Parking control method and device, electronic equipment and vehicle

Abstract

The invention provides a parking control method and device, electronic equipment and a vehicle, and the parking control method comprises the steps: obtaining the state information of the vehicle, the state information comprises a first position of the vehicle in a world coordinate system, a second position of a preview point of the vehicle in the world coordinate system, and an original steering angle of a steering wheel of the vehicle; calculating a course angle error between the expected course angle and the target course angle according to the first position and the second position; calculating a final steering angle of the steering wheel according to the course angle error and the original steering angle; and controlling the vehicle to park according to the final steering angle. The steering angle of the steering wheel can be accurately adjusted, it is ensured that the vehicle is kept stable in the parking process, and therefore the problems that the vehicle swings left and right (such as the dragon drawing phenomenon) and the steering wheel is turned ineffectively are effectively solved.

Description

Technical Field

[0001] This application relates to the technical field of automatic parking, and in particular, to a parking control method, device, electronic device, and vehicle. Background Art

[0002] With the rapid development of autonomous driving technology, parking control algorithms play an increasingly important role in autonomous driving technology. The core goal of parking control algorithms is to enable a vehicle to automatically and accurately park at a predetermined position without manual intervention. The realization of this goal depends not only on accurate sensor data and efficient computing power but also on advanced control algorithms to ensure that the vehicle can smoothly and stably follow the planned trajectory.

[0003] Existing parking control algorithms usually adjust the steering wheel angle based on the lateral error of the preview point to make the vehicle gradually approach the planned trajectory. However, such parking control algorithms are prone to cumulative trajectory tracking errors, resulting in the phenomenon of "dragon drawing" where the vehicle swings laterally along the trajectory, affecting parking accuracy and stability. In addition, existing parking control algorithms have a delay problem in direction reverse correction during steering control. For example, at the entrance of a curve, the "reverse pre-steering" action may be triggered instead of directly executing the final steering angle, resulting in redundant steering wheel actions and reducing parking efficiency. Summary of the Invention

[0004] In view of the above, it is necessary to provide a parking control method, device, electronic device, and vehicle to solve the technical problems of unstable trajectory, insufficient accuracy, and low efficiency existing in existing parking control algorithms.

[0005] In a first aspect, this application provides a parking control method, which is applied to a vehicle. The vehicle includes a steering wheel. The method includes: obtaining the state information of the vehicle, where the state information includes the first position of the vehicle in the world coordinate system, the second position of the preview point of the vehicle in the world coordinate system, and the original steering angle of the steering wheel; calculating the heading angle error between the desired heading angle and the target heading angle according to the first position and the second position; calculating the final steering angle of the steering wheel according to the heading angle error and the original steering angle; and controlling the vehicle to park according to the final steering angle.

[0006] In the parking control method of the above embodiments, in the parking control method of the above embodiments, first, the state information of the vehicle is obtained. The state information includes the first position of the vehicle in the world coordinate system, the second position of the preview point of the vehicle in the world coordinate system, and the original steering angle of the steering wheel. Then, the heading angle error between the desired heading angle and the target heading angle is calculated based on the first position and the second position. Then, the final steering angle of the steering wheel is calculated based on the heading angle error and the original steering angle. Finally, the vehicle is controlled to park according to the final steering angle. Based on this, by introducing the heading angle error on the basis of the original steering angle, the present application can reduce the heading angle error of vehicle 1 without changing the original control algorithm, achieve precise adjustment of the steering angle of the steering wheel, and further reduce the speed of the vehicle approaching the planned reference line, more precisely control the movement trend of vehicle 1, ensure the vehicle remains stable during parking, and thus effectively solve the problems of the vehicle swaying left and right (such as the "dragon drawing" phenomenon) and ineffective steering wheel turning, improve the parking efficiency, shorten the parking time, and provide a smoother and more natural driving experience.

[0007] In some embodiments of the present application, the calculating the heading angle error between the desired heading angle and the target heading angle according to the first position and the second position includes: obtaining the target heading angle based on a preset path planning algorithm; calculating the instantaneous center coordinates of the vehicle according to the first position, and calculating the target heading angle according to the second position and the instantaneous center coordinates; and determining the difference between the desired heading angle and the target heading angle as the heading angle error.

[0008] In some embodiments of the present application, the calculation formula for calculating the target heading angle according to the second position and the instantaneous center coordinates is: theta = (atan2(previewPoint_y - center_y, previewPoint_x - center_x) + pi / 2 * signflag); where theta is the target heading angle, (center_x, center_y) are the instantaneous center coordinates, (previewPoint_x, previewPoint_y) are the second position, and signflag is a sign flag. If the steering of the steering wheel is to the left, signflag is positive, and if the steering of the steering wheel is to the right, signflag is negative.

[0009] In some embodiments of the present application, the calculation formula for calculating the final steering angle of the steering wheel according to the heading angle error and the original steering angle is: SteerReq = SteerRaw + headingErr * fixK; where SteerReq is the final steering angle, steerRaw is the original steering angle, and fixK is a feedback coefficient.

[0010] In some embodiments of the present application, obtaining the status information of the vehicle includes: determining the lateral distance difference between the first position and the second position based on a geometric relationship; and determining the original steering angle according to the lateral distance difference based on a preset control algorithm.

