Parking control method, device and storage medium

Abstract

This application relates to the field of parking technology and discloses a parking control method, device, and storage medium, including: detecting whether the length and width dimensions of a target parking space meet the preset size conditions for compass parking, the preset size conditions including preset length and preset width dimensions; if they meet, determining a target point within 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-entry side boundary line of the target parking space is a second distance; 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, controlling the vehicle to perform compass parking. Therefore, by determining the target point, ensuring the midpoint of the vehicle's front axle coincides with the target point, and ensuring the current lateral distance is less than or equal to the target lateral distance, the vehicle is in a good initial parking position, avoiding collisions with surrounding obstacles during the parking process, thus achieving a good parking effect.

Description

Technical Field

[0001] This application relates to the field of parking technology, specifically to a parking control method, device, and storage medium. Background Technology

[0002] With the development of vehicle intelligence, U-turn technology has gradually become a research hotspot. Traditional parking methods often struggle to complete parking tasks efficiently and accurately in complex or narrow parking environments. Compass parking technology, however, simulates the principle of drawing a circle with a compass, allowing the vehicle to rotate around a specific center of rotation within a limited space, thus achieving precise parking.

[0003] However, existing compass parking technology still faces many challenges in practical applications, resulting in less than ideal performance and a high risk of collisions with surrounding obstacles. Therefore, developing a more effective compass parking control method is of significant practical importance. Summary of the Invention

[0004] In view of the above problems, this application provides a parking control method, device and storage medium. By determining the target point, the midpoint of the vehicle's front axle 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 position, avoiding collisions with surrounding obstacles during the parking process, thereby achieving a good parking effect.

[0005] The first aspect of this application provides a parking control method, comprising: detecting whether the length and width dimensions of a 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 they meet, determining a target point within 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 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 entry side boundary line of the target parking space is a second distance; 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, controlling the vehicle to perform compass parking; wherein the current lateral distance is the distance between the rear axle center 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.

[0006] 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 of compass parking, the method includes: if they meet, obtaining the vehicle length and front overhang distance of the vehicle, and obtaining the parking space length of the target parking space; 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.

[0007] 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 of compass parking, the method includes: if they meet, obtaining the vehicle width and the vehicle wheelbase, and obtaining the parking space width of the target parking space; subtracting the vehicle width from the parking space width and adding the vehicle wheelbase to obtain the initial length, and taking half of the initial length as the second distance.

[0008] In some specific embodiments, before 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 step of controlling the vehicle to perform compass parking includes: obtaining the vehicle's wheelbase, track width, current maximum steering angle, and first distance, and obtaining the length of the target parking space; subtracting the vehicle's track width from the parking space length and then subtracting the first distance 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 half of the vehicle's track width from the ratio to obtain the target lateral distance.

[0009] In some specific embodiments, the method further includes: obtaining the vehicle's wheelbase, track width, current lateral distance, steering ratio coefficient, and first distance, and obtaining the length of the target parking space; subtracting the vehicle's wheelbase from the parking space length and subtracting the first distance to obtain the difference; adding half of the vehicle's track width to the current lateral distance to obtain the sum; comparing the difference with the sum to obtain the ratio; and using the arctangent of the ratio and the steering ratio coefficient as the target steering angle to control the vehicle's steering for circular parking based on the target steering angle.

[0010] In some specific embodiments, the steps of controlling the vehicle to perform compass parking include: controlling the front wheels of the vehicle to lock up when they approach the boundary line of the approach side; controlling the driving torque corresponding to the rear wheels of the vehicle when they approach the boundary line of the approach side to be negative torque, and controlling the driving torque corresponding to the rear wheels of the vehicle when they move away from the boundary line of the approach side to be positive torque, so that the vehicle rotates with the front wheels as the center of rotation to achieve compass parking.

[0011] 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 includes: determining 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 it is determined that the dimensions of the target parking space meet the preset size conditions of compass parking.

