Parking control method and device and storage medium

Abstract

The invention relates to the technical field of parking, and discloses a parking control method and device and a storage medium, and the method comprises the steps that whether the length and width of a target parking space meet the preset size conditions of compass parking or not is detected, and the preset size conditions comprise the preset length size condition and the preset width size condition; if yes, determining a target point in the target parking space; wherein the distance between the target point and the upper boundary line of the target parking space is a first distance, and the distance between the target point and the vehicle entering side boundary line of the target parking space is a second distance; and controlling the vehicle to move to enable the midpoint of the front axle to coincide with the target point, and after the current transverse distance is smaller than or equal to the target transverse distance, controlling the vehicle to park by compasses. Therefore, the target point is determined, the midpoint of the front axle of the vehicle coincides with the target point, and the current transverse distance is smaller than or equal to the target transverse distance, so that the vehicle is in a good initial parking posture, collision between the vehicle and surrounding obstacles in the parking process is avoided, and a good parking effect is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of parking, in particular to a parking control method, device and storage medium. BACKGROUND

[0002] With the development of vehicle intelligence, the compass U-turn technology has gradually become a research hotspot. The traditional parking method is often difficult to complete the parking task efficiently and accurately when facing complex or narrow parking environment. The compass parking technology simulates the principle of compass drawing a circle, so that the vehicle can rotate with a specific rotation center in a limited space, thereby realizing accurate parking.

[0003] However, the existing compass parking technology still has many challenges in actual application, resulting in unsatisfactory effect of the compass parking technology in actual application, which is prone to collision with surrounding obstacles. Therefore, it is of great practical significance to develop a compass parking control method with good application effect. SUMMARY

[0004] In view of the above problems, the present application provides a parking control method, device and storage medium, by determining the target point, the front axle midpoint of the vehicle coincides with the target point, and the current lateral distance is less than or equal to the target lateral distance, so that the vehicle is in a good initial parking pose, avoiding collision with surrounding obstacles during parking process, to achieve good parking effect.

[0005] The first aspect of the present application provides a parking control method, comprising: detecting whether the length and width dimensions of the target parking space meet the preset size conditions of the compass parking; wherein the preset size conditions include preset length size conditions and preset width size conditions; if so, determining a target point in the target parking space; wherein the distance between the target point and the upper boundary line of the target parking space is a first distance, and the upper boundary line is the parking boundary line close to the vehicle head after the vehicle is parked in the target parking space, and the distance between the target point and the entry side boundary line of the target parking space is a second distance; controlling the vehicle to move so that the front axle midpoint of the vehicle coincides with the target point, and the current lateral distance is less than or equal to the target lateral distance, and then controlling the vehicle to perform compass parking; wherein the current lateral distance is the distance between the rear axle center of the vehicle and the reference line, and the reference line is a virtual reference line passing through the target point and parallel to the entry side boundary line.

[0006] In some embodiments, after the step of detecting whether the length and width dimensions of the target parking space meet the preset size conditions of the compass parking, comprising: if so, obtaining the vehicle length and front overhang distance of the vehicle, and obtaining the parking length of the target parking space; subtracting the parking length from the vehicle length to obtain a first length, and adding half of the first length to the front overhang distance to obtain the first distance.

[0007] In some embodiments, after the step of detecting whether the length and width of the target parking space meet the preset size condition of the compass parking, the method further comprises: if the length and width meet the preset size condition, obtaining the vehicle width and the wheel track of the vehicle, and obtaining the parking space width of the target parking space; subtracting the vehicle width from the parking space width and adding the wheel track of the vehicle to obtain an initial length, and taking half of the initial length as the second distance.

[0008] In some embodiments, after the step of controlling the vehicle to move so that the midpoint of the front axle of the vehicle coincides with the target point and the current lateral distance is less than or equal to the target lateral distance, the method further comprises: obtaining the wheel track, the wheelbase, the current maximum steering angle and the first distance of the vehicle, and obtaining the parking space length of the target parking space; subtracting the wheelbase and the first distance from the parking space length to obtain a second length, comparing the second length with the sine value of the current maximum steering angle to obtain a ratio, and subtracting the ratio from half of the wheelbase to obtain the target lateral distance.

[0009] In some embodiments, the method further comprises: obtaining the wheelbase, the wheel track, the current lateral distance, the steering transmission ratio coefficient and the first distance of the vehicle, and obtaining the parking space length of the target parking space; subtracting the wheelbase and the first distance from the parking space length to obtain a difference, adding half of the wheel track to the current lateral distance to obtain a sum, and comparing the difference with the sum to obtain a ratio; taking the product of the inverse tangent value of the ratio and the steering transmission ratio coefficient as the target steering angle, and controlling the vehicle to steer according to the target steering angle to perform the compass parking.

[0010] In some embodiments, the step of controlling the vehicle to perform the compass parking comprises: controlling the front wheels of the vehicle to be close to the entry side boundary line; controlling the driving torque corresponding to the rear wheels of the vehicle to be close to the entry side boundary line to be negative torque, and controlling the driving torque corresponding to the rear wheels of the vehicle to be away from the entry side boundary line to be positive torque, so that the vehicle rotates around the front wheels as the center of rotation to perform the compass parking.

