rotation path and the current posture point of the vehicle, wherein the first conventional driving path is a path formed from the current posture point of the vehicle to the rotation starting point of the rotation path, and the current posture point is the posture point where the current rear axle center of the vehicle is located;

[0073] The rotation path and the second regular driving path are determined, wherein the rotation path is a path formed by the vehicle rotating around the first rotation center and from the rotation starting point to the rotation end point with the rotation radius, and the second regular driving path is a path formed from the end point of the rotation path to a target posture point, and the target posture point is the posture point where the rear axle center of the vehicle is located after the vehicle is parked in the first parking space.

[0074] In yet another possible implementation manner of the third aspect, the processing unit is further configured to:

[0075] Determine a plurality of conventional driving paths according to a position range of a rotation starting point of the rotation path, a position of the current pose point, kinematic constraints, and non-holonomic dynamic constraints;

[0076] The first regular driving path is determined, where the first regular driving path is a regular driving path with the smallest cost among the multiple regular driving paths.

[0077] In yet another possible implementation manner of the third aspect, the processing unit is further configured to:

[0078] When the driving direction of the vehicle is such that the front of the vehicle enters the parking space, the first rotation center is determined to be the first front wheel of the vehicle according to the parking space and the size of the vehicle.

[0079] When the vehicle is traveling in a direction such that the rear end of the vehicle is parked in the parking space, the first rotation center is determined to be the first rear wheel of the vehicle according to the parking space and the size of the vehicle.

[0080] In another possible implementation manner of the third aspect, the first rotation center is the right front wheel of the vehicle.

[0081] The target parking path includes a first pre-parking path, a first rotation path and a first parking path.

[0082] The first pre-warehouse entry path includes a third conventional driving path, the third conventional driving path is a path formed from the current posture point to the first warehouse entry preparation posture point, the first warehouse entry preparation posture point is the posture point where the rear axle center of the vehicle is located before the vehicle rotates,

[0083] The first rotation path is a path formed by the vehicle rotating around the right front wheel of the vehicle at the first storage preparation position with a first rotation radius, and the first rotation radius is related to the wheelbase of the vehicle and the width of the vehicle;

[0084] The first warehousing path includes a fourth regular driving path, which is a path formed from the second warehousing preparation posture point to the target posture point, and the second warehousing preparation posture point is the posture point where the center of the rear axle of the vehicle is located after rotation.

[0085] In another possible implementation manner of the third aspect, the first rotation center is the right rear wheel of the vehicle.

[0086] The target parking path includes a second pre-parking path, a second rotation path, and a second parking path.

[0087] The second pre-warehouse entry path includes a fifth conventional driving path, the fifth conventional driving path is a path formed from the current posture point to the third warehouse entry preparation posture point, the third warehouse entry preparation posture point is the posture point where the rear axle center of the vehicle is located before the vehicle rotates,

[0088] The second rotation path is a path formed by the vehicle rotating around the right rear wheel of the vehicle at the third parking preparation position with a second rotation radius, and the second rotation radius is related to the width of the vehicle;

[0089] The second warehousing path includes a sixth regular driving path, which is a path formed from a fourth warehousing preparation posture point to a target posture point, and the fourth warehousing preparation posture point is a posture point where the center of the rear axle of the vehicle is located after rotation.

[0090] In yet another possible implementation manner of the third aspect, the processing unit is further configured to:

[0091] determining a rotatable space in the parkable space according to the size of the vehicle;

[0092] Determining a plurality of rotational positions and a first rotational center of the vehicle at the plurality of rotational positions in the rotatable space, and determining rotational paths formed by the vehicle rotating at the plurality of rotational positions around the first rotational center at the plurality of rotational positions respectively;

[0093] Planning a first conventional driving path according to information of a current posture point of the vehicle and a rotational position among the multiple rotational positions closest to the current posture point;

[0094] planning a second conventional driving path according to the position of the first parking space and the rotational position of the position closest to the first parking space among the plurality of rotational positions;

[0095] A conventional driving path between the plurality of rotational positions is planned.

[0096] In a fourth aspect, an embodiment of the present application provides a processing device, which includes a processor and a memory; the processor executes instructions stored in the memory so that the processing device implements the method described in any one of the first aspects above.

[0097] Optionally, the processing device further includes a communication interface, wherein the communication interface is used to receive and / or send data, and / or the communication interface is used to provide input and / or output for the processor.

[0098] It should be noted that the above embodiment is described by taking a processor (or general-purpose processor) that executes the method by calling a computer specification as an example. In the specific implementation process, the processor can also be a dedicated processor, in which case the computer instructions have been pre-loaded in the processor. Optionally, the processor can also include both a dedicated processor and a general-purpose processor.

[0099] Optionally, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0100] In a fifth aspect, the present application provides a vehicle comprising a plurality of wheels, a plurality of motors and the aforementioned processing device, so that the vehicle can implement the method described in any one of the aforementioned first aspects.

[0101] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium. When the instructions are executed by a processing device, the processing device implements the method described in any one of the first aspects above.

[0102] In a seventh aspect, the present application provides a computer program product, which includes computer instructions. When the instructions are executed by a processing device, the processing device implements the method described in any one of the first aspects above.

[0103] Optionally, the computer program product may be a software installation package or an image file. When the aforementioned method is required, the computer program product may be obtained and executed on a computing device.

[0104] The beneficial effects of the technical solutions provided in the second to seventh aspects of the present application can refer to the beneficial effects of the technical solution of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0105] The following is a brief introduction to the drawings required for describing the embodiments.

[0106] Figure 1 is a schematic diagram of the architecture of a vehicle provided in an embodiment of the present application;

[0107] Figure 2 It is a conventional driving route schematic diagram provided in an embodiment of the present application;

[0108] Figure 3 is a schematic diagram of a rotatable area provided in an embodiment of the present application;

[0109] Figure 4 is a flow chart of a parking method provided in an embodiment of the present application;

[0110] Figure 5 is a schematic diagram of a possible parking lot provided in an embodiment of the present application;

[0111] Figure 6 is a schematic diagram of a possible first rotation path provided in an embodiment of the present application;

[0112] Figure 7 is a schematic diagram of a possible vehicle provided in an embodiment of the present application;

[0113] Figure 8 is a possible target parking path schematic diagram provided in an embodiment of the present application;

[0114] Fig. 9 is another possible target parking path schematic diagram provided in an embodiment of the present application;

[0115] Fig.10 is a schematic diagram of a possible second rotation path provided in an embodiment of the present application;

[0116] Fig.11 is a flowchart of another parking method provided in an embodiment of the present application;

[0117] Fig.12 is a structural schematic diagram of a processing device provided in an embodiment of the present application;

[0118] Fig.13 It is a structural schematic diagram of another processing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0119] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0120] The following is an introduction to the system architecture of the embodiment of the present application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solution of this application, and do not constitute a limitation on the technical solution provided by this application. It is known to those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0121] See also Figure 1 , Figure 1 is a schematic diagram of a vehicle structure provided by an embodiment of the present application, such as Figure 1 As shown, the vehicle 10 includes a plurality of wheels, a plurality of independent motors, and a processing device 103 .

[0122] The vehicle 10 is a device with traveling capability provided exemplarily in the present application. Exemplarily, the vehicle 10 includes but is not limited to vehicles of different models such as cars, trucks, buses, vans, electric vehicles, etc.

[0123] Wheels are used to support and drive vehicles and may include wheels and tires. Figure 1 The vehicle may include wheels 101a, 101b, 101c and 101d. The number of wheels is only for illustration. In the specific implementation, the number of wheels included in the vehicle may be more or less.

[0124] Independent motors are used to control the steering of the wheels. In the vehicle 10, each wheel can be controlled by an independent motor, so that the vehicle 10 can achieve multiple motion modes such as front and rear wheels turning in opposite directions, rotating on the spot, and front and rear wheels turning in the same direction. Optionally, one or more wheels can be controlled by an independent motor. Figure 1 The vehicle may include an independent motor 102a, an independent motor 102b, an independent motor 102c, and an independent motor 102d. The number of independent motors is only for illustration. In a specific implementation, the number of independent motors included in the vehicle may be more or less.

[0125] The processing device 103 is a module with data processing capability. As a possible implementation, the processing device 103 may be a physical device, for example, the processing device 103 may include one or more of the following modules: a central processing unit (CPU), a microprocessor (MPU), an application specific-integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (assisting the central processor to complete corresponding processing and application), a microcontroller unit (MCU), a mobile data center (MDC), and / or an electronic control unit, etc. Of course, the above description is based on the example that the processing device 103 is a vehicle-mounted device.

