A parking method and related apparatus

Abstract

The application provides a parking method and related device, which are applied to the technical field of vehicle control. The embodiment of the application can acquire position information of a first parking space and surrounding environment information of the first parking space, determine a target parking path of a vehicle according to information of a 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 control the vehicle to rotate around a first rotation center at a certain pose point through multiple motors according to the target parking path, so as to adjust the attitude of the vehicle and realize successful parking. In this way, the vehicle can realize position adjustment by rotating around the first rotation center, and the attitude angle of the vehicle can still be adjusted in a scene where the right front left rear and left front right rear adjustment modes cannot be realized, thereby effectively improving the efficiency and safety of automatic parking and improving the user experience.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a parking method and related apparatus. Background Technology

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

[0003] With the advent of the era of intelligent driving, more and more consumers are considering using smart cars, and automatic parking assistance is a technological method to solve parking problems. During the parking process, traditional vehicle motion is subject to kinematic constraints and nonholonomic dynamic constraints, which prevent the vehicle from slipping during its movement. For example, it cannot achieve instantaneous lateral movement, front-wheel drive vehicles must rely on the steering of the front wheels to perform lane changes, steering, and other operations, and cannot travel at excessive speeds on curves, etc.

[0004] Driving paths that satisfy kinematic and nonholonomic dynamic constraints often require a large 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 normal driving path, which leads to automatic parking failure, resulting in a poor user experience and low efficiency of automatic parking. Summary of the Invention

[0005] This application provides a parking method and related apparatus that can better handle parking environments in narrow spaces, such as dead-end roads and narrow passages. The parking path is divided into three stages: the pre-entry path, the rotation path, and the entry path, which can effectively improve the efficiency of automatic parking and enhance the user experience.

[0006] In a first aspect, embodiments of this application provide a parking method for controlling a vehicle to park. The vehicle includes multiple wheels and multiple motors, each of the multiple wheels being controlled by one of the multiple motors. The method includes:

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

[0008] Based on the current pose information of the vehicle, the location information of the first parking space, and the surrounding environment information of the first parking space, the target parking path of the vehicle is determined. The target parking path includes a regular driving path and a rotating path. The regular driving path includes a straight driving path and / or a curved driving path. The rotating path is the path formed by the vehicle rotating around the first rotation center of the vehicle. The rotation of the vehicle is achieved by the multiple motors controlling the multiple wheels respectively. The first rotation center is located in the 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 embodiments of this application, the vehicle with four-wheel independent steering adopts a four-wheel independent steering motor, and all four wheels of the vehicle can be controlled independently. On the basis of supporting the conventional driving path, it can realize the rotation path of the vehicle around a certain rotation center of the vehicle (e.g., around a single wheel), thereby breaking the non-holonomic constraints of the traditional vehicle. This allows the vehicle to drive effectively on paths smaller than the minimum turning radius or even on discontinuous paths, greatly improving the vehicle's flexibility, passability and maneuverability. It can better cope with narrow parking environments, such as dead-end road scenarios and narrow passage scenarios.

[0011] Moreover, compared to some automatic parking path methods, this application adopts a combination of multiple planning methods, such as conventional path planning, four-motor in-situ rotation, and rotation around a single wheel of the vehicle. The parking path planning is divided into three stages: pre-parking planning, rotation path, and parking planning, which can effectively improve the efficiency of automatic parking and enhance the user experience.

[0012] In one 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, 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 the front wheels are at their maximum turning angle and all four wheels are rotating in the same direction for steering control.

[0013] In 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 that there are no obstacles within the range of the rotation path.

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

[0015] Based on information about obstacles around the first parking space, determine the available parking space for the vehicle;

[0016] The first rotation center is determined based on information about the vehicle's parking space, the vehicle's dimensions, and the vehicle's current pose.

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

[0018] Based on the parking space of the vehicle and the size of the vehicle, the position range of the end point of the rotation path is determined, and the end point of the rotation path is the pose point of the rear axle center of the vehicle after rotation.

[0019] Based on the rotation radius of the rotation path and the position range of the end point of the rotation path, the position range of the rotation starting point of the rotation path is determined. 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 pose point of the rear axle center of the vehicle before rotation.

[0020] Based on the position range of the rotation starting point of the rotation path and the current pose point of the vehicle, a first normal driving path is determined. The first normal driving path is the path formed from the current pose point of the vehicle to the rotation starting point of the rotation path. The current pose point is the pose point where the current rear axle center of the vehicle is located.

[0021] The rotation path and the second conventional driving path are determined. 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 ending point. The second conventional driving path is the path formed from the end point of the rotation path to the target pose point. The target pose point is the pose point of the rear axle center of the vehicle after it is parked in the first parking space.

[0022] In another possible implementation of the first aspect, determining the first conventional driving path based on the position range of the rotation starting point of the rotation path and the current pose point of the vehicle includes:

[0023] Based on the position range of the rotation starting point of the rotation path, the position of the current pose point, kinematic constraints, and nonholonomic dynamic constraints, multiple conventional driving paths are determined.

[0024] The first regular driving route is determined, which is the regular driving route with the lowest cost among the plurality of regular driving routes.

[0025] In yet another possible implementation of the first aspect, the information of the vehicle's current pose includes the vehicle's direction of travel, and the method further includes:

[0026] When the vehicle is traveling in the direction of its own movement and its front end is parked in the parking space, the first center of rotation is determined to be the first front wheel of the vehicle based on the parking space and the dimensions of the vehicle.

[0027] When the vehicle is traveling in the direction of its rear end into the parking space, the first rotation center is determined to be the first rear wheel of the vehicle based on the parking space and the dimensions of the vehicle.

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

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

[0030] The first pre-entry path includes a third regular driving path, which is the path formed from the current pose point to the first entry preparation pose point, where the first entry preparation pose point is the pose point of the rear axle center before the vehicle rotates.

[0031] The first rotation path is the path formed by the vehicle rotating around the right front wheel of the vehicle with a first rotation radius at the first parking preparation pose point. The first rotation radius is related to the wheelbase and width of the vehicle.

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

[0033] Thus, for parking scenarios involving dead-end roads where the car is to park head-on, the processing device can plan the path from inside the parking space to outside, and then flip the planning result to obtain the final target parking path. Dividing the target parking path planning into three stages—outside the parking space planning, in-situ turning point planning, and entry into the parking space planning—and 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 yet another possible implementation of the first aspect, the first center of rotation is the right rear wheel of the vehicle.

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

[0036] The second pre-entry path includes a fifth regular driving path, which is the path formed from the current pose point to the third entry preparation pose point, where the third entry preparation pose point is the pose point of the rear axle center before the vehicle rotates.

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

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

[0039] Thus, for parking scenarios involving rear-end parking on dead-end roads or in narrow passages, the processing device can plan the parking path sequentially from inside to outside the parking space. The planning result is then flipped to obtain the final target parking path. Dividing the target parking path planning into three stages—outside-the-space planning, in-situ turning point planning, and inside-the-space planning—and 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 yet another possible implementation of the first aspect, the method further includes:

[0041] Based on the dimensions of the vehicle, determine the rotatable space within the parking space;

[0042] In the rotatable space, a plurality of rotation positions and a first rotation center of the vehicle at the plurality of rotation positions are determined, and the rotation paths formed by the vehicle rotating around the first rotation center at the plurality of rotation positions are determined respectively.

[0043] Based on the information of the vehicle's current pose point and the rotation position closest to the current pose point among the multiple rotation positions, a first conventional driving path is planned;

[0044] Based on the position of the first parking space and the rotation position closest to the first parking space among the plurality of rotation positions, a second conventional driving path is planned;

[0045] Plan the regular driving path between the multiple rotation positions.

[0046] The above describes a method for planning parking paths. In this implementation, the vehicle can sense its surroundings and the environment near the parking space, determine the space where it can rotate, and then flexibly determine one or more rotation positions within that space as needed. It also flexibly determines the first rotation center at each rotation position based on the surrounding environment, thus completing the parking path planning. Because the vehicle's attitude angle can be flexibly and conveniently adjusted by rotating around the first rotation center, this implementation, when there is sufficient rotation space, will plan a parking path that includes a rotation path as much as possible, and can even perform multiple rotations. It can also park in challenging conditions such as narrow roads and dead-end roads, significantly improving the success rate of parking path planning and the efficiency of automatic parking.