[0011] In some embodiments, the step of detecting whether the length and width of the target parking space meet the preset size condition of the compass parking comprises: determining the effective length and the effective width of the target parking space; and if the effective length is greater than the preset length and the effective width is greater than the preset width, determining that the size of the target parking space meets the preset size condition of the compass parking.

[0012] In some embodiments, the step of determining whether the size of the target parking space meets the preset size condition of the compass parking includes: if the effective length is greater than or equal to a product of the wheelbase of the vehicle and a first preset coefficient, and the effective width is greater than or equal to a product of the width of the vehicle and a second preset coefficient, it is determined that the size of the target parking space meets the preset size condition of the compass parking.

[0013] The second aspect of the present application provides an electronic device, comprising: a processor; a memory for storing a computer program, the computer program being executed by the processor to implement the parking control method of any one of the above.

[0014] The third aspect of the present application provides a computer-readable storage medium, the storage medium storing a computer program, the computer program being executed by the processor to implement the parking control method of any one of the above.

[0015] The present application has at least the following beneficial technical effects: based on the parking control method, device and storage medium provided by the present application, the long and wide dimensions of the target parking space are detected to determine whether they meet the preset size condition of the compass parking; wherein the preset size condition includes a preset length size condition and a preset width size condition; if they meet, a target point is determined in the target parking space; wherein the distance between the target point and the upper boundary line of the target parking space is a first distance, the upper boundary line is the boundary line of the parking space close to the front of the vehicle after the vehicle is parked in the target parking space, and the distance between the target point and the entry side boundary line of the target parking space is a second distance; the vehicle is controlled to move so that the front axle center of the vehicle coincides with the target point, and after the current lateral distance is less than or equal to the target lateral distance, the vehicle is controlled to perform compass parking; wherein the current lateral distance is the distance between the rear axle center of the vehicle and the reference line, and the reference line passes through the target point and is parallel to the entry side boundary line. Therefore, by determining the target point, the front axle center of the vehicle coincides with the target point, and the current lateral distance is less than or equal to the target lateral distance, the vehicle is in a good initial parking pose, and collision with surrounding obstacles during parking is avoided, so as to achieve good parking effect.

[0016] The above description is only a summary of the technical solutions of the embodiments of the present application, in order to more clearly understand the technical means of the embodiments of the present application, the embodiments of the present application can be implemented according to the content of the description, and in order to make the above and other purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the application, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the application and, together with the description, serve to explain the principles of the application. In the drawings: Figure 1 is a flowchart of an embodiment of the parking control method provided by the present application; Figure 2 is a parking schematic diagram of a vehicle; Figure 3 is another parking schematic diagram of a vehicle; Figure 4 is a flowchart of another embodiment of the parking control method provided by the present application; Figure 5 is a flowchart of still another embodiment of the parking control method provided by the present application; Figure 6 is a flowchart of still another embodiment of the parking control method provided by the present application; Figure 7 is a flowchart of still another embodiment of the parking control method provided by the present application; Figure 8 is a flowchart of still another embodiment of the parking control method provided by the present application; Figure 9 is a flowchart of still another embodiment of the parking control method provided by the present application; Figure 10 is a flowchart of still another embodiment of the parking control method provided by the present application; Figure 11 is a structural framework schematic diagram of an embodiment of the electronic device provided by the present application; Figure 12 is a structural framework schematic diagram of an embodiment of the computer readable storage medium provided by the present application. DETAILED DESCRIPTION

[0018] Exemplary embodiments of the present application will be described herein below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work, fall within the scope of the present application.

[0019] If the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the meaning of "and / or" appearing throughout the text is that it includes three parallel schemes, for example, "A and / or B" includes A scheme, or B scheme, or A and B schemes are satisfied at the same time. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of the ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope claimed by the present application.

[0020] The first aspect of the present application provides a parking control method, Figure 1 It is an embodiment of the parking control method provided by the present application. Combined with Figure 1 This method includes the following steps: S101: detecting whether the length and width dimensions of the target parking space meet the preset size conditions of compass parking; wherein, the preset size conditions include preset length size conditions and preset width size conditions.

[0021] Among them, the target parking space is the parking space that the vehicle intends to stop in, and the detection of the length and width dimensions is the primary step to determine whether the compass parking can be performed. The preset size conditions are set according to the parameters of the vehicle itself and the minimum space required for compass parking, and the specific values can be obtained by calibration or simulation system simulation. Among them, the preset size conditions can include preset length size conditions and preset width size conditions, which can correspond to the minimum requirements of the target parking space in length and width directions, respectively, that is, the length dimension of the target parking space needs to meet the preset length size conditions, and the width dimension of the target parking space needs to meet the preset width size conditions. Only when the length and width dimensions of the target parking space meet the two preset conditions at the same time, the subsequent compass parking operation can be performed.

[0022] In some application scenarios, the vehicle can detect the length and width dimensions of the target parking space in a place close to the target parking space. When the vehicle drives to the side of the target parking space in the parking lot or part of the vehicle body drives into the target parking space, the length and width dimensions of the target parking space are detected, that is, the length and width of the target parking space are detected. Among them, the size detection can be performed by related sensors, which can include cameras, ultrasonic radars, laser radars, etc., which can obtain the length, width and other size information of the target parking space.