[0126] In some solutions, the processing device 103 may be a physical device disposed outside the vehicle, such as a server, a cloud, or a host, etc. As a possible implementation, the processing device 103 may be a software module, such as a virtual machine, software, program code, or a container, etc.

[0127] In the above-mentioned manner, it is mentioned that the processing device 103 can be arranged outside the vehicle. It should be understood that when the processing device 103 is arranged outside the vehicle 10, the vehicle 10 and the processing device 103 can be connected in communication, for example, the two are indirectly connected through wireless communication, such as ultra-wideband (UWB) technology, long term evolution (Long Term Evolution) communication technology, fifth generation mobile communication technology (5th generation mobile networks or 5th generation wireless systems, 5th-Generation, referred to as 5G or 5G technology), global system for mobile communications (GSM), general packet radio service (GPRS), or universal mobile telecommunications system (UMTS).

[0128] The following describes the scenarios of the embodiments of the present application.

[0129] In some scenarios, the movement of some vehicles is subject to kinematic constraints and nonholonomic dynamic constraints, so that the vehicle does not slip during movement. For example, it cannot achieve instantaneous lateral movement. Front-wheel drive vehicles must rely on the steering of the front wheels to achieve lane changes and steering operations. They cannot be too fast on curves, etc. The satisfaction of these constraints requires that the vehicle path must meet the following requirements:

[0130] (1) Path continuity constraint: The position and curvature of the driving trajectory must be able to continuously transition to the original driving trajectory at the starting and ending positions.

[0131] (2) Kinematic constraints: The vehicle has a minimum turning radius, so the radius of curvature at any point on the driving trajectory is greater than or equal to the minimum turning radius.

[0132] (3) Non-holonomic dynamic constraints: Prevent the vehicle from sliding or rolling, and constrain the lateral acceleration, yaw rate, and lateral jerk.

[0133] The above requirements make the vehicle only able to travel on the conventional driving path, which complies with the kinematic constraints and non-holonomic dynamic constraints, see Figure 2 , Figure 2 is a conventional driving route schematic diagram provided in an embodiment of the present application, such as Figure 2As shown, the conventional driving path may include an arc driving path and a straight driving path. Optionally, the conventional driving path may also include a combination of a straight driving path and an arc driving path, a high-order continuous smooth curve driving path, and other driving paths. However, the turning radius of the driving path that meets the above requirements is often relatively large, requiring a large space. When performing automatic parking operations in narrow spaces, a large number of rubbing operations are required, or the parking operation cannot be completed, and the automatic parking efficiency is low. Moreover, the driving path that meets the above requirements usually moves along a straight line or a curve. This method often wastes a lot of space in a narrow space, resulting in increased parking difficulty. Moreover, due to the need for frequent start-stop shifting in a narrow space, users often feel frustrated, and the overall time consumption is long, resulting in poor user experience of automatic parking and low efficiency of automatic parking. When the user uses manual parking, if the space is small enough to meet the above requirements, the user is often required to repeatedly rub the garage to continuously adjust the direction of the vehicle to complete the parking space. In the process of parking in the parking space, due to limited space, the risk of collision is greatly increased, the parking safety is low, and the user's parking efficiency is low.

[0134] In view of this, this application is applied to a vehicle with four-wheel independent steering, using a four-wheel independent steering motor, and the four wheels of the vehicle can be independently controlled. On the basis of supporting the conventional driving path, the vehicle can rotate around a single wheel of the vehicle, rotate around the first rotation center, etc. Please refer to Figure 3 , Figure 3 is a schematic diagram of a rotatable area provided in an embodiment of the present application, such as Figure 3 As shown, the first rotation center can be any point within the rotatable area, thereby breaking the traditional incomplete kinematic constraints of the vehicle, allowing the vehicle to effectively travel on paths less than the minimum turning radius, or even on discontinuous paths, greatly improving the vehicle's flexibility, passability, and mobility, and better coping with narrow parking environments, such as dead-end road scenes and narrow channel scenes. Moreover, compared to some automatic parking path methods, this application adopts a combination of conventional path planning, four-motor in-situ rotation, rotation around a single wheel of the vehicle, and other planning methods, dividing the parking path planning into three stages: pre-entry planning, rotation path planning, and entry planning, which can effectively improve the efficiency of automatic parking and enhance user experience.

[0135] The method of the embodiment of the present application is described in detail below.

[0136] See also Figure 4 , Figure 4 is a flow chart of a parking method provided in an embodiment of the present application. Optionally, the method can be used to control vehicle parking and applied to a processing device. For example, the method can be applied to Figure 1 The processing device 103 is shown.

[0137] like Figure 4 The parking method shown may include multiple steps in steps S401-S403. It should be understood that for the convenience of description, this application describes the steps S401-S403 in this order, and is not intended to limit the execution to the above order. The embodiment of this application does not limit the execution order, execution time, execution number, etc. of the above one or more steps. Steps S401-S403 are as follows:

[0138] Step S401: the processing device obtains the position information of the first parking space and the surrounding environment information of the first parking space.

[0139] The processing device is a device with data processing and communication capabilities, which may be arranged inside the vehicle, or may be a processing module integrated in the vehicle, such as MDC or MCU, etc., or may be arranged outside the vehicle, such as a server, cloud, or host, etc., or may be a virtual device, such as a virtual machine, software, program code, or container, etc. The vehicle may be a vehicle equipped with multiple wheels and multiple independent motors. Each wheel can be controlled by an independent motor, and each motor can control the rotation direction, speed and torque of the wheel. Each motor can be connected to the central processing unit through an electronic control unit, and can control the wheel according to the instructions of the central processing unit, so that the vehicle can achieve multiple motion modes such as front and rear wheels in different directions, rotating in place, and front and rear wheels in the same direction. Optionally, one or more wheels can also be controlled by an independent motor. Exemplary, vehicles include but are not limited to vehicles of different models such as cars, trucks, buses, vans, electric vehicles, etc.

[0140] In a possible implementation, the processing device may obtain the location information of the parking spaces in the parking lot and the surrounding environment information of the parking spaces in the parking lot. The surrounding environment information of the parking spaces in the parking lot is used to indicate the obstacle information around the parking spaces in the parking lot. For example, the surrounding environment information of the parking spaces in the parking lot may indicate how many parking spaces are included in the parking lot, whether each parking space is parked with a vehicle, what obstacles are in the parking lot (e.g., stone pillars, wooden stakes, walls, etc.), and the location information of these obstacles in the parking lot.

[0141] Optionally, the processing device may include multiple sensors for detecting environmental information around the vehicle, such as obstacle information around the vehicle. The processing device may adjust the rotation direction and speed of each wheel according to the signals from these sensors to ensure that the vehicle can safely avoid obstacles and dynamically adjust the parking trajectory. The processing device controls the speed and direction of the four-wheel independent motors so that the vehicle can rotate in place at any point within the rectangular area surrounded by the centers of the four wheels, such as Figure 3As shown, the first rotation center can be any point in the rotatable area. Optionally, the parking spaces in the parking lot include the first parking space, and the surrounding environment information of the parking spaces in the parking lot includes the surrounding environment information of the first parking space. The first parking space is a parking space in the parking lot, and the position information of the first parking space and the position information of the obstacles in the parking lot can be represented by a point, a line or a bounding box, etc., and a layout diagram of each parking space and obstacle in the parking lot can be constructed by establishing a coordinate system, etc. The surrounding environment information of the first parking space is used to indicate information about obstacles around the first parking space.

[0142] Optionally, the processing device includes a visual sensor and an ultrasonic sensor, which are used to sense the vehicle's surrounding environment information and identify surrounding obstacle information. The location information of the first parking space and the location information of obstacles in the parking lot can be represented in the form of points, lines, or bounding boxes, and a layout diagram of each parking space and obstacle in the parking lot can be constructed by establishing a coordinate system. Optionally, the processing device can calculate and analyze the recognized perception information, obtain the parking space information and parking space status of the parking lot, and select the recognized available parking spaces, and display them on the interface of the vehicle-mounted device for user selection.

[0143] Further, the processing device determines whether the target parking space (first parking space) is a space-constrained scene (space-constrained scenes include but are not limited to dead-end scenes or narrow passage scenes). Optionally, the processing device extracts available parking boundaries based on boundary information such as walls and pillars around the first parking space, and further obtains a drivable parking area based on obstacles and the first parking space, and determines whether the target parking space (first parking space) is a space-constrained scene based on the above information. If the target parking space is not a space-constrained scene, the processing device can plan a conventional driving path for parking. If the target parking space is a space-constrained scene, the processing device needs to plan a parking path that combines a conventional driving path and a rotating path for parking.

