Automatic parking control method, device and equipment and storage medium

Abstract

The invention discloses an automatic parking control method, device and equipment and a storage medium, and the method comprises the steps: based on a parking path planned by an intelligent driving controller, a parking mode is intelligently selected, the parking mode comprises a normal parking mode, a crab parking mode and a non-standard crab parking mode, the crab parking mode is to control the directions and angles of front and rear wheels so as to enable the vehicle to move transversely, and the non-standard crab parking mode is to control the steering angle of the vehicle while controlling the transverse movement of the vehicle; and according to the selected parking mode, four-wheel cooperative control over the vehicle in the corresponding mode is conducted in combination with the added rear wheel steering system, so that the vehicle is controlled to be automatically parked. The parking efficiency can be improved, the method is suitable for multiple complex scenes, meanwhile, the robustness of the system can be enhanced, and the user experience is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic parking, and particularly to an automatic parking control method, device, equipment and storage medium. Background Art

[0002] Automatic parking technology is one of the important directions for the intelligent development of modern automobiles. Its main purpose is to achieve automatic parking of vehicles in limited spaces through the vehicle's own sensors and control systems, thereby reducing the driver's parking burden and improving parking efficiency and safety. However, existing automatic parking technologies still have some limitations in practical applications.

[0003] Currently, mainstream automatic parking systems mainly rely on the electric power steering system (EPS) to achieve front-wheel steering, thereby adjusting the vehicle's driving trajectory. However, relying solely on front-wheel steering to change the vehicle's driving trajectory, in some complex parking space scenarios (such as narrow parking spaces, diagonal parking spaces or parking spaces with obstacles), the vehicle needs to adjust its body posture multiple times to smoothly enter the garage. This multiple adjustment not only increases the parking time and the user experience is poor, but also may lead to a decrease in the driver's trust in the automatic parking system.

[0004] Therefore, how to combine rear-wheel steering to improve parking efficiency is a technical problem that urgently needs to be solved at present. Summary of the Invention

[0005] The main purpose of the present invention is to provide an automatic parking control method, device, equipment and storage medium, which can improve parking efficiency, adapt to multiple complex scenarios, and at the same time enhance the robustness of the system and improve the user experience.

[0006] In a first aspect, the present application provides an automatic parking control method, which includes the steps of:

[0007] Based on the parking path planned by the intelligent driving controller, an intelligent selection of a parking mode is made. The parking modes include: normal parking mode, crab-walking parking mode and non-standard crab-walking parking mode. Among them, the crab-walking parking mode is to control the directions and angles of the front and rear wheels so that the vehicle moves laterally, and the non-standard crab-walking parking mode is to control the lateral movement of the vehicle while controlling the steering angle of the vehicle;

[0008] According to the selected parking mode, combined with the added rear-wheel steering system, four-wheel collaborative control of the vehicle in the corresponding mode is performed to control the vehicle to park automatically.

[0009] Combined with the above first aspect, as an optional implementation, when the normal parking mode is selected, the added rear-wheel steering system on the vehicle is combined to make the directions of the front and rear wheels of the vehicle opposite to reduce the turning radius of the vehicle;

[0010] When the crab parking mode is selected, in combination with the added rear-wheel steering system on the vehicle, the front wheels and the rear wheels of the vehicle are made to have the same direction and turning angle to control the vehicle to drive horizontally or diagonally straight into the target parking space.

[0011] When the non-standard crab parking mode is selected, in combination with the added rear-wheel steering system on the vehicle, the front wheels and the rear wheels of the vehicle are made to have the same direction, and the turning angle of the front wheels is controlled to be greater than that of the rear wheels to control the vehicle to crab and turn at the same time.

[0012] Combined with the first aspect above, as an optional implementation, when a failure occurs in the rear-wheel steering during the parking process, it is determined whether the rear wheels can return to the center.