[0023] S102: If yes, a target point is determined in the target parking space; wherein the distance between the target point and the upper boundary line of the target parking space is a first distance, and the distance between the target point and the entry-side boundary line of the target parking space is a second distance.

[0024] If the size of the target parking space meets the preset size condition of the compass parking, the target point determination step is entered. The target point can be regarded as a reference point, and accurate positioning of the target point is crucial for the subsequent parking process, which determines whether the vehicle can enter the parking space in a better posture.

[0025] The first distance and the second distance can be set by comprehensively considering the size of the vehicle, the steering characteristics, and the parking space, etc. In actual application scenarios, the control system on the vehicle accurately calculates the first distance and the second distance based on the data obtained by the sensor, so as to accurately determine the position of the target point in the target parking space. The first distance reflects the distance between the target point and the upper boundary line of the target vehicle, and the upper boundary line is the boundary line of the target parking space close to the front of the vehicle after parking. The second distance reflects the distance between the target point and the entry-side boundary line of the target parking space, so the target point determined by comprehensively considering the first distance and the second distance can ensure that the vehicle enters the parking space at a suitable angle and position during the parking process, thereby laying a good foundation for the subsequent compass parking action. For example, in some narrow parking space scenarios, by accurately calculating the first distance and the second distance to determine the target point, the vehicle can avoid scratches with surrounding obstacles due to improper angle, thereby improving the safety and success rate of parking.

[0026] S103: After the front axle midpoint of the vehicle coincides with the target point and the current lateral distance is less than or equal to the target lateral distance, the vehicle is controlled to perform compass parking; wherein the current lateral distance is the distance between the center of the rear axle of the vehicle and the reference line, and the reference line is a virtual reference line passing through the target point and parallel to the entry-side boundary line.

[0027] It should be understood that the reference line serves as a reference benchmark for the lateral distance of the vehicle during parking. Since the reference line passes through the target point and is parallel to the entry-side boundary line, which is the boundary line close to the side of the vehicle when entering the target parking space, the distance between the reference line and the entry-side boundary line is the second distance.

[0028] After identifying the target point within the target parking space, the vehicle's movement is further controlled. Specifically, the vehicle's movement is controlled so that the midpoint of its front axle gradually approaches the target point until they completely coincide. The midpoint of the front axle is the midpoint of the line connecting the centers of the two front wheels of the vehicle. During this process, the distance between the center of the vehicle's rear axle and the reference line, i.e., the current lateral distance, is monitored in real time, ensuring that the current lateral distance is always less than or equal to the pre-calculated target lateral distance. When the midpoint of the vehicle's front axle coincides with the target point, and the current lateral distance meets the condition of being less than or equal to the target lateral distance, it indicates that the vehicle's position has met the requirements. At this point, the vehicle controller issues control commands to control the vehicle to perform a circular parking maneuver, and through specific steering and drive torque control, the vehicle rotates with the front wheels as the center of rotation, thereby achieving a precise and efficient parking process.

[0029] Figure 2 This is a parking diagram of the vehicle. Figure 3 This is another parking diagram for the vehicle.

[0030] Combination Figure 2 as well as Figure 3 M represents the target parking space, and W represents the vehicle. The center of the vehicle's front axle coincides with the target point P. S1 represents the distance between the target point P and the upper boundary line of the target parking space, and S2 represents the distance between the target point P and the vehicle's side boundary line L2 of the target parking space. The reference line is L1, and C is the vehicle's current lateral distance. If C is less than or equal to the target lateral distance, the vehicle's position is considered to be within acceptable limits, and the vehicle will then be further controlled to perform circular parking.

[0031] Combination Figure 3 Based on Figure 2 After performing a compass parking maneuver from the initial pose, the vehicle successfully parked in the target space, achieving the desired result. Figure 3 The ideal state presented is achieved through precise path planning and motion control, resulting in accurate parking maneuvers. Ultimately, the vehicle is positioned in a relatively centered and suitable location within the target parking space, fully meeting the requirements for positioning accuracy and safety in real-world parking scenarios.

[0032] Figure 4 This is a flowchart illustrating another embodiment of the parking control method provided in this application.

[0033] Combination Figure 4 In some specific embodiments, after the step of detecting whether the length and width dimensions of the target parking space meet the preset size conditions for compass parking, i.e., after step S101 above, the following is included: S201: If the conditions are met, obtain the vehicle length and front overhang distance, and obtain the length of the target parking space.

[0034] Specifically, if the size of the target parking space meets the preset size condition of the compass parking, the vehicle can obtain the vehicle length and the front overhang distance of the vehicle through the sensors built-in the vehicle or the external devices connected with the vehicle. These data are important parameters for subsequent calculation of the target point position. The front overhang distance of the vehicle refers to the distance from the front end of the vehicle along the vehicle body axis to the center of the front axle. At the same time, the vehicle also obtains the parking space length information of the target parking space, which is the basis for judging whether the parking space can accommodate the vehicle and for subsequent calculation of the target point position.

[0035] S202: subtracting the parking space length from the vehicle length to obtain a first length, and adding half of the first length to the front overhang distance to obtain a first distance.

[0036] After obtaining the above parameters, this step further calculates, through the controller, the first length by subtracting the vehicle length from the parking space length, which reflects the part of the parking space that exceeds the vehicle length in the length direction. Then, half of the first length is added to the front overhang distance to obtain the first distance.