[0144] For example, see Figure 5 , Figure 5 is a schematic diagram of a possible parking lot provided in an embodiment of the present application, such as Figure 5As shown, the parking lot includes a first parking space, and the parking space selected by the user is the first parking space, so the first parking space is the target parking space for the vehicle. The parking lot also includes two obstacles. The processing device can pre-acquire the position information of the first parking space in the parking lot. The position information of the first parking space includes the position information of the target posture point. The position information of the first parking space can be represented by a Cartesian coordinate system. For example, a Cartesian coordinate system is established with the target posture point as the origin. The target posture point is the posture point where the rear axle center of the vehicle is located after the vehicle is parked in the first parking space. Figure 5 In the figure, the target pose point is point A, and the position information of point A can be expressed as (x0, y0) or (0, 0).

[0145] Step S402: The processing device determines a target parking path for the vehicle based on information of the current posture point of the vehicle, position information of the first parking space, and surrounding environment information of the first parking space.

[0146] Among them, the target parking path includes a conventional driving path and a rotation path. The conventional driving path complies with kinematic constraints and non-complete dynamic constraints. The conventional driving path includes a straight driving path and / or a curved driving path. The rotation path is a path formed by the vehicle rotating around the first rotation center of the vehicle. The rotation of the vehicle is achieved by controlling multiple wheels respectively through multiple motors. Among them, the turning radius of the curved driving path is greater than or equal to the minimum turning radius of the vehicle, and the turning radius of the rotation path is less than the minimum turning radius of the vehicle. The minimum turning radius is the turning radius of the vehicle when the front wheels have the maximum turning angle and the four wheels rotate in the same direction for steering control. The first rotation center is located in the rotatable area formed by connecting the centers of multiple wheels, and each rotation path satisfies the requirement that there are no obstacles within the range of the rotation path. Figure 3 As shown, the first rotation center can be any point within the rotatable area.

[0147] Exemplarily, the target parking path includes a pre-parking path, a rotation path, and a parking path. The pre-parking path is the path from the current position point to the parking preparation position point, the rotation path is the path formed by the vehicle rotating around a wheel of the vehicle at the parking preparation position point, and the parking path is the path from the parking preparation position point to the target position point.

[0148] In a possible implementation, the processing device may determine the target parking path of the vehicle based on the current posture information of the vehicle, the position information of the first parking space, and the surrounding environment information of the first parking space, wherein the current posture information of the vehicle includes information of the current posture point of the vehicle.

[0149] As a possible implementation method for determining the target parking path, the processing device determines the available parking space for the vehicle based on information about obstacles around the first parking space, and determines the first rotation center based on information about the available parking space for the vehicle, the size of the vehicle, and the current position point of the vehicle.

[0150] Further, the processing device determines the position range of the end point of the rotation path according to the parking space of the vehicle and the size of the vehicle, the end point of the rotation path is the position point where the rear axle center of the vehicle is located after the rotation, the processing device determines the position range of the rotation starting point of the rotation path according to the rotation radius of the rotation path and the position range of the end point of the rotation path, and determines the first conventional driving path according to the position range of the rotation starting point of the rotation path and the current position point of the vehicle, and then the processing device determines the rotation path and the second conventional driving path. Among them, the first conventional driving path is the path formed from the current position point of the vehicle to the rotation starting point of the rotation path, the current position point is the position point where the rear axle center of the vehicle is currently located, the rotation radius of the rotation path is related to the first rotation center and the size of the vehicle, the rotation starting point of the rotation path is the position point where the rear axle center of the vehicle is located before the rotation, the rotation path is the path formed by the vehicle rotating around the first rotation center with the rotation radius from the rotation starting point to the rotation end point, and the second conventional driving path is the path formed from the end point of the rotation path to the target position point, and the target position point is the position point where the rear axle center of the vehicle is located after the vehicle is parked in the first parking space.

[0151] Specifically, the processing device can determine multiple conventional driving paths based on the position range of the rotation starting point of the rotation path, the position of the current posture point, kinematic constraints and non-holonomic dynamic constraints, and select the conventional driving path with the lowest cost as the first conventional driving path among the multiple conventional driving paths.

[0152] Exemplarily, the information of the current position point of the vehicle includes the driving direction of the vehicle. When the driving direction of the vehicle is for the front of the vehicle to park in a parking space, the first rotation center is determined to be the first front wheel of the vehicle according to the parking space of the vehicle and the size of the vehicle. When the driving direction of the vehicle is for the rear of the vehicle to park in a parking space, the first rotation center is determined to be the first rear wheel of the vehicle according to the parking space of the vehicle and the size of the vehicle.

[0153] As another possible implementation of determining the target parking path, the processing device determines the available parking space of the vehicle based on information about obstacles around the first parking space, determines one or more rotation positions and the first rotation center of the vehicle at the one or more rotation positions in the available parking space, and determines a rotation path formed by the vehicle rotating around the first rotation center at the multiple rotation positions at the one or more rotation positions. The processing device plans a first conventional driving path based on information about the current posture point of the vehicle and the rotation position of the one or more rotation positions that is closest to the current posture point, and plans a second conventional driving path based on the position of the first parking space and the rotation position of the one or more rotation positions that is closest to the first parking space.

[0154] Optionally, in the process of determining the rotational position, the processing device determines at least one rotatable space in the parking space according to the size of the vehicle, and determines one or more rotational positions in the at least one rotatable space.

[0155] Optionally, when the determined rotational position is one, the target parking path includes a first regular driving path, a second regular driving path, and a rotational path formed by rotating at the first rotational position.

[0156] Optionally, when there are multiple rotation positions, a conventional driving path between the multiple rotation positions is planned. The target parking path includes a conventional driving path and a rotation path, wherein the conventional path includes a first conventional driving path, a second conventional driving path, and a conventional driving path between the multiple rotation positions, and the number of the rotation paths is multiple, that is, a rotation path formed by rotating at the multiple rotation positions.

[0157] In this way, the target parking path of the vehicle is planned by multiple implementation methods, and a preliminary screening of the pre-parking time can be performed among the parking paths planned by these multiple implementation methods, and the planning results with short parking time are preferentially selected as the target parking path, thereby effectively improving the efficiency and safety of automatic parking and enhancing the user experience.

[0158] For ease of understanding, several examples of target parking paths are introduced below: Example 1: When the first rotation center is the right front wheel of the vehicle, the current posture information of the vehicle includes the current posture point of the vehicle, and the current posture point is the posture point where the current rear axle center of the vehicle is located (such as Figure 5 The target parking path includes a first pre-entry path, a first rotation path, and a first entry path. The first pre-entry path includes a first conventional driving path. The first conventional driving path is a path formed from the current posture point to the first entry preparation posture point (such as Figure 5 The first storage preparation posture point is the posture point where the rear axle center of the vehicle is located before rotation (such as Figure 5The first rotation path is the vehicle at the first storage preparation position around the first rotation center (such as Figure 5 The path formed by the rotation of the original rotation point in the vehicle, that is, the right front wheel of the vehicle (such as Figure 5 The first entry path is the path formed by the vehicle from the second entry preparation posture point to the target posture point (such as Figure 5 The second storage preparation posture point is the posture point where the rear axle center of the vehicle is located after rotation (such as Figure 5 The target position point is the position point where the rear axle center of the vehicle is located after the vehicle is parked in the first parking space (such as Figure 5 Point A in the figure).

[0159] For example, Figure 5 As shown, the processing device can obtain the forward direction of the vehicle, and determine the first rotation center according to the forward direction of the vehicle, the position information of the first parking space, and the surrounding environment information of the first parking space, for example, Figure 5 The middle parking scene is a dead-end road scene where the front of the vehicle is parked, and the processing device determines that the first rotation center is the right front wheel of the vehicle. The processing device needs to plan the first pre-entry path, the first rotation path, and the first entry path, and realize reverse parking by rotating a certain angle.

[0160] See also Figure 6 , Figure 6 is a schematic diagram of a possible first rotation path provided by an embodiment of the present application. Specifically, the position range of the second storage preparation posture point is related to the position information of the first parking space, the surrounding environment information of the first parking space, the size of the vehicle, and the position of the target posture point. Exemplarily, the processing device processes the second storage preparation posture point according to the position information of the first parking space, the surrounding environment information of the first parking space, the size of the vehicle, and the target posture point (such as Figure 6 The position of point A in the figure determines the position range of the second storage preparation posture point, that is, Figure 6 The constraint range of point B in .