[0047] Secondly, embodiments of this application provide a parking exit method, the method being used to control a vehicle to park out of a parking space, the vehicle comprising multiple wheels and multiple motors, each of the multiple wheels being controlled by one of the multiple motors, the method comprising:

[0048] Obtain parking location information and surrounding environment information of the first parking space;

[0049] Based on the vehicle's current pose information, the parking position information, and the surrounding environment information of the first parking space, the target parking path of the vehicle is determined. The target parking path includes a regular driving path and a rotating path. The regular driving path includes a straight driving path and / or a curved driving path. The rotating path is the path formed by the vehicle rotating around the vehicle's first rotation center. The rotation of the vehicle is achieved by the multiple motors controlling the multiple wheels respectively. The first rotation center is located in the rotatable area formed by connecting the centers of the multiple wheels.

[0050] Based on the target parking path, control the vehicle to park out of the first parking space.

[0051] In one 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, 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 the front wheels rotate at their maximum turning angle and all four wheels rotate in the same direction for steering control.

[0052] In one possible implementation of the second 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 the condition that there are no obstacles within the range of the rotation path; the method further includes:

[0053] Based on information about obstacles around the first parking space, determine the available parking space for the vehicle;

[0054] Based on the dimensions of the vehicle, at least one rotatable space is determined within the parking space;

[0055] In the at least one rotatable space, one or more rotational positions and a first rotational center of the vehicle at one or more of the rotational positions are determined, and a rotational path is determined formed by the vehicle rotating around the first rotational center at each of the multiple rotational positions.

[0056] Based on the information of the vehicle's current pose point and the rotation position closest to the current pose point among one or more rotation positions, a first conventional driving path is planned;

[0057] Based on the parking position information and the rotation position closest to the parking position among one or more rotation positions, a second conventional driving path is planned;

[0058] When there are multiple rotation positions, a regular driving path is planned between the multiple rotation positions.

[0059] Thirdly, embodiments of this application provide a processing device included in a vehicle. The vehicle includes multiple wheels and multiple motors, each of the multiple wheels being controlled by one of the multiple motors. The processing device includes an acquisition unit and a processing unit.

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

[0061] The processing unit is used for:

[0062] Based on the current pose information of the vehicle, the location information of the first parking space, and the surrounding environment information of the first parking space, the target parking path of the vehicle is determined. The target parking path includes a regular driving path and a rotating path. The regular driving path includes a straight driving path and / or a curved driving path. The rotating path is the path formed by the vehicle rotating around the first rotation center of the vehicle. The rotation of the vehicle is achieved by the multiple motors controlling the multiple wheels respectively. The first rotation center is located in the 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 one 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, 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 the front wheels rotate at their maximum angle and all four wheels rotate in the same direction for steering control.

[0065] In 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 that there are no obstacles within the range of the rotation path.

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

[0067] Based on information about obstacles around the first parking space, determine the available parking space for the vehicle;

[0068] The first rotation center is determined based on information about the vehicle's parking space, the vehicle's dimensions, and the vehicle's current pose.

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

[0070] Based on the parking space of the vehicle and the size of the vehicle, the position range of the end point of the rotation path is determined, and the end point of the rotation path is the pose point of the rear axle center of the vehicle after rotation.

[0071] Based on the rotation radius of the rotation path and the position range of the end point of the rotation path, the position range of the rotation starting point of the rotation path is determined. 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 pose point of the rear axle center of the vehicle before rotation.

[0072] Based on the position range of the rotation starting point of the rotation path and the current pose point of the vehicle, a first normal driving path is determined. The first normal driving path is the path formed from the current pose point of the vehicle to the rotation starting point of the rotation path. The current pose point is the pose point where the current rear axle center of the vehicle is located.

[0073] The rotation path and the second conventional driving path are determined. 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 ending point. The second conventional driving path is the path formed from the end point of the rotation path to the target pose point. The target pose point is the pose point of the rear axle center of the vehicle after it is parked in the first parking space.

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

[0075] Based on the position range of the rotation starting point of the rotation path, the position of the current pose point, kinematic constraints, and nonholonomic dynamic constraints, multiple conventional driving paths are determined.

[0076] The first regular driving route is determined, which is the regular driving route with the lowest cost among the plurality of regular driving routes.

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

[0078] When the vehicle is traveling in the direction of its own movement and its front end is parked in the parking space, the first center of rotation is determined to be the first front wheel of the vehicle based on the parking space and the dimensions of the vehicle.

[0079] When the vehicle is traveling in the direction of its rear end into the parking space, the first rotation center is determined to be the first rear wheel of the vehicle based on the parking space and the dimensions of the vehicle.

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

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

[0082] The first pre-entry path includes a third regular driving path, which is the path formed from the current pose point to the first entry preparation pose point, where the first entry preparation pose point is the pose point of the rear axle center before the vehicle rotates.

[0083] The first rotation path is the path formed by the vehicle rotating around the right front wheel of the vehicle with a first rotation radius at the first parking preparation pose point. The first rotation radius is related to the wheelbase and width of the vehicle.

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

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

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

[0087] The second pre-entry path includes a fifth regular driving path, which is the path formed from the current pose point to the third entry preparation pose point, where the third entry preparation pose point is the pose point of the rear axle center before the vehicle rotates.

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

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

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

[0091] Based on the dimensions of the vehicle, determine the rotatable space within the parking space;

[0092] In the rotatable space, a plurality of rotation positions and a first rotation center of the vehicle at the plurality of rotation positions are determined, and the rotation paths formed by the vehicle rotating around the first rotation center at the plurality of rotation positions are determined respectively.

[0093] Based on the information of the vehicle's current pose point and the rotation position closest to the current pose point among the multiple rotation positions, a first conventional driving path is planned;

[0094] Based on the position of the first parking space and the rotation position closest to the first parking space among the plurality of rotation positions, a second conventional driving path is planned;

[0095] Plan the regular driving path between the multiple rotation positions.

[0096] Fourthly, embodiments of this application provide a processing apparatus including a processor and a memory; the processor executes instructions stored in the memory to cause the processing apparatus to implement the method described in any of the first aspects above.

[0097] Optionally, the processing device further includes a communication interface for receiving and / or sending data, and / or for providing input and / or output to the processor.

[0098] It should be noted that the above embodiments are illustrated using a processor (or general-purpose processor) that executes the method by invoking a computer-specified instruction. In practice, the processor can also be a dedicated processor, in which case the computer instructions have been pre-loaded into the processor. Optionally, the processor can include both dedicated and general-purpose processors.

[0099] Optionally, the processor and memory may be integrated into a single device, meaning they can be combined.

[0100] Fifthly, this application provides a vehicle comprising a plurality of wheels, a plurality of motors, and the aforementioned processing device, such that the vehicle implements the method described in any of the first aspects above.

[0101] In a sixth aspect, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed by a processing device, cause the processing device to implement the method described in any of the first aspects above.

[0102] In a seventh aspect, this application provides a computer program product including computer instructions that, when executed by a processing device, cause the processing device to implement the method described in any of the first aspects.

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

[0104] The beneficial effects of the technical solutions provided in aspects two to seven of this application can be referred to the beneficial effects of the technical solutions in aspect one, and will not be repeated here. Attached Figure Description

[0105] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

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

[0107] Figure 2 This is a schematic diagram of a conventional driving route provided in an embodiment of this application;

[0108] Figure 3 This is a schematic diagram of a rotatable region provided in an embodiment of this application;

[0109] Figure 4 This is a schematic flowchart of a parking method provided in an embodiment of this application;

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

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

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

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

[0114] Figure 9 This is a schematic diagram of another possible target parking path provided in the embodiments of this application;

[0115] Figure 10 This is a schematic diagram of a possible second rotation path provided in an embodiment of this application;

[0116] Figure 11 This is a flowchart illustrating another parking method provided in an embodiment of this application;

[0117] Figure 12 This is a schematic diagram of the structure of a processing device provided in an embodiment of this application;

[0118] Figure 13 This is a schematic diagram of another processing device provided in the embodiments of this application. Detailed Implementation

[0119] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0120] The system architecture used in the embodiments of this application is described below. It should be noted that the system architecture and business scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0121] Please see Figure 1 , Figure 1 This is a schematic diagram of a vehicle architecture provided in an embodiment of this application, such as... Figure 1 As shown, the vehicle 10 includes multiple wheels, multiple independent motors, and a processing unit 103.

[0122] Vehicle 10 is an exemplarily provided device with mobility in this application. Exemplarily, vehicle 10 may include, but is not limited to, different types of vehicles such as cars, trucks, buses, vans, and electric vehicles.