[0011] In some embodiments of the present application, the vehicle includes a position sensor and a vehicle speed sensor. Obtaining the status information of the vehicle further includes: obtaining the first position through the position sensor; obtaining the current vehicle speed of the vehicle through the vehicle speed sensor, and determining a preview distance according to the current vehicle speed; determining the preview point on the planned reference line of the vehicle according to the preview distance, and determining the second position.

[0012] In some embodiments of the present application, after obtaining the status information of the vehicle, the method further includes: respectively converting the first position and the second position into coordinates in the vehicle's own vehicle coordinate system.

[0013] In a second aspect, the present application further provides a parking control device. The device is applied to a vehicle, and the vehicle includes a steering wheel. The device includes: an acquisition module, configured to acquire the status information of the vehicle, where the status information includes the first position of the vehicle in the world coordinate system, the second position of the preview point of the vehicle in the world coordinate system, and the original steering angle of the steering wheel; a first determination module, configured to calculate the heading angle error between the expected heading angle and the target heading angle according to the first position and the second position; a second determination module, configured to calculate the final steering angle of the steering wheel according to the heading angle error and the original steering angle; and a control module, configured to control the vehicle to park according to the final steering angle.

[0014] In a third aspect, the present application further provides an electronic device. The electronic device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, the steps of the parking control method described in the above embodiments are implemented.

[0015] In a fourth aspect, the present application further provides a vehicle, and the vehicle includes the electronic device described in the above embodiments.

[0016] It can be understood that the parking control device in the second aspect, the electronic device in the third aspect, and the vehicle in the fourth aspect provided above all correspond to the parking control method in the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding parking control method provided above, and will not be elaborated here. Description of the Drawings

[0017] Figure 1It is a schematic diagram of an application scenario of a parking control method provided by an embodiment of the present application.

[0018] Figure 2 It is a schematic flowchart of a parking control method provided by an embodiment of the present application.

[0019] Figure 3 It is a schematic diagram of functional modules of a parking control device provided by an embodiment of the present application.

[0020] Description of Component Symbols

[0021] Vehicle 1

[0022] Electronic device 10

[0023] Memory 11

[0024] Processor 12

[0025] Position sensor 20

[0026] Vehicle speed sensor 30

[0027] Parking control device 100

[0028] Acquisition module 110

[0029] First determination module 120

[0030] Second determination module 130

[0031] Control module 140

[0032] The following specific embodiments will further illustrate the present application in conjunction with the above-mentioned drawings. Specific Embodiments

[0033] The following describes in detail the embodiments of the present application. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for explaining the present application and should not be construed as limiting the present application.

[0034] In the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, words such as "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "for example" is intended to present relevant concepts in a specific manner.

[0035] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows mutual communication; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0036] In the description of the present application, it should be noted that unless otherwise clearly defined and limited, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In addition, in the description of the present application, the meaning of "a plurality of" is two or more unless otherwise clearly and specifically defined.

[0037] In order to more clearly understand the above objects, features, and advantages of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0038] Please refer to Figure 1 , which is a schematic diagram of the application scenario of the parking control method provided by an embodiment of the present application.

[0039] An embodiment of the present application provides a parking control method, which can be applied to one or more electronic devices 10. The electronic device 10 is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, a microprocessor, an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), a digital signal processor (DSP), an embedded device, etc.

[0040] An embodiment of the present application further provides a vehicle 1, and the vehicle 1 includes an electronic device 10. Among them, the electronic device 10 can be an in-vehicle device of the vehicle 1, such as a body control module (BCM), a vehicle control unit (VCU), etc.

[0041] In some embodiments of the present application, the vehicle 1 further includes a steering wheel (not shown in the figure), and the steering wheel is used to control the steering angle of the vehicle 1.

[0042] Specifically, the electronic device 10 is configured to: obtain the status information of the vehicle 1, where the status information includes the first position of the vehicle 1 in the world coordinate system, the second position of the preview point of the vehicle 1 in the world coordinate system, and the original steering angle of the steering wheel; calculate the heading angle error between the desired heading angle and the target heading angle according to the first position and the second position; calculate the final steering angle of the steering wheel according to the heading angle error and the original steering angle; and control the vehicle 1 to park according to the final steering angle.

[0043] In some embodiments of the present application, the electronic device 10 can be communicatively connected to devices such as a desktop computer, a notebook, a palm computer, and a cloud server.

[0044] In some embodiments of the present application, the electronic device 10 can perform human-computer interaction with the user through means such as a keyboard, a mouse, a remote control, a touchpad, or a voice control device.

[0045] In some embodiments of the present application, the electronic device 10 may further include a network device and / or a client device. Among them, the network device includes, but is not limited to, a single network server, a server group composed of multiple network servers, and a cloud server composed of a large number of hosts or network servers based on cloud computing.

[0046] In some embodiments of the present application, the network where the electronic device 10 is located includes, but is not limited to, the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (VPN), etc.

[0047] Please refer to Figure 2 , which is a schematic diagram of the steps of the parking control method provided by an embodiment of the present application.

[0048] Specifically, the parking control method specifically includes the following steps. According to different requirements, the order of some steps in this flowchart can be changed, and some steps can be omitted.