[0012] In some specific embodiments, the steps of determining the effective length and effective width of the target parking space include: obtaining the front overhang distance, rear overhang distance, and vehicle width of the vehicle, and obtaining the parking space length and parking space width of the target parking space; adding the front overhang distance and rear overhang distance to obtain the total distance, subtracting the total distance from the parking space length to obtain the effective length of the target parking space, and subtracting the parking space width from the vehicle width to obtain the effective width of the target parking space; if the effective length is greater than a preset length and the effective width is greater than a preset width, then the step of determining that the size of the target parking space meets the preset size conditions of 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 meets the preset size conditions of compass parking.

[0013] A second aspect of this application provides an electronic device, comprising: a processor; and a memory for storing a computer program, wherein the computer program, when executed by the processor, implements the parking control method described above.

[0014] A third aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the parking control method described in any of the above claims.

[0015] The beneficial technical effects of this application are at least as follows: Based on the parking control method, equipment, and storage medium provided in this application, the method includes: detecting 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 they meet, then determining a target point 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 entry side boundary line of the target parking space is the second distance; 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, controlling the vehicle to perform compass parking; wherein, the current lateral distance is the distance between the rear axle center of the vehicle and a reference line, the reference line passing through the target point and parallel to the entry side boundary line. Therefore, by determining the target point, aligning the midpoint of the vehicle's front axle with the target point, and ensuring that the current lateral distance is less than or equal to the target lateral distance, the vehicle is positioned in a good initial parking position, avoiding collisions with surrounding obstacles during the parking process and achieving a good parking effect.

[0016] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0017] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0018] Figure 1 This is a flowchart illustrating an embodiment of the parking control method provided in this application;

[0019] Figure 2 This is a parking diagram of the vehicle;

[0020] Figure 3 This is another parking diagram for the vehicle;

[0021] Figure 4 This is a flowchart illustrating another embodiment of the parking control method provided in this application;

[0022] Figure 5 This is a flowchart illustrating another embodiment of the parking control method provided in this application;

[0023] Figure 6 This is a flowchart illustrating another embodiment of the parking control method provided in this application;

[0024] Figure 7 This is a flowchart illustrating another embodiment of the parking control method provided in this application;

[0025] Figure 8 This is a flowchart illustrating another embodiment of the parking control method provided in this application;

[0026] Figure 9 This is a flowchart illustrating another embodiment of the parking control method provided in this application;

[0027] Figure 10 This is a flowchart illustrating another embodiment of the parking control method provided in this application;

[0028] Figure 11 This is a schematic diagram of the structural framework of an embodiment of the electronic device provided in this application;

[0029] Figure 12 This is a schematic diagram of the structural framework of an embodiment of the computer-readable storage medium provided in this application. Detailed Implementation

[0030] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While 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 to the embodiments set forth herein. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.

[0031] If the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, if the word "and / or" appears throughout the text, it means including three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0032] The first aspect of this application provides a parking control method. Figure 1 This is a schematic flowchart of an embodiment of the parking control method provided in this application. (In conjunction with...) Figure 1 This method includes the following steps:

[0033] S101: Detect 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.

[0034] The target parking space is the space where the vehicle intends to park. Detecting its length and width dimensions is the first step in determining whether circular parking is feasible. Preset size conditions are set based on the vehicle's parameters and the minimum space required for circular parking. Specific values ​​can be obtained through calibration or simulation. These preset size conditions include preset length and width conditions, corresponding to the minimum requirements that the target parking space must meet in the length and width directions, respectively. That is, the length of the target parking space must meet the preset length condition, and the width of the target parking space must meet the preset width condition. Only when both the length and width dimensions of the target parking space meet these two preset conditions can the subsequent circular parking operation proceed.

[0035] In some application scenarios, vehicles can detect the length and width of a target parking space when they are close to it. When the vehicle approaches the target parking space or part of its body enters the target parking space, the detection of its length and width begins. This can be achieved using sensors such as cameras, ultrasonic radar, and lidar, which can acquire information about the target parking space's dimensions.

[0036] S102: If the conditions are met, then the 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 closest 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 vehicle-entry side boundary line of the target parking space is the second distance.