[0123] Wheels are used to support and propel vehicles, and can include rims and tires. For example... Figure 1 The vehicle may include wheels 101a, 101b, 101c, and 101d. The number of wheels is for illustrative purposes only; in actual implementation, the vehicle may include more or fewer wheels.

[0124] Independent motors are used to control the steering of the wheels. In vehicle 10, each wheel can be controlled by an independent motor, enabling vehicle 10 to achieve various movement modes such as front and rear wheels in opposite directions, rotating in place, and front and rear wheels in the same direction. Optionally, one or more wheels can be controlled by a single independent motor. Figure 1 The vehicle may include independent motors 102a, 102b, 102c, and 102d. The number of independent motors is for illustrative purposes only; in actual implementation, the vehicle may include more or fewer independent motors.

[0125] The processing device 103 is a module with data processing capabilities. As one possible implementation, the processing device 103 can be a physical device, such as including one or more of the following modules: a central processing unit (CPU), a microprocessor unit (MPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (assisting the CPU in completing corresponding processing and applications), a microcontroller unit (MCU), a mobile data center (MDC), and / or an electronic control unit, etc. Of course, the above description assumes that the processing device 103 is an in-vehicle device.

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

[0127] As mentioned above, the processing device 103 can be located outside the vehicle. It should be understood that when the processing device 103 is located outside the vehicle 10, the vehicle 10 and the processing device 103 can communicate with each other, for example, indirectly via wireless communication, such as ultra-wideband (UWB) technology, long-term evolution (LTE) communication technology, 5th generation mobile networks (or 5th generation wireless systems, 5G), Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), or Universal Mobile Telecommunications System (UMTS), etc.

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

[0129] In some scenarios, the motion of certain vehicles is subject to kinematic constraints and nonholonomic dynamic constraints, preventing slippage during movement. For example, a vehicle cannot perform instantaneous lateral movement; front-wheel-drive vehicles must rely on front-wheel steering to perform lane changes and steering maneuvers; and excessive speed is prohibited on curves. Satisfying these constraints requires the vehicle's path to meet the following conditions:

[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 beginning and end positions.

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

[0132] (3) Non-holonomic dynamic constraints: to prevent the vehicle from sideslipping or tilting, and to constrain lateral acceleration, yaw rate and lateral jerk.

[0133] The above requirements stipulate that the vehicle can only travel on a conventional driving path, which conforms to kinematic constraints and nonholonomic dynamic constraints. Please refer to [link to relevant documentation]. Figure 2 , Figure 2 This is a schematic diagram of a conventional driving route provided in an embodiment of this application, such as... Figure 2As shown, conventional driving paths can include circular driving paths and straight driving paths. Optionally, conventional driving paths can also include combinations of straight and circular driving paths, high-order continuous smooth curve driving paths, etc. However, driving paths that meet the above requirements often have a large turning radius, requiring more space. When performing automatic parking operations in narrow spaces, a lot of maneuvering is required, or the parking operation cannot be completed at all, resulting in low efficiency of automatic parking. Moreover, driving paths that meet the above requirements usually move along straight lines or curves, which often wastes a lot of space in narrow spaces, increasing the difficulty of parking. In addition, due to the need for frequent start-stop and gear shifting in narrow spaces, users often experience a sense of jerking, and the overall time consumption is long, resulting in a poor user experience and low efficiency of automatic parking. When users use manual parking, if the space is too small to meet the above requirements, users are often required to repeatedly maneuver and adjust the vehicle's direction to complete the parking space. During the parking process, due to limited space, the risk of collision is greatly increased, resulting in low parking safety and low user parking efficiency.

[0134] In view of this, this application is applied to vehicles with four-wheel independent steering, employing four-wheel independent steering motors, allowing independent control of all four wheels. In addition to supporting conventional driving paths, it enables the vehicle to rotate around a single wheel, rotate around a first rotation center, etc. Please refer to [link to relevant documentation]. Figure 3 , Figure 3 This is a schematic diagram of a rotatable region provided in an embodiment of this application, such as... Figure 3 As shown, the first rotation center can be any point within the rotatable area, thus breaking the traditional nonholonomic constraints of the vehicle. This allows the vehicle to effectively travel on paths smaller than the minimum turning radius, or even on discontinuous paths, greatly improving its flexibility, passability, and maneuverability. It also enables better handling of narrow parking environments, such as dead-end roads and narrow passages. Furthermore, compared to some automatic parking path methods, this application combines conventional path planning, four-motor in-situ rotation, and rotation around a single wheel of the vehicle, dividing the parking path planning into three stages: pre-parking planning, rotation path planning, and parking planning. This effectively improves the efficiency of automatic parking and enhances the user experience.

[0135] The methods of the embodiments of this application will be described in detail below.

[0136] Please see Figure 4 , Figure 4 This is a schematic flowchart of a parking method provided in an embodiment of this application. Optionally, this method can be used to control vehicle parking and can be applied to a processing device; for example, this method can be applied to... Figure 1 The processing device 103 shown.

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

[0138] Step S401: The processing device acquires the location 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. It may be located inside the vehicle or as a processing module integrated into the vehicle, such as an MDC or MCU. It may also be located outside the vehicle, such as a server, cloud, or host computer. It can also be a virtual device, such as a virtual machine, software, program code, or container. The vehicle can be equipped with multiple wheels and multiple independent motors. Each wheel can be controlled by an independent motor, and each motor can control the wheel's rotation direction, speed, and torque. Each motor can be connected to the central processing unit (CPU) through an electronic control unit, and can control the wheels according to the CPU's instructions, enabling the vehicle to achieve various movement modes such as front and rear wheels moving in opposite directions, rotating in place, and front and rear wheels moving in the same direction. Optionally, one or more wheels can be controlled by a single independent motor. Examples of vehicles include, but are not limited to, different models of vehicles such as cars, trucks, buses, vans, and electric vehicles.

[0140] In one possible implementation, the processing device can acquire the location information of 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 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 in the parking lot, whether each parking space is occupied by a vehicle, what obstacles are in the parking lot (e.g., stone pillars, wooden stakes, and walls), and the location information of these obstacles in the parking lot.

[0141] Optionally, the processing unit may include multiple sensors to detect environmental information around the vehicle, such as obstacle information. Based on the signals from these sensors, the processing unit can adjust the rotation direction and speed of each wheel to ensure the vehicle can safely avoid obstacles and dynamically adjust its parking trajectory. By controlling the speed and direction of the four independent wheel motors, the processing unit allows the vehicle to rotate in place at any point within a rectangular area formed by the centers of the four wheels. Figure 3As shown, the first rotation center can be any point within 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 usable parking space in the parking lot. The location information of the first parking space and the location information of obstacles in the parking lot can be represented by points, lines, or bounding boxes, etc., and a layout map 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 the information of obstacles around the first parking space.

[0142] Optionally, the processing device includes a visual sensor and an ultrasonic sensor. These sensors are used to perceive information about the vehicle's surrounding environment and identify information about surrounding obstacles. 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. A layout map 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 perceived information to obtain information about available parking spaces and their status, and then filter out the identified usable parking spaces and display them on the in-vehicle device interface for user selection.

[0143] Furthermore, the processing device determines whether the target parking space (the first parking space) is in a space-constrained scenario (space-constrained scenarios include, but are not limited to, dead-end road scenarios or narrow passage scenarios). Optionally, the processing device extracts the available parking boundaries based on the boundary information of the walls, pillars, etc. around the first parking space, and further obtains the drivable parking area by combining the obstacles with the first parking space. Based on the above information, it determines whether the target parking space (the first parking space) is in a space-constrained scenario. If the target parking space is not in a space-constrained scenario, the processing device can plan a conventional driving path for parking. If the target parking space is in a space-constrained scenario, the processing device needs to plan a parking path that combines a conventional driving path and a rotating path for parking.

[0144] For example, please see Figure 5 , Figure 5 This is a schematic diagram of a possible parking lot provided in an embodiment of this application, such as... Figure 5As shown, the parking lot includes a first parking space. The user selects the first parking space, which is then the target parking space for the vehicle. The parking lot also includes two obstacles. The processing device can pre-obtain the location information of the first parking space, which includes the location information of the target pose point. The location information of the first parking space can be represented using a Cartesian coordinate system. For example, a Cartesian coordinate system can be established with the target pose point as the origin. The target pose point is the pose point of the rear axle center of the vehicle after it has parked in the first parking space. Figure 5 In the diagram, the target pose point is point A. The position information of point A can be represented as (x0, y0) or (0, 0).

[0145] Step S402: The processing device determines the target parking path of the vehicle based on the information of the vehicle's current pose point, the location information of the first parking space, and the surrounding environment information of the first parking space.