[0049] Step S10, obtain the status information of the vehicle.

[0050] In some embodiments of the present application, the status information includes the first position of the vehicle 1 in the world coordinate system, the second position of the preview point of the vehicle 1 in the world coordinate system, and the original steering angle of the steering wheel. Among them, the original steering angle of the steering wheel refers to the steering angle calculated by the original control algorithm.

[0051] Specifically, the specific steps for the electronic device 10 to obtain the original steering angle of the steering wheel include: determining the lateral distance difference between the first position and the second position based on geometric relationships, that is, the vertical distance from the first position of the vehicle 1 to the second position of the preview point; and determining the original steering angle according to the lateral distance difference based on a preset control algorithm.

[0052] Among them, the original control algorithms include, but are not limited to, the PP algorithm (Pure Pursuit Algorithm), the PID algorithm (Proportional-Integral-Derivative Algorithm), the MPC algorithm (Model Predictive Control Algorithm), etc., and this application does not limit this.

[0053] In some embodiments of this application, the vehicle 1 further includes a position sensor 20 and a vehicle speed sensor 30. The electronic device 10 is communicatively connected to the position sensor 20 and the vehicle speed sensor 30 respectively. The position sensor 20 is used to obtain the first position of the vehicle 1 in the world coordinate system. The vehicle speed sensor 30 is used to obtain the current vehicle speed of the vehicle 1. Among them, the position sensor 20 may include, but is not limited to, the Global Positioning System (GPS), the Global Navigation Satellite System 110 (GNSS), etc., and this application does not limit this. The vehicle speed sensor 30 includes, but is not limited to, a wheel speed sensor, an Inertial Measurement Unit 120 (IMU), etc., and this application does not limit this.

[0054] Among them, the position sensor 20 and the vehicle speed sensor 30 can collect data according to a preset collection frequency. For example, a set of data is collected every 1 second.

[0055] Specifically, the steps for the electronic device 10 to obtain the state information of the vehicle 1 specifically include: obtaining the first position, such as coordinates, through the position sensor 20; obtaining the current vehicle speed of the vehicle 1 through the vehicle speed sensor 30, and determining the preview distance according to the current vehicle speed; determining the preview point on the planned reference line of the vehicle 1 according to the preview distance, and determining the second position, such as coordinates.

[0056] In other embodiments, the electronic device 10 can also obtain the current vehicle speed of the vehicle 1 through the bus of the vehicle 1 (such as the CAN bus), and this application does not limit this.

[0057] In some embodiments of this application, the calculation formula for determining the preview distance according to the current vehicle speed is:

[0058] L = k * v;

[0059] Wherein, L is the preview distance, v is the current vehicle speed, and k is a constant, usually between 0.5 and 2, which is used to adjust the relationship between the preview distance and the current vehicle speed. The setting of k can be adjusted according to the type of vehicle 1, the driving environment (such as urban roads, highways, rural roads, etc.), and the driving mode (such as economy mode, sport mode, comfort mode, etc.). For example, when driving on urban roads, the current vehicle speed of vehicle 1 is relatively low, and the value of k can be appropriately reduced to make the preview distance closer to the short distance range in front of vehicle 1; when driving on highways, the current vehicle speed of vehicle 1 is relatively high, and increasing the value of k can ensure that the preview distance can cover the road conditions further ahead.

[0060] Furthermore, the electronic device 10 can generate a planning reference line for vehicle 1 through path planning algorithms (such as the A* algorithm, Dijkstra algorithm, etc.), which is the ideal path that vehicle 1 needs to follow during the parking process. Among them, the planning reference line can be a discrete point sequence or a continuous curve. The discrete point sequence is composed of a series of points distributed in the world coordinate system, such as [P1, P2, P3,..., Pn], and each point represents a reference point on the driving path of vehicle 1. The continuous curve is a smooth curve that can accurately describe the driving trajectory of vehicle 1 in the road space.

[0061] Furthermore, on the obtained planning reference line of vehicle 1, the electronic device 10 uses the nearest point search algorithm to quickly determine the point on the planning reference line that is closest to the first position of vehicle 1. Among them, the nearest point search algorithm can be a search algorithm based on spatial indexing (such as quadtrees, octrees). After determining the point on the planning reference line that is closest to the first position of vehicle 1, starting from the nearest point, move the preview distance along the forward direction of the planning reference line (i.e., the driving direction of vehicle 1). During the movement, considering that the planning reference line may be a curve, the distance needs to be gradually accumulated according to the geometric characteristics of the curve until the accumulated moving distance reaches the preview distance. At this time, the corresponding point is the preview point.

[0062] Furthermore, if the planning reference line is a discrete point sequence, the electronic device 10 can directly obtain the second position of the preview point from the sequence. If the planning reference line is a continuous curve, the electronic device 1 can calculate the second position of the preview point through interpolation or curve equations.

[0063] In some embodiments of the present application, after the electronic device 10 obtains the state information of vehicle 1, it converts the first position and the second position into coordinates in the vehicle's own coordinate system of vehicle 1, which can more accurately calculate the lateral distance difference and the heading angle error, and helps to improve the accuracy of path tracking and trajectory control of vehicle 1 during the parking process.

[0064] Step S11: Calculate the heading angle error between the desired heading angle and the target heading angle based on the first position and the second position.

