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, relates to the technical field of vehicle control, and aims at solving the problem that the parking difficulty is large due to the fact that the parking space is reduced. The method is applied to the vehicle, the vehicle comprises a first motor, a second motor and a third motor, the first motor is used for driving two wheels of a first shaft, the second motor is used for driving a first wheel of a second shaft, and the third motor is used for driving a second wheel of the second shaft. The method comprises the steps that a parking instruction used for instructing a vehicle to start an automatic parking function is received, the vehicle is controlled to drive into a target parking space along a target track in response to the parking instruction, the target track at least comprises a first track, and the first track is a rotation track for controlling the vehicle to rotate around a single wheel of a first shaft.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an automatic parking control method, device, equipment and storage medium. Background Art

[0002] With the popularization of cars in daily life, the parking space provided by parking spaces has been reduced, for example, parking spaces have become narrower, driving lanes between opposite parking spaces have become narrower, and parking spaces on dead-end roads have become more common.

[0003] At present, when faced with the above-mentioned situation of reduced parking space, due to the small parking space, the vehicle cannot be parked into the parking space at one time. Therefore, it is necessary to move the vehicle forward and backward multiple times, first adjust the rear end of the vehicle to the entrance of the parking space, and then park the vehicle into the parking space. This parking solution of multiple forward and backward maneuvers makes parking more difficult. Moreover, when the vehicle is too large or the axle is too long, the parking difficulty will be further increased. Summary of the Invention

[0004] The purpose of this application is to provide an automatic parking control method, device, equipment and storage medium, aiming to solve the problem of difficulty in parking due to reduced parking space.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] The present application provides an automatic parking control method, which is applied to a vehicle. The vehicle includes a first motor, a second motor, and a third motor. The first motor is used to drive two wheels of a first shaft, the second motor is used to drive a first wheel of a second shaft, and the third motor is used to drive a second wheel of the second shaft. The method includes: receiving a parking command, the parking command is used to instruct the vehicle to start an automatic parking function, and in response to the parking command, controlling the vehicle to drive into a target parking space along a target trajectory, the target trajectory including at least a first trajectory, the first trajectory being a rotational trajectory for controlling the rotation of a single wheel of the vehicle around the first shaft.

[0007] The automatic parking control method provided in the embodiment of the present application is based on the principle that when the parking space is small, the wheels cannot be parked into the parking space in a normal manner. Therefore, the present application separately provides two motors for the two rear wheels in the vehicle, and during the parking process, controls the vehicle to rotate around a single front wheel to drive the vehicle into the target parking space without having to adjust the vehicle body direction by moving the vehicle forward and backward multiple times. This reduces the space required for adjusting the vehicle body direction, thereby alleviating the difficulty of parking when the parking space is small.

[0008] In some embodiments, controlling the vehicle to drive into the target parking space along the target trajectory includes: controlling the first wheel and / or the second wheel to steer while controlling the vehicle to rotate along the first trajectory.

[0009] Based on this, the present application further controls the steering of the rear wheels on the basis of controlling the rotation of the vehicle around a single front wheel, thereby improving the convenience of steering and reducing the wear on the tires when the vehicle rotates.

[0010] In some embodiments, during the rotation of the vehicle along the first trajectory, the steering direction of the first wheel is opposite to the steering direction of the second wheel; wherein, when the first wheel is a left wheel, the steering direction of the first wheel is to the left, and the steering direction of the second wheel is to the right; or, when the first wheel is a right wheel, the steering direction of the first wheel is to the right, and the steering direction of the second wheel is to the left.

[0011] Based on this, the present application controls the two rear wheels of the vehicle to turn in an inverted figure eight shape toward the front of the vehicle during the vehicle rotation around a single front wheel, which can reduce the wear on the tires during the vehicle rotation.

[0012] In some embodiments, the steering angle of each of the first wheel and the second wheel is a maximum value of the second axis steering angle.

[0013] Based on this, the present application controls the rear wheel steering at the maximum steering angle to facilitate vehicle rotation and further reduce the wear on the tires when the vehicle rotates.

[0014] In some embodiments, controlling the vehicle to drive into the target parking space along the target trajectory includes: controlling a single wheel of the first axis to lock during the process of controlling the vehicle to rotate along the first trajectory; and controlling the single wheel of the first axis to unlock after the control of the vehicle to rotate along the first trajectory ends.

[0015] Based on this, the present application improves the accuracy of vehicle rotation by locking the wheel to prevent the wheel from rotating during the rotation around the wheel.

[0016] In some embodiments, the above-mentioned controlling the vehicle to drive into the target parking space along the target trajectory includes: in the process of controlling the vehicle to rotate along the first trajectory, controlling the motor of the two wheels of the first shaft other than the single wheel to output a first torque, controlling the wheel on the opposite side of the single wheel of the first shaft among the two wheels of the second shaft to output a second torque, and controlling the wheel on the same side of the single wheel of the first shaft among the two wheels of the second shaft to output a third torque; wherein, the torque directions of the first torque and the second torque are the same, and the torque directions of the second torque and the third torque are opposite.

[0017] Based on this, the present application controls the motors of the two rear wheels to output torques in different directions, and the motors of the wheels on the same side to output torques in the same direction, so that the vehicle can rotate around a single front wheel, thereby reducing the space required to adjust the direction of the vehicle body.

[0018] In some embodiments, the first trajectory includes a rotation end point; the controlling the vehicle to enter the target parking space along the target trajectory includes: in the process of controlling the vehicle to rotate along the first trajectory, based on the current position of the first wheel, the current position of the second wheel, and the position of the rotation end point, determining the target rotation angle, controlling the motor output torque of the vehicle's other wheels except the single wheel of the first axis to drive the vehicle to rotate around the single wheel of the first axis by the target rotation angle.

[0019] The target rotation angle includes a counterclockwise rotation angle or a clockwise rotation angle.

[0020] Based on this, the present application determines the rotation angle of the vehicle so that the vehicle rotates according to the rotation angle, ensuring that the vehicle can accurately rotate to the rotation end point.

[0021] In some embodiments, the above-mentioned first trajectory also includes a rotation starting point, and the rotation starting point and the rotation ending point are determined based on the current position of the vehicle, the vehicle's posture information, the position of the target parking space, and the path constraint information; wherein the path constraint information includes obstacle information and / or the vehicle's minimum turning radius information under rear-wheel steering; the obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation around a single front wheel, and the minimum turning radius information refers to the minimum turning radius information of the vehicle during the process of entering the target parking space after the vehicle completes its rotation along the first trajectory; under the minimum turning radius, the steering angle of the two wheels of the first axle of the vehicle is the maximum value of the first axle steering angle, the steering angle of the two wheels of the second axle of the vehicle is the maximum value of the second axle steering angle, and the steering direction of the two wheels of the first axle is opposite to the steering direction of the two wheels of the second axle.

[0022] Based on this, when determining the starting and ending points of the rotation, this application also needs to consider whether a collision will occur during the vehicle rotation to improve parking safety; at the same time, consider whether the turning radius of the vehicle entering the target parking space after the rotation is the smallest, and minimize the vehicle rotation angle to avoid causing large wear on the vehicle tires.

