Vehicle parking control method and system, medium, electronic equipment and vehicle
By calculating the step distance and heading angle deviation extension path, the problem that vehicles cannot obtain prospective distance in a narrow space is solved, and accurate parking for automatic parking is achieved.
Patent Information
- Application Number
- CN202510504987.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-22
- Publication Date
- 2025-07-29
AI Technical Summary
When parking automatically in a small space, the vehicle cannot obtain the forward distance, so it cannot complete automatic parking.
By calculating the vehicle's step distance, heading angle deviation, and preset forward distance, the original path is extended to generate a target path, ensuring that the vehicle accurately tracks to the parking end point in the direction of maintaining the original path.
The precise parking of the vehicle in a narrow space is achieved, ensuring that the vehicle can park accurately in the parking space in the original path direction.
Smart Images
Figure CN120382885A_ABST
Abstract
Description
Background Art
[0002] The principle of the tracking algorithm is to use the vehicle's look-ahead distance to determine the preview point. The vehicle will track this point, continuously approach and continuously track the next point until the last point is traced. Based on the above principle, it can be introduced into the automatic parking technology.
[0003] When using the above tracking algorithm for automatic parking, since automatic parking needs to operate in a narrow space, a suitable look-ahead distance will be adjusted (for example, using the vehicle length as the look-ahead distance) so that the vehicle runs to the final point of the planned parking path according to this look-ahead distance. Using this look-ahead distance can ensure that the vehicle can keep the same course angle as the path point at the current vehicle position at any time. However, when the vehicle is less than a look-ahead distance away from the final point of the parking path, the vehicle cannot continue to obtain the look-ahead distance, resulting in the inability to complete automatic parking. Summary of the Invention
[0004] In order to overcome the problem that when the vehicle is less than a look-ahead distance away from the final point of the parking path, the vehicle cannot continue to obtain the look-ahead distance, resulting in the inability to complete automatic parking, the present disclosure provides a parking control method, system, medium, electronic device and vehicle for a vehicle.
[0005] In a first aspect, to solve the above technical problem, the present disclosure provides a parking control method for a vehicle, including:
[0006] Responding to an automatic parking instruction, obtaining the original path of the vehicle for automatic parking;
[0007] Based on the coordinates of any two adjacent path points in the original path, determining the step distance between the corresponding path points of the original path;
[0008] Calculating the course angle deviation between the last two adjacent path points in the original path;
[0009] Based on the preset look-ahead distance, step distance and course angle deviation, calculating the extended path of the original path;
[0010] Determining the target path of the vehicle according to the extended path and the original path, and performing automatic parking control on the vehicle based on the target path.
[0011] In a second aspect, the present disclosure provides a parking control system for a vehicle, including:
[0012] An original path recognition module, configured to respond to an automatic parking instruction and obtain the original path of the vehicle for automatic parking;
[0013] A step distance determination module, configured to determine the step distance between the corresponding path points of the original path based on the coordinates of any two adjacent path points in the original path;
[0014] A heading angle deviation determination module, configured to calculate the heading angle deviation between the last two adjacent path points in the original path;
[0015] An extended path calculation module, configured to calculate an extended path of the original path based on a preset look-ahead distance, a step distance, and the heading angle deviation;
[0016] An automatic parking module, configured to determine a target path of the vehicle according to the extended path and the original path, and perform automatic parking control on the vehicle based on the target path.
[0017] In a third aspect, the present disclosure further provides a computer-readable storage medium, in which instructions are stored. When the instructions run on a terminal device, the terminal device is caused to execute the steps of an automatic parking method as described in any one of the above.
[0018] In a fourth aspect, the present disclosure further provides an electronic device, including a memory, a processor, and a program stored on the memory and running on the processor. When the processor executes the program, the steps of a parking control method for a vehicle as described above are implemented.
[0019] In a fifth aspect, the present disclosure further provides a vehicle, including a parking control system for a vehicle as described above.
[0020] The beneficial effects of the present disclosure are as follows: In response to an automatic parking instruction, the original path is obtained, and on the premise of the original path, based on the step distance, the preset look-ahead distance, and the heading angle deviation between the last two adjacent path points in the original path, an extended path is obtained, so that automatic parking can be performed through the original path and the extended path. By calculating the extended path, the present disclosure extends the original path, enabling the vehicle to accurately trace to the parking end while maintaining the traveling direction of the original path, achieving the purpose of accurately parking into the parking space. Description of the Drawings
[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the present disclosure will be further described below with reference to the drawings and embodiments.