[0146] The target parking path includes a conventional driving path and a rotating path. The conventional driving path conforms to kinematic constraints and nonholonomic dynamic constraints, and includes straight driving paths and / or curved driving paths. The rotating path is the path formed by the vehicle rotating around its first rotation center. The vehicle's rotation is achieved by multiple motors controlling multiple wheels. The turning radius of the curved driving path is greater than or equal to the vehicle's minimum turning radius, while the turning radius of the rotating path is less than the vehicle's minimum turning radius. The minimum turning radius is the turning radius when the vehicle's front wheels have their maximum turning angle and all four wheels are rotating in the same direction for steering control. The first rotation center is located within a rotatable area formed by connecting the centers of multiple wheels, and each rotating path satisfies the requirement of being free of obstacles within its rotation path area. Figure 3 As shown, the first center of rotation can be any point within the rotatable region.

[0147] For example, 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 pose point to the parking preparation pose point, the rotation path is the path formed by the vehicle rotating around one of its wheels at the parking preparation pose point, and the parking path is the path from the parking preparation pose point to the target pose point.

[0148] In one possible implementation, the processing device can determine the target parking path of the vehicle based on the vehicle's current pose information, the location information of the first parking space, and the surrounding environment information of the first parking space, wherein the vehicle's current pose information includes information about the vehicle's current pose point.

[0149] As one possible implementation of determining a 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 a first rotation center based on information about the available parking space, the vehicle's dimensions, and the vehicle's current pose.

[0150] Furthermore, the processing device determines the position range of the endpoint of the rotation path based on the available parking space and the vehicle's dimensions. The endpoint of the rotation path is the pose point of the rear axle center after the vehicle has rotated. Based on the rotation radius of the rotation path and the position range of the endpoint, the processing device determines the position range of the starting point of the rotation path. Then, based on the position range of the starting point and the vehicle's current pose point, it determines a first conventional driving path. Subsequently, the processing device determines a second conventional driving path. The first conventional driving path is the path from the vehicle's current pose point to the starting point of the rotation path. The current pose point is the pose point of the vehicle's current rear axle center. The rotation radius of the rotation path is related to the first rotation center and the vehicle's dimensions. The starting point of the rotation path is the pose point of the rear axle center before the vehicle rotates. The rotation path is the path formed by the vehicle rotating around the first rotation center with a rotation radius from the starting point to the endpoint. The second conventional driving path is the path from the endpoint of the rotation path to a target pose point, which is the pose point of the vehicle's rear axle center after the vehicle has 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 pose point, kinematic constraints, and nonholonomic dynamic constraints, and select the conventional driving path with the lowest cost from these multiple conventional driving paths as the first conventional driving path.

[0152] For example, the information of the vehicle's current pose includes the vehicle's driving direction. When the vehicle's driving direction is such that the front of the vehicle is parked in the parking space, the first rotation center is determined to be the first front wheel of the vehicle based on the parking space and the vehicle's size. When the vehicle's driving direction is 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 based on the parking space and the vehicle's size.

[0153] As another possible implementation of determining the target parking path, the processing device determines the available parking space for the vehicle based on information about obstacles surrounding the first parking space, determines one or more rotation positions within the available parking space and a first rotation center of the vehicle at the one or more rotation positions, and determines a rotation path formed by the vehicle rotating around the first rotation center at the one or more rotation positions. Based on information about the vehicle's current pose point and the rotation position closest to the current pose point among the one or more rotation positions, the processing device plans a first conventional driving path, and based on the position of the first parking space and the rotation position closest to the first parking space among the one or more rotation positions, it plans a second conventional driving path.

[0154] Optionally, during the process of determining the rotation position, the processing device determines at least one rotatable space in the parking space based on the size of the vehicle, and determines one or more rotation positions in the at least one rotatable space.

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

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

[0157] In this way, by planning the target parking path of the vehicle through multiple implementation methods, the pre-parking time can be initially screened among the parking paths planned by these multiple implementation methods. The planning result with the shorter parking time is selected as the target parking path, which effectively improves the efficiency and safety of automatic parking and enhances the user experience.

[0158] To facilitate understanding, several examples of target parking paths are provided below: Example 1: When the first center of rotation is the right front wheel of the vehicle, the vehicle's current pose information includes the vehicle's current pose point, which is the pose point where the vehicle's current rear axle center is located (e.g., ...). Figure 5 Point P in the diagram), the target parking path includes the first pre-parking path, the first rotation path, and the first parking path. The first pre-parking path includes the first normal driving path, which is the path formed from the current pose point to the first parking preparation pose point (e.g., point P in the diagram). Figure 5 The PC path in the text), the first parking preparation pose point is the pose point of the rear axle center before the vehicle rotates (e.g., the ... Figure 5Point C in the diagram), the first rotation path is the vehicle's rotation around the first rotation center from the first parking preparation pose point (e.g., point C in the diagram). Figure 5 The path formed by the rotation of the stationary rotation point (i.e., the right front wheel of the vehicle) (as shown in the image). Figure 5 The first entry path is the path formed by the vehicle from the second entry preparation pose point to the target pose point (e.g., the CB path in the diagram). Figure 5 The second parking preparation pose point is the pose point of the rear axle center after the vehicle has rotated (e.g., the BA path in the middle), and the second parking preparation pose point is the pose point of the rear axle center after the vehicle has rotated (e.g., the BA path in the middle). Figure 5 Point B in the diagram), the target pose point is the pose point of the rear axle center of the vehicle after it has been parked in the first parking space (e.g., point B in the diagram). Figure 5 (Point A in the middle).

[0159] For example, such as Figure 5 As shown, the processing device can acquire the vehicle's direction of travel and determine the first rotation center based on the vehicle's direction of travel, the position information of the first parking space, and the surrounding environment information of the first parking space. For example, Figure 5 The parking scenario involves a dead-end road where the vehicle's front end is parked. The processing unit determines the first rotation center as the vehicle's right front wheel. The processing unit needs to plan the first pre-parking path, the first rotation path, and the first parking path, and then achieve reverse parking by rotating at a certain angle.

[0160] Please see Figure 6 , Figure 6 This is a schematic diagram of a possible first rotation path provided in an embodiment of this application. Specifically, the position range of the second parking preparation pose 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 pose point. For example, the processing device determines the target pose point based on 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 pose point (e.g., ...). Figure 6 The location of point A in the diagram determines the range of the second warehouse preparation pose point, i.e. Figure 6 The constraint range of point B in the diagram.

[0161] For example, regarding lateral constraints, such as Figure 6 As shown, for safety reasons, the vehicle cannot adjust its posture towards the side where a wall exists. Regarding longitudinal height constraints, it is necessary to consider whether point B can meet the space requirements for in-situ turning. Optionally, the second parking preparation posture point B can be determined based on the aforementioned implementation method. For example, using... Figure 6 Let point A be the origin of a Cartesian coordinate system, with the coordinates of point A being (x0, y0) and the coordinates of point B being (x1, y1). The position range of point B satisfies the following formulas (1) and (2):

[0162]

[0163]

[0164] Among them, such as Figure 6 As shown, d represents the available space within the parking space. f Let df be the available distance ahead, and d be the distance to be reached. r For the available road width dr ahead, please refer to [link / reference]. Figure 7 , Figure 7 This is a schematic diagram of a possible vehicle provided in an embodiment of this application, such as... Figure 7 As shown, l wheelbase Let h be the wheelbase, l be the vehicle length, and w be the vehicle width. f Let lf be the front overhang length, l b The rear overhang length is lb.

[0165] Furthermore, the rotation radius of the first rotation path is related to the vehicle's wheelbase and width. For example, the processing device can determine the rotation radius of the first rotation path based on the vehicle's wheelbase and width, such as... 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 described above:

[0166]

[0167] Optionally, the position range of the first storage preparation pose point is related to the position range of the second storage preparation pose point and the rotation radius of the first rotation path. For example, the processing device determines the position range of the second storage preparation pose point based on... Figure 6 The position range of point B and the rotation radius r of the first rotation path are used to determine the position range of the first storage preparation pose point, i.e. Figure 6 The location range of point C in the diagram. For example, the coordinates of point B are (x1, y1), and the coordinates of point C are (x2, y2), as shown below. Figure 6 As shown, the location range of point C satisfies the following formulas (4) and (5):

[0168] x2=x1+rsinθ (4)

[0169] y2=y1+r(1-cosθ) (5)

[0170] Where θ is the stationary rotation angle of the vehicle around the right front wheel, and the rotation direction is clockwise. Optionally, θ is related to the vehicle's size and the vehicle's real-time attitude angle at point C. Optionally, θ can be a preset value. For example, the vehicle's attitude angle at point B can be vertical, and the vehicle's attitude angle at point C can be horizontal. The angle θ is calculated based on the vehicle's size, and this calculated angle is used as the preset value of θ.