[0065] In some embodiments of the present application, the desired heading angle refers to the heading angle at the preview point on the planned reference line of vehicle 1, representing the desired driving direction of vehicle 1 at the preview point. The target heading angle refers to the heading angle that vehicle 1 needs to reach at the preview point, and is used to control the driving direction of vehicle 1.

[0066] Specifically, the specific steps of calculating the heading angle error between the desired heading angle and the target heading angle based on the first position and the second position include: obtaining the target heading angle based on a preset path planning algorithm; calculating the instantaneous center coordinates of the vehicle according to the first position, and calculating the target heading angle according to the second position and the instantaneous center coordinates; determining the difference between the desired heading angle and the target heading angle as the heading angle error.

[0067] In some embodiments of the present application, the calculation formula for calculating the instantaneous center coordinates (center_x, center_y) of vehicle 1 according to the first position is:

[0068] center_x = pose_x + r * cos(pose_yaw + signflag * pi / 2);

[0069] center_y = pose_y + r * sin(pose_yaw + signflag * pi / 2);

[0070] Where, (pose_x, pose_y) is the first position of vehicle 1, pose_yaw is the actual heading angle of vehicle 1, r is the turning radius of vehicle 1, signflag is the sign flag. If the steering wheel turns to the left, signflag is positive; if the steering wheel turns to the right, signflag is negative, and pi is the mathematical constant π, approximately equal to 3.14159.

[0071] In some embodiments of the present application, the calculation formula for calculating the target heading angle according to the second position and the instantaneous center coordinates is:

[0072] theta = (atan2(previewPoint_y - center_y, previewPoint_x - center_x) + pi / 2 * signflag);

[0073] Where, theta is the target heading angle, (center_x, center_y) is the instantaneous center coordinate of vehicle 1, (previewPoint_x, previewPoint_y) is the second position of the preview point, and signflag is the sign flag. If the steering wheel turns to the left, signflag is positive; if the steering wheel turns to the right, signflag is negative.

[0074] In some embodiments of the present application, the calculation formula for determining the difference between the desired heading angle and the target heading angle as the heading angle error is:

[0075] headingErr = previewPoint_yaw – theta;

[0076] Where, headingErr is the heading angle error, previewPoint_yaw is the desired heading angle, and theta is the target heading angle.

[0077] Step S12, calculate the final steering angle of the steering wheel according to the heading angle error and the original steering angle.

[0078] Specifically, the calculation formula for calculating the final steering angle of the steering wheel according to the heading angle error and the original steering angle is:

[0079] SteerReq = SteerRaw + headingErr * fixK;

[0080] Where, SteerReq is the final steering angle, steerRaw is the original steering angle, and fixK is the feedback coefficient.

[0081] In some embodiments of the present application, fixK determines the correction strength of vehicle 1 for errors (such as heading angle error, etc.). By adjusting the value of fixK, the response speed and correction force of vehicle 1 to path deviation can be changed. fixK can be a fixed value, such as 0.5, which is usually pre-determined according to a large amount of experimental and empirical data and is applicable to various working conditions. fixK can also be dynamically determined according to the actual state of vehicle 1 (such as vehicle speed, steering angle of the steering wheel). Specifically, a table can be established in advance, and the values of fixK at different vehicle speeds and steering angles are listed in the table.

[0082] In other embodiments, the value range of fixK can also be determined through experiments and data analysis. Specifically, experiments are conducted under different driving conditions (such as different vehicle speeds, road curvatures, loads, etc.), and the control effects of vehicle 1 (such as path tracking accuracy, stability, etc.) and the corresponding fixK values are recorded. The experimental data is analyzed to find the relationship between fixK and the state of vehicle 1 (such as vehicle speed, steering wheel angle, etc.). According to the analysis results, the value range and calculation method of fixK are determined. For example, it is found that when the vehicle speed increases, in order to maintain the stability of vehicle 1, fixK needs to be appropriately reduced; when the steering wheel angle increases, in order to improve the response speed of vehicle 1, fixK needs to be appropriately increased.

[0083] In some embodiments of the present application, the determined fixK calculation method can be applied to the control of the actual vehicle 1 for verification experiments. According to the verification results, the fixK calculation method is adjusted and optimized to achieve the best control effect.

[0084] Step S13, control the vehicle to park according to the final steering angle.

[0085] Specifically, the electronic device 10 sends the calculated final steering angle to the actuator (such as the steering system) to adjust the direction of vehicle 1, so that vehicle 1 can complete parking.

[0086] In the parking control method of the above embodiments, first, the state information of vehicle 1 is obtained. The state information includes the first position of vehicle 1 in the world coordinate system, the second position of the preview point of vehicle 1 in the world coordinate system, and the original steering angle of the steering wheel. Then, the heading angle error between the expected heading angle and the target heading angle is calculated based on the first position and the second position. Then, the final steering angle of the steering wheel is calculated according to the heading angle error and the original steering angle. Finally, vehicle 1 is controlled to park according to the final steering angle. Based on this, by introducing the heading angle error on the basis of the original steering angle, the present application can reduce the heading angle error of vehicle 1 without changing the original control algorithm, realize the precise adjustment of the steering angle of the steering wheel, and then reduce the speed of vehicle 1 approaching the planned reference line, more precisely control the movement trend of vehicle 1, ensure the stability of vehicle 1 during parking, and thus effectively solve the problems of left-right swaying (such as the "dragon drawing" phenomenon) and ineffective steering wheel turning of vehicle 1, improve the parking efficiency, shorten the parking time, and provide a smoother and more natural driving experience.