[0037] If the dimensions of the target parking space meet the preset dimensions of the compass parking system, then proceed to the target point determination step. The target point can be considered a reference point, and its accurate positioning is crucial for the subsequent parking process, as it determines whether the vehicle can enter the parking space in a favorable position.

[0038] The setting of the first and second distances takes into account factors such as vehicle size, steering characteristics, and parking space. In practical applications, the vehicle's control system, combined with data acquired by sensors, accurately calculates the first and second distances to precisely determine the target point's location within the target parking space. The first distance reflects the distance between the target point and the upper boundary line of the target vehicle, which is the boundary line of the parking space closest 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. Therefore, the target point determined by combining the first and second distances ensures that the vehicle enters the parking space at the appropriate angle and position during parking, laying a good foundation for subsequent circular parking maneuvers. For example, in some narrow parking scenarios, by accurately calculating the first and second distances to determine the target point, the vehicle can avoid scraping against surrounding obstacles due to improper angles, improving parking safety and success rate.

[0039] S103: Control 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, control the vehicle to perform circular parking; where the current lateral distance is the distance between the center of the vehicle's rear axle and the reference line, and the reference line is a virtual reference line that passes through the target point and is parallel to the side boundary line of the vehicle.

[0040] It should be understood that the purpose of the reference line is to provide a lateral distance reference for the vehicle during parking. Since the reference line passes through the target point and is parallel to the boundary line on the side where the vehicle enters the target parking space, the distance between the reference line and the boundary line on the side where the vehicle enters the target parking space is the second distance.

[0041] 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.

[0042] Figure 2 This is a parking diagram of the vehicle. Figure 3 This is another parking diagram for the vehicle.

[0043] 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.

[0044] 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.

[0045] Figure 4 This is a flowchart illustrating another embodiment of the parking control method provided in this application.

[0046] Combination Figure 4In 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:

[0047] S201: If the conditions are met, obtain the vehicle length and front overhang distance, and obtain the length of the target parking space.

[0048] Specifically, if the target parking space meets the preset dimensions for compass parking, the vehicle can obtain its length and front overhang distance using built-in sensors or external devices connected to the vehicle. These data are crucial parameters for subsequently calculating the target point's location. The front overhang distance refers to the distance from the front of the vehicle along the vehicle's axis to the center of the front axle. Simultaneously, the vehicle will also acquire the length information of the target parking space, which is fundamental for determining whether the space can accommodate the vehicle and for subsequent calculations of the target point's location.

[0049] S202: Subtract the length of the parking space from the length of the vehicle to obtain the first length, and add half of the first length to the front overhang distance to obtain the first distance.

[0050] After obtaining the above parameters, this step further calculates using the controller: subtracting the vehicle length from the obtained parking space length yields the first length, which reflects the portion of the parking space that extends beyond the vehicle length in the longitudinal direction. Subsequently, half of the first length is added to the front overhang distance to obtain the first distance.

[0051] It should be understood that determining the first distance is crucial for the accurate positioning of the target point, as it comprehensively considers the vehicle's front overhang characteristics and the difference in length between the parking space and the vehicle. Based on the first distance calculated in the above manner, the vehicle control system can accurately determine the position of the target point within the target parking space by combining it with the second distance.

[0052] 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:

[0053] S1 = (Lp - Ls) / 2 + Lk

[0054] If the parking space length Lp is 6500mm, the vehicle length Ls is 5120mm, and the front overhang distance Lk is 1026mm, then the first distance S1 = (6500 - 5120) / 2 + 1026 = 1706mm.

[0055] Figure 5 This is a flowchart illustrating another embodiment of the parking control method provided in this application.

[0056] Combination Figure 5In 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:

[0057] S301: If the conditions are met, obtain the vehicle width and wheelbase of the vehicle, and obtain the width of the target parking space.

[0058] If the target parking space meets the preset dimensions of the compass parking system, the vehicle acquires its width and track width information. The vehicle width is the maximum lateral dimension of the vehicle, while the track width refers to the distance between the center points of the wheels on the same axle. Simultaneously, the vehicle also acquires the width information of the target parking space, which is a crucial factor in determining whether the space can accommodate the vehicle's lateral parking needs.