[0013] If so, the rear wheels are controlled to return to the center through the rear-wheel steering system, and the vehicle returns to the parking mode with only front-wheel steering.

[0014] If not, the rear-wheel steering system locks the rear-wheel steering at the current angle, and the intelligent driving controller plans the parking trajectory based on the current rear-wheel turning angle and depends on the change of the front-wheel turning angle to complete the parking.

[0015] Combined with the first aspect above, as an optional implementation, if a failure occurs in the front-wheel steering during the parking process, it is determined whether the front wheels can return to the center.

[0016] If so, the front wheels are controlled to return to the center, and by controlling the rear-wheel steering, the trajectory of the rear wheels is changed to complete the parking.

[0017] If not, the intelligent driving controller controls the rear-wheel steering based on the current front-wheel angle to change the trajectory of the rear wheels to complete the parking.

[0018] Combined with the first aspect above, as an optional implementation, if failures occur in both the front and rear wheels during the parking process, a steering system failure is prompted, and the automatic parking function is exited.

[0019] Combined with the first aspect above, as an optional implementation, the intelligent driving controller plans the trajectory path of the parking according to the vehicle's own coordinates and the surrounding environment sensed by the perception sensors.

[0020] The intelligent driving controller intelligently selects the parking mode that the vehicle is to enter through the turning radius of the trajectory path.

[0021] Combined with the first aspect above, as an optional implementation, if it is determined that the turning radius of the trajectory path is less than or equal to the first set threshold, the normal parking mode is intelligently selected.

[0022] If it is determined that the turning radius of the trajectory path is greater than the second set threshold, the crab parking mode is intelligently selected.

[0023] If it is determined that the turning radius of the trajectory path is greater than a third set threshold, then the non-standard crab walking mode is intelligently selected;

[0024] Among them, the first set threshold is less than the third set threshold and less than the second set threshold.

[0025] In a second aspect, the present application provides an automatic parking control device, and the device includes:

[0026] A selection module, which is used to intelligently select a parking mode based on the parking path planned by the intelligent driving controller. The parking modes include: a normal parking mode, a crab walking parking mode, and a non-standard crab walking parking mode. Among them, the crab walking parking mode is to control the directions and angles of the front and rear wheels so that the vehicle moves laterally, and the non-standard crab walking parking mode is to control the steering angle of the vehicle while controlling the lateral movement of the vehicle;

[0027] A control module, which is used to perform four-wheel cooperative control of the vehicle in the corresponding mode in combination with the added rear-wheel steering system according to the selected parking mode, so as to control the vehicle to park automatically.

[0028] In a third aspect, the present application further provides an electronic device, and the electronic device includes: a processor; a memory, and a computer-readable instruction is stored on the memory. When the computer-readable instruction is executed by the processor, the method described in any item of the first aspect is implemented.

[0029] In a fourth aspect, the present application further provides a computer-readable storage medium, which stores computer program instructions. When the computer program instructions are executed by a computer, the computer is made to execute the method described in any item of the first aspect.

[0030] An automatic parking control method, device, equipment and storage medium provided by the present application, wherein the method includes steps: intelligently selecting a parking mode based on the parking path planned by the intelligent driving controller. The parking modes include: a normal parking mode, a crab walking parking mode, and a non-standard crab walking parking mode. Among them, the crab walking parking mode is to control the directions and angles of the front and rear wheels so that the vehicle moves laterally, and the non-standard crab walking parking mode is to control the steering angle of the vehicle while controlling the lateral movement of the vehicle; performing four-wheel cooperative control of the vehicle in the corresponding mode in combination with the added rear-wheel steering system according to the selected parking mode, so as to control the vehicle to park automatically. The present application can improve the parking efficiency, adapt to multiple complex scenarios, and at the same time enhance the robustness of the system and improve the user experience.

[0031] It should be understood that the above general description and the following detailed description are only exemplary and do not limit the present invention. Description of the Drawings

[0032] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention.