[0171] Furthermore, the processing device plans the first pre-entry path PC, i.e., the first regular driving path PC. Specifically, the processing device determines the first regular driving path PC based on the position range of the second entry preparation pose point and the position of the current pose point.

[0172] Optionally, when planning the first conventional driving path PC, the processing device can determine multiple conventional driving paths based on the position range of the first parking preparation pose point, the position of the current pose point, kinematic constraints, and nonholonomic dynamic constraints, and determine the first conventional driving path based on the multiple conventional driving paths. The first conventional driving path is the conventional driving path with the lowest cost among the multiple conventional driving paths. For example, the processing device can use a hybrid A* algorithm to perform path search from point P according to the vehicle kinematic model, starting from the current pose point P(x4,y4) and ending at the position range of the first parking preparation pose point. Multiple conventional driving paths satisfy the vehicle kinematic and nonholonomic dynamic constraints exist. The processing device can select the conventional driving path with the lowest cost from these multiple conventional driving paths as the first conventional driving path, and the cost of each of these multiple conventional driving paths can be calculated using the following formula (6).

[0173] cost=k1×s+k2×α+k3×β+k4×θ (6)

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

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

[0176] Optionally, the position of the first parking preparation pose point is related to the end point of the first conventional driving path, so that the processing device can obtain the first parking preparation pose point (i.e., ...) based on the first conventional driving path PC. Figure 6 The location of point C in the diagram.

[0177] Furthermore, the processing device can determine the first rotation path based on the first rotation center, the rotation radius of the first rotation path, and the position of the first storage preparation pose point. For example, in Figure 6In the process, based on the position of the in-situ rotation point, the rotation radius r of the first rotation path, and the position of the first storage preparation pose point C, the first rotation path CB is determined. The position of the second storage preparation pose point is related to the endpoint of the first rotation path, thus the processing device can obtain the second storage preparation pose point (i.e., ...) based on the first rotation path CB. Figure 6 The location of point B in the diagram.

[0178] The processing unit plans the first parking path BA, which is the path formed by the vehicle from the target pose point to the second parking preparation pose point. The first parking path BA satisfies vehicle kinematic and nonholonomic dynamic constraints.

[0179] Thus, the processing device plans the parking path sequentially from inside the parking garage to outside, and finally flips the planning results to obtain the final target parking path. The target parking path planning is divided into outside-garage planning (…). Figure 5 Trajectory before in-situ turn, in-situ turn point planning, and inbound planning ( Figure 5 The three stages of trajectory planning (after turning in place) and the use of different algorithms and vehicle motion models can effectively improve the efficiency of automatic parking and enhance the user experience.

[0180] Example 2, please see Figure 8 , Figure 8 This is a schematic diagram of a possible target parking path provided in an embodiment of this application. Please refer to... Figure 9 , Figure 9 This is a schematic diagram of another possible target parking path provided in the embodiments of this application. When the first rotation center is the right rear wheel of the vehicle, the current pose information of the vehicle includes the current pose point of the vehicle, which is the pose point where the current rear axle center of the vehicle is located (e.g., Figure 8 Point P in the middle, or, as in Figure 9 Point P in the diagram), the target parking path includes the second pre-parking path, the second rotation path, and the second parking path. The second pre-parking path includes the second regular driving path, which is the path formed from the current pose point to the third parking preparation pose point (e.g., point P in the diagram). Figure 8 The PC path in the file, or, as in Figure 9 The PC path in the middle), the third parking preparation pose point is the pose point of the rear axle center before the vehicle rotates (e.g., Figure 8 Point C in the middle, or, as in Figure 9 Point C in the diagram), the second rotation path is the vehicle's position at the third parking preparation point around the first rotation center (e.g., point C in the diagram). Figure 8 or Figure 9 The path formed by the rotation of the stationary rotation point (i.e., the right rear wheel of the vehicle) (as shown in the image). Figure 8 CB path in, or, such as Figure 9The second entry path is the path formed by the vehicle from the fourth entry preparation pose point to the target pose point (e.g., the CB path in the diagram). Figure 8 The BA path in the middle, or, such as Figure 9 The fourth parking preparation pose point is the pose point of the rear axle center after the vehicle has rotated (e.g., the BA path in the middle), and the fourth parking preparation pose point is the pose point of the rear axle center after the vehicle has rotated (e.g., the BA path in the middle). Figure 8 Point B in the middle, or, as in Figure 9 Point B in the diagram), the target pose point is the pose point of the rear axle center of the vehicle after it has been parked in the first parking space (e.g., point B in the diagram). Figure 8 Point A in, or, as Figure 9 (Point A in the middle).

[0181] For example, such as Figure 8 As shown, the processing device can acquire the vehicle's direction of travel and determine the first rotation center based on the vehicle's direction of travel, the position information of the first parking space, and the surrounding environment information of the first parking space. For example, Figure 8 The parking scenario is a dead-end road where the rear of the car is parked. Figure 9 In the mid-parking scenario, which involves narrow passages, the processing unit determines the right rear wheel as the primary center of rotation in both scenarios. The processing unit needs to plan a second pre-parking path, a second rotation path, and a second parking path, achieving reverse parking by rotating at a certain angle.

[0182] Please see Figure 10 , Figure 10 This is a schematic diagram of a possible second rotation path provided in an embodiment of this application. Specifically, the position range of the fourth parking preparation pose 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 pose point. For example, the processing device determines the target pose point based on 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 pose point (e.g., ...). Figure 10 The location of point A in the diagram determines the range of the fourth warehouse preparation pose point, i.e. Figure 10 The constraint range of point B in the diagram.

[0183] For example, such as Figure 10 As shown, regarding lateral constraints, the right side needs to consider collision constraints with obstacles, while the left side needs to consider the collision relationship between the vehicle's left rear corner and obstacles during a stationary turn. Regarding longitudinal height constraints, it is necessary to consider whether point B can meet the spatial requirements for stationary turning. Optionally, the second parking preparation pose point B can be determined based on the aforementioned implementation method. For example, using... Figure 10 Let point A be the origin of a Cartesian coordinate system. 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 (7) and (8):

[0184]

[0185]

[0186] Among them, such as Figure 10 As shown, d represents the available space within the parking space. f Let df be the available distance ahead, and d be the distance to be reached. r The available road width dr ahead, such as Figure 7 As shown, l wheelbase Let h be the wheelbase, l be the vehicle length, and w be the vehicle width. f Let lf be the front overhang length, l b The rear overhang length is lb.

[0187] Furthermore, the rotation radius of the second rotation path is related to the width of the vehicle. For example, the processing device determines the rotation radius of the second rotation path based on the width of the vehicle, such as... Figure 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 described above:

[0188]

[0189] It should be noted that, since in practical 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 half the vehicle width.

[0190] Optionally, the position range of the third storage preparation pose point is related to the position range of the fourth storage preparation pose point and the rotation radius of the second rotation path. For example, the processing device determines the position range of the third storage preparation pose point based on the position range of the fourth storage preparation pose point and the rotation radius of the second rotation path. Figure 10 The constraint range of point C in the diagram. For example, the coordinates of point B are (x1, y1), and the coordinates of point C are (x2, y2), as shown below. Figure 10 As shown, the location range of point C satisfies the following formulas (10) and (11):

[0191] x2=x1+r(1-cosθ) (10)

[0192] y2=y1+rsinθ (11)

[0193] Where θ is the stationary rotation angle of the vehicle around the right rear wheel, and the rotation direction is counterclockwise. Optionally, θ is related to the vehicle's size and the vehicle's real-time attitude angle at point C. Optionally, θ can be a preset value. For example, the vehicle's attitude angle at point B can be vertical, and the vehicle's attitude angle at point C can be horizontal. The angle θ is calculated based on the vehicle's size, and this calculated angle is used as the preset value of θ.

[0194] Furthermore, the processing device plans a second pre-entry path PC, which is the second conventional driving path PC. Specifically, the processing device determines the second conventional driving path PC based on the position range of the fourth entry preparation pose point and the position of the current pose point.