[0037] It should be understood that the determination of the first distance is crucial for accurate positioning of the target point, which takes into account the front overhang characteristics of the vehicle and the difference between the parking space and the vehicle length. Based on the first distance calculated in the above manner, the vehicle control system can accurately determine the position of the target point in the target parking space based on the second distance.

[0038] In some application scenarios, let the parking space length be Lp, the vehicle length be Ls, the front overhang distance be Lk, and the first distance be S1. Then the formula for calculating the first distance S1 is as follows: S1 = (Lp - Ls) / 2 + Lk If the parking space length Lp is 6500 mm, the vehicle length Ls is 5120 mm, and the front overhang distance Lk is 1026 mm, then the first distance S1 = (6500 - 5120) / 2 + 1026 = 1706 mm.

[0039] Figure 5 is a flowchart of another embodiment of the parking control method provided by the present application.

[0040] In combination Figure 5 In some specific embodiments, after the step of detecting whether the length and width of the target parking space meet the preset size condition of the compass parking, i.e., after the above step S101, the method comprises: S301: if it meets, obtaining the vehicle width and the vehicle track of the vehicle, and obtaining the parking space width of the target parking space.

[0041] If the size of the target parking space meets the preset size condition of the compass parking, the vehicle obtains the vehicle width and the wheelbase information of the vehicle. The vehicle width is the maximum size of the vehicle in the lateral direction, and the wheelbase refers to the distance between the center points of the two wheels on the same axle of the vehicle. At the same time, the vehicle also obtains the parking space width information of the target parking space, which is an important basis for judging whether the parking space can meet the demand of the vehicle in the lateral parking.

[0042] S302: subtract the vehicle width from the parking space width and add the wheelbase of the vehicle to obtain an initial length, and take half of the initial length as the second distance.

[0043] After obtaining the above parameters, this step further calculates, by the controller, the initial length by subtracting the vehicle width from the parking space width and adding the wheelbase of the vehicle. The initial length reflects the difference between the target parking space in the width direction and the vehicle width considering the wheelbase factor. Then, half of the initial length is taken as the second distance.

[0044] It should be understood that the determination of the second distance is crucial for the positioning of the target point in the lateral position, which comprehensively considers the relationship between the vehicle width, the wheelbase and the parking space width. Based on the second distance calculated in the above manner, the vehicle control system can accurately determine the position of the target point in the target parking space in combination with the first distance.

[0045] In some application scenarios, assuming that the parking space width is Wp, the vehicle width is Ws, the wheelbase of the vehicle is B, and the second distance is S2, then the formula for calculating the second distance S2 is as follows: S2 = (Wp - Ws)+ B) / 2 If the parking space width Wp is 2500mm, the vehicle width Ws is 1999mm, and the wheelbase B is 1716mm, then the second distance S2 = ((2500 - 1999)+ 1716) / 2 = 1108.5mm.

[0046] Figure 6 is a flowchart of another embodiment of the parking control method provided by the present application.

[0047] In combination with Figure 6 In some specific embodiments, before the step of controlling the vehicle to perform compass parking after the front axle midpoint of the vehicle coincides with the target point and the current lateral distance is less than or equal to the target lateral distance, i.e., the above step S103 Before , includes: S401: obtaining the wheelbase of the vehicle, the wheelbase of the vehicle, the current maximum steering angle and the first distance, and obtaining the parking space length of the target parking space.

[0048] It should be understood that the wheel track and the wheelbase of the vehicle are important size parameters of the vehicle itself, which are fixed parameters. The current maximum steering angle reflects the current capability limit of the steering system of the vehicle. The first distance is a parameter related to the positioning of the target point and has been determined previously. The length of the target parking space is basic information for judging whether the parking space can accommodate the vehicle and for subsequent calculation. Among them, the vehicle can obtain the above parameters through built-in sensors, data stored by the control system, or data interaction with external devices.

[0049] S402: subtract the length of the parking space from the wheelbase of the vehicle, then subtract the first distance to obtain a second length, compare the second length with the tangent value of the current maximum steering angle to obtain a ratio, and subtract the ratio from half of the wheel track of the vehicle to obtain the target lateral distance.

[0050] After obtaining the above parameters, this step further calculates through the controller. First, subtract the length of the parking space from the wheelbase of the vehicle, then subtract the first distance to obtain a second length. The second length reflects the available length space of the parking space after considering the wheelbase of the vehicle and the first distance. Then, compare the second length with the tangent value of the current maximum steering angle to obtain a ratio. The ratio is closely related to the steering characteristics of the vehicle and reflects the lateral movement capability of the vehicle in the available length space under the current maximum steering angle. Finally, subtract the ratio from half of the wheel track of the vehicle to obtain the target lateral distance.

[0051] It should be understood that since the target lateral distance considers the size parameters, steering capability of the vehicle and the space of the parking space, it can provide an accurate lateral position control target for the vehicle, ensuring that the vehicle can enter the parking space with a suitable lateral position during parking and avoid collision with surrounding obstacles. Therefore, the target lateral distance is crucial for the lateral position control during the parking process of the vehicle.