[0161] For example, in lateral constraints, such as Figure 6 As shown, for safety reasons, the vehicle cannot adjust its posture toward the side where the wall is located. In terms of longitudinal height constraints, it is necessary to consider whether point B can meet the space requirements for turning in place. Optionally, the second storage preparation posture point B can be determined based on the aforementioned implementation. For example, Figure 6 A Cartesian coordinate system is established with point A as the origin. The coordinates of point A are (x0, y0), and the coordinates of point B are (x1, y1). The position range of point B satisfies the following formulas (1) and (2):

[0162]

[0163]

[0164] Among them, Figure 6 As shown in the figure, d is the available space in the parking space, d f is the available distance ahead df, d r is the available road width ahead, dr, see Figure 7 , Figure 7 is a schematic diagram of a possible vehicle provided in an embodiment of the present application, such as Figure 7 As shown, wheelbase is the wheelbase h, l is the vehicle length l, w is the vehicle width w, l f is the front overhang length lf, l b is the rear overhang length lb.

[0165] Further, the rotation radius of the first rotation path is related to the wheelbase of the vehicle and the width of the vehicle. Exemplarily, the processing device can determine the rotation radius of the first rotation path according to the wheelbase of the vehicle and the width of the vehicle, for example, Figure 6 As shown, the processing device determines the rotation radius r of the first rotation path according to the following formula (3), and the relevant parameters are as mentioned above:

[0166]

[0167] Optionally, the position range of the first storage preparation posture point is related to the position range of the second storage preparation posture point and the rotation radius of the first rotation path. Exemplarily, the processing device calculates the position range of the second storage preparation posture point according to the position range of the second storage preparation posture point, that is, Figure 6 The position range of point B in and the rotation radius r of the first rotation path determine the position range of the first storage preparation posture point, that is, Figure 6 The position range of point C in . For example, the coordinates of point B are (x1, y1), and the coordinates of point C are (x2, y2). Figure 6 As shown, the position range of point C satisfies the following formula (4) and formula (5):

[0168] x2=x1+rsinθ (4)

[0169] y2=y1+r(1-cosθ) (5)

[0170] Wherein, θ is the rotation angle of the vehicle around the right front wheel in the original position, and the rotation direction is clockwise. Optionally, θ is related to the size of the vehicle and the real-time attitude angle of the vehicle at point C. Optionally, θ can be a preset value, for example, the attitude angle of the vehicle at point B can be vertical, and the attitude angle of the vehicle at point C can be horizontal. According to the size of the vehicle, the angle of θ is calculated, and the calculated angle is used as the preset value of θ.

[0171] Furthermore, the processing device plans a first pre-warehouse path PC, that is, a first regular driving path PC. Specifically, the processing device determines the first regular driving path PC according to the position range of the second warehouse preparation posture point and the position of the current posture point.

[0172] Optionally, when planning the first conventional driving path PC, the processing device may determine multiple conventional driving paths according to the position range of the first storage preparation posture point, the position of the current posture point, kinematic constraints and incomplete dynamic constraints, and determine the first conventional driving path according to the multiple conventional driving paths. Among them, the first conventional driving path is the conventional driving path with the lowest cost among the multiple conventional driving paths. Exemplarily, the processing device may use a hybrid A* algorithm to search for a path from point P according to the vehicle kinematic model, with the current posture point P (x4, y4) as the starting point and the position range of the first storage preparation posture point as the search end point. There are multiple conventional driving paths that meet the vehicle kinematic and incomplete dynamic constraints. The processing device may select the conventional driving path with the lowest cost as the first conventional driving path among the multiple conventional driving paths, and the cost of each conventional driving path among the multiple conventional driving paths may be calculated by the following formula (6).

[0173] cost=k1×s+k2×α+k3×β+k4×θ (6)

[0174] Among them, s is the length of the trajectory, α is the number of gear shifts, β is the distance between the vehicle body and the obstacle, and θ is the change in the steering wheel angle. k1, k2, k3, and k4 are the cost coefficients corresponding to each parameter. During the calculation, the cost value of each conventional driving path in multiple conventional driving paths is calculated by reasonably setting each cost coefficient.

[0175] The processing device selects a conventional driving path corresponding to the smallest cost as the optimal path from the cost values ​​of multiple conventional driving paths. In this way, the processing device obtains a conventional driving path with fewer gear shifts, fewer steering turns, the shortest distance, and as far away from obstacles as possible, and plans the conventional driving path as the first conventional driving path PC.

[0176] Optionally, the position of the first storage preparation posture point is related to the end point of the first conventional driving path, so that the processing device can obtain the first storage preparation posture point (i.e. Figure 6 The position of point C in .

[0177] Further, the processing device may determine the first rotation path according to the first rotation center, the rotation radius of the first rotation path and the position of the first storage preparation posture point, for example, Figure 6In the embodiment, the first rotation path CB is determined according to the position of the original rotation point, the rotation radius r of the first rotation path, and the position of the first storage preparation posture point C. The position of the second storage preparation posture point is related to the end point of the first rotation path, so that the processing device can obtain the second storage preparation posture point (i.e. Figure 6 The position of point B in .

[0178] The processing device plans a first entry path BA, that is, a path formed by the vehicle from the target posture point to the second entry preparation posture point. The first entry path BA satisfies the vehicle kinematics and non-holonomic dynamics constraints.

[0179] In this way, the processing device uses the order from inside the garage to outside the garage for planning, and finally flips the planning result to obtain the final target parking path. The target parking path planning is divided into the outside garage planning ( Figure 5 The trajectory before the original turn), the original turn point planning and the warehouse entry planning ( Figure 5 Using different algorithms and vehicle motion models for trajectory planning can effectively improve the efficiency of automatic parking and enhance user experience.

[0180] For example 2, see Figure 8 , Figure 8 is a possible target parking path schematic diagram provided by the embodiment of the present application. Fig. 9 , Fig. 9 is another possible target parking path schematic diagram provided by the embodiment of the present application. When the first rotation center is the right rear wheel of the vehicle, the current posture information of the vehicle includes the current posture point of the vehicle, and the current posture point is the posture point where the current rear axle center of the vehicle is located (such as Figure 8 Point P in, or, as Fig. 9 The target parking path includes a second pre-parking path, a second rotation path, and a second parking path. The second pre-parking path includes a second conventional driving path. The second conventional driving path is a path formed from the current posture point to the third parking preparation posture point (such as Figure 8 The PC path in , or, as Fig. 9 The third storage preparation posture point is the posture point where the rear axle center of the vehicle is located before rotation (such as Figure 8 Point C in, or, as Fig. 9 The second rotation path is the vehicle at the third storage preparation position around the first rotation center (such as Figure 8 or Fig. 9 The path formed by the rotation of the original rotation point in the vehicle, that is, the right rear wheel of the vehicle (such as Figure 8 CB path in, or, as Fig. 9The second entry path is the path formed by the vehicle from the fourth entry preparation posture point to the target posture point (such as Figure 8 BA path in, or, as Fig. 9 The fourth storage preparation posture point is the posture point where the rear axle center of the vehicle is located after rotation (such as Figure 8 Point B in, or, Fig. 9 The target position point is the position point where the rear axle center of the vehicle is located after the vehicle is parked in the first parking space (such as Figure 8 Point A in, or, Fig. 9 Point A in the figure).

[0181] For example, Figure 8 As shown, the processing device can obtain the forward direction of the vehicle, and determine the first rotation center according to the forward direction of the vehicle, the position information of the first parking space, and the surrounding environment information of the first parking space, for example, Figure 8 The middle parking scene is a dead-end road scene where the rear of the car is parked. Fig. 9 The parking scene in the middle is a narrow channel scene, and the processing device determines that the first rotation center in these two scenes is the right rear wheel. The processing device needs to plan the second pre-entry path, the second rotation path, and the second entry path, and realize reverse parking by rotating a certain angle.

[0182] See also Fig.10 , Fig.10 is a schematic diagram of a possible second rotation path provided by an embodiment of the present application. Specifically, the position range of the fourth storage preparation posture point is related to the position information of the first parking space, the surrounding environment information of the first parking space, the size of the vehicle, and the position of the target posture point. Exemplarily, the processing device processes the fourth storage preparation posture point according to the position information of the first parking space, the surrounding environment information of the first parking space, the size of the vehicle, and the target posture point (such as Fig.10 The position of point A in the figure is used to determine the position range of the fourth storage preparation posture point, that is, Fig.10 The constraint range of point B in .