[0087] Please refer to Figure 3 , which is a schematic diagram of the functional modules of the parking control device 100 provided by an embodiment of the present application.

[0088] In this embodiment, based on the above Figure 2Based on the same concept as the parking control method in the illustrated embodiments, the present application also provides a parking control device 100, which can be used to execute the above parking control method. For the sake of convenience in description, in the schematic diagram of the composition of the embodiment of the parking control device 100, only the parts related to the embodiments of the present application are shown. Those skilled in the art can understand that the illustrated structure does not constitute a limitation on the parking control device 100, and it may include more or fewer components than those shown, or combine certain components, or have different component arrangements.

[0089] Specifically, the parking control device 100 provided in the embodiments of the present application includes an acquisition module 110, a first determination module 120, a second determination module 130, and a control module 140.

[0090] The acquisition module 110 is used to acquire the state information of the vehicle 1.

[0091] In some embodiments of the present application, the state information includes the first position of the vehicle 1 in the world coordinate system, the second position of the preview point of the vehicle 1 in the world coordinate system, and the original steering angle of the steering wheel. Among them, the original steering angle of the steering wheel refers to the steering angle calculated by the original control algorithm.

[0092] Specifically, the specific steps for the electronic device 10 to acquire the original steering angle of the steering wheel include: determining the lateral distance difference between the first position and the second position based on the geometric relationship, that is, the vertical distance from the first position of the vehicle 1 to the second position of the preview point; and determining the original steering angle according to the lateral distance difference based on the preset control algorithm.

[0093] Among them, the original control algorithm includes but is not limited to the PP algorithm (Pure Pursuit Algorithm), the PID algorithm (Proportional-Integral-Derivative Algorithm), the MPC algorithm (Model Predictive Control Algorithm), etc., and the present application does not limit this.

[0094] In some embodiments of the present application, the vehicle 1 further includes a position sensor 20 and a vehicle speed sensor 30. The electronic device 10 is communicatively connected to the position sensor 20 and the vehicle speed sensor 30 respectively. The position sensor 20 is used to obtain the first position of the vehicle 1 in the world coordinate system. The vehicle speed sensor 30 is used to obtain the current vehicle speed of the vehicle 1. Among them, the position sensor 20 may include, but is not limited to, a Global Positioning System (GPS), a Global Navigation Satellite System 110 (GNSS), etc., and the present application does not limit this. The vehicle speed sensor 30 includes, but is not limited to, a wheel speed sensor, an Inertial Measurement Unit 120 (IMU), etc., and the present application does not limit this.

[0095] Among them, the position sensor 20 and the vehicle speed sensor 30 can collect data according to a preset collection frequency. For example, a set of data is collected every 1 second.

[0096] Specifically, the steps for the electronic device 10 to obtain the status information of the vehicle 1 specifically include: obtaining the first position, such as coordinates, through the position sensor 20; obtaining the current vehicle speed of the vehicle 1 through the vehicle speed sensor 30, and determining the preview distance according to the current vehicle speed; determining a preview point on the planned reference line of the vehicle 1 according to the preview distance, and determining the second position, such as coordinates.

[0097] In other embodiments, the electronic device 10 can also obtain the current vehicle speed of the vehicle 1 through the bus of the vehicle 1 (such as a CAN bus), and the present application does not limit this.

[0098] In some embodiments of the present application, the calculation formula for determining the preview distance according to the current vehicle speed is:

[0099] L = k * v;

[0100] Among them, L is the preview distance, v is the current vehicle speed, and k is a constant, usually between 0.5 and 2, which is used to adjust the relationship between the preview distance and the current vehicle speed. The setting of k can be adjusted according to the type of the vehicle 1, the driving environment (such as urban roads, highways, rural roads, etc.), and the driving mode (such as economy mode, sports mode, comfort mode, etc.). For example, when driving on urban roads, the current vehicle speed of the vehicle 1 is relatively low, and the value of k can be appropriately reduced to make the preview distance closer to the short distance range in front of the vehicle 1; when driving on highways, the current vehicle speed of the vehicle 1 is relatively high, and increasing the value of k can ensure that the preview distance can cover the road conditions further ahead.

[0101] Further, the electronic device 10 can generate a planned reference line for the vehicle 1 through a path planning algorithm (such as the A* algorithm, Dijkstra algorithm, etc.), which is the ideal path that the vehicle 1 needs to follow during the parking process. Among them, the planned reference line can be a discrete point sequence or a continuous curve. The discrete point sequence is composed of a series of points distributed in the world coordinate system, such as [P1, P2, P3, ……, Pn], and each point represents a reference point on the driving path of the vehicle 1. The continuous curve is a smooth curve that can accurately describe the driving trajectory of the vehicle 1 in the road space.