[0052] In some application scenarios, assuming that the length of the parking space is Lp, the wheelbase of the vehicle is A, the wheel track of the vehicle is B, the first distance is S1, the current maximum steering angle is β, and the target lateral distance is C1, then the formula for calculating the target lateral distance is as follows: C1= ((Lp - A - S1) / tanβ) - B / 2 Assuming the parking space length Lp is 6500mm, the vehicle wheelbase A is 3000mm, the vehicle track A is 1716mm, the first distance S1 is 1706mm, and the current maximum steering angle β is 35 degrees (here the angle needs to be converted to radian system for calculation, 35 degrees is approximately equal to 0.6109 radian), substituting these data into the above formula can obtain: C1 = ((6500 - 3000 - 1706) / 0.6109) - 1716 / 2 = (1794 / 0.6109) - 858 ≈ 2937 - 858 = 2079mm.

[0053] Figure 7 is a flowchart of still another embodiment of the parking control method provided by the present application.

[0054] In combination Figure 7 In some specific embodiments, the method further comprises: S501: obtaining the vehicle wheelbase, the vehicle track, the current lateral distance, the steering transmission ratio coefficient of the vehicle, and the first distance, and obtaining the parking space length of the target parking space.

[0055] It should be understood that the vehicle wheelbase and the vehicle track are inherent size parameters of the vehicle, which play a basic role in subsequent calculations. The current lateral distance is the current lateral distance described in the above embodiments. The steering transmission ratio coefficient reflects the proportional relationship between the steering wheel angle and the steering wheel angle in the vehicle steering system. The first distance is a parameter related to the positioning of the target point that has been determined before.

[0056] S502: subtracting the vehicle wheelbase and the first distance from the parking space length to obtain a difference value, adding one-half of the vehicle track to the current lateral distance to obtain a sum value, and comparing the difference value with the sum value to obtain a ratio value.

[0057] After obtaining the above parameters, this step further calculates through the controller. First, the parking space length is subtracted by the vehicle wheelbase, and then subtracted by the first distance, thereby obtaining a difference value. The difference value reflects the space remaining in the length direction of the parking space after considering the vehicle wheelbase and the first distance. Then, the current lateral distance is added by one-half of the vehicle track to obtain a sum value. The sum value integrates the current lateral position of the vehicle and the vehicle track factor. Finally, the difference value calculated before is compared with the sum value to obtain a new ratio value.

[0058] S503: taking the product of the inverse tangent value of the ratio value and the steering transmission ratio coefficient as the target steering angle, and controlling the vehicle steering according to the target steering angle to perform the compass parking.

[0059] Further, the arctangent value of the ratio calculated above is taken, which reflects the theoretical steering angle trend required by the steering wheel of the vehicle under the current parking space and vehicle position. Then, the arctangent value is multiplied by the steering transmission ratio coefficient. Since the steering transmission ratio coefficient reflects the proportional relationship between the steering wheel angle and the steering wheel angle, through this multiplication operation, the theoretical steering angle trend can be converted into the target steering angle actually acting on the steering wheel of the vehicle.

[0060] Further, the vehicle control system accurately controls the vehicle steering system according to the target steering angle, so that the vehicle performs steering operation according to the planned compass parking path, thereby realizing accurate and safe parking process and ensuring that the vehicle can be smoothly parked in the target parking space, meeting the requirements of position accuracy and safety in actual parking scenarios.

[0061] In an application scenario, assuming that the vehicle wheelbase is A, the vehicle track is B, the current lateral distance is C, the steering transmission ratio coefficient is K, the first distance is S1, the parking length of the target parking space is Lp, and the steering wheel angle is θ, then the calculation formula of the steering wheel angle θ is as follows: θ= K×arctan((Lp - A - S1) / (C + B / 2)) In some application scenarios, assuming that the vehicle wheelbase A is 3000mm, the vehicle track B is 1716mm, the current lateral distance C is 800mm, the steering transmission ratio coefficient K is 15, the first distance S1 is 1706mm, and the parking length of the target parking space Lp is 6500mm. Substituting these data into the above formula, first calculate the denominator C + B / 2 = 800 + 1716 / 2 = 800 + 858 = 1658mm, and the numerator Lp - A - S1 = 6500 - 3000 - 1706 = 1794mm, then (Lp - A - S1) / (C + B / 2) = 1794 / 1658 ≈ 1.082, arctan(1.082) ≈ 0.822 (radian), and then the steering wheel angle θ = 15 × 0.822 ≈ 12.33 degrees.

[0062] Figure 8 is a flowchart of another embodiment of the parking control method provided by the present application.

[0063] In combination Figure 8 In some specific embodiments, the step of controlling the vehicle to perform compass parking includes: S601: Control the front wheel of the vehicle to approach the boundary line of the entry side.

[0064] This embodiment illustrates a specific way of compass parking. When controlling the vehicle to perform compass parking, the front wheel of the vehicle is first controlled to be close to the boundary line of the entry side. In this way, the position of the front wheel of the vehicle can be fixed as a fixed fulcrum for compass parking, laying the foundation for the subsequent parking of the vehicle in a similar way of compass drawing. It should be understood that through the front wheel lock, the front wheel of the vehicle will remain in place during the subsequent movement, and the rear wheel of the vehicle will rotate around the front wheel, thereby realizing the compass parking trajectory.