[0023] In some embodiments, the automatic parking control method provided by the embodiments of the present application may further include: determining multiple candidate rotation starting points from outside the target parking space, and candidate rotation ending points corresponding to each of the multiple candidate rotation starting points, and performing collision detection on the process of the vehicle rotating from the candidate rotation starting point to the candidate rotation ending point based on the current position of the vehicle, the vehicle's posture information, the position of the target parking space, and the vehicle's minimum turning radius information under rear-wheel steering to obtain a collision detection result, and determining the candidate rotation starting point and the corresponding candidate rotation ending point indicated by the collision detection result as the rotation starting point and the rotation ending point.

[0024] Based on this, the present application screens candidate rotation starting points and corresponding candidate rotation ending points from multiple candidate rotation starting points and multiple candidate rotation ending points, combined with the minimum turning radius, to ensure that the vehicle will not collide during the actual rotation process and improve parking safety.

[0025] In some embodiments, the target trajectory further includes a second trajectory; wherein the second trajectory is a driving trajectory for controlling the vehicle to start turning two wheels of the second axis in the same direction, and the second trajectory connects with the first trajectory at the rotation end point.

[0026] Based on this, after the vehicle rotation is completed, this application also needs to start the rear wheel steering in the same direction to drive the vehicle into the target parking space to ensure successful parking.

[0027] In some embodiments, the above-mentioned controlling the vehicle to drive into the target parking space along the target trajectory includes: in the process of controlling the vehicle to drive along the second trajectory, when the vehicle body is not parallel to the long side of the target parking space, and / or one side of the vehicle body is located outside the long side of the target parking space, adjusting the vehicle body posture through the rear-wheel steering function until the vehicle body is parallel to the long side of the target parking space, and both sides of the vehicle body are located inside the long side of the target parking space.

[0028] Based on this, after the vehicle rotation is completed, the present application can call the rear-wheel steering function to adjust the vehicle body posture so that the vehicle can drive straight into the parking space, further reducing the difficulty of parking.

[0029] The present application provides an automatic parking control device, which is applied to a vehicle. The vehicle includes a first motor, a second motor, and a third motor. The first motor is used to drive two wheels of a first shaft, the second motor is used to drive a first wheel of a second shaft, and the third motor is used to drive a second wheel of the second shaft. The device includes: a receiving unit and a control unit, wherein: the above-mentioned receiving unit is used to receive a parking instruction, and the parking instruction is used to instruct the vehicle to start the automatic parking function; the above-mentioned control unit is used to control the vehicle to drive into a target parking space along a target trajectory in response to the parking instruction. The target trajectory includes at least a first trajectory, and the first trajectory is a rotation trajectory for controlling the rotation of a single wheel of the vehicle around the first shaft.

[0030] In some embodiments, the control unit is specifically configured to control the steering of the first wheel and / or the second wheel while controlling the vehicle to rotate along the first trajectory.

[0031] In some embodiments, during the rotation of the above-mentioned vehicle along the first trajectory, the steering direction of the first wheel is opposite to the steering direction of the second wheel; wherein, when the first wheel is the left wheel, the steering direction of the first wheel is to the left, and the steering direction of the second wheel is to the right; or, when the first wheel is the right wheel, the steering direction of the first wheel is to the right, and the steering direction of the second wheel is to the left.

[0032] In some embodiments, the steering angle of each of the first wheel and the second wheel is a maximum value of the second axis steering angle.

[0033] In some embodiments, the control unit is specifically configured to: control a single wheel of the first shaft to be locked during the process of controlling the vehicle to rotate along the first trajectory; and control a single wheel of the first shaft to be unlocked after the control of the vehicle to rotate along the first trajectory is completed.

[0034] In some embodiments, the above-mentioned control unit is specifically used to: in the process of controlling the vehicle to rotate along the first trajectory, control the motor of the two wheels of the first shaft except the single wheel to output a first torque, control the two wheels of the second shaft on the opposite side of the single wheel of the first shaft to output a second torque, and control the two wheels of the second shaft on the same side of the single wheel of the first shaft to output a third torque; wherein, the torque directions of the first torque and the second torque are the same, and the torque directions of the second torque and the third torque are opposite.

[0035] In some embodiments, the above-mentioned first trajectory includes a rotation end point, and the above-mentioned control unit is specifically used to: in the process of controlling the vehicle to rotate along the first trajectory, determine the target rotation angle based on the current position of the first wheel, the current position of the second wheel, and the position of the rotation end point, and control the motor output torque of other wheels of the vehicle except the single wheel of the first axis to drive the vehicle to rotate around the single wheel of the first axis by the target rotation angle.

[0036] In some embodiments, the above-mentioned first trajectory also includes a rotation starting point, and the rotation starting point and the rotation ending point are determined based on the current position of the vehicle, the vehicle's posture information, the position of the target parking space, and the path constraint information; wherein the path constraint information includes obstacle information and / or the vehicle's minimum turning radius information under rear-wheel steering; the obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation around a single front wheel, and the minimum turning radius information refers to the minimum turning radius information of the vehicle during the process of entering the target parking space after the vehicle completes its rotation along the first trajectory; under the minimum turning radius, the steering angle of the two wheels of the first axle of the vehicle is the maximum value of the first axle steering angle, the steering angle of the two wheels of the second axle of the vehicle is the maximum value of the second axle steering angle, and the steering direction of the two wheels of the first axle is opposite to the steering direction of the two wheels of the second axle.

[0037] In some embodiments, the automatic parking control device further includes: a determination unit and a processing unit, wherein: the determination unit is used to determine a plurality of candidate rotation starting points and candidate rotation ending points corresponding to each of the plurality of candidate rotation starting points from outside the target parking space; the processing unit is used to perform collision detection on the process of the vehicle rotating from the candidate rotation starting point to the candidate rotation ending point according to the current position of the vehicle, the vehicle's posture information, the position of the target parking space, and the minimum turning radius information of the vehicle under rear-wheel steering, and obtain a collision detection result; the determination unit is also used to determine the candidate rotation starting point and the corresponding candidate rotation ending point, for which the collision detection result indicates no collision, as the rotation starting point and the rotation ending point.

[0038] In some embodiments, the target trajectory further includes a second trajectory; wherein the second trajectory is a driving trajectory for controlling the vehicle to start turning two wheels of the second axis in the same direction, and the second trajectory connects with the first trajectory at the rotation end point.

[0039] In some embodiments, the above-mentioned control unit is specifically used to adjust the body posture of the vehicle through the rear-wheel steering function until the body orientation of the vehicle is parallel to the long side of the target parking space and both sides of the vehicle body are located inside the long side of the target parking space when the body orientation of the vehicle is not parallel to the long side of the target parking space and / or one side of the body of the vehicle is located outside the long side of the target parking space during the process of controlling the vehicle to travel along the second trajectory.

[0040] The present application provides an electronic device, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the automatic parking control method described above.

[0041] The present application provides a vehicle, comprising: a first motor, a second motor and a third motor, and the electronic device as described above; wherein the first motor is used to drive two wheels of a first shaft, the second motor is used to drive a first wheel of a second shaft, and the third motor is used to drive a second wheel of the second shaft.