[0033] Figure 1 It is a flowchart of an automatic parking control method provided in an embodiment of this application;

[0034] Figure 2 It is a schematic diagram of an automatic parking control device provided in an embodiment of this application;

[0035] Figure 3 It is a schematic diagram of an electronic device provided in an embodiment of this application;

[0036] Figure 4 It is a schematic diagram of a computer-readable program medium provided in an embodiment of this application. Detailed implementation manners

[0037] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0038] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities.

[0039] The embodiments of this application provide an automatic parking control method, device, equipment, and storage medium, which can improve the parking efficiency, adapt to multiple complex scenarios, and at the same time enhance the robustness of the system and improve the user experience.

[0040] To achieve the above technical effects, the general idea of this application is as follows:

[0041] An automatic parking control method, the method includes steps:

[0042] S101: Based on the parking path planned by the intelligent driving controller, intelligently select a parking mode, where the parking mode includes: a normal parking mode, a crab parking mode, and a non-standard crab parking mode. Among them, the crab parking mode is to control the direction and angle of the front and rear wheels so that the vehicle moves laterally, and the non-standard crab parking mode is to control the steering angle of the vehicle while controlling the lateral movement of the vehicle.

[0043] S102: According to the selected parking mode, combined with the added rear-wheel steering system, perform four-wheel collaborative control of the vehicle in the corresponding mode to control the vehicle to park automatically.

[0044] The following further elaborates on the embodiments of the present application in conjunction with the accompanying drawings.

[0045] Refer to Figure 1 , Figure 1 The flowchart of an automatic parking control method provided by the present invention is shown. As Figure 1 shown, the method includes the steps:

[0046] Step S101: Based on the parking path planned by the intelligent driving controller, intelligently select a parking mode. The parking modes include: normal parking mode, crab parking mode, and non-standard crab parking mode. Among them, in the crab parking mode, the directions and angles of the front and rear wheels are controlled so that the vehicle moves laterally. In the non-standard crab parking mode, while controlling the vehicle to move laterally, the steering angle of the vehicle is also controlled.

[0047] Specifically, the intelligent driving controller is used to plan the trajectory route of parking according to the coordinates of the vehicle itself and the surrounding environment sensed by the perception sensors.

[0048] Based on the planned trajectory route, determine the parking mode that the vehicle is to enter.

[0049] Among them, if it is judged that the turning radius of the trajectory path is less than or equal to the first set threshold, then the normal parking mode is intelligently selected.

[0050] If it is judged that the turning radius of the trajectory path is greater than the second set threshold, then the crab parking mode is intelligently selected.

[0051] If it is judged that the turning radius of the trajectory path is greater than the third set threshold, then the non-standard crab mode is intelligently selected.

[0052] Among them, the first set threshold is less than the third set threshold and less than the second set threshold. It should be noted that the crab turning radius is infinite, which is greater than the turning radius of the non-standard crab. The turning radius of the non-standard crab is greater than the turning radius of normal parking, that is, the turning radius of normal parking is the smallest.

[0053] For easy understanding, an example is given. The ADS and RWS systems are initialized, and it is determined whether there are functional-related faults in the ADS / RWS systems. If there are faults, the system reports the faults. If there are no faults, proceed to the next step. The driver activates the parking function through the IVI automatic parking operation switch. The ADS relies on sensors to detect the surrounding environment and find available parking spaces. After the driver selects a parking space, the ADS starts to plan the parking path.

[0054] It is understandable that the ADS determines based on the coordinates of the host vehicle and the surrounding environment sensed by the perception sensors. The ADS will plan the parking trajectory route and select the optimal solution with the highest efficiency among the three forms according to the turning radius of the regular route.

[0055] Among them, in the normal four-wheel parking mode: the front and rear wheels are involved simultaneously, and the directions of the front and rear wheels are opposite. This parking method can effectively reduce the turning radius of the vehicle, enabling the action of originally requiring two or even multiple turns of the steering wheel to enter the garage to be completed in one go through the intervention of the rear wheels, thus improving the parking efficiency.