[0183] For example, Fig.10 As shown, in terms of lateral constraints, the right side needs to consider the collision constraint with obstacles, and the left side needs to consider the collision relationship between the left rear corner of the vehicle and obstacles during the on-the-spot turning process. In terms of longitudinal height constraints, it is necessary to consider whether point B can meet the space requirements for on-the-spot turning. Optionally, the second storage preparation posture point B can be determined based on the above-mentioned implementation method. For example, Fig.10 A Cartesian coordinate system is established with point A as the origin. The coordinates of point A are (x0, y0), the coordinates of point B are (x1, y1), and the position range of point B satisfies the following formulas (7) and (8):

[0184]

[0185]

[0186] Among them, Fig.10 As shown in the figure, d is the available space in the parking space, d f is the available distance ahead df, d r is the available road width dr ahead, such as Figure 7 As shown, wheelbase is the wheelbase h, l is the vehicle length l, w is the vehicle width w, l f is the front overhang length lf, l b is the rear overhang length lb.

[0187] Further, the rotation radius of the second rotation path is related to the width of the vehicle. Exemplarily, the processing device determines the rotation radius of the second rotation path according to the width of the vehicle, for example, Fig.10 As shown, the processing device determines the rotation radius r of the second rotation path according to the following formula (3), and the relevant parameters are as mentioned above:

[0188]

[0189] It should be noted that, since in actual applications, the distance between the two front wheels is the same as the vehicle width, the rotation radius r of the second rotation path can be directly set to be equal to half of the vehicle width.

[0190] Optionally, the position range of the third storage preparation posture point is related to the position range of the fourth storage preparation posture point and the rotation radius of the second rotation path. Exemplarily, the processing device determines the position range of the third storage preparation posture point according to the position range of the fourth storage preparation posture point and the rotation radius of the second rotation path, that is, Fig.10 The constraint range of point C in . For example, the coordinates of point B are (x1, y1), and the coordinates of point C are (x2, y2), such as Fig.10 As shown, the position range of point C satisfies the following formulas (10) and (11):

[0191] x2=x1+r(1-cosθ) (10)

[0192] y2=y1+rsinθ (11)

[0193] Wherein, θ is the rotation angle of the vehicle around the right rear wheel in the original position, and the rotation direction is counterclockwise. Optionally, θ is related to the size of the vehicle and the real-time attitude angle of the vehicle at point C. Optionally, θ can be a preset value, for example, the attitude angle of the vehicle at point B can be vertical, and the attitude angle of the vehicle at point C can be horizontal. According to the size of the vehicle, the angle of θ is calculated, and the calculated angle is used as the preset value of θ.

[0194] Furthermore, the processing device plans a second pre-warehousing path PC, that is, a second regular driving path PC. Specifically, the processing device determines the second regular driving path PC according to the position range of the fourth warehouse preparation posture point and the position of the current posture point.

[0195] Optionally, when planning the second conventional driving path PC, the processing device may determine multiple conventional driving paths according to the position range of the third storage preparation posture point, the position of the current posture point, kinematic constraints and incomplete dynamic constraints, and determine the second conventional driving path according to the multiple conventional driving paths. Among them, the second conventional driving path is the conventional driving path with the lowest cost among the multiple conventional driving paths. Exemplarily, the processing device may use a hybrid A* algorithm to search for a path from point P according to the vehicle kinematic model, with the current posture point P (x4, y4) as the starting point and the position range of the third storage preparation posture point as the search end point. There are multiple conventional driving paths that meet the vehicle kinematic and incomplete dynamic constraints. The processing device may select the conventional driving path with the lowest cost as the first conventional driving path among the multiple conventional driving paths, and the cost of each conventional driving path among the multiple conventional driving paths may be calculated by the above formula (6).

[0196] The processing device selects a conventional driving path corresponding to the smallest cost as the optimal path from the cost values ​​of multiple conventional driving paths. In this way, the processing device obtains a conventional driving path with fewer gear shifts, fewer steering turns, the shortest distance, and as far away from obstacles as possible, and plans the conventional driving path as the second conventional driving path PC.

[0197] Optionally, the position of the third storage preparation posture point is related to the end point of the second conventional driving path, so that the processing device can obtain the third storage preparation posture point (i.e. Fig.10 The position of point C in .

[0198] Further, the processing device may determine the second rotation path according to the first rotation center, the rotation radius of the second rotation path and the position of the third storage preparation posture point, for example, Fig.10 In the example, the second rotation path CB is determined according to the position of the original rotation point, the rotation radius r of the second rotation path, and the position of the third storage preparation posture point C. The position of the fourth storage preparation posture point is related to the end point of the second rotation path, so that the processing device can obtain the fourth storage preparation posture point (i.e. Fig.10 The position of point B in .

[0199] The processing device plans a second storage path BA, that is, a path formed by the vehicle from the target posture point to the fourth storage preparation posture point. The second storage path BA satisfies the vehicle kinematics and non-holonomic dynamics constraints.

[0200] In this way, the processing device uses the order from inside the garage to outside the garage for planning, and finally flips the planning results to obtain the final target parking path. Figure 8 or Fig. 9 The trajectory before the original turn), the original turn point planning and the warehouse entry planning ( Figure 8 or Fig. 9 Using different algorithms and vehicle motion models for trajectory planning can effectively improve the efficiency of automatic parking and enhance user experience.

[0201] It should be noted that due to the symmetry of the left and right libraries, all scenarios have been standardized as right library scenarios for the purpose of standardization (e.g. Figure 5 , Figure 6 , Figure 8 or Fig. 9 For the left-bank scenario, only one mirroring process is required for the calculation results.

[0202] Step S403: the processing device controls the vehicle to park according to the target parking path.

[0203] Optionally, a motor can control the movement of one or more wheels.

[0204] For example, one motor controls the movement of one wheel. When the parking path of the vehicle includes a rotation path, each motor can control the corresponding wheel to rotate at a certain angle, so that the vehicle can rotate around a certain point at a certain angle with a rotation radius to achieve a driving rotation path, so as to effectively improve the efficiency and safety of automatic parking in scenarios such as confined space and enhance the user experience.

[0205] Optionally, the processing device can also track the parking trajectory according to the target parking path, execute a specific parking trajectory with priority, and perform collision detection on obstacles in real time according to the perceived status, and avoid and make decisions on situations where obstacle risks occur.

[0206] exist Figure 4In the illustrated embodiment, the processing device may obtain position information of the first parking space and information about the surrounding environment of the first parking space, and plan a target parking path for the vehicle according to the position information of the first parking space and information about the surrounding environment of the first parking space, and the target parking path may include a rotation path, so that the vehicle may rotate around the first rotation center, so that when space is limited or the effective width of the road is small, the path planned by the processing device is compared with the conventional path planning method based on Ackerman steering geometry. The present solution can achieve position adjustment with a turning radius of nearly 0, and can still adjust the vehicle's attitude angle in scenarios where the right front and left rear or left front and right rear adjustment methods cannot be achieved, thereby effectively improving the efficiency and safety of automatic parking and enhancing the user experience.

[0207] The present application also provides a parking method, when a vehicle is parked in a first parking space and needs to park out of the first parking space, the processing device can obtain the parking position information and the surrounding environment information of the first parking space, and determine the target parking path of the vehicle according to the information of the current posture point of the vehicle, the parking position information and the surrounding environment information of the first parking space, and control the vehicle to park out of the first parking space according to the target parking path. The target parking path includes a conventional driving path and a rotation path, the conventional driving path includes a straight driving path and / or a curved driving path, the rotation path is a path formed by the vehicle rotating around the first rotation center of the vehicle, the rotation of the vehicle is achieved by controlling multiple wheels respectively by multiple motors, and the first rotation center is located in a rotatable area formed by connecting the centers of multiple wheels.

[0208] Specifically, the processing device may determine the available parking space of the vehicle based on the information of obstacles around the first parking space, determine one or more rotation positions and the first rotation center of the vehicle at the one or more rotation positions in the available parking space, and determine the rotation paths formed by the vehicle rotating at the one or more rotation positions around the first rotation center of the one or more rotation positions. The processing device plans the third conventional driving path based on the information of the current posture point of the vehicle and the rotation position closest to the current posture point among the one or more rotation positions, and plans the fourth conventional driving path based on the parking exit position information and the rotation position closest to the parking exit position among the one or more rotation positions.