[0042] The present application provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal, the terminal executes the automatic parking control method described above.

[0043] The present application provides a computer program product comprising instructions, which, when executed by a computer, enables the computer to execute the automatic parking control method described above.

[0044] The present application provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled, and the processor is used to run computer programs or instructions to implement the automatic parking control method described above.

[0045] Specifically, the chip provided in the embodiment of the present application also includes a memory for storing computer programs or instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0047] Figure 1 This is an architectural diagram of an automatic parking control system provided in the related art;

[0048] Figure 2 A parking path diagram provided in an embodiment of the present application;

[0049] Figure 3 One of the method flow charts of an automatic parking control method provided in an embodiment of the present application;

[0050] Figure 4 A parking path diagram provided in an embodiment of the present application;

[0051] Figure 5 A parking path diagram provided in an embodiment of the present application;

[0052] Figure 6 A parking path diagram provided in an embodiment of the present application;

[0053] Figure 7 A parking path diagram provided in an embodiment of the present application;

[0054] Figure 8 A second flow chart of an automatic parking control method provided in an embodiment of the present application;

[0055] Figure 9 A parking path diagram provided in an embodiment of the present application;

[0056] Figure 10 A parking path diagram provided in an embodiment of the present application;

[0057] Figure 11 A parking path diagram provided in an embodiment of the present application;

[0058] Figure 12 A parking path diagram provided in an embodiment of the present application;

[0059] Figure 13A parking path diagram provided in an embodiment of the present application;

[0060] Figure 14 A complete flow chart of an automatic parking control method provided in an embodiment of the present application;

[0061] Figure 15 A structural diagram of an automatic parking control device provided in an embodiment of the present application;

[0062] Figure 16 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0064] In the description of this application, it should be understood that the terms "upper," "lower," "left," "right," "front," "back," "inner," "outer," and the like, indicating directions or positional relationships, are based on the directions or relative positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction. Therefore, they should not be construed as limitations on this application. Unless otherwise specified, the above-mentioned directionality descriptions may be flexibly set in actual application, provided that the relative positional relationships shown in the accompanying drawings are met.

[0065] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0066] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections. They may be directly connected, indirectly connected through an intermediary, or internally connected between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0067] In some embodiments, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, article, or apparatus that includes the element.

[0068] In some embodiments, words such as "exemplary" or "for example" are used to indicate an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0069] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0070] With the rapid adoption of cars, parking lot utilization is increasing, and various difficult parking scenarios are becoming a major headache for users. This is especially true in core business and tourist areas, where parking spaces in dead-end streets, narrow aisles, and small spaces are becoming increasingly common.

[0071] Currently, in scenarios where parking spaces are limited, conventional parking routes require multiple maneuvers, first maneuvering the front of the vehicle in the opposite direction of the intended approach and then parking the rear of the vehicle in. This becomes even more difficult when the vehicle is oversized or has long axles.

[0072] In this context, in order to solve the problem in related technologies that parking is difficult in scenarios with small parking spaces, the present application provides an automatic parking control method, device, equipment and storage medium. The implementation methods of the embodiments of the present application are described in detail below in conjunction with the drawings in the specification.

[0073] like Figure 1 , which is an architecture diagram of an automatic parking control system provided by an embodiment of the present application, the automatic parking control system 100 may include a parking controller 110, a power output controller 120, an entertainment display 130, a lateral control module 140, and a rear-wheel steering module 150. Specifically, the parking controller 110 may include a perception module 111, a fusion module 112, a planning module 113, a planning and decision module 114, a motion control module 115, a display control module 116, and a positioning module 117. The power output controller 120 may include a longitudinal control module 121 and a fixed-wheel rotation module 122.

[0074] Among them, the perception module 111 is coupled with multiple ultrasonic radars and surround-view cameras, the display control module 116 is coupled with the entertainment display 130; the motion control module 115 is coupled with the longitudinal control module 121, the fixed wheel rotation module 122, the lateral control module 140 and the rear-wheel steering module 150 respectively.

[0075] In some embodiments, the perception module 111 can receive ultrasonic radar data and surround-view camera data to identify the environment, parking space, and obstacle information; the positioning module 117 can obtain the vehicle's own posture information; the fusion module 112 can fuse the ultrasonic radar data, surround-view camera data and the vehicle's posture information; the planning module 113 can complete path planning based on the fused information; the planning decision module 114 can formulate a behavior strategy based on the path planning; the motion control module 115 can output control instructions based on the behavior strategy; the lateral control module 140, the rear-wheel steering module 150, the longitudinal control module 121 and the fixed-wheel rotation module 122 can execute control instructions, for example, the fixed-wheel rotation module 122 can control the locking of the front wheels and torque output.

[0076] Exemplarily, when the vehicle is traveling to the rotation starting point, the vehicle's driving is controlled by the lateral control module 140 and the longitudinal control module 121, and the entertainment display 130 is controlled by the display control module 116 to display the driving route and vehicle speed information; when the vehicle is rotating from the rotation starting point to the rotation ending point, the front left / right wheels are locked by the fixed wheel rotation module 122 in the slave controller 120, and the vehicle is controlled to rotate clockwise / counterclockwise around the front left / right wheels; and the vehicle is controlled by the longitudinal control module 121 to drive into the target parking space.

[0077] It should be noted that during the vehicle parking process, when the parking controller 110 calls any module in the automatic parking control system 100, it needs to successfully handshake with the module first, and after completing the call to the module, it needs to disconnect the handshake with the module.

[0078] In some embodiments, the parking controller may be an automatic parking assist (APA) controller, the lateral control module may be an electronic power steering (EPS) system, the display control module may be a human machine interface (HMI) control module, and the entertainment display may be an in-vehicle tablet computer.

[0079] In this way, by controlling the vehicle's rotation around a certain front wheel through the fixed wheel rotation module, the vehicle can be adjusted to a position where it can be parked in a parking space using only the longitudinal control module, without having to adjust the vehicle body position by moving the vehicle forward and backward multiple times. This reduces the space required for parking and thus makes parking easier when the parking space is small.

[0080] The following combination Figure 1 , refer to the following Figures 2 to 14 The automatic parking control method provided in an embodiment of the present application is described.

[0081] It is understood that in the embodiments of the present application, the various devices / modules in the automatic parking control system can perform some or all of the steps in the embodiments of the present application. These steps or operations are merely examples, and the embodiments of the present application can also perform other operations or variations of various operations. In addition, the various steps can be performed in a different order than those presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application need to be performed.

[0082] In some embodiments, the vehicle provided by the embodiments of the present application may include a first motor, a second motor and a third motor, the first motor being used to drive two wheels of the first shaft, the second motor being used to drive the first wheel of the second shaft, and the third motor being used to drive the second wheel of the second shaft.

[0083] The first axle may be the front axle of the wheel, and the second axle may be the rear axle of the wheel.

[0084] For example, Figure 2 As shown, taking a vehicle including four wheels (front wheel 1, front wheel 2, rear wheel 1, rear wheel 2) as an example, the first motor can be controlled to drive the front wheels 1 and 2, the second motor can be controlled to drive the rear wheel 1, and the third motor can be controlled to drive the rear wheel 2.