[0065] S602: The driving torque corresponding to the rear wheel of the vehicle close to the boundary line of the entry side is controlled to be a negative torque, and the driving torque corresponding to the rear wheel of the vehicle away from the boundary line of the entry side is controlled to be a positive torque, so that the vehicle rotates around the front wheel as the rotation center to realize compass parking.

[0066] Specifically, after the front wheel of the vehicle close to the boundary line of the entry side is locked, the driving torque of the rear wheel of the vehicle is further controlled accurately in this step. Specifically, the driving torque corresponding to the rear wheel of the vehicle close to the boundary line of the entry side (corresponding to the right rear wheel in Figure 2 ) is controlled to be a negative torque, which will make the rear wheel generate a force opposite to the forward direction of the vehicle, so as to promote the vehicle to rotate around the locked front wheel as the rotation center. At the same time, the driving torque corresponding to the rear wheel of the vehicle away from the boundary line of the entry side (corresponding to the left rear wheel in Figure 2 ) is controlled to be a positive torque, so as to make the rear wheel generate a force in the same direction as the forward direction of the vehicle, and push the vehicle to rotate around the front wheel.

[0067] It should be understood that through the control of the driving torque of the two rear wheels in different directions, the vehicle can rotate around the front wheel as the rotation center, accurately and smoothly stop in the target parking space according to the trajectory of compass parking, effectively avoid collision with the surrounding obstacles during parking, and improve the safety and accuracy of parking.

[0068] Figure 9 is a flowchart of another embodiment of the parking control method provided by the present application.

[0069] In combination with Figure 9 , in some specific embodiments, the step of detecting whether the length and width dimensions of the target parking space meet the preset size conditions of compass parking, i.e., the above-mentioned step S101, comprises: S701: determining the effective length and the effective width of the target parking space.

[0070] In the process of detecting whether the size of the target parking space meets the preset size condition of the compass parking, the effective length and the effective width of the target parking space need to be determined first, because the effective length and the effective width are the basic parameters for judging whether the parking space can meet the requirements of the compass parking. The effective length refers to the available length of the parking space in the direction of the vehicle's entry and exit, which needs to take into account the length of the vehicle itself and the additional space required during parking, to ensure that the vehicle can enter and park smoothly. The effective width refers to the available width of the parking space in the transverse direction of the vehicle, which should be able to accommodate the width of the vehicle, and also leave a certain margin to ensure that the vehicle does not collide with the obstacles on both sides of the parking space during parking.

[0071] S702: If the effective length is greater than the preset length and the effective width is greater than the preset width, it is determined that the size of the target parking space meets the preset size condition of the compass parking.

[0072] If the effective length is greater than the preset length and the effective width is greater than the preset width, it indicates that the target parking space can meet the requirements of the compass parking in both length and width directions, i.e. the size of the target parking space meets the preset size condition of the compass parking. The preset length and the preset width are determined by the pre-set rules, which reflect the minimum space size required for the vehicle to perform the compass parking. Only when the effective length and the effective width of the target parking space are both greater than these preset values, can it be ensured that the vehicle has enough space to turn and move during parking, thereby achieving accurate and safe compass parking.

[0073] Figure 10 is a flowchart of another embodiment of the parking control method provided by the present application.

[0074] In combination Figure 10 In some specific embodiments, the step of determining the effective length and the effective width of the target parking space includes: S801: Obtain the front overhang distance, the rear overhang distance and the vehicle width of the vehicle, and obtain the parking space length and the parking space width of the target parking space.

[0075] The front overhang distance and the rear overhang distance of the vehicle are important size parameters of the vehicle itself, which respectively reflect the distance from the front end and the rear end of the vehicle to the center of the wheelbase of the vehicle. The vehicle width is the size of the vehicle in the transverse direction. At the same time, the parking space length and the parking space width of the target parking space need to be obtained, which directly describe the actual space size of the target parking space.

[0076] S802: Add the front overhang distance and the rear overhang distance to obtain the total distance, subtract the total distance from the parking space length to obtain the effective length of the target parking space, and subtract the vehicle width from the parking space width to obtain the effective width of the target parking space.

[0077] After obtaining the front suspension distance, the rear suspension distance, the vehicle width, the parking space length and the parking space width of the target parking space, first, the front suspension distance and the rear suspension distance are added to obtain a total distance, which represents the space size occupied by the vehicle in the length direction. Then, the parking space length of the target parking space is subtracted from the total distance to obtain the effective length of the target parking space. Then, the parking space width is subtracted from the vehicle width to obtain the effective width of the target parking space. The front suspension distance of the vehicle refers to the distance from the front end of the vehicle along the vehicle axis to the center of the front axle of the vehicle, and the rear suspension distance of the vehicle refers to the distance from the rear end of the vehicle along the vehicle axis to the center of the rear axle of the vehicle. The accurate acquisition of these two distances is crucial for calculating the effective length of the target parking space.

[0078] If the effective length is greater than the preset length and the effective width is greater than the preset width, the step of determining that the size of the target parking space meets the preset size condition of the compass parking includes: S803: If the effective length is greater than or equal to the product of the vehicle wheelbase and the first preset coefficient, and the effective width is greater than or equal to the product of the vehicle width and the second preset coefficient, it is determined that the size of the target parking space meets the preset size condition of the compass parking.