[0022] Figure 1 It is a flowchart of a parking control method for a vehicle according to an embodiment of the present disclosure;
[0023] Figure 2 It is a display diagram of an automatic parking path according to an embodiment of the present disclosure;
[0024] Figure 3 It is a structural diagram of a parking control system for a vehicle according to an embodiment of the present disclosure. Detailed Embodiments
[0025] The following embodiments are further explanations and supplements to the present disclosure and do not constitute any limitation to the present disclosure.
[0026] The following describes a parking control method, system, medium, electronic device, and vehicle of an embodiment of the present disclosure with reference to the accompanying drawings.
[0027] As Figure 1 shown, an embodiment of the present disclosure provides a parking control method for a vehicle, including:
[0028] S1. In response to an automatic parking instruction, obtain the original path for the vehicle to perform automatic parking.
[0029] S2. Based on the coordinates of any two adjacent path points in the original path, determine the step distance between the corresponding path points of the original path.
[0030] S3. Calculate the heading angle deviation between the last two adjacent path points in the original path.
[0031] S4. Based on a preset look-ahead distance, step distance, and heading angle deviation, calculate the extended path of the original path.
[0032] S5. Determine the target path of the vehicle according to the extended path and the original path, and perform automatic parking control on the vehicle based on the target path.
[0033] In this embodiment, in response to an automatic parking instruction, the original path is obtained. Then, on the premise of the original path, based on the step distance, preset look-ahead distance, and heading angle deviation between the last two adjacent path points in the original path, the extended path is obtained. Thus, automatic parking can be performed through the original path and the extended path. By calculating the extended path, the present disclosure extends the original path, enabling the vehicle to accurately trace to the parking end while maintaining the traveling direction of the original path, achieving the purpose of accurately parking in the parking space.
[0034] In addition, the scenarios applicable to this embodiment include but are not limited to various parking lots, etc. Correspondingly, all vehicle scenarios that require the use of automatic parking are also applicable to this method.
[0035] In this embodiment, the automatic parking instruction can be actively initiated by the user, or automatically triggered by the in-vehicle system or the parking lot management system.
[0036] In this embodiment, the vehicle can perform automatic parking in various parking lots.
[0037] In this embodiment, through the collaboration of multi-modal sensor fusion, environmental perception algorithms, and path planning systems, and based on tracking algorithms, an original path is drawn in the local coordinate system, and the relevant information of the original path is stored in a database for the in-vehicle system or cloud platform to call at any time. Among them, the relevant information includes the coordinates and heading angles of each path point in the original path.
[0038] In this embodiment, based on the coordinates of any two adjacent path points in the original path, the step distance between the two adjacent path points is determined, and the formula is as follows:
[0039]
[0040] where m represents the step distance, (x1, y1) represents the coordinates of the last path point of the original path, and (x2, y2) represents the coordinates of the second-to-last path point of the original path.
[0041] In this embodiment, the preset look-ahead distance can be the vehicle's own body length.
[0042] As Figure 2 shown, A is the identified original path, C represents the end point of the original path, D represents the vehicle, and E represents the end point of the parking lot. It can be seen that when the vehicle D reaches the end point C of the original path based on the tracking algorithm, there is still a certain look-ahead distance to the end point of the parking lot. Therefore, in this embodiment, an extended path is also calculated and added to the end of the original path A to obtain the target path B, so that the vehicle can accurately trace to the parking end point E while maintaining the traveling direction of the original path A, achieving the purpose of accurately parking in the parking space.
[0043] In this disclosure, all actions of obtaining signals, information, or data are carried out on the basis of strictly following the relevant data protection regulations and policies of the country where it is located, and with the authorization of the owner of the corresponding device.
[0044] The owner refers to an individual or entity that owns or controls the relevant device (which may be a device, system, or other tool that can collect data).
[0045] In the field of intelligent connected vehicles, "owners" mainly include:
[0046] (1) Automobile manufacturers: As developers of vehicle hardware and systems, they control the vehicle's underlying hardware and software platforms and have management and control rights over the data generated during vehicle operation, such as driving and fault data.