[0085] Figure 3 This is a flowchart of the automatic parking control method provided in an embodiment of the present application. The subject executing the method can be a vehicle or various devices / modules in the vehicle, such as an integrated circuit or chip, and the embodiment of the present application does not make specific limitations on this.

[0086] For example, Figure 3 As shown, the automatic parking control method provided in the embodiment of the present application may include the following S301 and S302:

[0087] S301: Receive a parking instruction.

[0088] The parking command is used to instruct the wheels to start the automatic parking function.

[0089] In some embodiments, the parking instruction may be generated by the parking controller in response to the user's click operation after the user clicks the parking control displayed on the vehicle display and then clicks the target parking space control.

[0090] Optionally, after the user clicks the parking control, it can also detect whether the doors and front and rear hoods are closed, and whether the sensors and systems are normal. When the doors and front and rear hoods are closed and the sensors and systems are normal, subsequent parking operations are performed.

[0091] S302 : In response to the parking instruction, control the vehicle to drive into the target parking space along the target trajectory.

[0092] Optionally, the target parking space can be determined by the user through selection on the vehicle screen, or it can be automatically determined by the automatic parking control system.

[0093] The target trajectory includes at least a first trajectory, which is a rotation trajectory for controlling a single wheel of the vehicle to rotate around a first axis.

[0094] Optionally, the single front wheel may be a front wheel on a side of the vehicle close to the target parking space.

[0095] For example, in combination Figure 2 The single front wheel may be the front wheel 1 close to the parking space 1 , the first wheel may be the rear wheel 1 , and the second wheel may be the rear wheel 2 .

[0096] Optionally, in the process of controlling the vehicle to rotate along the first trajectory, the first wheel and / or the second wheel may be controlled to steer.

[0097] In some embodiments, the first wheel can be the left rear wheel or the right rear wheel. Wherein, when the first wheel is the left rear wheel, the second wheel is the right rear wheel.

[0098] Optionally, during the rotation of the vehicle along the first trajectory, the steering direction of the first wheel is opposite to the steering direction of the second wheel.

[0099] For example, when the first wheel is the left rear wheel, the steering direction of the first wheel is to the left, and the steering direction of the second wheel is to the right; when the first wheel is the right rear wheel, the steering direction of the first wheel is to the right, and the steering direction of the second wheel is to the left.

[0100] In this way, when the vehicle rotates around a single front wheel, the two rear wheels of the vehicle are controlled to turn in an inverted figure eight shape toward the front of the vehicle, which can reduce the wear on the tires when the vehicle rotates.

[0101] Optionally, the steering angle of each of the first wheel and the second wheel is a maximum value of the second axle steering angle.

[0102] The maximum value of the second axle steering angle refers to the maximum angle at which the two wheels of the second axle are allowed to turn. For example, the maximum value of the second axle steering angle can be 20° or 30°.

[0103] In this way, the rear wheel steering is controlled at the maximum steering angle, which facilitates the rotation of the vehicle and further reduces the wear on the tires when the vehicle rotates.

[0104] Optionally, during the process of controlling the vehicle to rotate along the first trajectory, the single wheel of the first shaft is controlled to be locked, and after the control of the vehicle to rotate along the first trajectory is completed, the single wheel of the first shaft is controlled to be unlocked.

[0105] In an optional implementation, a single wheel may be locked or unlocked by controlling a locking device of the single wheel to be closed or opened.

[0106] Exemplarily, the locking device may be a brake pedal corresponding to a single wheel, or a caliper corresponding to a single wheel.

[0107] In one example, whether a single wheel is locked can be controlled by switching the brake pedal of the single wheel on or off.

[0108] Exemplarily, when the brake pedal of a single wheel is in a closed state, the single wheel does not respond to the torque output by the motor of the single wheel, and the single wheel is locked; when the brake pedal of a single wheel is in an open state, the single wheel responds to the torque output by the motor of the single wheel, and the single wheel is unlocked.

[0109] In another example, the switch state of the caliper of a single wheel can be controlled to control whether the single wheel is locked.

[0110] For example, when the caliper of a single wheel is in a closed state, the single wheel does not respond to the torque output by the motor of the single wheel, and the single wheel is locked; when the caliper of a single wheel is in an open state, the single wheel responds to the torque output by the motor of the single wheel, and the single wheel is unlocked.

[0111] In another optional implementation, the first motor may be controlled to not output torque to a single wheel of the first shaft by wheel-end decoupling, so as to lock or unlock the single wheel.

[0112] In this way, the present application locks the wheel to prevent the wheel from rotating during the rotation around the wheel, thereby preventing the accuracy of the vehicle rotation from being affected.

[0113] In some embodiments, the motor output torque of each unlocked wheel can be controlled to drive the vehicle to rotate about the locked wheel.

[0114] Optionally, in the process of controlling the vehicle to rotate along the first trajectory, the motors of the two wheels of the first shaft other than the single wheel can be controlled to output a first torque, the two wheels of the second shaft on the opposite side of the single wheel of the first shaft can be controlled to output a second torque, and the two wheels of the second shaft on the same side as the single wheel of the first shaft can be controlled to output a third torque.

[0115] The first torque and the second torque have opposite torque directions, and the second torque and the third torque have the same torque direction.

[0116] For example, in combination Figure 2 ,like Figure 4 As shown, the target parking space is parking space 1 in a reverse parking scenario, and the left side of the rear end of the vehicle approaches parking space 1. Front wheel 1 can be locked, motor 1 can be controlled to output a reverse torque (such as a third torque) to rotate front wheel 2 in the opposite direction, motor 2 can be controlled to output a forward torque to rotate rear wheel 1 in the forward direction (such as a second torque), and motor 3 can be controlled to output a reverse torque (such as the first torque) to rotate rear wheel 2 in the opposite direction, thereby driving the vehicle to rotate about front wheel 1.

[0117] For example, Figure 5 As shown, taking the target parking space as a parallel parking space, with the right side of the vehicle's head approaching the target parking space as an example, front wheel 1 can be locked, motor 1 can be controlled to output a reverse torque (such as the third torque) to rotate front wheel 2 in the forward direction, motor 2 can be controlled to output a reverse torque to rotate rear wheel 1 in the reverse direction (such as the second torque), and motor 3 can be controlled to output a forward torque (such as the first torque) to rotate rear wheel 2 in the forward direction, thereby driving the vehicle to rotate about front wheel 1.

[0118] In this way, the present application controls the motors of the two rear wheels to output torques in different directions, and the motors of the wheels on the same side to output torques in the same direction, so that the vehicle can rotate around the second wheel, thereby reducing the space required to adjust the direction of the vehicle body.

[0119] Optionally, the target trajectory may further include a second trajectory, which is a driving trajectory for controlling the vehicle to start turning two wheels of the second axle in the same direction, and the second trajectory connects with the first trajectory at a rotation end point.

[0120] Optionally, after the vehicle completes the rotation along the first trajectory, the relative position of the vehicle body orientation and the target parking space can be determined first, and then the vehicle can be controlled to enter the target parking space along the second trajectory.