[0079] It should be understood that the product of the vehicle wheelbase and the first preset coefficient is used as the judgment standard of the preset length, and the product of the vehicle width and the second preset coefficient is used as the judgment standard of the preset width, in order to more flexibly adapt to the needs of different vehicles and different parking scenarios. The first preset coefficient and the second preset coefficient are determined according to a large amount of experimental data and actual parking experience, which can comprehensively consider the requirements of the space size in the steering, moving and other factors of the vehicle in the parking process. When the effective length of the target parking space is greater than or equal to the product of the vehicle wheelbase and the first preset coefficient, and the effective width is greater than or equal to the product of the vehicle width and the second preset coefficient, it indicates that the target parking space has enough space in the length and width directions for the vehicle to perform compass parking, which can effectively avoid the collision between the vehicle and the surrounding obstacles during parking, and ensure the safety and accuracy of parking.

[0080] In some application scenarios, an effective length L effective and an effective width W effective are set, a front overhang distance Lk and a rear overhang distance Lh are set, a vehicle width Ws and a vehicle wheelbase A are set, a parking space length Lp and a parking space width Wp of a target parking space are set. Then, a calculation formula of the effective length L effective is L effective = Lp - (Lk + Lh), and a calculation formula of the effective width W effective is W effective = Wp - Ws. Assuming that the front overhang distance Lk is 1000 mm, the rear overhang distance Lh is 1200 mm, the vehicle width Ws is 1800 mm, the vehicle wheelbase A is 3000 mm, the parking space length Lp of the target parking space is 6500 mm, and the parking space width Wp of the target parking space is 3000 mm, the data is substituted into the above formula, the effective length L effective = 6500 - (1000 + 1200) = 4300 mm, and the effective width W effective = 3000 - 1800 = 1200 mm. If the first preset coefficient is set to 1.2 and the second preset coefficient is set to 0.3, the product of the vehicle wheelbase and the first preset coefficient is 3000 x 1.2 = 3600 mm, and the product of the vehicle width and the second preset coefficient is 1800 x 0.3 = 540 mm. Since the effective length 4300 mm is greater than 3600 mm, and the effective width 1200 mm is greater than 540 mm, it can be determined that the size of the target parking space meets the preset size condition of the compass parking.

[0081] The second aspect of the present application provides an electronic device, comprising: a processor; a memory for storing a computer program, the computer program being executed by the processor to implement the parking control method of any of the above embodiments.

[0082] Figure 11 is a structural framework schematic diagram of an embodiment of the electronic device 600 provided by the present application.

[0083] In combination Figure 11In some embodiments, the electronic device 600 includes a central processing unit (CPU) 601, which is a processor, and a read-only memory (ROM) 602, which is a memory. The central processing unit 601 can perform various appropriate actions and processes in accordance with a program stored in the read-only memory (ROM) 602 or a program loaded from the storage section 608 into a random access memory (RAM) 603, such as performing the methods in the above-described embodiments. In the RAM 603, various programs and data required for system operation are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0084] Connected to the I / O interface 605 are an input section 606 including a keyboard, a mouse, etc.; an output section 607 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as necessary. A removable recording medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 610 as necessary, so that a computer program read therefrom is installed into the storage section 608 as necessary.

[0085] In particular, the processes described above with reference to the flowcharts can be implemented as a computer software program according to embodiments of the present application. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing a computer program for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 609, and / or installed from the removable recording medium 611. When the computer program is executed by the central processing unit (CPU) 601, various functions defined in the system of the present application are performed.

[0086] A computer readable storage medium 40 is provided in a third aspect of the present application, Figure 12is a structural schematic diagram of an embodiment of the computer readable storage medium 40 provided in the present application.

[0087] In combination Figure 12 The computer readable storage medium 40 stores a computer program 41, which, when executed by the processor, implements the parking control method in any of the above embodiments.

[0088] It should be noted that the computer readable medium 40 shown in the embodiments of the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or apparatus. In the present application, the computer readable signal medium can include a data signal carrying a computer readable computer program in a baseband or as a part of a carrier wave. Such a propagated data signal can take many forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer readable signal medium can also be any computer readable medium other than the computer readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or apparatus. The computer program contained on the computer readable medium can be transmitted by any suitable medium, including but not limited to wireless, wired, or the like, or any suitable combination of the above.

[0089] In summary, based on the parking control method, device and storage medium provided in the present application, the length and width dimensions of the target parking space are detected to determine whether they meet the preset size conditions of compass parking. The preset size conditions include preset length size conditions and preset width size conditions. If the target parking space meets the preset size conditions, a target point is determined in the target parking space. The distance between the target point and the upper boundary line of the target parking space is a first distance, and the distance between the target point and the entry side boundary line of the target parking space is a second distance. The vehicle is controlled to move so that the midpoint of the front axle of the vehicle coincides with the target point, and after the current lateral distance is less than or equal to the target lateral distance, the vehicle is controlled to perform compass parking. The current lateral distance is the distance between the center of the rear axle of the vehicle and a reference line, and the reference line is a virtual reference line passing through the target point and parallel to the entry side boundary line. Therefore, by determining the target point, the midpoint of the front axle of the vehicle coincides with the target point, and the current lateral distance is less than or equal to the target lateral distance, the vehicle is in a good initial parking pose, and collision with surrounding obstacles during parking is avoided, so as to achieve a good parking effect.