[0047] (2) Component suppliers: Provide key components for automobiles and have certain ownership of the data collected and processed by the components for product optimization and after-sales, such as the data generated by sensors and chips.
[0048] (3) Vehicle owner or user: The actual user of the vehicle, who has the right to decide on the usage method and scope of vehicle data. For example, regarding the sharing or not of data such as driving trajectories and driving habits, they have the need and right to protect their relevant data privacy.
[0049] (4) Service provider: Provides services such as software and data analysis. Under the framework of the agreement, it has the right to use and manage the data obtained and processed, but the ownership usually belongs to other entities.
[0050] Optionally, based on a preset look-ahead distance, step distance, and heading angle deviation, calculate the extended path of the original path, including:
[0051] Based on the preset look-ahead distance and step distance, calculate the number of supplementary path points; where the supplementary path points are the path points to be supplemented between the last path point in the original path and the parking end point;
[0052] Based on the coordinates of the last path point in the original path, the step distance, and the heading angle deviation, determine the coordinates of each supplementary path point;
[0053] Based on the number of supplementary path points and the coordinates of each supplementary path point, determine the extended path.
[0054] In this embodiment, by extending the original path points and maintaining the traveling direction of the original path points, the automatic parking can accurately trace the parking lot end point at a low speed, achieving the purpose of accurately parking into the parking space.
[0055] In this embodiment, the formula for calculating the number of supplementary path points based on the look-ahead distance and step distance is as follows:
[0056] s = l - m
[0057] Where s represents the number of supplementary path points, m represents the step distance, and l represents the look-ahead length. In this embodiment, the look-ahead length can adopt the vehicle length.
[0058] Optionally, based on the coordinates of the last path point in the original path, the step distance, and the heading angle deviation, determine the coordinates of each supplementary path point, and the formula is as follows:
[0059] point.x i = x1 + i * m * cosγ
[0060] point.y i = y1 + i * m * sinγ
[0061] Where point.x i represents the abscissa of the i-th supplementary path point, point.y i represents the ordinate of the i-th supplementary path point, m represents the step distance, and γ represents the heading angle deviation.
[0062] In this embodiment, when i = 1, the above formula represents calculating the coordinates of the first supplementary path point; when i = 2, the above formula represents calculating the coordinates of the second supplementary path point, and so on. Based on the number of supplementary path points, the coordinates of all supplementary path points are calculated iteratively.
[0063] When the coordinates of all supplementary path points are calculated, all supplementary path points are plotted in the local coordinate system and connected with a smooth curve to obtain the extended path. Finally, the extended path is supplemented to the end of the original path.
[0064] Optionally, based on the coordinates of any two adjacent path points in the original path, determining the step distance between the corresponding path points of the original path includes:
[0065] Based on the coordinates of the last two adjacent path points in the original path, determining the step distance.
[0066] In this embodiment, the step distance is calculated through the coordinates of the last two adjacent path points in the original path, reducing the calculation error of the step distance and improving the calculation accuracy of the coordinates of the supplementary path points.
[0067] Optionally, calculating the heading angle deviation between the last two adjacent path points in the original path includes:
[0068] Obtaining the last path point and the penultimate path point in the original path;
[0069] Determining the first heading angle according to the heading angle corresponding to the last path point, and determining the second heading angle according to the heading angle corresponding to the penultimate path point;
[0070] Based on the first heading angle and the second heading angle, calculating the heading angle deviation, and the formula is as follows:
[0071] γ = β1 - β2
[0072] Where γ represents the heading angle deviation, β1 represents the first heading angle, and β2 represents the second heading angle.
[0073] The formula for calculating the heading angle in this embodiment is:
[0074] β = arctan(y2 - y1, x2 - x1)
[0075] Where β represents the heading angle, (x1, y1) represents the coordinates of the last path point of the original path, and (x2, y2) represents the coordinates of the penultimate path point of the original path.
[0076] Optionally, determining the first heading angle according to the heading angle corresponding to the last path point, and determining the second heading angle according to the heading angle corresponding to the penultimate path point includes:
[0077] Calculate a first heading angle based on the coordinates of the last waypoint and the second-to-last waypoint in the original path;
[0078] Calculate a second heading angle based on the coordinates of the last two waypoints and the third-to-last waypoint in the original path.