[0056] In the crab walk parking mode: the front and rear wheels are involved simultaneously, but the directions of the front and rear wheels are the same, and the turning angles are also the same. In this way, the vehicle can drive horizontally or diagonally in a straight line and park into the target parking space. It is applicable to narrow road parking scenarios. Ordinarily, relying only on the front-wheel steering may require multiple turns of the steering wheel to park due to the narrow road, while the crab walk can park in one go, greatly improving the parking efficiency.

[0057] In the non-standard crab walk parking mode: the front and rear wheels are involved simultaneously, but the directions of the front and rear wheels are the same, and the turning angles are different. The front-wheel angle is greater than the rear-wheel angle. In this way, the vehicle can crab walk and turn at the same time, providing more driving trajectories to meet different path planning requirements and improving the parking efficiency.

[0058] That is, based on the ADS sensing the surrounding environment and the position of the host vehicle, plan the parking path, select the method with the fewest parking times to improve the parking efficiency, and avoid repeatedly adjusting the steering wheel forward and backward to park.

[0059] For easy understanding, an example is given. In an ordinary parking lot, when there is sufficient space around the host vehicle, the normal four-wheel parking mode will be selected, and the front and rear wheels turn in opposite directions to reduce the turning radius and improve the vehicle movement efficiency;

[0060] For side parking in a narrow road or parking close to the wall in a narrow road, the crab walk parking mode will be selected, and the vehicle can be parked directly in place in one step by oblique translation. This can also avoid rubbing against surrounding objects due to the small turning radius in the normal four-wheel parking mode. The non-standard crab walk parking mode will be used between the normal four-wheel parking mode and the crab walk parking mode, that is, when the space is limited but not extremely narrow, the vehicle can crab walk while turning a little bit.

[0061] It should be explained that ADS (Advanced Driving System intelligent driving controller), IVI (In-Vehicle Infotainment in-vehicle information entertainment system), RWS (Rear Wheel Steering System rear-wheel steering system)

[0062] Step S102: According to the selected parking mode, combine the added rear-wheel steering system to perform four-wheel collaborative control of the vehicle in the corresponding mode to control the vehicle to park automatically.

[0063] Specifically, when the normal parking mode is selected, combine the added rear-wheel steering system on the vehicle to make the directions of the front wheels and the rear wheels of the vehicle opposite, so as to reduce the turning radius of the vehicle.

[0064] When the crab parking mode is selected, combine the added rear-wheel steering system on the vehicle to make the directions and turning angles of the front wheels and the rear wheels of the vehicle the same, so as to control the vehicle to drive horizontally or obliquely straight into the target parking space.

[0065] When the non-standard crab parking mode is selected, combine the added rear-wheel steering system on the vehicle to make the directions of the front wheels and the rear wheels the same, and control the turning angle of the front wheels to be greater than that of the rear wheels, so as to control the vehicle to crab and turn at the same time.

[0066] For easy understanding, an example is given. When the normal parking mode is adopted, control the front and rear wheels to intervene simultaneously, and the directions of the front wheels and the rear wheels are opposite. This parking method can effectively reduce the turning radius of the vehicle, enabling the action of originally requiring two or even more turns of the steering wheel to enter the garage to be completed through the intervention of the rear-wheel steering once, improving the parking efficiency.

[0067] When the crab mode is adopted, control the front and rear wheels to intervene simultaneously, but the directions of the front wheels and the rear wheels are the same, and the turning angles are also the same. In this way, the vehicle can drive horizontally or obliquely straight into the target parking space. It is suitable for narrow-road parking scenarios. Ordinarily, relying only on the front-wheel steering may require multiple turns of the steering wheel to park due to the narrow road, while the crab mode can park in one go, greatly improving the parking efficiency.