[0121] In an optional implementation, when the vehicle body is not parallel to the long side of the target parking space, and / or one side of the vehicle body is located outside the long side of the target parking space, in the process of controlling the vehicle to enter the target parking space along the second trajectory, the vehicle body posture is adjusted through the steering function of the two wheels of the second axle until the vehicle body is parallel to the long side of the target parking space, and both sides of the vehicle body are located inside the long side of the target parking space.

[0122] For example, in combination Figure 4 ,like Figure 6 As shown, take the case where the right side of the rear of the vehicle approaches parking space 1 as an example. The vehicle's body is not parallel to the long side of parking space 1, and the right side of the vehicle is outside the long side of parking space 1. In this case, it is necessary to control rear wheels 1 and 2 to steer right, while simultaneously controlling front wheels 1 and 2 to steer left. Then, the motors of front wheels 1, 2, rear wheels 1, and rear wheels 2 are controlled to output reverse torque to adjust the vehicle's body direction to be parallel to the long side of parking space 1, with both sides of the vehicle located inside the long side of parking space 1, and then drive the vehicle into parking space 1.

[0123] In this way, the present application can also call the rear-wheel steering function to adjust the vehicle body posture so that the vehicle can drive straight into the parking space, further reducing the difficulty of parking.

[0124] In another optional implementation, when the vehicle body is oriented parallel to the long side of the target parking space and both sides of the vehicle body are located inside the long side of the target parking space, the motor output torque of each wheel of the vehicle is controlled to drive the vehicle into the target parking space.

[0125] For example, in combination Figure 4 ,like Figure 7 As shown, take the case where the rear end of a vehicle approaches parking space 1 as an example. The vehicle body is oriented parallel to the long side of parking space 1, with both sides of the vehicle body located inside the long side of parking space 1. At this time, the motors of front wheels 1 and 2, and rear wheels 1 and 2 are directly controlled to output reverse torque to drive the vehicle into parking space 1.

[0126] In the automatic parking control method provided in the embodiment of the present application, since the wheels cannot be parked into the parking space in a normal parking manner when the parking space is small, the present application separately sets two motors for the two rear wheels in the vehicle, and during the parking process, controls the vehicle to rotate around a single front wheel to drive the vehicle into the target parking space without having to adjust the body direction by moving the vehicle forward and backward multiple times, thereby reducing the space required for adjusting the body direction and thus reducing the difficulty of parking when the parking space is small.

[0127] Optionally, the first trajectory may include a rotation starting point and a rotation ending point, which are determined based on the current position of the vehicle, the vehicle's posture information, the position of the target parking space, and path constraint information, and the path constraint information includes obstacle information and / or the vehicle's minimum turning radius information under rear-wheel steering.

[0128] The obstacle information is used to constrain the vehicle from colliding with obstacles during its rotation around a single front wheel.

[0129] The minimum turning radius information refers to the minimum turning radius information during the process of the vehicle entering the target parking space after completing the rotation along the first trajectory. At the minimum turning radius, the steering angle of the two wheels of the first axle of the vehicle is the maximum value of the first axle steering angle, the steering angle of the two wheels of the second axle of the vehicle is the maximum value of the second axle steering angle, and the steering direction of the two wheels of the first axle is opposite to the steering direction of the two wheels of the second axle.

[0130] In some embodiments, the vehicle's posture information may include position information of each wheel of the vehicle and body contour information of the vehicle.

[0131] In some embodiments, the obstacle information may be obstacle location information around the target parking space, such as location information of surrounding vehicles, location information of surrounding people, and distance information between the target parking space and an opposite parking space.

[0132] Optionally, obstacle information may be acquired through sensors.

[0133] For example, the vehicle position, occupant position, and driving width between opposite parking spaces around the target parking space can be acquired through ultrasonic radar and surround-view cameras.

[0134] Alternatively, as Figure 8 As shown, before controlling the wheel to rotate along the first trajectory, the automatic parking control method provided by the embodiment of the present application may further include the following steps S801 to S803:

[0135] S801: Determine multiple candidate rotation starting points and candidate rotation ending points corresponding to the multiple candidate rotation starting points from outside the target parking space.

[0136] Optionally, the rotation starting point and the rotation ending point may be determined by randomly scattering points outside the target parking space.

[0137] The plurality of candidate rotation starting points are randomly selected points outside the target parking space, and the candidate rotation ending points corresponding to the plurality of candidate rotation starting points are points after the vehicle is rotated by a random angle based on the plurality of candidate rotation starting points.

[0138] S802. Based on the current position of the vehicle, the vehicle's posture information, the position of the target parking space, and the vehicle's minimum turning radius information under rear-wheel steering, perform collision detection on the process of the vehicle rotating from the candidate rotation starting point to the candidate rotation ending point to obtain a collision detection result.

[0139] Optionally, a trajectory planning algorithm can be used to determine the rotation starting point and rotation ending point by combining the vehicle's rear-wheel steering function, the vehicle's current position, the vehicle's posture information, the location of the target parking space, the vehicle's minimum turning radius information under rear-wheel steering, and obstacle information.

[0140] Among them, the trajectory planning algorithm may include a geometric algorithm, a Reeds-Shepp (RS) curve algorithm, a hybrid A* algorithm, and the like.

[0141] For example, a trajectory planning algorithm including a geometric algorithm can be used as an input into the geometric algorithm. The vehicle's wheelbase, track width, front wheel steering angle, and rear wheel steering angle can be used to determine the vehicle's minimum turning radius with rear wheel steering. Based on this minimum turning radius, combined with the positions of vehicles and occupants around the target parking space and the running width between opposite parking spaces, the algorithm can calculate the starting and ending points for the rotation around the second wheel without colliding with obstacles.

[0142] S803: Determine the candidate rotation starting point and the corresponding candidate rotation ending point for which the collision detection result indicates no collision occurs as the rotation starting point and the rotation ending point.

[0143] For example, let's take a case where multiple candidate rotation starting points include three candidate rotation starting points (point A, point B, and point C). After setting points A, B, and C to rotate by random angles, the corresponding candidate rotation ending points (A1, A2, A3, B1, B2, B3, C1, C2, and C3) can be generated. At this point, collision detection results can be generated when the vehicle rotates from point A to points A1, A2, and A3, respectively; collision detection results can be generated when the vehicle rotates from point B to points B1, B2, and B3, respectively; and collision detection results can be generated when the vehicle rotates from point C to points C1, C2, and C3, respectively. If the collision detection result when the vehicle rotates from point B to point B2 indicates that no collision has occurred, point B is determined as the rotation starting point, and point B2 is determined as the rotation ending point.

[0144] Furthermore, when the collision detection result indicates that there are multiple candidate rotation ending points corresponding to the candidate rotation starting point where no collision occurs, the candidate rotation ending point with the smallest rotation angle from the candidate rotation starting point to each corresponding candidate rotation ending point among the multiple candidate rotation ending points is taken as the rotation ending point.