[0090] The above is only a preferred exemplary embodiment of the present application, and is not intended to limit the implementation of the present application. Those skilled in the art can easily make corresponding modifications or changes according to the main concept and spirit of the present application, and the protection scope of the present application should be subject to the protection scope required by the claims.

Claims

1. A parking control method, characterized in that, include: The system detects whether the length and width dimensions of the target parking space meet the preset size conditions for compass parking; wherein, the preset size conditions include preset length size conditions and preset width size conditions; If the conditions are met, a target point is determined within the target parking space; wherein, the distance between the target point and the upper boundary line of the target parking space is the first distance, the upper boundary line is the parking space boundary line near the front of the vehicle after the vehicle is parked in the target parking space, and the distance between the target point and the vehicle-entry side boundary line of the target parking space is the second distance. After controlling the vehicle to move so that the midpoint of its front axle coincides with the target point, and the current lateral distance is less than or equal to the target lateral distance, the vehicle is controlled to perform circular parking; wherein, the current lateral distance is the distance between the center of the rear axle of the vehicle and the reference line, and the reference line is a virtual reference line that passes through the target point and is parallel to the vehicle entry side boundary line.

2. The parking control method according to claim 1, characterized in that, After checking whether the length and width dimensions of the target parking space meet the preset size conditions for compass parking, the following steps are included: If the conditions are met, the vehicle length and front overhang distance of the vehicle are obtained, and the parking space length of the target parking space is obtained. The first length is obtained by subtracting the length of the parking space from the length of the vehicle, and the first distance is obtained by adding half of the first length to the front overhang distance.

3. The parking control method according to claim 1, characterized in that, After checking whether the length and width dimensions of the target parking space meet the preset size conditions for compass parking, the following steps are included: If the conditions are met, obtain the vehicle width and wheelbase of the vehicle, and obtain the parking space width of the target parking space; The initial length is obtained by subtracting the vehicle width from the parking space width and adding the vehicle wheelbase. Half of the initial length is taken as the second distance.

4. The parking control method according to claim 1, characterized in that, Before the step of controlling the vehicle to move so that the midpoint of its front axle coincides with the target point, and after the current lateral distance is less than or equal to the target lateral distance, the procedure includes: Obtain the vehicle's track width, wheelbase, current maximum steering angle, and the first distance; and obtain the parking space length of the target parking space. The second length is obtained by subtracting the vehicle wheelbase from the parking space length and then subtracting the first distance. The second length is then compared with the tangent of the current maximum steering angle to obtain a ratio. Finally, the target lateral distance is obtained by subtracting half of the vehicle track length from the ratio.

5. The parking control method according to claim 1, characterized in that, The method further includes: Obtain the vehicle's wheelbase, track width, current lateral distance, steering ratio coefficient, and the first distance; and obtain the parking length of the target parking space. The difference is obtained by subtracting the vehicle wheelbase from the parking space length and subtracting the first distance. The sum is obtained by adding half of the vehicle track to the current lateral distance. The ratio is obtained by comparing the difference with the sum. The product of the arctangent of the ratio and the steering transmission ratio coefficient is used as the target steering angle, so as to control the vehicle steering to perform circular parking based on the target steering angle.

6. The parking control method according to claim 1, characterized in that, The steps for controlling the vehicle to perform compass parking include: Control the front wheels of the vehicle to lock up as they approach the vehicle's entry side boundary line; The driving torque of the rear wheels of the vehicle that are close to the vehicle entry side boundary line is controlled to be negative, and the driving torque of the rear wheels of the vehicle that are far away from the vehicle entry side boundary line is controlled to be positive, so that the vehicle can rotate around the front wheels as the center of rotation to achieve compass parking.

7. The parking control method according to claim 1, characterized in that, The steps for checking whether the length and width dimensions of the target parking space meet the preset size conditions of compass parking include: Determine the effective length and effective width of the target parking space; If the effective length is greater than the preset length and the effective width is greater than the preset width, then the size of the target parking space is determined to meet the preset size conditions for compass parking.

8. The parking control method according to claim 7, characterized in that, The steps to determine the effective length and effective width of the target parking space include: Obtain the front overhang distance, rear overhang distance, and vehicle width of the vehicle, and obtain the parking space length and parking space width of the target parking space; The total distance is obtained by adding the front overhang distance and the rear overhang distance, the effective length of the target parking space is obtained by subtracting the total distance from the parking space length, and the effective width of the target parking space is obtained by subtracting the parking space width from the vehicle width. If the effective length is greater than the preset length and the effective width is greater than the preset width, then the step of determining that the size of the target parking space meets the preset size conditions for compass parking includes: If the effective length is greater than or equal to the product of the vehicle wheelbase and a first preset coefficient, and the effective width is greater than or equal to the product of the vehicle width and a second preset coefficient, then the size of the target parking space is determined to meet the preset size conditions for compass parking.

9. An electronic device, characterized in that, include: processor; A memory for storing a computer program that, when executed by the processor, implements the parking control method according to any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the parking control method as described in any one of claims 1-8.

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