[0068] When the non-standard crab mode is adopted, control the front and rear wheels to intervene simultaneously, but the directions of the front wheels and the rear wheels are the same, and the turning angles are different. The front-wheel angle is greater than the rear-wheel angle. In this way, the vehicle can crab and turn at the same time, providing more driving trajectories to meet different path planning requirements and improving the parking efficiency.

[0069] That is, by combining the RWS, the rear-wheel turning angle can be changed, the turning radius can be reduced, and the parking efficiency can be improved. At the same time, there is a special parking mode of the crab mode, which can further improve the parking efficiency in special scenarios.

[0070] In one embodiment, after performing four-wheel collaborative control of the vehicle in the corresponding mode according to the determined parking mode to control the vehicle to park automatically, it includes:

[0071] When a failure occurs in the rear-wheel steering during the parking process, determine whether the rear wheels can return to the center. If so, control the rear wheels to return to the center through the rear-wheel steering system, and restore to the parking mode with only front-wheel steering. If not, the rear-wheel steering system locks the rear-wheel steering at the current angle, and the intelligent driving controller plans the parking trajectory based on the current rear-wheel turning angle and depends on the change of the front-wheel turning angle to complete the parking.

[0072] For easy understanding, an example is given. During the parking process, if a failure occurs in the rear-wheel turning, the IVI should prompt the RWS failure. At this time, the RWS controls the rear wheels to return to the center and restores to the parking mode with only front-wheel steering, which belongs to a degraded automatic parking method. If the RWS has a serious failure and cannot return to the center, the RWS locks the rear-wheel steering at the current angle, and the ADS plans the parking trajectory based on the current rear-wheel turning angle and depends only on the change of the front-wheel turning angle to complete the parking. It should be explained that if it is a rear-wheel turning failure that can return to the center, it will be required to return to the center and then lock the rear-wheel turning, so that the vehicle can drive normally like a vehicle without rear-wheel turning.

[0073] If it is a rear-wheel turning failure that cannot return to the center, the rear wheels are locked at a non-zero position. When turning the steering wheel, since the rear wheels have an angle that interferes with the expected turning angle, a larger or smaller steering wheel turning angle is required, and software is used to make strategy corrections.

[0074] In one embodiment, if a failure occurs in the front-wheel steering during the parking process, determine whether the front wheels can return to the center. If so, control the front wheels to return to the center, and complete the parking by controlling the rear-wheel steering to change the trajectory of the rear wheels. If not, the intelligent driving controller controls the rear-wheel steering based on the current angle of the front wheels to change the trajectory of the rear wheels to complete the parking.

[0075] For easy understanding, an example is given. During the parking process, if a failure occurs in the front-wheel steering, determine whether the front wheels can return to the center. If they can return to the center, first prompt the driver to control the front wheels to return to the center, and then degrade to complete the parking requirement by changing the trajectory of a single rear wheel through the rear-wheel steering. If the front wheels cannot return to the center, the ADS controls the rear-wheel steering based on the current angle of the front wheels to change the trajectory of a single rear wheel to complete the parking requirement.

[0076] In one embodiment, if failures occur in both the front and rear wheels during the parking process, prompt a steering system failure and exit the automatic parking function. Specifically, if failures occur in both the front and rear wheels during the parking process, or the parking action cannot be completed by relying on only one of the actuators, the automatic parking function exits, prompts a steering system failure, and the automatic parking function exits.

[0077] In summary, the introduction of rear-wheel transmission in this application makes the parking more efficient; various four-wheel cooperative parking forms and failure degradation parking forms also make the parking more robust.

[0078] Refer to Figure 2 , Figure 2The following is a schematic diagram of an automatic parking control device provided by the present invention. As Figure 2 shown, the device includes:

[0079] A selection module 201: It is used to intelligently select a parking mode based on the parking path planned by the intelligent driving controller. The parking modes include: a normal parking mode, a crab parking mode, and a non-standard crab parking mode. Among them, in the crab parking mode, the directions and angles of the front and rear wheels are controlled so that the vehicle moves laterally. In the non-standard crab parking mode, while controlling the lateral movement of the vehicle, the steering angle of the vehicle is also controlled.