[0145] For example, if the candidate rotation end points corresponding to the candidate rotation start points where the collision detection result indicates no collision occurred include three candidate rotation end points (B1, B2, and B3), if the rotation angle from point B to point B1 is 40°, the rotation angle from point B to point B2 is 30°, and the rotation angle from point B to point B3 is 45°, then point B2 is used as the rotation end point.

[0146] In this way, the present application selects the candidate rotation starting point and the corresponding candidate rotation ending point with the smallest rotation angle on the basis of taking into account that the vehicle will not collide during the rotation process, so as to minimize the wear on the tires during the rotation of the vehicle.

[0147] Optionally, after responding to the parking instruction, it may also be determined whether the wheel is located at the rotation starting point to determine whether to control the vehicle to rotate along the first trajectory.

[0148] In an optional implementation, after responding to a parking command, if the vehicle is located at a rotation starting point, the motors of the vehicle's other wheels except the single wheel on the first axis are controlled to output torque to drive the vehicle to rotate around the single wheel on the first axis.

[0149] In some embodiments, in the process of controlling the vehicle to rotate along a first trajectory, the target rotation angle can be determined based on the current position of the first wheel, the current position of the second wheel, and the position of the rotation end point, and the motor output torque of the vehicle's other wheels except the single wheel on the first axis is controlled to drive the vehicle to rotate around the single wheel on the first axis by the target rotation angle.

[0150] The target rotation angle is an angle smaller than 180°.

[0151] In some embodiments, an angle difference of less than 180° between a line connecting the rear wheel and the second wheel and a line connecting the rotation end point and the second wheel may be used as the target rotation angle.

[0152] Illustratively, the angle difference between a line connecting the second wheel and the rear wheel on the same side before the vehicle rotates and a line connecting the second wheel and the rear wheel on the same side after the vehicle rotates is used as the target rotation angle.

[0153] Optionally, the target rotation angle includes a counterclockwise rotation angle or a clockwise rotation angle.

[0154] For example, in combination Figure 4 ,like Figure 9 As shown, taking the front of the vehicle as the forward direction, the rear wheel 1 after the vehicle rotates is located to the left of the rear wheel 1 before the vehicle rotates. Since the target rotation angle is less than 180°, the angle difference between the line connecting the rear wheel 1 and the front wheel 1 and the line connecting the rear wheel 1 and the front wheel 1 after the vehicle rotates is the angle of clockwise rotation around the front wheel 1.

[0155] For example, Figure 10 As shown, taking the front of the vehicle as the forward direction, the rear wheel 1 after the vehicle rotates is located to the right of the rear wheel 1 before the vehicle rotates. Since the target rotation angle is less than 180°, the angle difference between the line connecting the rear wheel 1 and the front wheel 1 and the line connecting the rear wheel 1 and the front wheel 1 after the vehicle rotates is the angle of counterclockwise rotation around the front wheel 1.

[0156] In some embodiments, after the target rotation angle is determined, the motor output torque of the first wheel can be controlled to drive the vehicle to rotate around the second wheel by the target rotation angle so that the rear wheels of the vehicle are located at the rotation end point.

[0157] In an exemplary embodiment, when the target rotation angle is a counterclockwise rotation angle, the motor output torque of the first wheel is controlled to drive the vehicle to rotate counterclockwise around the second wheel by the angle, so that the rear wheels of the vehicle are located at the rotation end point.

[0158] In another example, when the target rotation angle is a clockwise rotation angle, the motor output torque of the first wheel is controlled to drive the vehicle to rotate clockwise around the second wheel by the angle so that the rear wheels of the vehicle are located at the rotation end point.

[0159] In this way, the present application can determine the angle that the rear wheel of the vehicle needs to rotate around the second wheel when rotating from the rotation starting point to the rotation ending point, so as to ensure that the rear wheel of the vehicle can be accurately located at the rotation ending point.

[0160] In another optional implementation, after responding to a parking command, if the vehicle is not at the rotation starting point, it is necessary to drive the vehicle until the vehicle is at the rotation starting point, and then control the motor output torque of the vehicle's other wheels except the single wheel on the first axis to drive the vehicle to rotate around the single wheel on the first axis.

[0161] In some embodiments, after the rotation starting point is obtained, a third trajectory may be determined based on the initial starting position of the vehicle and the rotation starting point.

[0162] In an optional implementation, the third trajectory may be a driving trajectory for controlling the vehicle to start turning two wheels of the first axle in the same direction, and the third trajectory and the first trajectory are connected at the rotation starting point.

[0163] For example, Figure 11 As shown in the figure, the target parking space is a reverse parking space, and the rotation starting point is located to the right front of the vehicle's initial starting position. The vehicle's front wheels can be controlled to steer right, and the vehicle's motors can be controlled to output positive torque to drive the vehicle along the parking path until the second wheel is at the rotation starting point.

[0164] In another optional implementation, the third trajectory may be a driving trajectory for controlling the vehicle to simultaneously start the two wheels of the first axle to turn in the same direction, and to start the two wheels of the second axle to turn in the same direction.

[0165] For example, Figure 12 As shown in the figure, the target parking space is a parking space for reverse parking, and the rotation starting point is located to the right front of the vehicle's initial starting position. The vehicle's front and rear wheels can be controlled to steer right, and the vehicle's motors can be controlled to output positive torque to drive the vehicle along the parking path until the second wheel is at the rotation starting point.

[0166] For example, Figure 13 As shown in the figure, taking the target parking space as a parallel parking space, with the rotation starting point located to the right front of the vehicle's initial starting position, the vehicle's front and rear wheels can be controlled to steer right, and the vehicle's motors can be controlled to output positive torque to drive the vehicle along the parking path until the second wheel is at the rotation starting point.

[0167] In this way, before starting to drive the wheels to rotate, the present application combines the rear wheel steering function to drive the vehicle to the rotation starting point first, so that the vehicle can be located at the rotation starting point at a more precise angle.

[0168] Optionally, after responding to the parking instruction, if human operation is detected, the automatic parking function is exited.

[0169] For example, the human operation may include manually manipulating the steering wheel, manually stepping on the accelerator pedal, manually stepping on the brake pedal, etc.

[0170] In this way, the present application disconnects the automatic parking process by detecting whether there is human intervention, thereby improving parking safety.

[0171] The following is an illustrative description of the complete process of the automatic parking control method provided in the embodiment of the present application.

[0172] For example, Figure 14 As shown, the complete process of the automatic parking control method provided in the embodiment of the present application may include the following steps S1401 to S1413:

[0173] S1401: Receive a user click operation on the automatic parking interface.

[0174] S1402: In response to the click operation, check whether the doors and front and rear hoods are closed, and whether the sensors and systems are normal. If so, execute S1403; if not, execute S1413.

[0175] S1403. Obtain the surrounding environment information of the target parking space and the position information of the vehicle through sensors.

[0176] S1404: Determine a rotation start point and a rotation end point based on the surrounding environment information of the target parking space, the vehicle's position information, and the path constraint information.

[0177] S1405: Determine whether the vehicle is at the rotation starting point. If yes, execute S1408; if not, execute S1406.

[0178] S1406: Determine a third trajectory based on the current position of the vehicle and the position of the rotation starting point.