[0209] Optionally, in the process of determining the rotational position, the processing device determines at least one rotatable space in the parking space according to the size of the vehicle, and determines one or more rotational positions in the at least one rotatable space.

[0210] Optionally, when the determined rotation position is one, the target parking path includes the third regular driving path, the third regular driving path, and a rotation path formed by rotating at the first rotation position.

[0211] Optionally, when there are multiple rotation positions, a conventional driving path between the multiple rotation positions is planned. The target parking path includes a conventional driving path and a rotation path, wherein the conventional form path includes a third conventional driving path, a fourth conventional driving path, and a conventional driving path between the multiple rotation positions, and the number of the rotation paths is multiple, that is, a rotation path formed by rotating at the multiple rotation positions.

[0212] For example, the parking position information may be a certain position in the driving channel, the current position point of the vehicle may be the center of the first parking space, the rotation position closest to the center of the first parking space is selected to plan the third conventional driving path, and the rotation position closest to a certain position in the driving channel is selected to plan the fourth conventional driving path. The surrounding environment information of the first parking space is used to indicate the information of obstacles around the first parking space, and the rotation path satisfies: there are no obstacles within the range of the rotation path.

[0213] Optionally, if the detected obstacle information around the first parking space is the same as that in the previous parking path planning, the processing device may swap the starting position of the target parking path to obtain the target parking exit path.

[0214] In this way, on the basis of supporting conventional driving paths, it is possible to realize a rotation path in which the vehicle rotates around the center of mass in situ, thereby greatly improving the vehicle's flexibility, passability and mobility, and being able to better cope with narrow parking environments, making it easier for users to park in parking spaces and improving user experience.

[0215] above Figure 4 The embodiment shown includes multiple possible solutions. For ease of understanding, one possible solution is described below. It should be understood that Fig.11 For some of the terms, logic, etc. in the scheme shown, please refer to Figure 4 The embodiment shown.

[0216] See also Fig.11 , Fig.11 : is a flow chart of another parking method provided in an embodiment of the present application. The method comprises the steps of:

[0217] S1: The processing device checks whether the door is closed, the chassis response status and whether each sensor is working properly, and activates the parking function after the detection passes.

[0218] S2: The processing device obtains the position information of the first parking space and the surrounding environment information of the first parking space.

[0219] Optionally, the surrounding environment information of the parking spaces in the parking lot is used to indicate the obstacle information around the parking spaces in the parking lot. For example, the surrounding environment information of the parking spaces in the parking lot can indicate how many parking spaces are included in the parking lot, whether each parking space is parked with a vehicle, what obstacles are in the parking lot (for example, stone pillars, wooden stakes, and walls, etc.), and the location information of these obstacles in the parking lot. The location information of the first parking space and the location information of the obstacles in the parking lot can be represented in the form of a point, a line, or a bounding box. Optionally, the processing device can sense the surrounding environment based on a visual sensor and an ultrasonic sensor, identify the surrounding obstacle information, and convert it into point obstacles, line obstacles, and polygonal obstacles. The processing device can also obtain the posture information of the vehicle.

[0220] S3: The processing device determines a parking scene for the first parking space according to the position information of the first parking space and the surrounding environment information of the first parking space.

[0221] Optionally, the processing device obtains the parking space information in the parking lot and selects available parking spaces, and displays the available parking spaces on the interface of the vehicle-mounted device for the user to select. The first parking space may be a target parking space selected by the user.

[0222] Optionally, the parking scene includes a common parking scene and a space-constrained scene, wherein the space-constrained scene includes but is not limited to a typical dead-end road scene and a narrow passage scene.

[0223] If the parking scene is a space-constrained scene, step S4 is executed; if the parking scene is a normal parking scene, step S5 is executed.

[0224] S4: The processing device plans a target parking path corresponding to the space-constrained scenario.

[0225] Optionally, the processing device may plan the target parking path by one or more of the above-mentioned implementation modes 1 and 2. Optionally, the processing device may plan in a sequence from inside the garage to outside the garage, and finally flip the planning result to obtain the final target parking path. The target parking path planning is divided into three stages: outside the garage planning, on-site turning point planning, and entry planning, and different algorithms and vehicle motion models are used for trajectory planning.

[0226] S5: The processing device plans a target parking path corresponding to a common parking scenario.

[0227] Optionally, the processing device may plan a conventional driving path as a target parking path.

[0228] S6: The processing device outputs the target parking path.

[0229] Optionally, for parking scenarios applicable to both four-motor parking scenarios and ordinary parking scenarios, the processing device can plan the target parking path and perform a preliminary screening of the pre-parking time, and give priority to the planning results with short parking time as the target parking path output.

[0230] S7: The processing device tracks the parking trajectory according to the target parking path.

[0231] Optionally, the processing device executes a priority specific target parking path, and at the same time performs real-time collision detection on obstacles based on the perceived status, and avoids and makes decisions on situations where obstacle risks occur.

[0232] S8: The processing device controls the vehicle to park through multiple motors according to the target parking path.

[0233] exist Fig.11 In the illustrated embodiment, when planning a parking path, the processing device selects a suitable planning method to plan a target parking path according to the parking scenario, so that the planned target parking path is more in line with the actual application scenario of the vehicle, effectively improving the efficiency and safety of automatic parking and enhancing the user experience.

[0234] The method of the embodiment of the present application is described in detail above, and the device of the embodiment of the present application is provided below.

[0235] See also Fig.12 , Fig.12 1 is a schematic diagram of a processing device provided in an embodiment of the present application. The processing device 120 is included in a vehicle, the vehicle includes multiple wheels and multiple motors, each of the multiple wheels is controlled by one of the multiple motors, and the processing device 120 may include an acquisition unit 1201 and a processing unit 1202. The processing device 120 is used to implement the aforementioned parking method, for example Figure 4 or Fig.11 The parking method in the illustrated embodiment.

[0236] It should be noted that the division of the above multiple units is only a logical division based on functions, and does not limit the specific structure of the processing device 120. In a specific implementation, some functional modules may be subdivided into more small functional modules, and some functional modules may be combined into one functional module.

[0237] In a possible implementation, the acquiring unit 1201 is configured to acquire location information of the first parking space and surrounding environment information of the first parking space;

[0238] The processing unit 1202 is used for:

[0239] Determine a target parking path for the vehicle according to information of a current posture point of the vehicle, position information of a first parking space, and surrounding environment information of the first parking space, wherein the target parking path includes a conventional driving path and a rotation path, wherein the conventional driving path includes a straight driving path and / or a curved driving path, and the rotation path is a path formed by the vehicle rotating around a first rotation center of the vehicle, wherein the rotation of the vehicle is achieved by the plurality of motors controlling the plurality of wheels respectively, and the first rotation center is located within a rotatable area formed by connecting the centers of the plurality of wheels;

[0240] The vehicle is controlled to park according to the target parking path.

[0241] In a possible implementation, the turning radius of the curved driving path is greater than or equal to the minimum turning radius of the vehicle, and the turning radius of the rotating path is less than the minimum turning radius of the vehicle, and the minimum turning radius is the turning radius of the vehicle when steering control is performed with the front wheels at the maximum turning angle and four wheels turning in the same direction.

[0242] In a possible implementation manner, the surrounding environment information of the first parking space is used to indicate information about obstacles around the first parking space, and the rotation path satisfies: there are no obstacles within the range of the rotation path.

[0243] In a possible implementation manner, the processing unit 1202 is further configured to:

[0244] determining a parking space for the vehicle according to information about obstacles around the first parking space;

[0245] The first rotation center is determined according to information about the parking space of the vehicle, the size of the vehicle, and the current position point of the vehicle.

[0246] In a possible implementation manner, the processing unit 1202 is further configured to:

[0247] Determining a position range of an end point of the rotation path according to the parking space of the vehicle and the size of the vehicle, the end point of the rotation path being a position point where a rear axle center of the vehicle is located after rotation;

[0248] Determining the position range of the rotation starting point of the rotation path according to the rotation radius of the rotation path and the position range of the end point of the rotation path, wherein the rotation radius of the rotation path is related to the first rotation center and the size of the vehicle, and the rotation starting point of the rotation path is the position point of the rear axle center before the vehicle rotates;

[0249] Determine a first conventional driving path according to the position range of the rotation starting point of the rotation path and the current posture point of the vehicle, wherein the first conventional driving path is a path formed from the current posture point of the vehicle to the rotation starting point of the rotation path, and the current posture point is the posture point where the current rear axle center of the vehicle is located;

[0250] The rotation path and the second regular driving path are determined, wherein the rotation path is a path formed by the vehicle rotating around the first rotation center and from the rotation starting point to the rotation end point with the rotation radius, and the second regular driving path is a path formed from the end point of the rotation path to a target posture point, and the target posture point is the posture point where the rear axle center of the vehicle is located after the vehicle is parked in the first parking space.