[0195] Optionally, when planning the second conventional driving path PC, the processing device can determine multiple conventional driving paths based on the position range of the third parking preparation pose point, the position of the current pose point, kinematic constraints, and nonholonomic dynamic constraints, and determine the second conventional driving path based on the multiple conventional driving paths. The second conventional driving path is the conventional driving path with the lowest cost among the multiple conventional driving paths. For example, the processing device can use a hybrid A* algorithm to perform path search from point P according to the vehicle kinematic model, starting from the current pose point P(x4,y4) and ending at the position range of the third parking preparation pose point. Multiple conventional driving paths satisfy the vehicle kinematic and nonholonomic dynamic constraints exist. The processing device can select the conventional driving path with the lowest cost from these multiple conventional driving paths as the first conventional driving path, and calculate the cost of each of these multiple conventional driving paths using the above formula (6).

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

[0197] Optionally, the position of the third parking preparation pose point is related to the end point of the second conventional driving path, so that the processing device can obtain the third parking preparation pose point (i.e., ...) based on the second conventional driving path PC. Figure 10 The location of point C in the diagram.

[0198] Furthermore, the processing device can determine the second rotation path based on the first rotation center, the rotation radius of the second rotation path, and the position of the third storage preparation pose point. For example, in Figure 10 In the process, based on the position of the in-situ rotation point, the rotation radius r of the second rotation path, and the position of the third storage preparation pose point C, the second rotation path CB is determined. The position of the fourth storage preparation pose point is related to the endpoint of the second rotation path, thus the processing device can obtain the fourth storage preparation pose point (i.e., ...) based on the second rotation path CB. Figure 10 The location of point B in the diagram.

[0199] The processing unit plans a second parking path BA, which is the path formed by the vehicle from the target pose point to the fourth parking preparation pose point. The second parking path BA satisfies vehicle kinematic and nonholonomic dynamic constraints.

[0200] Thus, the processing device plans the parking path sequentially from inside the parking garage to outside, and then flips the planning results to obtain the final target parking path. The target parking path planning is divided into outside-garage planning (…). Figure 8 or Figure 9 Trajectory before in-situ turn, in-situ turn point planning, and inbound planning ( Figure 8 or Figure 9 The three stages of trajectory planning (after turning in place) and the use of different algorithms and vehicle motion models can effectively improve the efficiency of automatic parking and enhance the user experience.

[0201] It should be noted that, due to the symmetry of the left and right libraries, for the sake of standardization, all scenarios have been standardized as right library scenarios (e.g., Figure 5 , Figure 6 , Figure 8 or Figure 9 (As shown in the scenario), for the left library scenario, only one mirroring process is needed for the calculation results.

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

[0203] Optionally, a single 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 with a certain rotation radius to realize the rotation path. This can effectively improve the efficiency and safety of automatic parking and enhance the user experience in scenarios such as confined spaces.

[0205] Optionally, the processing device can also track the parking trajectory based on the target parking path, execute the priority specific parking trajectory, and at the same time perform collision detection on obstacles in real time based on the perceived state, and make avoidance and decision-making for situations where obstacle risks occur.

[0206] exist Figure 4In the illustrated embodiment, the processing device can acquire the location information of the first parking space and the surrounding environment information of the first parking space, and plan the target parking path of the vehicle based on the location information of the first parking space and the surrounding environment information. Moreover, the target parking path can include a rotation path, allowing the vehicle to rotate around a first rotation center. Compared with the conventional path planning method based on Ackerman steering geometry, the path planned by the processing device can achieve a position adjustment with a turning radius of almost 0 when space is limited or the effective road width is small. In scenarios where the right-front-left-rear or left-front-right-rear adjustment methods cannot be achieved, the vehicle's attitude angle can still be adjusted, effectively improving the efficiency and safety of automatic parking and enhancing the user experience.

[0207] This application also provides a parking exit method. When a vehicle is parked in a first parking space and needs to exit, the processing device can acquire parking exit position information and surrounding environment information of the first parking space. Based on the vehicle's current pose information, parking exit position information, and surrounding environment information of the first parking space, the device determines the vehicle's target parking exit path and controls the vehicle to exit the first parking space according to the target parking exit path. The target parking exit path includes a conventional driving path and a rotational path. The conventional driving path includes a straight driving path and / or a curved driving path. The rotational path is the path formed by the vehicle rotating around a first rotation center. The vehicle's rotation is achieved by multiple motors controlling multiple wheels, and the first rotation center is located within a rotatable area formed by connecting the centers of the multiple wheels.

[0208] Specifically, the processing device can determine the available parking space for the vehicle based on information about obstacles surrounding the first parking space, identify one or more rotation positions within the available parking space and a first rotation center for the vehicle at one or more rotation positions, and determine the rotation paths formed by the vehicle rotating around the first rotation center at each of the one or more rotation positions. Based on information about the vehicle's current pose and the rotation position closest to the current pose among the one or more rotation positions, the processing device plans a third conventional driving path, and based on information about the parking exit position and the rotation position closest to the parking exit position among the one or more rotation positions, it plans a fourth conventional driving path.

[0209] Optionally, during the process of determining the rotation position, the processing device determines at least one rotatable space in the parking space based on the size of the vehicle, and determines one or more rotation positions in the at least one rotatable space.

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

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

[0212] For example, the parking position information can be a location within the driving lane, the vehicle's current pose can be the center of the first parking space, a rotation position closest to the center of the first parking space is selected to plan a third conventional driving path, and a rotation position closest to a location within the driving lane is selected to plan a fourth conventional driving path. 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 the condition that there are no obstacles within the rotation path range.

[0213] Optionally, if the information of obstacles around the first parking space is the same as that when the parking path was previously planned, the processing device can swap the starting positions of the target parking path to obtain the target parking exit path.

[0214] In this way, while supporting conventional driving paths, it can achieve a rotating path in which the vehicle rotates around its center of mass, thereby greatly improving the vehicle's flexibility, passability, and maneuverability. It can better cope with narrow parking environments, making it easier for users to park out of parking spaces and enhancing the user experience.

[0215] above Figure 4 The illustrated embodiments include multiple possible solutions. For ease of understanding, one possible solution is described below. It should be understood that... Figure 11 For some of the terminology and logic in the scheme shown, please refer to [link / reference]. Figure 4 The example shown.

[0216] Please see Figure 11 , Figure 11 This is a flowchart illustrating another parking method provided in an embodiment of this application. The method includes the following steps:

[0217] S1: The processing unit checks whether the doors are closed, the chassis response status, and whether each sensor is working properly. After the checks are passed, the parking function is activated.

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

[0219] Optionally, the surrounding environment information of parking spaces in the parking lot can be used to indicate obstacle information around the parking spaces. For example, the surrounding environment information can indicate how many parking spaces are in the parking lot, whether each space is occupied, what obstacles are present in the parking lot (e.g., pillars, stakes, and walls), and the location information of these obstacles. The location information of the first parking space and the location information of obstacles in the parking lot can be represented by points, lines, or bounding boxes. Optionally, the processing device can perceive the surrounding environment using visual and ultrasonic sensors, identify surrounding obstacle information, and convert it into point-like obstacles, line-like obstacles, and polygonal obstacles. The processing device can also acquire the vehicle's pose information.

[0220] S3: The processing device determines the parking scenario of the first parking space based on the location information of the first parking space and the surrounding environment information of the first parking space.

[0221] Optionally, after obtaining parking space information from the parking lot, the processing device filters out available parking spaces and displays them on the in-vehicle device interface for the user to select. The first parking space can be the target parking space selected by the user.

[0222] Optionally, parking scenarios include ordinary parking scenarios and space-constrained scenarios. Among them, space-constrained scenarios include, but are not limited to, typical dead-end road scenarios and narrow passage scenarios.

[0223] If the parking scenario is a space-constrained scenario, proceed to step S4; if the parking scenario is a normal parking scenario, proceed to step S5.

[0224] S4: The target parking path for the processing device in a space-constrained scenario.

[0225] Optionally, the processing device can plan the target parking path using one or more of the methods described in Embodiment 1 and Embodiment 2. Optionally, the processing device can plan the path in a sequence from inside the parking space to outside, and then flip the planning result to obtain the final target parking path. The target parking path planning is divided into three stages: outside parking space planning, in-situ turning point planning, and parking space entry planning, using different algorithms and vehicle motion models for trajectory planning.

[0226] S5: The processing unit plans the target parking path for a typical parking scenario.

[0227] Optionally, the processing unit can plan a conventional driving route as the target parking route.

[0228] S6: The processing unit 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 perform target parking path planning and perform preliminary screening of pre-parking time, prioritizing the planning result with shorter parking time as the target parking path output.