[0079] In this embodiment, a first heading angle is calculated based on the coordinates of the last waypoint and the second-to-last waypoint in the original path, and the formula is as follows:
[0080]
[0081] Where, β1 represents the first heading angle, (x1, y1) represents the coordinates of the last waypoint of the original path, and (x2, y2) represents the coordinates of the second-to-last waypoint of the original path.
[0082] In this embodiment, a second heading angle is calculated based on the coordinates of the last two waypoints and the third-to-last waypoint in the original path, and the formula is as follows:
[0083]
[0084] Where, β2 represents the first heading angle, (x2, y2) represents the coordinates of the second-to-last waypoint of the original path, and (x3, y3) represents the coordinates of the third-to-last waypoint of the original path.
[0085] In this embodiment, when the first heading angle and the second heading angle can be directly obtained, they can be directly obtained. When the first heading angle and the second heading angle cannot be directly obtained, the first heading angle and the second heading angle need to be calculated based on the coordinates of other waypoints.
[0086] As Figure 3 shown, the present disclosure provides a parking control system 100 for a vehicle, including:
[0087] An original path recognition module 101, configured to obtain the original path for the vehicle to perform automatic parking in response to an automatic parking instruction;
[0088] A step distance determination module 102, configured to determine the step distance between the waypoints corresponding to the original path based on the coordinates of any two adjacent waypoints in the original path;
[0089] A heading angle deviation determination module 103, configured to calculate the heading angle deviation between the last two adjacent waypoints in the original path;
[0090] An extended path calculation module 104 is configured to calculate an extended path of an original path based on a preset look-ahead distance, a step distance, and a heading angle deviation; wherein, the heading angle deviation is the heading angle deviation between the last two adjacent path points in the original path.
[0091] An automatic parking module 105 is configured to determine a target path of the vehicle according to the extended path and the original path, and perform automatic parking control on the vehicle based on the target path.
[0092] Optionally, the extended path calculation module 103 is specifically configured to:
[0093] Calculate the number of supplementary path points based on the preset look-ahead distance and the step distance; wherein, the supplementary path points are the path points to be supplemented between the last path point in the original path and the parking end point.
[0094] Determine the coordinates of each supplementary path point based on the coordinates of the last path point in the original path, the step distance, and the heading angle deviation.
[0095] Determine the extended path based on the number of supplementary path points and the coordinates of each supplementary path point.
[0096] Optionally, the extended path calculation module 103 is specifically configured to:
[0097] Determine the coordinates of each supplementary path point based on the coordinates of the last path point in the original path, the step distance, and the heading angle deviation. The formula is as follows:
[0098] point.x i = x1 + i * m * cosγ
[0099] point.y i = y1 + i * m * sinγ
[0100] Wherein, point.x i represents the abscissa of the i-th supplementary path point, point.y i represents the ordinate of the i-th supplementary path point, m represents the step distance, and γ represents the heading angle deviation.
[0101] Optionally, the step distance determination module 102 is specifically configured to:
[0102] Determine the step distance based on the coordinates of the last two adjacent path points in the original path.
[0103] Optionally, the heading angle deviation determination module 103 is specifically configured to:
[0104] Obtain the last path point and the penultimate path point in the original path.
[0105] Determine the first heading angle according to the heading angle corresponding to the last waypoint, and determine the second heading angle according to the heading angle corresponding to the penultimate waypoint;
[0106] Based on the first heading angle and the second heading angle, calculate the heading angle deviation, and the formula is as follows:
[0107] γ = β1 - β2
[0108] Where β represents the heading angle deviation, β1 represents the first heading angle, and β2 represents the second heading angle.
[0109] Optionally, the heading angle deviation acquisition module 103 is specifically configured to:
[0110] Based on the coordinates of the last waypoint and the penultimate waypoint in the original path, calculate the first heading angle;
[0111] Based on the coordinates of the last two waypoints and the third-to-last waypoint in the original path, calculate the second heading angle.
[0112] The embodiments of the present disclosure also provide a computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are run on a terminal device, the terminal device is caused to execute the steps of an automatic parking method as described above.
[0113] The embodiments of the present disclosure also provide an electronic device, including a memory, a processor, and a program stored on the memory and running on the processor. When the processor executes the program, the steps of an automatic parking method as described above are implemented.
[0114] The embodiments of the present disclosure also provide an automatic parking vehicle, including an automatic parking system as described above.