[0251] In a possible implementation manner, the processing unit 1202 is further configured to:

[0252] Determine a plurality of conventional driving paths according to a position range of a rotation starting point of the rotation path, a position of the current pose point, kinematic constraints, and non-holonomic dynamic constraints;

[0253] The first regular driving path is determined, where the first regular driving path is a regular driving path with the smallest cost among the multiple regular driving paths.

[0254] In a possible implementation manner, the processing unit 1202 is further configured to:

[0255] When the driving direction of the vehicle is such that the front of the vehicle enters the parking space, the first rotation center is determined to be the first front wheel of the vehicle according to the parking space and the size of the vehicle.

[0256] When the vehicle is traveling in a direction such that the rear of the vehicle is parked in the parking space, the first rotation center is determined to be the first rear wheel of the vehicle according to the parking space and the size of the vehicle. In a possible implementation, the first rotation center is the right front wheel of the vehicle.

[0257] The current pose point is the pose point where the vehicle's rear axle center is currently located.

[0258] The target parking path includes a first pre-parking path, a first rotation path, and a first parking path.

[0259] The first pre-entry path includes a third conventional driving path, which is a path formed from the current posture point to the first entry preparation posture point, where the first entry preparation posture point is the posture point where the rear axle center is located before the vehicle rotates.

[0260] The first rotation path is a path formed by the vehicle rotating around the right front wheel of the vehicle at the first parking preparation position with a first rotation radius, where the first rotation radius is related to the wheelbase of the vehicle and the width of the vehicle;

[0261] The first warehousing path includes a fourth regular driving path, which is a path formed from a second warehousing preparation posture point to a target posture point, wherein the second warehousing preparation posture point is a posture point where a rear axle center of the vehicle is located after rotation.

[0262] In a possible implementation, the first rotation center is the right rear wheel of the vehicle.

[0263] The current pose point is the pose point where the vehicle's rear axle center is currently located.

[0264] The target parking path includes a second pre-parking path, a second rotation path, and a second parking path.

[0265] The second pre-parking path includes a fifth conventional driving path, the fifth conventional driving path is a path formed from the current posture point to the third parking preparation posture point, the third parking preparation posture point is the posture point where the rear axle center is located before the vehicle rotates,

[0266] The second rotation path is a path formed by the vehicle rotating around the right rear wheel of the vehicle at the third parking preparation position with a second rotation radius, and the second rotation radius is related to the width of the vehicle;

[0267] The second warehousing path includes a sixth regular driving path, which is a path formed from a fourth warehousing preparation posture point to a target posture point, wherein the fourth warehousing preparation posture point is a posture point where the center of the rear axle of the vehicle is located after rotation.

[0268] In a possible implementation manner, the processing unit 1202 is further configured to:

[0269] determining a rotatable space in the parkable space according to the size of the vehicle;

[0270] Determining a plurality of rotational positions and a first rotational center of the vehicle at the plurality of rotational positions in the rotatable space, and determining rotational paths formed by the vehicle rotating at the plurality of rotational positions around the first rotational center at the plurality of rotational positions respectively;

[0271] Planning a first conventional driving path according to information of a current posture point of the vehicle and a rotational position among the multiple rotational positions closest to the current posture point;

[0272] planning a second conventional driving path according to the position of the first parking space and the rotational position of the position closest to the first parking space among the plurality of rotational positions;

[0273] A conventional driving path between the plurality of rotational positions is planned.

[0274] It should be noted that the above modules (acquisition unit 1201 and processing unit 1202) are used to execute the relevant steps of the above method. For example, acquisition unit 1201 is used to execute the relevant content of step S401, and processing unit 1202 is used to execute the relevant content of S402-S403.

[0275] Fig.13 The figure shows a schematic diagram of the structure of another processing device provided in an embodiment of the present application. The processing device is a device with processing capabilities, where the device can be a physical device, such as a server (such as a rack server), a host, etc., or a virtual device, such as a virtual machine, a container, etc.

[0276] like Fig.13 As shown, the processing device 130 includes: a processor 1301 and a memory 1302 and one or more programs, and may include a communication interface 1303. It should be understood that the present application does not limit the number of processors and memories in the processing device 130.

[0277] The processor 1301 is a module for performing calculations, and may include a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), a digital signal processor (DSP), a microcontroller unit (MCU), or one or more integrated circuits for controlling the execution of the above program.

[0278] The memory 1302 is used to provide a storage space, and the storage space can optionally store application data, user data, operating system, computer programs, etc. The memory 1302 may include a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, and may also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0279] The memory 1302 may exist independently and be connected to the processor 1301 via a bus. The memory 1302 may also be integrated with the processor 1301.

[0280] The communication interface 1303 is used to provide information input or output for the at least one processor. And / or, the communication interface 1303 can be used to receive data sent externally and / or send data to the outside. The communication interface 1303 can be a wired link interface including an Ethernet cable, etc., or a wireless link (Wi-Fi, Bluetooth, general wireless transmission and other wireless communication technologies, etc.) interface. Optionally, the communication interface 1303 can also include a transmitter (such as a radio frequency transmitter, antenna, etc.) coupled to the interface, or a receiver, etc.

[0281] In the embodiment of the present application, the one or more programs are stored in the memory 1302 in the form of program codes and are configured to be executed by the processor 1301. The programs include instructions for implementing the steps in the aforementioned parking method. Figure 4 or Fig.11 That is, the memory 1302 stores executable instructions, and the processor 1301 executes the executable instructions to implement the aforementioned parking method, for example Figure 4 That is, the memory 1302 stores instructions for executing the parking method.

[0282] Alternatively, the memory 1302 stores executable instructions, and the processor 1301 executes the executable instructions to respectively implement the functions of one or more units (or devices) in the aforementioned acquisition unit and processing unit, thereby implementing the parking method.

[0283] The present application also provides a vehicle, which includes a plurality of wheels, a plurality of motors, and the aforementioned processing device 120 or the aforementioned processing device 130, and the vehicle is used to implement the aforementioned parking method, for example Figure 4 or Fig.11 The parking method in the embodiment of the present invention.

[0284] The present application also provides a computer program product including instructions. The computer program product may be software or a program product including instructions that can be run on a computing device or stored in any available medium. The computer program instructions are used to implement the aforementioned parking method, for example Figure 4 or Fig.11 The parking method in the embodiment of the present invention.

[0285] The present application also provides a computer-readable storage medium. The computer-readable storage medium includes instructions for implementing the aforementioned parking method, such as Figure 4 or Fig.11 The parking method in the embodiment of the present invention.

[0286] The computer-readable storage medium may be any available medium that can be stored by the processing device, or a data storage device such as a data center that contains one or more available media. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk).

[0287] In the embodiments of the present application, the words "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0288] The "at least one" mentioned in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0289] Furthermore, unless otherwise stated, the ordinal numbers such as "first" and "second" used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first storage path and the second storage path are only for the convenience of description, and do not indicate the difference in the deployment order, importance, etc. of the first storage path and the second storage path.

[0290] Those skilled in the art will appreciate that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0291] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A parking method, characterized in that: The method is used to control parking of a vehicle, the vehicle comprising a plurality of wheels and a plurality of motors, each of the plurality of wheels being controlled by one of the plurality of motors, the method comprising: Acquire location information of a first parking space and surrounding environment information of the first parking space; Determine a target parking path of the vehicle according to information of a current posture point of the vehicle, position information of the first parking space, and surrounding environment information of the first parking space, wherein the target parking path includes a conventional driving path and a rotation path, wherein the conventional driving path includes a straight driving path and / or a curved driving path, and the rotation path is a path formed by the vehicle rotating around a first rotation center of the vehicle, wherein the rotation of the vehicle is achieved by the multiple motors controlling the multiple wheels respectively, and the first rotation center is located in a rotatable area formed by connecting the centers of the multiple wheels; The vehicle is controlled to park according to the target parking path.

2. The method according to claim 1, characterized in that The turning radius of the curved driving path is greater than or equal to the minimum turning radius of the vehicle, and the turning radius of the rotating path is less than the minimum turning radius of the vehicle. The minimum turning radius is the turning radius of the vehicle when the front wheels are at the maximum turning angle and the four wheels rotate in the same direction for steering control.