[0230] S7: The processing device tracks the parking trajectory based on the target parking path.

[0231] Optionally, the processing device executes a priority target parking path and simultaneously performs real-time collision detection of obstacles based on the perceived status, making avoidance and decision-making decisions for situations where obstacle risks occur.

[0232] S8: The processing unit controls the vehicle to park using multiple motors based on the target parking path.

[0233] exist Figure 11 In the illustrated embodiment, when planning a parking path, the processing device selects an appropriate planning method based on the parking scenario to plan the target parking path, making the planned target parking path more consistent with the actual application scenario of the vehicle, effectively improving the efficiency and safety of automatic parking, and enhancing the user experience.

[0234] The methods of the embodiments of this application have been described in detail above. The apparatus of the embodiments of this application is provided below.

[0235] Please see Figure 12 , Figure 12 This is a schematic diagram of a processing device provided in an embodiment of this application. The processing device 120 is included in a vehicle, which includes multiple wheels and multiple motors. Each wheel is controlled by one of the multiple motors. 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 Figure 11 The parking method in the illustrated embodiment.

[0236] It should be noted that the above division of multiple units is only a logical division based on function and does not constitute a limitation on the specific structure of the processing device 120. In specific implementations, some functional modules may be further subdivided into more smaller functional modules, and some functional modules may be combined into a single functional module.

[0237] In one possible implementation, the acquisition unit 1201 is used to acquire the location information of the first parking space and the surrounding environment information of the first parking space;

[0238] Processing unit 1202 is used for:

[0239] Based on the vehicle's current pose information, the location information of the first parking space, and the surrounding environment information of the first parking space, the target parking path of the vehicle is determined. The target parking path includes a regular driving path and a rotating path. The regular driving path includes a straight driving path and / or a curved driving path. The rotating path is the path formed by the vehicle rotating around the vehicle's first rotation center. The rotation of the vehicle is achieved by the multiple motors controlling the multiple wheels respectively. The first rotation center is located in the rotatable area formed by connecting the centers of the multiple wheels.

[0240] Control the vehicle to park according to the target parking path.

[0241] In one 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. The minimum turning radius is the turning radius of the vehicle when the front wheels rotate at their maximum angle and all four wheels rotate in the same direction for steering control.

[0242] In one possible implementation, 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 the condition that there are no obstacles within the range of the rotation path.

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

[0244] Based on information about obstacles around the first parking space, determine the available parking space for the vehicle;

[0245] The first rotation center is determined based on information about the vehicle's parking space, the vehicle's dimensions, and the vehicle's current pose.

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

[0247] Based on the parking space of the vehicle and the size of the vehicle, the position range of the end point of the rotation path is determined, and the end point of the rotation path is the pose point of the rear axle center of the vehicle after rotation.

[0248] Based on the rotation radius of the rotation path and the position range of the end point of the rotation path, the position range of the rotation starting point of the rotation path is determined. 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 pose point of the rear axle center of the vehicle before rotation.

[0249] Based on the position range of the rotation starting point of the rotation path and the current pose point of the vehicle, a first normal driving path is determined. The first normal driving path is the path formed from the current pose point of the vehicle to the rotation starting point of the rotation path. The current pose point is the pose point where the current rear axle center of the vehicle is located.

[0250] The rotation path and the second conventional driving path are determined. 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 ending point. The second conventional driving path is the path formed from the end point of the rotation path to the target pose point. The target pose point is the pose point of the rear axle center of the vehicle after it is parked in the first parking space.

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

[0252] Based on the position range of the rotation starting point of the rotation path, the position of the current pose point, kinematic constraints, and nonholonomic dynamic constraints, multiple conventional driving paths are determined.

[0253] The first regular driving route is determined, which is the regular driving route with the lowest cost among the plurality of regular driving routes.

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

[0255] When the vehicle is traveling in the direction of its own movement and its front end is parked in the parking space, the first center of rotation is determined to be the first front wheel of the vehicle based on the parking space and the dimensions of the vehicle.

[0256] When the vehicle's direction of travel is such that its rear end is parked in the available parking space, the first center of rotation is determined to be the vehicle's first rear wheel, based on the available parking space and the vehicle's dimensions. In one possible implementation, the first center of rotation is the vehicle's right front wheel.

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

[0258] The target parking path includes the first pre-parking path, the first rotating path, and the first parking path.

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

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

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

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

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

[0264] The target parking path includes the second pre-parking path, the second turning path, and the second parking path.

[0265] The second pre-entry path includes the fifth regular driving path, which is the path formed from the current pose point to the third entry preparation pose point. The third entry preparation pose point is the pose point where the rear axle center is located before the vehicle rotates.

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

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

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

[0269] Based on the dimensions of the vehicle, determine the rotatable space within the parking space;

[0270] In the rotatable space, a plurality of rotation positions and a first rotation center of the vehicle at the plurality of rotation positions are determined, and the rotation paths formed by the vehicle rotating around the first rotation center at the plurality of rotation positions are determined respectively.

[0271] Based on the information of the vehicle's current pose point and the rotation position closest to the current pose point among the multiple rotation positions, a first conventional driving path is planned;

[0272] Based on the position of the first parking space and the rotation position closest to the first parking space among the plurality of rotation positions, a second conventional driving path is planned;

[0273] Plan the regular driving path between the multiple rotation positions.

[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] Figure 13 The diagram shown is a structural schematic of another processing device provided in an embodiment of this application. A processing device is a device with processing capabilities. This device can be a physical device, such as a server (e.g., a rack server) or a host, or it can be a virtual device, such as a virtual machine or a container.

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

[0277] 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 programs in the above schemes.

[0278] Memory 1302 provides storage space, in which application data, user data, operating system, and computer programs can be optionally stored. Memory 1302 may include read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, random access memory (RAM) or other types of dynamic storage devices capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

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

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

[0281] In this embodiment of the application, one or more of the aforementioned programs are stored in the aforementioned memory 1302 in the form of program code and are configured to be executed by the aforementioned processor 1301. The programs include instructions for implementing the steps in the aforementioned parking method. For example... Figure 4 or Figure 11 The parking method shown refers to the memory 1302 storing executable instructions, and the processor 1301 executing these executable instructions to implement the aforementioned parking method, for example... Figure 4 The parking method in the embodiment. 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 these executable instructions to implement the functions of one or more of the aforementioned acquisition and processing units (or devices), thereby realizing the parking method.

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

[0284] This application also provides a computer program product containing instructions. The computer program product may be a software or program product containing instructions, capable of running on a computing device or stored on any usable medium. The computer program instructions are used to implement the aforementioned parking method, for example... Figure 4 or Figure 11 The parking method in the embodiments.

[0285] This application also provides a computer-readable storage medium. The computer-readable storage medium includes instructions for implementing the aforementioned parking method, for example... Figure 4 or Figure 11 The parking method in the embodiments.

[0286] The computer-readable storage medium can be any available medium that the processing device can store, or a data storage device such as a data center that contains one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives).

[0287] In this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0288] In this application, "at least one" in the embodiments refers to one or more items, and "more than one" refers to two or more items. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0289] Furthermore, unless otherwise stated, the use of ordinal numbers such as "first" and "second" in the embodiments of this application is for distinguishing multiple objects and is not for limiting the order, timing, priority, or importance of multiple objects. For example, "first entry path" and "second entry path" are only for ease of description and do not indicate a difference in the deployment order or importance of the first entry path and the second entry path.

[0290] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0291] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions 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 multiple wheels and multiple motors, each of the multiple wheels being controlled by one of the multiple motors, the method comprising: Obtain the location information of the first parking space and the surrounding environment information of the first parking space; Based on the current pose information of the vehicle, the location information of the first parking space, and the surrounding environment information of the first parking space, the target parking path of the vehicle is determined. The target parking path includes a regular driving path and a rotating path. The regular driving path includes a straight driving path and / or a curved driving path. The rotating path is the path formed by the vehicle rotating around the first rotation center of the vehicle. The rotation of the vehicle is achieved by the multiple motors controlling the multiple wheels respectively. The first rotation center is located in the rotatable area formed by connecting the centers of the multiple wheels. Control the vehicle to park according to the target parking path; Determining the target parking path for the vehicle based on the vehicle's current pose information, the location information of the first parking space, and the surrounding environment information of the first parking space includes: Based on the parking space of the vehicle and the size of the vehicle, the position range of the end point of the rotation path is determined, and the end point of the rotation path is the pose point of the rear axle center of the vehicle after rotation. Based on the rotation radius of the rotation path and the position range of the end point of the rotation path, the position range of the rotation starting point of the rotation path is determined. 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 pose point of the rear axle center of the vehicle before rotation. Based on the position range of the rotation starting point of the rotation path and the current pose point of the vehicle, a first normal driving path is determined. The first normal driving path is the path formed from the current pose point of the vehicle to the rotation starting point of the rotation path. The current pose point is the pose point where the current rear axle center of the vehicle is located. The rotation path and the second conventional driving path are determined. 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 ending point. The second conventional driving path is the path formed from the end point of the rotation path to the target pose point. The target pose point is the pose point of the rear axle center of the vehicle after the vehicle is parked in the first parking space. The target parking path includes the rotation path, the first regular driving path, and the second regular driving 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 rotate at their maximum angle and all 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 the information of obstacles around the first parking space, and the rotation path satisfies the condition that there are no obstacles within the range of the rotation path.