[0102] Further, on the obtained planned reference line of the vehicle 1, the electronic device 10 uses the nearest point search algorithm to quickly determine the point on the planned reference line that is closest to the first position of the vehicle 1. Among them, the nearest point search algorithm can be a search algorithm based on a spatial index (such as a quadtree, octree). After determining the point on the planned reference line that is closest to the first position of the vehicle 1, starting from the nearest point, move a preview distance along the forward direction of the planned reference line (i.e., the driving direction of the vehicle 1). During the movement, considering that the planned reference line may be a curve, it is necessary to gradually accumulate the distance according to the geometric characteristics of the curve until the accumulated moving distance reaches the preview distance. At this time, the corresponding point is the preview point.

[0103] Further, if the planned reference line is a discrete point sequence, the electronic device 10 can directly obtain the second position of the preview point from the sequence. If the planned reference line is a continuous curve, the electronic device 1 can calculate the second position of the preview point through interpolation or a curve equation.

[0104] In some embodiments of the present application, after the electronic device 10 obtains the state information of the vehicle 1, it converts the first position and the second position into coordinates in the vehicle 1's ego - vehicle coordinate system respectively, which can calculate the lateral distance difference and the heading angle error more accurately, and helps to improve the accuracy of path tracking and trajectory control of the vehicle 1 during the parking process.

[0105] The first determination module 120 is used to calculate the heading angle error between the target heading angle and the target heading angle of the vehicle 1 according to the first position and the second position.

[0106] In some embodiments of the present application, the desired heading angle refers to the heading angle at the preview point on the planned reference line of the vehicle 1, which represents the desired driving direction of the vehicle 1 at the preview point. The target heading angle refers to the heading angle that the vehicle 1 needs to reach at the preview point and is used to control the driving direction of the vehicle 1.

[0107] Specifically, the specific steps for calculating the heading error between the desired heading angle and the target heading angle based on the first position and the second position include: obtaining the target heading angle based on a preset path planning algorithm; calculating the instantaneous center coordinates of the vehicle according to the first position, and calculating the target heading angle according to the second position and the instantaneous center coordinates; determining the difference between the desired heading angle and the target heading angle as the heading error.

[0108] In some embodiments of the present application, the calculation formula for calculating the instantaneous center coordinates (center_x, center_y) of vehicle 1 according to the first position is:

[0109] center_x = pose_x + r * cos(pose_yaw + signflag * pi / 2);

[0110] center_y = pose_y + r * sin(pose_yaw + signflag * pi / 2);

[0111] Wherein, (pose_x, pose_y) is the first position of vehicle 1, pose_yaw is the actual heading angle of vehicle 1, r is the turning radius of vehicle 1, signflag is a sign flag. If the steering wheel turns to the left, signflag is positive. If the steering wheel turns to the right, signflag is negative. Pi is a mathematical constant π, approximately equal to 3.14159.

[0112] In some embodiments of the present application, the calculation formula for calculating the target heading angle according to the second position and the instantaneous center coordinates is:

[0113] theta = (atan2(previewPoint_y - center_y, previewPoint_x - center_x) + pi / 2 * signflag);

[0114] Wherein, theta is the target heading angle, (center_x, center_y) are the instantaneous center coordinates of vehicle 1, (previewPoint_x, previewPoint_y) is the second position of the preview point, signflag is a sign flag. If the steering wheel turns to the left, signflag is positive. If the steering wheel turns to the right, signflag is negative.

[0115] In some embodiments of the present application, the calculation formula for determining the difference between the desired heading angle and the target heading angle as the heading error is:

[0116] headingErr = previewPoint_yaw – theta;

[0117] Among them, headingErr is the heading angle error, previewPoint_yaw is the desired heading angle, and theta is the target heading angle.

[0118] The second determination module 130 is configured to calculate the final steering angle of the steering wheel according to the heading angle error and the original steering angle.

[0119] Specifically, the calculation formula for calculating the final steering angle of the steering wheel according to the heading angle error and the original steering angle is:

[0120] SteerReq = SteerRaw + headingErr * fixK;

[0121] Among them, SteerReq is the final steering angle, steerRaw is the original steering angle, and fixK is the feedback coefficient.

[0122] In some embodiments of the present application, fixK determines the correction intensity of the vehicle 1 for errors (such as heading angle error, etc.). By adjusting the value of fixK, the response speed and correction force of the vehicle 1 to the path deviation can be changed. fixK can be a fixed value, such as 0.5, which is usually determined in advance according to a large amount of experimental and empirical data and is applicable to various working conditions. fixK can also be dynamically determined according to the actual state of the vehicle 1 (such as vehicle speed, steering angle of the steering wheel). Specifically, a table can be established in advance, and the values of fixK at different vehicle speeds and steering angles are listed in the table.

[0123] In other embodiments, the value range of fixK can also be determined through experiments and data analysis. Specifically, experiments are carried out under different driving conditions (such as different vehicle speeds, road curvatures, loads, etc.), and the control effects of the vehicle 1 (such as path tracking accuracy, stability, etc.) and the corresponding fixK values are recorded. Analyze the experimental data to find the relationship law between fixK and the state of the vehicle 1 (such as vehicle speed, steering angle of the steering wheel, etc.). According to the analysis results, determine the value range and calculation method of fixK. For example, it is found that when the vehicle speed increases, in order to maintain the stability of the vehicle 1, fixK needs to be appropriately reduced; when the steering angle of the steering wheel increases, in order to improve the response speed of the vehicle 1, fixK needs to be appropriately increased.