[0115] Those skilled in the art of the present disclosure know that the present disclosure can be implemented as a system, a method, or a computer program product. Therefore, the present disclosure can be specifically implemented in the following forms: it can be completely hardware, can be completely software (including firmware, resident software, microcode, etc.), or can be a combination of hardware and software, generally referred to as "circuit", "module", or "system" in this article. In addition, in some embodiments, the present disclosure can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable media contains computer-readable program code. The computer-readable storage medium can be, for example, but not limited to - an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above.
[0116] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0117] Although the embodiments of the present disclosure have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present disclosure.
Claims
1. A parking control method for a vehicle, characterized in that, including: Upon receiving an automatic parking instruction, obtain the original path for the vehicle to perform automatic parking; Based on the coordinates of any two adjacent path points in the original path, determine the step distance between the corresponding path points of the original path; Calculate the heading angle deviation between the last two adjacent path points in the original path; Based on a preset look-ahead distance, the step distance, and the heading angle deviation, calculate the extended path of the original path; Determine the target path of the vehicle according to the extended path and the original path, and perform automatic parking control on the vehicle based on the target path.
2. The method according to claim 1, wherein The calculating the extended path of the original path based on the preset look-ahead distance, the step distance, and the heading angle deviation includes: Based on the preset look-ahead distance and the step distance, calculate the number of supplementary path points; wherein, the supplementary path points are the path points to be supplemented from the last path point in the original path to the parking end point; Based on the coordinates of the last path point in the original path, the step distance, and the heading angle deviation, determine the coordinates of each supplementary path point; Based on the number of supplementary path points and the coordinates of each supplementary path point, determine the extended path.
3. The method according to claim 2, wherein The determining the coordinates of each supplementary path point based on the coordinates of the last path point in the original path, the step distance, and the heading angle deviation, the formula is as follows: point.x i = x1 + i * m * cosγ point.y i = y1 + i * m * cosγ Among them, point.x i represents the abscissa of the i-th supplementary path point, and point.y i represents the ordinate of the i-th supplementary path point, m represents the step distance, and γ represents the heading angle deviation.
4. The method according to claim 1, wherein Based on the coordinates of any two adjacent path points in the original path, determining the step distance between the corresponding path points of the original path includes: Based on the coordinates of the last two adjacent path points in the original path, determine the step distance.
5. The method according to claim 1, characterized in that The calculating the heading angle deviation between the last two adjacent path points in the original path includes: Obtain the last path point and the penultimate path point in the original path; Determine the first heading angle according to the heading angle corresponding to the last path point, and determine the second heading angle according to the heading angle corresponding to the penultimate path point; Based on the first heading angle and the second heading angle, calculate the heading angle deviation, the formula is as follows: γ = β1 - β2 where γ represents the heading angle deviation, β1 represents the first heading angle, and β2 represents the second heading angle.
6. The method according to claim 5, characterized in that The determining the first heading angle according to the heading angle corresponding to the last path point, and determining the second heading angle according to the heading angle corresponding to the penultimate path point includes: Based on the coordinates of the last path point and the penultimate path point in the original path, calculate the first heading angle; Based on the coordinates of the last two path points and the coordinates of the third-to-last path point in the original path, calculate the second heading angle.
7. A parking control system for a vehicle, characterized in that, including: An original path recognition module, configured to obtain the original path for the vehicle to perform automatic parking in response to an automatic parking instruction; A step distance determination module, configured to determine the step distance between the corresponding path points of the original path based on the coordinates of any two adjacent path points in the original path; A heading angle deviation determination module, configured to calculate the heading angle deviation between the last two adjacent path points in the original path; An extended path calculation module, configured to calculate an extended path of the original path based on a preset look-ahead distance, the step distance, and a heading angle deviation; An automatic parking module, configured to determine a target path of the vehicle according to the extended path and the original path, and perform automatic parking control on the vehicle based on the target path.
8. A computer-readable storage medium, characterized in that, Instructions are stored in the computer-readable storage medium, and when the instructions are run on the terminal device, the terminal device is caused to execute the steps of a parking control method for a vehicle according to any one of claims 1-6.
9. An electronic device, comprising a memory, a processor, and a program stored on the memory and running on the processor, characterized in that, When the processor executes the program, the steps of a parking control method for a vehicle according to any one of claims 1-6 are implemented.
10. A vehicle, comprising a parking control system for a vehicle according to claim 7.