[0179] S1407: Drive the vehicle along the third trajectory until the vehicle is at the rotation starting point.

[0180] S1408: Determine a target rotation angle based on the current position of the first wheel, the current position of the second wheel, and the position of the rotation end point.

[0181] S1409: Control the motor output torque of the other wheels of the vehicle except the single wheel on the first axis to drive the vehicle to rotate around the single wheel on the first axis by a target rotation angle so that the vehicle is located at the rotation end point.

[0182] S1410: Determine whether the vehicle meets the storage conditions. If yes, execute S1411; if not, execute S1412.

[0183] The entry conditions include at least one of the following: the vehicle body is parallel to the long side of the target parking space, and both sides of the vehicle body are located inside the long side of the target parking space.

[0184] S1411. Control the motor output torque of each wheel of the vehicle to drive the vehicle into the target parking space.

[0185] S1412. When driving the vehicle into the target parking space, adjust the vehicle body posture through the rear-wheel steering function until the vehicle body is parallel to the long side of the target parking space and both sides of the vehicle body are located inside the long side of the target parking space.

[0186] S1413, end.

[0187] In this way, the present application parks the vehicle by controlling the motor output torque of the other wheels of the vehicle to drive the vehicle to rotate around the locked wheels, without having to adjust the direction of the vehicle body by moving the vehicle forward and backward multiple times, thereby reducing the space required for parking and thus reducing the difficulty of parking in small parking spaces.

[0188] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of method. In order to realize the above functions, the automatic parking control device or electronic device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0189] In the embodiment of the present application, the automatic parking control device or electronic device can be divided into functional modules according to the above method. For example, the automatic parking control device or electronic device can include functional modules corresponding to the functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. In actual implementation, there may be other division methods.

[0190] Figure 15 This is a structural diagram of an automatic parking control device provided in an embodiment of the present application. The automatic parking control device is applied to a vehicle, which includes a first motor, a second motor, and a third motor. The first motor is used to drive two wheels on a first axle, the second motor is used to drive a first wheel on a second axle, and the third motor is used to drive a second wheel on the second axle. The automatic parking control device 1500 includes a receiving unit 1501 and a control unit 1502.

[0191] Among them: the above-mentioned receiving unit 1501 is used to receive a parking instruction, which is used to instruct the wheel to start the automatic parking function; the above-mentioned control unit 1502 is used to control the vehicle to drive into the target parking space along a target trajectory in response to the parking instruction, and the target trajectory includes at least a first trajectory, which is a rotation trajectory for controlling a single wheel of the vehicle to rotate around a first axis.

[0192] In some embodiments, the control unit 1502 is specifically configured to control the steering of the first wheel and / or the second wheel while controlling the vehicle to rotate along the first trajectory.

[0193] In some embodiments, during the rotation of the above-mentioned vehicle along the first trajectory, the steering direction of the first wheel is opposite to the steering direction of the second wheel; wherein, when the first wheel is the left wheel, the steering direction of the first wheel is to the left, and the steering direction of the second wheel is to the right; or, when the first wheel is the right wheel, the steering direction of the first wheel is to the right, and the steering direction of the second wheel is to the left.

[0194] In some embodiments, the steering angle of each of the first wheel and the second wheel is a maximum value of the second axis steering angle.

[0195] In some embodiments, the control unit 1502 is specifically configured to: control a single wheel of the first axis to be locked during the process of controlling the vehicle to rotate along the first trajectory; and control a single wheel of the first axis to be unlocked after the vehicle is controlled to rotate along the first trajectory.

[0196] In some embodiments, the control unit 1502 is specifically used to: in the process of controlling the vehicle to rotate along a first trajectory, control the motors of the two wheels of the first axis other than a single wheel to output a first torque, control the two wheels of the second axis on the opposite side of the single wheel of the first axis to output a second torque, and control the two wheels of the second axis on the same side of the single wheel of the first axis to output a third torque; wherein, the first torque and the second torque have the same torque direction, and the second torque and the third torque have opposite torque directions.

[0197] In some embodiments, the first trajectory includes a rotation end point, and the control unit 1502 is specifically used to: in the process of controlling the vehicle to rotate along the first trajectory, determine the target rotation angle based on the current position of the first wheel, the current position of the second wheel, and the position of the rotation end point, and control the motor output torque of the vehicle's other wheels except the single wheel of the first axis to drive the vehicle to rotate around the single wheel of the first axis by the target rotation angle.

[0198] In some embodiments, the above-mentioned first trajectory also includes a rotation starting point, and the rotation starting point and the rotation ending point are determined based on the current position of the vehicle, the vehicle's posture information, the position of the target parking space, and the path constraint information; wherein the path constraint information includes obstacle information and / or the vehicle's minimum turning radius information under rear-wheel steering; the obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation around a single front wheel, and the minimum turning radius information refers to the minimum turning radius information of the vehicle during the process of entering the target parking space after the vehicle completes its rotation along the first trajectory; under the minimum turning radius, the steering angle of the two wheels of the first axle of the vehicle is the maximum value of the first axle steering angle, the steering angle of the two wheels of the second axle of the vehicle is the maximum value of the second axle steering angle, and the steering direction of the two wheels of the first axle is opposite to the steering direction of the two wheels of the second axle.

[0199] In some embodiments, the automatic parking control device 1500 further includes: a determination unit and a processing unit, wherein: the determination unit is used to determine a plurality of candidate rotation starting points and candidate rotation ending points corresponding to each of the plurality of candidate rotation starting points from outside the target parking space; the processing unit is used to perform collision detection on the process of the vehicle rotating from the candidate rotation starting point to the candidate rotation ending point according to the current position of the vehicle, the posture information of the vehicle, the position of the target parking space, and the minimum turning radius information of the vehicle under rear-wheel steering, and obtain a collision detection result; the determination unit is also used to determine the candidate rotation starting point and the corresponding candidate rotation ending point, which are indicated by the collision detection result as the rotation starting point and the rotation ending point.

[0200] In some embodiments, the target trajectory further includes a second trajectory; wherein the second trajectory is a driving trajectory for controlling the vehicle to start turning two wheels of the second axis in the same direction, and the second trajectory connects with the first trajectory at the rotation end point.

[0201] In some embodiments, the above-mentioned control unit 1502 is specifically used to adjust the body posture of the vehicle through the rear-wheel steering function until the body orientation of the vehicle is parallel to the long side of the target parking space and both sides of the vehicle body are located inside the long side of the target parking space when the vehicle body is not parallel to the long side of the target parking space and / or one side of the vehicle body is located outside the long side of the target parking space during the process of controlling the vehicle to travel along the second trajectory.

[0202] In the automatic parking control device provided in the embodiment of the present application, since the wheels cannot be parked into the parking space in a normal parking manner when the parking space is small, the present application separately sets two motors for the two rear wheels in the vehicle, and during the parking process, controls the vehicle to rotate around a single front wheel to drive the vehicle into the target parking space without having to adjust the body direction by moving the vehicle forward and backward multiple times, thereby reducing the space required for adjusting the body direction and thus reducing the difficulty of parking when the parking space is small.