[0080] A control module 202: It is used to perform four-wheel collaborative control of the vehicle in the corresponding mode in combination with the added rear-wheel steering system according to the selected parking mode to control the automatic parking of the vehicle.

[0081] Further, in a possible implementation manner, the control module is further used to, when the normal parking mode is selected, combine the added rear-wheel steering system on the vehicle to make the directions of the front wheels and the rear wheels of the vehicle opposite, so as to reduce the turning radius of the vehicle;

[0082] When the crab parking mode is selected, combine the added rear-wheel steering system on the vehicle to make the directions and rotation angles of the front wheels and the rear wheels of the vehicle the same, so as to control the vehicle to drive laterally or obliquely in a straight line into the target parking space;

[0083] When the non-standard crab parking mode is selected, combine the added rear-wheel steering system on the vehicle to make the directions of the front wheels and the rear wheels of the vehicle the same, and control the rotation angle of the front wheels to be greater than that of the rear wheels, so as to control the vehicle to crab and turn at the same time.

[0084] Further, in a possible implementation manner, the control module is further used to, when a failure occurs in the rear-wheel steering during the parking process, determine whether the rear wheels can return to the center;

[0085] If so, control the rear wheels to return to the center through the rear-wheel steering system and restore to the parking mode with only the front-wheel steering;

[0086] If not, lock the rear-wheel steering at the current angle by the rear-wheel steering system, and use the intelligent driving controller to plan the parking trajectory based on the current rear-wheel rotation angle and rely on the change of the front-wheel rotation angle to complete the parking.

[0087] Further, in a possible implementation manner, the control module is further used to, if a failure occurs in the front-wheel steering during the parking process, determine whether the front wheels can return to the center;

[0088] If so, control the front wheels to return to the center, and complete the parking by controlling the rear-wheel steering to change the trajectory of the rear wheels;

[0089] Otherwise, the intelligent driving controller controls the rear wheels to steer based on the current angle of the front wheels to change the trajectory of the rear wheels to complete parking.

[0090] Further, in a possible implementation, the control module is further configured to, if both the front and rear wheels fail during parking, prompt a steering system failure and exit the automatic parking function.

[0091] Further, in a possible implementation, the selection module is further configured to use the intelligent driving controller to plan the parking trajectory path according to the vehicle's own coordinates and the surrounding environment sensed by the perception sensors;

[0092] The intelligent driving controller intelligently selects the parking mode that the vehicle is to enter through the turning radius of the trajectory path.

[0093] Further, in a possible implementation, the selection module is further configured to, if it is determined that the turning radius of the trajectory path is less than or equal to the first set threshold, then intelligently select the normal parking mode;

[0094] If it is determined that the turning radius of the trajectory path is greater than the second set threshold, then intelligently select the crab parking mode;

[0095] If it is determined that the turning radius of the trajectory path is greater than the third set threshold, then intelligently select the non-standard crab mode;

[0096] Wherein, the first set threshold is less than the third set threshold is less than the second set threshold.

[0097] Next, refer to Figure 3 to describe the electronic device 300 according to this embodiment of the present invention. Figure 3 The shown electronic device 300 is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present invention.

[0098] As Figure 3 shown, the electronic device 300 is presented in the form of a general-purpose computing device. The components of the electronic device 300 may include, but are not limited to: at least one of the above-mentioned processing units 310, at least one of the above-mentioned storage units 320, and a bus 330 connecting different system components (including the storage unit 320 and the processing unit 310).

[0099] Wherein, the storage unit stores program codes, and the program codes can be executed by the processing unit 310, so that the processing unit 310 executes the steps according to various exemplary embodiments of the present invention described in the "Embodiment Method" section of this specification.