[0124] In some embodiments of the present application, the determined calculation method of fixK can be applied to the control of the actual vehicle 1 for verification experiments. According to the verification results, adjust and optimize the calculation method of fixK to achieve the best control effect.

[0125] Step S13, control the vehicle to park according to the final steering angle.

[0126] Specifically, the electronic device 10 sends the calculated final steering angle to an actuator (such as a steering system) to adjust the direction of the vehicle 1, so that the vehicle 1 completes parking.

[0127] In the parking control device 100 of the above embodiment, first, the state information of the vehicle 1 is obtained. The state information includes the first position of the vehicle 1 in the world coordinate system, the second position of the preview point of the vehicle 1 in the world coordinate system, and the original steering angle of the steering wheel. Then, the heading angle error between the desired heading angle and the target heading angle is calculated based on the first position and the second position. Then, the final steering angle of the steering wheel is calculated based on the heading angle error and the original steering angle. Finally, the vehicle 1 is controlled to park according to the final steering angle. Based on this, by introducing the heading angle error on the basis of the original steering angle, the present application can reduce the heading angle error of the vehicle 1 without changing the original control algorithm, realize the precise adjustment of the steering angle of the steering wheel, and then reduce the speed of the vehicle 1 approaching the planned reference line, more precisely control the movement trend of the vehicle 1, ensure the vehicle 1 remains stable during parking, and thus effectively solve the problems of the vehicle 1 swaying left and right (such as the "dragon drawing" phenomenon) and ineffective steering wheel turning, improve the parking efficiency, shorten the parking time, and provide a smoother and more natural driving experience.

[0128] Combined with Figure 1 As shown, in some embodiments of the present application, the electronic device 10 includes, but is not limited to, a memory 11, a processor 12, and a computer program stored in the memory 11 and executable on the processor 12, such as a parking control program. When the computer program is executed by the processor, it implements the parking control method as described in the above embodiment.

[0129] Figure 1 Only the electronic device 10 with the memory 11 and the processor 12 is shown. Those skilled in the art can understand that Figure 1 the shown structure does not constitute a limitation on the electronic device 10, and it may include fewer or more components than shown, or combine some components, or have different component arrangements.

[0130] The memory 11 in the electronic device 10 stores multiple computer-readable instructions to implement a parking control method. The processor 12 can execute multiple instructions to implement: obtaining the state information of the vehicle 1, where the state information includes the first position of the vehicle 1 in the world coordinate system, the second position of the preview point of the vehicle 1 in the world coordinate system, and the original steering angle of the steering wheel; calculating the heading angle error between the desired heading angle and the target heading angle based on the first position and the second position; calculating the final steering angle of the steering wheel based on the heading angle error and the original steering angle; and controlling the vehicle 1 to park according to the final steering angle.

[0131] Specifically, the specific implementation method of the processor 12 for the above instructions can refer toFigure 2 Descriptions of relevant steps in corresponding embodiments are not elaborated herein.

[0132] Those skilled in the art can understand that the schematic diagram is only an example of the electronic device 10, and does not constitute a limitation on the electronic device 10. The electronic device 10 can be a bus structure or a star structure. The electronic device 10 can also include more or fewer other hardware or software than shown in the figure, or different component arrangements. For example, the electronic device 10 can also include input / output devices, network access devices, etc.

[0133] It should be noted that the electronic device 10 is only an example. Other existing or future electronic products that can be adapted to this application should also be included within the protection scope of this application and are included herein by reference.

[0134] Among them, the memory 11 includes at least one type of computer-readable storage medium. The computer-readable storage medium can be non-volatile or volatile. The computer-readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (such as SD memory, DX memory, etc.), magnetic memory, magnetic disk, optical disk, etc. The memory 11 can be an internal storage unit of the electronic device 10 in some embodiments. For example, the mobile hard disk of the electronic device 10. The memory 11 can also be an external storage device of the electronic device 10 in other embodiments. For example, a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device 10. The memory 11 can not only be used to store application software installed in the electronic device 10 and various types of data, such as the code of a parking control program, etc., but also be used to temporarily store data that has been output or will be output.

[0135] The processor 12 can be composed of integrated circuits in some embodiments. For example, it can be composed of a single packaged integrated circuit, or can be composed of multiple integrated circuits with the same or different functions, including a combination of one or more Central Processing Units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips, etc. The processor 12 is the control core (Control Unit) of the electronic device 10, connecting various components of the entire electronic device 10 through various interfaces and circuits. By running or executing programs or modules stored in the memory 11 (such as executing a parking control program, etc.), and calling data stored in the memory 11, it can perform various functions of the electronic device 10 and process data.

[0136] The processor 12 executes the operating system of the electronic device 10 and various installed application programs. The processor 12 executes the application programs to implement the steps in each of the above-described embodiments of a parking control method, such as Figure 2 the steps shown.

[0137] Exemplarily, a computer program may be divided into one or more modules / units. One or more modules / units are stored in the memory 11 and executed by the processor 12 to complete the present application. One or more modules / units may be a series of computer-readable instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program in the electronic device 10. For example, the computer program may be divided into an acquisition module 110, a first determination module 120, a second determination module 130, and a control module 140.