[0059] S302: Subtract the vehicle width from the parking space width and add the vehicle track width to get the initial length. Use half of the initial length as the second distance.

[0060] After obtaining the above parameters, this step further calculates using the controller: subtracting the vehicle width from the obtained parking space width and adding the vehicle's wheelbase to obtain the initial length. This initial length reflects the difference between the target parking space and the vehicle width in the width direction, considering the vehicle's wheelbase. Then, half of the initial length is used as the second distance.

[0061] It should be understood that determining the second distance is crucial for lateral positioning of the target point, as it comprehensively considers the relationship between the vehicle's width, wheelbase, and parking space width. Based on the second distance calculated in the above manner, the vehicle control system can accurately determine the target point's location within the target parking space by combining it with the first distance.

[0062] In some application scenarios, let the parking space width be Wp, the vehicle width be Ws, the vehicle track width be B, and the second distance be S2. Then the formula for calculating the second distance S2 is as follows:

[0063] S2 = (Wp - Ws) + B) / 2

[0064] If the parking space width Wp is 2500mm, the vehicle width Ws is 1999mm, and the vehicle track B is 1716mm, then the second distance S2 = ((2500 - 1999) + 1716) / 2 = 1108.5mm.

[0065] Figure 6 This is a flowchart illustrating another embodiment of the parking control method provided in this application.

[0066] Combination Figure 6In some specific embodiments, before the step of controlling the vehicle to perform compass parking after the vehicle's front axle midpoint coincides with the target point and the current lateral distance is less than or equal to the target lateral distance, i.e., step S103 above. Before ,include:

[0067] S401: Obtain the vehicle's track width, wheelbase, current maximum steering angle, and first distance, and obtain the length of the target parking space.

[0068] It should be understood that the vehicle's track width and wheelbase are important dimensional parameters of the vehicle itself, and are fixed parameters. The current maximum steering angle reflects the current capability limit of the vehicle's steering system. The first distance is a previously determined parameter related to target point positioning, while the length of the target parking space is the basic information for determining whether the parking space can accommodate the vehicle and for subsequent calculations. The vehicle can obtain these parameters through built-in sensors, data stored in the control system, or data exchange with external devices.

[0069] S402: Subtract the vehicle wheelbase from the parking space length and then subtract the first distance to obtain the second length. Compare the second length with the tangent of the current maximum steering angle to obtain the ratio. Subtract half of the ratio from the vehicle track width to obtain the target lateral distance.

[0070] After obtaining the above parameters, this step further calculates using the controller. First, the parking space length is subtracted from the vehicle's wheelbase, and then the first distance is subtracted to obtain the second length. The second length reflects the remaining usable length of the parking space after considering the vehicle's wheelbase and the first distance. Then, the second length is compared with the tangent of the current maximum steering angle to obtain a ratio. This ratio is closely related to the vehicle's steering characteristics, reflecting the lateral movement capability the vehicle can achieve within the remaining usable length space at the current maximum steering angle. Finally, this ratio is subtracted from half of the vehicle's track width to obtain the target lateral distance.

[0071] It should be understood that since the target lateral distance takes into account the vehicle's size parameters, steering ability, and the space of the parking space, it can provide the vehicle with an accurate lateral position control target, ensuring that the vehicle can enter the parking space with a suitable lateral position during parking and avoid collisions with surrounding obstacles. Therefore, the target lateral distance is crucial for lateral position control during vehicle parking.

[0072] In some application scenarios, let the parking space length be Lp, the vehicle wheelbase be A, the vehicle track width be B, the first distance be S1, the current maximum steering angle be β, and the target lateral distance be C1. Then the formula for calculating the target lateral distance is as follows:

[0073] C1= ((Lp - A - S1) / tanβ) - B / 2

[0074] Assuming the parking space length Lp is 6500mm, the vehicle wheelbase A is 3000mm, the vehicle track width A is 1716mm, the first distance S1 is 1706mm, and the current maximum steering angle β is 35 degrees (the angle needs to be converted to radians for calculation; 35 degrees is approximately 0.6109 radians), substituting these data into the above formula, we get: C1 = ((6500 - 3000 - 1706) / 0.6109) -1716 / 2 =(1794 / 0.6109) - 858≈2937- 858 =2079mm.