3. The method according to claim 1, characterized in that The surrounding environment information of the first parking space is used to indicate information about obstacles around the first parking space, and the rotation path satisfies: there are no obstacles within the range of the rotation path.

4. The method according to claim 3, characterized in that The method further comprises: determining a parking space for the vehicle according to information about obstacles around the first parking space; The first rotation center is determined according to information about the parking space of the vehicle, the size of the vehicle, and the current position point of the vehicle.

5. The method according to claim 4, characterized in that The method further comprises: Determining a position range of an end point of the rotation path according to the parking space of the vehicle and the size of the vehicle, the end point of the rotation path being a position point where a rear axle center of the vehicle is located after rotation; Determining the position range of the rotation starting point of the rotation path according to the rotation radius of the rotation path and the position range of the end point of the rotation path, wherein the rotation radius of the rotation path is related to the first rotation center and the size of the vehicle, and the rotation starting point of the rotation path is the position point of the rear axle center before the vehicle rotates; Determine a first conventional driving path according to the position range of the rotation starting point of the rotation path and the current posture point of the vehicle, wherein the first conventional driving path is a path formed from the current posture point of the vehicle to the rotation starting point of the rotation path, and the current posture point is the posture point where the current rear axle center of the vehicle is located; The rotation path and the second regular driving path are determined, wherein the rotation path is a path formed by the vehicle rotating around the first rotation center and from the rotation starting point to the rotation end point with the rotation radius, and the second regular driving path is a path formed from the end point of the rotation path to a target posture point, and the target posture point is the posture point where the rear axle center of the vehicle is located after the vehicle is parked in the first parking space.

6. The method according to claim 5, characterized in that The determining of a first conventional driving path according to a position range of a rotation starting point of the rotation path and a current posture point of the vehicle comprises: Determine a plurality of conventional driving paths according to a position range of a rotation starting point of the rotation path, a position of the current pose point, kinematic constraints, and non-holonomic dynamic constraints; The first regular driving path is determined, where the first regular driving path is a regular driving path with the smallest cost among the multiple regular driving paths.

7. The method according to claim 4, characterized in that The information of the current position point of the vehicle includes the driving direction of the vehicle, and the method further includes: When the driving direction of the vehicle is such that the front of the vehicle enters the parking space, the first rotation center is determined to be the first front wheel of the vehicle according to the parking space and the size of the vehicle. When the vehicle is traveling in a direction such that the rear end of the vehicle is parked in the parking space, the first rotation center is determined to be the first rear wheel of the vehicle according to the parking space and the size of the vehicle.

8. The method according to claim 7, characterized in that The first rotation center is the right front wheel of the vehicle, The target parking path includes a first pre-parking path, a first rotation path and a first parking path. The first pre-warehouse entry path includes a third conventional driving path, the third conventional driving path is a path formed from the current posture point to the first warehouse entry preparation posture point, the first warehouse entry preparation posture point is the posture point where the rear axle center of the vehicle is located before the vehicle rotates, The first rotation path is a path formed by the vehicle rotating around the right front wheel of the vehicle at the first storage preparation position with a first rotation radius, and the first rotation radius is related to the wheelbase of the vehicle and the width of the vehicle; The first warehousing path includes a fourth regular driving path, which is a path formed from the second warehousing preparation posture point to the target posture point, and the second warehousing preparation posture point is the posture point where the center of the rear axle of the vehicle is located after rotation.

9. The method according to claim 7, characterized in that: The first rotation center is the right rear wheel of the vehicle, The target parking path includes a second pre-parking path, a second rotation path, and a second parking path. The second pre-warehouse entry path includes a fifth conventional driving path, the fifth conventional driving path is a path formed from the current posture point to the third warehouse entry preparation posture point, the third warehouse entry preparation posture point is the posture point where the rear axle center of the vehicle is located before the vehicle rotates, The second rotation path is a path formed by the vehicle rotating around the right rear wheel of the vehicle at the third parking preparation position with a second rotation radius, and the second rotation radius is related to the width of the vehicle; The second warehousing path includes a sixth regular driving path, which is a path formed from a fourth warehousing preparation posture point to a target posture point, and the fourth warehousing preparation posture point is a posture point where the center of the rear axle of the vehicle is located after rotation.

10. The method according to claim 4 or 5, characterized in that: The method further comprises: determining a rotatable space in the parkable space according to the size of the vehicle; Determining a plurality of rotational positions and a first rotational center of the vehicle at the plurality of rotational positions in the rotatable space, and determining rotational paths formed by the vehicle rotating at the plurality of rotational positions around the first rotational center at the plurality of rotational positions respectively; Planning a first conventional driving path according to information of a current posture point of the vehicle and a rotational position among the multiple rotational positions closest to the current posture point; planning a second conventional driving path according to the position of the first parking space and the rotational position of the position closest to the first parking space among the plurality of rotational positions; A conventional driving path between the plurality of rotational positions is planned.

11. A method for parking, characterized in that: The method is used to control a vehicle to park out of a parking space, the vehicle comprising a plurality of wheels and a plurality of motors, each of the plurality of wheels being controlled by one of the plurality of motors, the method comprising: Obtaining parking position information and surrounding environment information of the first parking space; Determine a target parking path for the vehicle according to information of a current position point of the vehicle, the parking position information, and information about the surrounding environment of the first parking space, wherein the target parking path includes a conventional driving path and a rotation path, wherein the conventional driving path includes a straight driving path and / or a curved driving path, and the rotation path is a path formed by the vehicle rotating around a first rotation center of the vehicle, wherein the rotation of the vehicle is achieved by the plurality of motors controlling the plurality of wheels respectively, and the first rotation center is located within a rotatable area formed by connecting the centers of the plurality of wheels; The vehicle is controlled to park out of the first parking space according to the target parking exit path.

12. The method according to claim 11, characterized in that The turning radius of the curved driving path is greater than or equal to the minimum turning radius of the vehicle, and the turning radius of the rotating path is less than the minimum turning radius of the vehicle. The minimum turning radius is the turning radius of the vehicle when the front wheels are at the maximum turning angle and the four wheels rotate in the same direction for steering control.

13. The method according to claim 11, characterized in that The surrounding environment information of the first parking space is used to indicate information about obstacles around the first parking space, and the rotation path satisfies: there are no obstacles within the range of the rotation path; the method further includes: determining a parking space for the vehicle according to information about obstacles around the first parking space; determining at least one rotatable space in the parking space according to the size of the vehicle; Determine one or more rotational positions and a first rotational center of the vehicle at the one or more rotational positions in the at least one rotatable space, and determine a rotational path formed by the vehicle rotating at the one or more rotational positions around the first rotational center of the one or more rotational positions; Planning a third conventional driving path according to information of a current posture point of the vehicle and a rotational position of one or more rotational positions closest to the current posture point; planning a fourth conventional driving route according to the unparking position information and a rotational position of the one or more rotational positions closest to the unparking position; When the number of the rotational positions is plural, a regular driving path between the plural rotational positions is planned.

14. A processing device, characterized in that: The processing device is included in a vehicle, the vehicle includes a plurality of wheels and a plurality of motors, each of the plurality of wheels is controlled by one of the plurality of motors, the processing device includes an acquisition unit and a processing unit, The acquisition unit is used to acquire the position information of the first parking space and the surrounding environment information of the first parking space; The processing unit is used for: Determine a target parking path of the vehicle according to information of a current posture point of the vehicle, position information of the first parking space, and surrounding environment information of the first parking space, wherein the target parking path includes a conventional driving path and a rotation path, wherein the conventional driving path includes a straight driving path and / or a curved driving path, and the rotation path is a path formed by the vehicle rotating around a first rotation center of the vehicle, wherein the rotation of the vehicle is achieved by the multiple motors controlling the multiple wheels respectively, and the first rotation center is located in a rotatable area formed by connecting the centers of the multiple wheels; The vehicle is controlled to park according to the target parking path.

15. A processing device, characterized in that: The processing device comprises a processor and a memory, wherein a program is stored in the memory, and the program comprises instructions for executing the method according to any one of claims 1 to 13.

16. A vehicle, characterized in that: The vehicle comprises a processing device as claimed in claim 14 or claim 15, and the vehicle is used to implement the method as claimed in any one of claims 1-13.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, wherein the computer program includes instructions for executing the method according to any one of claims 1 to 13.

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