[0203] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0204] Figure 16 This is a structural diagram of an electronic device provided in an embodiment of the present application. Figure 16 As shown, the electronic device 1600 includes but is not limited to: a processor 1601 and a memory 1602 .

[0205] The memory 1602 is used to store executable instructions of the processor 1601. It is understood that the processor 1601 is configured to execute instructions to implement the automatic parking control method in the above embodiment.

[0206] It should be noted that those skilled in the art can understand that Figure 16 The electronic device structure shown in the figure does not limit the electronic device, and the electronic device may include Figure 16 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0207] The processor 1601 is the control center of the electronic device. It uses various interfaces and lines to connect the various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1602 and calling data stored in the memory 1602, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1601 may include one or more processing units. Optionally, the processor 1601 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly handles wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1601.

[0208] Memory 1602 can be used to store software programs and various data. Memory 1602 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and application programs required by at least one functional module (e.g., a determination unit, a processing unit, etc.). Furthermore, memory 1602 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0209] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1602 including instructions. The above instructions can be executed by the processor 1601 of the electronic device 1600 to implement the automatic parking control method in the above embodiment.

[0210] In actual implementation, Figure 15 The steps performed by the receiving unit 1501 and the control unit 1502 in Figure 16 The processor 1601 in the embodiment calls the computer program stored in the memory 1602. The specific execution process can be referred to the description of the method part in the above embodiment, which will not be repeated here.

[0211] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0212] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, which can be executed by the processor 1601 of the electronic device to implement the automatic parking control method in the above embodiment.

[0213] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0214] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete the full classification or partial functions described above.

[0215] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0216] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0217] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0218] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks or optical disks.

[0219] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An automatic parking control method, characterized in that: Applied to a vehicle, the vehicle includes a first motor, a second motor, and a third motor, the first motor is used to drive two wheels of a first shaft, the second motor is used to drive a first wheel of a second shaft, and the third motor is used to drive a second wheel of the second shaft, the method includes: receiving a parking instruction, wherein the parking instruction is used to instruct the vehicle to activate an automatic parking function; In response to the parking instruction, controlling the vehicle to drive into a target parking space along a target trajectory, the target trajectory including at least a first trajectory; The first trajectory is a rotation trajectory for controlling the rotation of a single wheel of the vehicle around the first axis.

2. The method according to claim 1, characterized in that The controlling the vehicle to drive into the target parking space along the target trajectory includes: In the process of controlling the vehicle to rotate along the first trajectory, the first wheel and / or the second wheel are controlled to steer.

3. The method according to claim 2, characterized in that During the rotation of the vehicle along the first trajectory, the steering direction of the first wheel is opposite to the steering direction of the second wheel; Wherein, when the first wheel is a left wheel, the steering direction of the first wheel is to the left, and the steering direction of the second wheel is to the right; or, When the first wheel is a right wheel, the steering direction of the first wheel is rightward, and the steering direction of the second wheel is leftward.

4. The method according to claim 2 or 3, characterized in that The steering angle of each of the first wheel and the second wheel is a maximum value of the second axis steering angle.

5. The method according to claim 1, wherein The controlling the vehicle to drive into the target parking space along the target trajectory includes: During the process of controlling the vehicle to rotate along the first trajectory, controlling a single wheel of the first shaft to be locked; After the vehicle is controlled to rotate along the first trajectory, the single wheel of the first shaft is controlled to be unlocked.

6. The method according to claim 1, characterized in that The controlling the vehicle to drive into the target parking space along the target trajectory includes: In the process of controlling the vehicle to rotate along the first trajectory, controlling the motors of the two wheels of the first shaft, excluding the single wheel, to output a first torque, controlling the two wheels of the second shaft, on the opposite side of the single wheel of the first shaft, to output a second torque, and controlling the two wheels of the second shaft, on the same side of the single wheel of the first shaft, to output a third torque; The first torque and the second torque have the same torque direction, and the second torque and the third torque have opposite torque directions.

7. The method according to claim 1, characterized in that The first trajectory includes a rotation end point; The controlling the vehicle to drive into the target parking space along the target trajectory includes: In the process of controlling the vehicle to rotate along the first trajectory, determining a target rotation angle based on a current position of the first wheel, a current position of the second wheel, and a position of the rotation end point; The motor output torque of the other wheels of the vehicle except the single wheel of the first shaft is controlled to drive the vehicle to rotate about the single wheel of the first shaft by the target rotation angle.

8. The method according to claim 7, characterized in that The first trajectory further includes a rotation starting point, where the rotation starting point and the rotation ending point are determined based on the current position of the vehicle, the vehicle posture information, the position of the target parking space, and path constraint information; Among them, the path constraint information includes obstacle information and / or minimum turning radius information of the vehicle under rear-wheel steering; the obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation around the single front wheel, and the minimum turning radius information refers to the minimum turning radius information of the vehicle during the process of entering the target parking space after the vehicle completes the rotation along the first trajectory; under the minimum turning radius, the steering angle of the two wheels of the first axle of the vehicle is the maximum value of the first axle steering angle, the steering angle of the two wheels of the second axle of the vehicle is the maximum value of the second axle steering angle, and the steering direction of the two wheels of the first axle is opposite to the steering direction of the two wheels of the second axle.

9. The method according to claim 8, characterized in that The method further comprises: Determining a plurality of candidate rotation starting points outside the target parking space, and candidate rotation ending points corresponding to each of the plurality of candidate rotation starting points; performing collision detection on a process in which the vehicle rotates from the candidate rotation starting point to the candidate rotation ending point based on the current position of the vehicle, the posture information of the vehicle, the position of the target parking space, and the minimum turning radius information of the vehicle under rear-wheel steering, and obtaining a collision detection result; The candidate rotation starting point and the corresponding candidate rotation ending point indicated by the collision detection result as no collision are determined as the rotation starting point and the rotation ending point.

10. The method according to claim 7, characterized in that The target trajectory also includes a second trajectory; The second trajectory is a driving trajectory for controlling the vehicle to start the two wheels of the second axis to turn in the same direction, and the second trajectory is connected with the first trajectory at the rotation end point.

11. The method according to claim 10, characterized in that The controlling the vehicle to drive into the target parking space along the target trajectory includes: During the process of controlling the vehicle to travel along the second trajectory, when the vehicle body is not parallel to the long side of the target parking space and / or one side of the vehicle body is located outside the long side of the target parking space, the vehicle body posture is adjusted through the steering function of the two wheels of the second axle until the vehicle body is parallel to the long side of the target parking space and both sides of the vehicle body are located inside the long side of the target parking space.

12. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 11.

13. A vehicle, characterized in that: include: A first motor, a second motor, and a third motor, and the electronic device according to claim 12; The first motor is used to drive two wheels of the first shaft, the second motor is used to drive the first wheel of the second shaft, and the third motor is used to drive the second wheel of the second shaft.

14. A computer-readable storage medium storing instructions, characterized in that: When a computer executes the instruction, the computer performs the method according to any one of claims 1 to 11.

15. A computer program product comprising instructions, wherein when the instructions are executed on a computer, the computer performs the method according to any one of claims 1 to 11.

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