[0075] Figure 7 This is a flowchart illustrating another embodiment of the parking control method provided in this application.

[0076] Combination Figure 7 In some specific embodiments, this method further includes:

[0077] S501: Obtain the vehicle's wheelbase, track width, current lateral distance, steering ratio coefficient, and first distance, and obtain the length of the target parking space.

[0078] It should be understood that the vehicle wheelbase and track width, as inherent dimensional parameters of the vehicle, play a fundamental role in subsequent calculations. The current lateral distance is the current lateral distance described in the above embodiment. 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 target point positioning that has been determined beforehand.

[0079] S502: Subtract the vehicle wheelbase from the parking space length and subtract the first distance to get the difference. Add half of the vehicle track width to the current lateral distance to get the sum. Compare the difference with the sum to get the ratio.

[0080] After obtaining the above parameters, this step further calculates using the controller. First, the parking space length is subtracted from the vehicle's wheelbase, and then the first distance is subtracted to obtain the difference. This difference reflects the remaining space in the parking space along its length, considering the vehicle's wheelbase and the first distance. Next, half of the vehicle's track width is added to the current lateral distance to obtain a sum. This sum combines the vehicle's current lateral position with the track width. Finally, the previously calculated difference is compared with the sum to obtain a new ratio.

[0081] S503: 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 compass parking based on the target steering angle.

[0082] Furthermore, the arctangent value of the previously calculated ratio is taken. This arctangent value reflects the theoretical steering angle trend that the vehicle's steering wheels need to achieve under the current parking space and vehicle position. Then, this arctangent value is multiplied by the steering ratio coefficient. Since the steering ratio coefficient reflects the proportional relationship between the steering wheel angle and the steering wheel angle, this multiplication operation can convert the theoretical steering angle trend into the target steering angle actually applied to the vehicle's steering wheel.

[0083] Furthermore, based on this target steering angle, the vehicle control system precisely controls the vehicle steering system, enabling the vehicle to steer along the planned circular parking path, thereby achieving an accurate and safe parking process. This ensures that the vehicle can smoothly park in the target parking space, meeting the requirements for positional accuracy and safety in actual parking scenarios.

[0084] In one application scenario, let the vehicle wheelbase be A, the vehicle track width be B, the current lateral distance be C, the steering ratio coefficient be K, the first distance be S1, the length of the target parking space be Lp, and the steering wheel angle be θ. Then the formula for calculating the steering wheel angle θ is as follows:

[0085] θ= K×arctan((Lp - A - S1) / (C + B / 2))

[0086] In some application scenarios, assuming the vehicle wheelbase A is 3000mm, the track width B is 1716mm, the current lateral distance C is 800mm, the steering ratio coefficient K is 15, the first distance S1 is 1706mm, and the target parking space length Lp is 6500mm, substituting these data into the above formula, we 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 (radians), so the steering wheel angle θ = 15 × 0.822 ≈ 12.33 degrees.

[0087] Figure 8 This is a flowchart illustrating another embodiment of the parking control method provided in this application.

[0088] Combination Figure 8 In some specific embodiments, the steps of controlling the vehicle to perform compass parking include:

[0089] S601: Controls the front wheels of the vehicle to lock up as it approaches the vehicle's side boundary line.

[0090] This embodiment illustrates the specific method of compass parking. When controlling the vehicle for compass parking, the front wheels closest to the vehicle's entry side boundary line are first locked. This method fixes the position of the front wheels, making them a fixed fulcrum for compass parking, laying the foundation for subsequent parking of the vehicle in a circular motion similar to drawing a circle with a compass. It should be understood that by locking the front wheels, the front wheels will remain stationary during subsequent movement, while the rear wheels will rotate around the front wheels, thus achieving a compass-like parking trajectory.