4. The method according to claim 3, characterized in that, The method further includes: Based on information about obstacles around the first parking space, determine the available parking space for the vehicle; The first rotation center is determined based on information about the vehicle's parking space, the vehicle's dimensions, and the vehicle's current pose.

5. The method according to any one of claims 1-4, characterized in that, Determining the first conventional driving path based on the position range of the rotation starting point of the rotation path and the current pose point of the vehicle includes: Based on the position range of the rotation starting point of the rotation path, the position of the current pose point, kinematic constraints, and nonholonomic dynamic constraints, multiple conventional driving paths are determined. The first regular driving route is determined, which is the regular driving route with the lowest cost among the plurality of regular driving routes.

6. The method according to claim 4, characterized in that, The information of the vehicle's current pose includes the vehicle's driving direction, and the method further includes: When the vehicle is traveling in the direction of its own movement and its front end is parked in the parking space, the first center of rotation is determined to be the first front wheel of the vehicle based on the parking space and the dimensions of the vehicle. When the vehicle is traveling in the direction of its rear end into the parking space, the first rotation center is determined to be the first rear wheel of the vehicle based on the parking space and the dimensions of the vehicle.

7. The method according to claim 6, characterized in that, The first center of rotation is the right front wheel of the vehicle. The target parking path includes a first pre-parking path, a first rotating path, and a first parking path. The first pre-entry path includes a third regular driving path, which is the path formed from the current pose point to the first entry preparation pose point, where the first entry preparation pose point is the pose point of the rear axle center before the vehicle rotates. The first rotation path is the path formed by the vehicle rotating around the right front wheel of the vehicle with a first rotation radius at the first parking preparation pose point. The first rotation radius is related to the wheelbase and width of the vehicle. The first entry path includes a fourth regular driving path, which is the path formed from the second entry preparation pose point to the target pose point. The second entry preparation pose point is the pose point where the rear axle center of the vehicle is located after rotation.

8. The method according to claim 6, characterized in that, The first center of rotation is the right rear wheel of the vehicle. The target parking path includes a second pre-parking path, a second rotating path, and a second parking path. The second pre-entry path includes a fifth regular driving path, which is the path formed from the current pose point to the third entry preparation pose point, where the third entry preparation pose point is the pose point of the rear axle center before the vehicle rotates. The second rotation path is the path formed by the vehicle rotating around the right rear wheel of the vehicle at the third parking preparation pose point with a second rotation radius, the second rotation radius being related to the width of the vehicle; The second entry path includes a sixth regular driving path, which is the path formed from the fourth entry preparation pose point to the target pose point. The fourth entry preparation pose point is the pose point where the rear axle center of the vehicle is located after rotation.

9. The method according to any one of claims 1-8, characterized in that, The method further includes: Based on the dimensions of the vehicle, determine the rotatable space within the parking space; In the rotatable space, a plurality of rotation positions and a first rotation center of the vehicle at the plurality of rotation positions are determined, and the rotation paths formed by the vehicle rotating around the first rotation center at the plurality of rotation positions are determined respectively. Based on the information of the vehicle's current pose point and the rotation position closest to the current pose point among the multiple rotation positions, a first conventional driving path is planned; Based on the position of the first parking space and the rotation position closest to the first parking space among the plurality of rotation positions, a second conventional driving path is planned; Plan the regular driving path between the multiple rotation positions.

10. A method for berthing out of port, characterized in that, The method is used to control a vehicle to park out of a parking space. The vehicle includes multiple wheels and multiple motors, each of the multiple wheels being controlled by one of the multiple motors. The method includes: Obtain parking location information and surrounding environment information of the first parking space; Based on the vehicle's current pose information, the parking position information, and the surrounding environment information of the first parking space, the target parking path of the vehicle is determined. The target parking path includes a regular driving path and a rotating path. The regular driving path includes a straight driving path and / or a curved driving path. The rotating path is the path formed by the vehicle rotating around the vehicle's first rotation center. The rotation of the vehicle is achieved by the multiple motors controlling the multiple wheels respectively. The first rotation center is located in the rotatable area formed by connecting the centers of the multiple wheels. According to the target parking path, control the vehicle to park out of the first parking space; 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 the following condition: there are no obstacles within the range of the rotation path; Determining the target parking path of the vehicle based on the vehicle's current pose information, the parking position information, and the surrounding environment information of the first parking space includes: Based on information about obstacles around the first parking space, determine the available parking space for the vehicle; Based on the dimensions of the vehicle, at least one rotatable space is determined within the parking space; In the at least one rotatable space, one or more rotational positions and a first rotational center of the vehicle at one or more of the rotational positions are determined, and a rotational path is determined by the vehicle rotating around the first rotational center of one or more of the rotational positions respectively. Based on the information of the vehicle's current pose point and the rotation position closest to the current pose point among one or more rotation positions, a third conventional driving path is planned; Based on the parking position information and the rotation position closest to the parking position among one or more rotation positions, a fourth conventional driving path is planned; When there are multiple rotation positions, plan the regular driving path between the multiple rotation positions; The target parking path includes the rotation path formed by the vehicle rotating around a first rotation center of one or more of the rotation positions, the third regular driving path, the fourth regular driving path, and the regular driving path between the plurality of rotation positions.

11. The method according to claim 10, 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 rotate at their maximum angle and all four wheels rotate in the same direction for steering control.

12. A processing apparatus, characterized in that, The processing device is included in a vehicle, which includes multiple wheels and multiple motors, each of the multiple wheels being controlled by one of the multiple motors. The processing device includes an acquisition unit and a processing unit. The acquisition unit is used to acquire the location information of the first parking space and the surrounding environment information of the first parking space; The processing unit is used for: Based on the current pose information of the vehicle, the location information of the first parking space, and the surrounding environment information of the first parking space, the target parking path of the vehicle is determined. The target parking path includes a regular driving path and a rotating path. The regular driving path includes a straight driving path and / or a curved driving path. The rotating path is the path formed by the vehicle rotating around the first rotation center of the vehicle. The rotation of the vehicle is achieved by the multiple motors controlling the multiple wheels respectively. The first rotation center is located in the rotatable area formed by connecting the centers of the multiple wheels. Control the vehicle to park according to the target parking path; The processing unit is used to determine the target parking path of the vehicle based on the current pose information of the vehicle, the location information of the first parking space, and the surrounding environment information of the first parking space, including: The processing unit is used for: Based on the parking space of the vehicle and the size of the vehicle, the position range of the end point of the rotation path is determined, and the end point of the rotation path is the pose point of the rear axle center of the vehicle after rotation. Based on the rotation radius of the rotation path and the position range of the end point of the rotation path, the position range of the rotation starting point of the rotation path is determined. 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 pose point of the rear axle center of the vehicle before rotation. Based on the position range of the rotation starting point of the rotation path and the current pose point of the vehicle, a first normal driving path is determined. The first normal driving path is the path formed from the current pose point of the vehicle to the rotation starting point of the rotation path. The current pose point is the pose point where the current rear axle center of the vehicle is located. The rotation path and the second conventional driving path are determined. 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 ending point. The second conventional driving path is the path formed from the end point of the rotation path to the target pose point. The target pose point is the pose point of the rear axle center of the vehicle after the vehicle is parked in the first parking space. The target parking path includes the rotation path, the first regular driving path, and the second regular driving path.

13. A processing apparatus, characterized in that, The processing device includes a processor and a memory, the memory storing a program including instructions for performing the method as described in any one of claims 1-11.

14. A vehicle, characterized in that, The vehicle includes the processing apparatus as described in claim 12 or claim 13, and the vehicle is used to implement the method as described in any one of claims 1-11.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, the computer program including instructions for performing the method as described in any one of claims 1-11.

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