[0100] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access memory (RAM) 321 and / or a cache storage unit 322, and may further include a read-only memory (ROM) 323.

[0101] The storage unit 320 may also include a program / utility 324 having a set (at least one) of program modules 325. Such program modules 325 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment.

[0102] The bus 330 may represent one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus structures.

[0103] The electronic device 300 may also communicate with one or more external devices (such as a keyboard, a pointing device, a Bluetooth device, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 300, and / or may communicate with any device that enables the electronic device 300 to communicate with one or more other computing devices (such as a router, a modem, etc.). Such communication may be carried out through an input / output (I / O) interface 350. Also, the electronic device 300 may communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 360. As shown in the figure, the network adapter 360 communicates with other modules of the electronic device 300 through the bus 330. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0104] Through the description of the above embodiments, those skilled in the art can easily understand that the example embodiments described herein can be implemented by software, or can be implemented by the way of software combined with necessary hardware. Therefore, the technical solutions according to the embodiments of the present disclosure can be embodied in the form of a software product. The software product can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.

[0105] According to the solution of the present disclosure, there is also provided a computer-readable storage medium having stored thereon a program product capable of implementing the above-described method of this specification. In some possible implementation manners, various aspects of the present invention can also be implemented in the form of a program product, which includes program code. When the program product runs on a terminal device, the program code is used to cause the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Method" section of this specification.

[0106] Referring Figure 4 As shown, a program product 400 for implementing the above method according to an embodiment of the present invention is described. It may be a portable compact disc read-only memory (CD-ROM) and includes program code, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, a readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0107] The program product may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0108] The computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries the readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The readable signal medium may also be any readable medium other than the readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0109] The program code contained on the readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination of the above.

[0110] Program code for performing the operations of the present invention can be written in any combination of one or more programming languages, which include object-oriented programming languages such as Java, C++, etc., and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's device, executed as a stand-alone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., connected through the Internet using an Internet service provider).

[0111] In addition, the above-mentioned drawings are only schematic illustrations of the processes included in the method according to the exemplary embodiments of the present invention, rather than for limiting purposes. It is easy to understand that the processes shown in the above-mentioned drawings do not indicate or limit the chronological order of these processes. Additionally, it is also easy to understand that these processes can be executed synchronously or asynchronously in, for example, multiple modules.

[0112] In summary, the present application provides an automatic parking control method, device, equipment, and storage medium. The method includes the steps of: determining a parking mode based on the relative position of the vehicle itself and the target parking space and the surrounding environment, where the parking mode includes: a normal parking mode, a crab parking mode, and a non-standard crab parking mode; and performing four-wheel collaborative control of the vehicle in the corresponding mode according to the determined parking mode to control the vehicle to park automatically. The present application can improve the parking efficiency, adapt to multiple complex scenarios, and at the same time enhance the robustness of the system and improve the user experience.

[0113] The above description is only the specific implementation manners of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather will conform to the widest scope consistent with the principles and novel features claimed herein.

[0114] The present invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing apparatus to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing apparatus create means for implementing the functions specified in one flow or more flows and / or one block or more blocks. Figure 1 in one flow or more flows and / or one block or more blocks Figure 1 create means for implementing the specified functions.

Claims

1. An automatic parking control method, characterized in that, Including: Based on the parking path planned by the intelligent driving controller, the parking mode is intelligently selected. The parking modes include: normal parking mode, crab parking mode, and non-standard crab parking mode. Among them, in the crab parking mode, the directions and angles of the front and rear wheels are controlled so that the vehicle moves laterally. In the non-standard crab parking mode, while controlling the vehicle to move laterally, the steering angle of the vehicle is also controlled. According to the selected parking mode, combined with the added rear-wheel steering system, four-wheel cooperative control of the vehicle is performed in the corresponding mode to control the vehicle to park automatically.