[0138] The above-mentioned integrated units implemented in the form of software function modules may be stored in a computer-readable storage medium. The above-mentioned software function modules stored in a storage medium include several instructions for causing a computer device (which may be a personal computer, a computer device, or a network device, etc.) or a processor (Processor) to execute a part of the parking control method according to each embodiment of the present application.

[0139] If the integrated module / unit of the electronic device 10 is implemented in the form of a software function unit and sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-described embodiment methods of the present application, it may also be completed by a computer program instructing relevant hardware devices. The computer program may be stored in a computer-readable storage medium, and when the computer program is executed by the processor, the steps of each of the above-described method embodiments may be implemented.

[0140] Among them, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory, and other memories, etc.

[0141] Further, the computer-readable storage medium may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system, application programs required for at least one function, etc.; the data storage area may store data created according to the use of the blockchain node, etc.

[0142] The bus can be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, in Figure 1 only one arrow is used to represent it, but it does not mean that there is only one bus or one type of bus. The bus is set to implement the connection and communication between the memory 11 and at least one processor 12, etc.

[0143] The embodiment of the present application also provides a computer-readable storage medium (not shown in the figure). Computer-readable instructions are stored in the computer-readable storage medium, and the computer-readable instructions are executed by a processor in an electronic device to implement a parking control method according to any one of the above embodiments.

[0144] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of modules is only a logical function division, and there may be other division methods in actual implementation.

[0145] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0146] In addition, in each embodiment of the present application, the functional modules can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional modules.

[0147] Furthermore, obviously, the word "including" does not exclude other units or steps, and the singular does not exclude the plural. The multiple units or devices described in the specification can also be implemented by one unit or device through software or hardware. Words such as first and second are used to represent names and do not represent any specific order.

[0148] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not restrictive. Although the present application has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A parking control method, characterized in that: The method is applied to a vehicle, the vehicle comprising a steering wheel, and the method comprises: Acquire state information of the vehicle, the state information including a first position of the vehicle in a world coordinate system, a second position of a preview point of the vehicle in the world coordinate system, and an original steering angle of the steering wheel; Calculate a heading angle error between a desired heading angle and a target heading angle according to the first position and the second position; Calculating a final steering angle of the steering wheel according to the heading angle error and the original steering angle; The vehicle is controlled to park according to the final steering angle.

2. The parking control method according to claim 1, characterized in that: The calculating the heading angle error between the expected heading angle and the target heading angle according to the first position and the second position comprises: Acquiring the target heading angle based on a preset path planning algorithm; Calculating the instantaneous center coordinates of the vehicle according to the first position, and calculating the target heading angle according to the second position and the instantaneous center coordinates; The difference between the desired heading angle and the target heading angle is determined as the heading angle error.

3. The parking control method according to claim 2, characterized in that: The calculation formula for calculating the target heading angle according to the second position and the instantaneous center coordinates is: theta=(atan2(previewPoint_y-center_y,previewPoint_x-center_x)+pi / 2*signflag); Among them, theta is the target heading angle, (center_x, center_y) is the instantaneous center coordinate, (previewPoint_x, previewPoint_y) is the second position, signflag is the sign flag, if the steering wheel is turned to the left, signflag is positive, if the steering wheel is turned to the right, signflag is negative.

4. The parking control method according to claim 1, characterized in that: The calculation formula for calculating the final steering angle of the steering wheel according to the heading angle error and the original steering angle is: SteerReq=SteerRaw+headingErr*fixK; Wherein, SteerReq is the final steering angle, steerRaw is the original steering angle, and fixK is the feedback coefficient.

5. The parking control method according to claim 1, characterized in that: The obtaining of the vehicle status information comprises: determining a lateral distance difference between the first position and the second position based on the geometric relationship; Based on a preset control algorithm, the original steering angle is determined according to the lateral distance difference.

6. The parking control method according to claim 1, characterized in that: The vehicle includes a position sensor and a speed sensor, and the obtaining of the state information of the vehicle further includes: acquiring the first position by means of the position sensor; Acquiring the current speed of the vehicle through the vehicle speed sensor, and determining the preview distance according to the current speed; According to the preview distance, the preview point is determined on the planning reference line of the vehicle, and the second position is determined.

7. The parking control method according to claim 1, characterized in that: After obtaining the status information of the vehicle, the method further includes: The first position and the second position are respectively converted into coordinates in the vehicle coordinate system of the vehicle.

8. A parking control device, characterized in that: The device is applied to a vehicle, the vehicle includes a steering wheel, and the device includes: an acquisition module, configured to acquire state information of the vehicle, the state information including a first position of the vehicle in a world coordinate system, a second position of a preview point of the vehicle in the world coordinate system, and an original steering angle of the steering wheel; A first determination module, configured to calculate a heading angle error between an expected heading angle and a target heading angle according to the first position and the second position; A second determination module, configured to calculate a final steering angle of the steering wheel according to the heading angle error and the original steering angle; A control module is used to control the vehicle to park according to the final steering angle.

9. An electronic device, characterized in that: The electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the parking control method according to any one of claims 1 to 7 when executed by the processor.

10. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 9.

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