2. The method according to claim 1, wherein The four-wheel cooperative control of the vehicle in the corresponding mode according to the selected parking mode, combined with the added rear-wheel steering system, to control the vehicle to park automatically includes: When the normal parking mode is selected, combined with the added rear-wheel steering system on the vehicle, the directions of the front and rear wheels of the vehicle are made opposite to reduce the turning radius of the vehicle. When the crab parking mode is selected, combined with the added rear-wheel steering system on the vehicle, the directions and rotation angles of the front and rear wheels of the vehicle are made the same to control the vehicle to drive straight laterally or diagonally into the target parking space. When the non-standard crab parking mode is selected, combined with the added rear-wheel steering system on the vehicle, the directions of the front and rear wheels of the vehicle are made the same, and the rotation angle of the front wheels is controlled to be greater than that of the rear wheels to control the vehicle to crab and turn at the same time.

3. The method according to claim 1, wherein After the four-wheel cooperative control of the vehicle in the corresponding mode according to the selected parking mode to control the vehicle to park automatically, it includes: When a failure occurs in the rear-wheel steering during the parking process, determine whether the rear wheels can return to the center. If so, control the rear wheels to return to the center through the rear-wheel steering system and restore to the parking mode with only front-wheel steering. If not, the rear-wheel steering system locks the rear-wheel steering at the current angle, and the intelligent driving controller plans the parking trajectory based on the current rear-wheel turning angle and depends on the change of the front-wheel turning angle to complete parking.

4. The method according to claim 3, wherein It also includes: If a failure occurs in the front-wheel steering during the parking process, determine whether the front wheels can return to the center. If so, control the front wheels to return to the center and complete parking by controlling the rear-wheel steering to change the trajectory of the rear wheels. If not, the intelligent driving controller controls the rear-wheel steering based on the current angle of the front wheels to change the trajectory of the rear wheels to complete parking.

5. The method according to claim 4, wherein It also includes: If failures occur in both the front and rear wheels during the parking process, prompt a steering system failure and exit the automatic parking function.

6. The method according to claim 1, wherein The intelligent selection of the parking mode based on the parking path planned by the intelligent driving controller includes: Using the intelligent driving controller to plan the parking trajectory path according to the vehicle's own coordinates and the surrounding environment sensed by the perception sensors. The intelligent driving controller intelligently selects the parking mode that the vehicle is to enter through the turning radius of the trajectory path.

7. The method according to claim 6, wherein The intelligent driving controller intelligently selects the parking mode that the vehicle is to enter through the turning radius of the trajectory path, including: If it is determined that the turning radius of the trajectory path is less than or equal to the first set threshold, then the normal parking mode is intelligently selected. If it is determined that the turning radius of the trajectory path is greater than the second set threshold, then the crab parking mode is intelligently selected. If it is determined that the turning radius of the trajectory path is greater than the third set threshold, then the non-standard crab mode is intelligently selected. Among them, the first set threshold is less than the third set threshold which is less than the second set threshold.

8. An automatic parking control device, characterized in that, Including: A selection module, which is used to intelligently select a parking mode based on the parking path planned by the intelligent driving controller. The parking modes include: a normal parking mode, a crab parking mode, and a non-standard crab parking mode. Among them, in the crab parking mode, the directions and angles of the front and rear wheels are controlled so that the vehicle moves laterally. In the non-standard crab parking mode, while controlling the lateral movement of the vehicle, the steering angle of the vehicle is also controlled; A control module, which is used to perform four-wheel cooperative control of the vehicle in the corresponding mode in combination with the added rear-wheel steering system according to the selected parking mode, so as to control the vehicle to park automatically.

9. An electronic device, characterized in that, The electronic device includes: A processor; A memory, on which computer-readable instructions are stored. When the computer-readable instructions are executed by the processor, the method described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that, It stores computer program instructions. When the computer program instructions are executed by a computer, the computer is made to execute the method described in any one of claims 1 to 7.

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