[0091] S602: Control the driving torque of the rear wheels of the vehicle that are close to the vehicle's entry side boundary line to be negative, and control the driving torque of the rear wheels of the vehicle that are far from the vehicle's entry side boundary line to be positive, so that the vehicle can rotate with the front wheels as the center of rotation to achieve compass parking.

[0092] Specifically, after controlling the front wheels of the vehicle to lock up near the approach side boundary line, this step further precisely controls the drive torque of the rear wheels. Specifically, controlling the rear wheels of the vehicle near the approach side boundary line (corresponding to...) Figure 2 The right rear wheel (corresponding to the right rear wheel in the middle) has a negative drive torque, which causes it to generate a force opposite to the vehicle's forward direction, causing the vehicle to rotate around the locked front wheels. Simultaneously, the rear wheels (corresponding to the right rear wheel) that are moving away from the vehicle's entry side boundary line... Figure 2 The driving torque corresponding to the left rear wheel is a positive torque, which causes the rear wheel to generate a force in the same direction as the vehicle's forward movement, pushing the vehicle to rotate around the front wheel.

[0093] It should be understood that by controlling the driving torque of the two rear wheels in different directions, the vehicle can rotate with the front wheels as the center of rotation and park accurately and smoothly in the target parking space according to the trajectory of a compass, effectively avoiding collisions with surrounding obstacles during parking and improving the safety and accuracy of parking.

[0094] Figure 9 This is a flowchart illustrating another embodiment of the parking control method provided in this application.

[0095] Combination 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 for compass parking, i.e., the above-mentioned step S101, includes:

[0096] S701: Determine the effective length and effective width of the target parking space.

[0097] In determining whether the dimensions of a target parking space meet the preset dimensions for compass parking, the first step is to determine the effective length and effective width of the target parking space. These are the fundamental parameters for judging whether a parking space can meet the requirements of compass parking. The effective length refers to the available length of the parking space in the direction of vehicle entry and exit. It 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 lateral direction of the vehicle. It must be able to accommodate the width of the vehicle and also allow for a certain margin to ensure that the vehicle does not collide with obstacles on either side of the parking space during parking.

[0098] S702: 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 of compass parking.

[0099] If the effective length and effective width are both greater than the preset length and preset width, it indicates that the target parking space meets the requirements for compass parking in both length and width directions; that is, the dimensions of the target parking space conform to the preset size conditions for compass parking. The preset length and preset width are determined by pre-set rules, reflecting the minimum space required for a vehicle to perform compass parking. Only when both the effective length and effective width of the target parking space are greater than these preset values ​​can it be ensured that the vehicle has sufficient space to turn and move during parking, thus achieving accurate and safe compass parking.

[0100] Figure 10 This is a flowchart illustrating another embodiment of the parking control method provided in this application.

[0101] Combination Figure 10 In some specific embodiments, the steps of determining the effective length and effective width of the target parking space include:

[0102] S801: Obtain the front overhang distance, rear overhang distance, and vehicle width of the vehicle, and obtain the length and width of the target parking space.

[0103] The front and rear overhang distances of a vehicle are important dimensional parameters, reflecting the distances from the front and rear of the vehicle to the center of its wheelbase, respectively. Vehicle width, on the other hand, is the vehicle's lateral dimension. Additionally, the length and width of the target parking space are also necessary, as these parameters directly describe the actual size of the target parking space.

[0104] S802: Add the front overhang distance and the rear overhang distance to get the total distance, subtract the total distance from the parking space length to get the effective length of the target parking space, and subtract the parking space width from the vehicle width to get the effective width of the target parking space.

[0105] After obtaining the vehicle's front overhang distance, rear overhang distance, vehicle width, and the target parking space's length and width, the front and rear overhang distances are first added together to obtain a total distance. This total distance reflects the space occupied by the vehicle along its length. Then, this total distance is subtracted from the target parking space's length to obtain the effective length of the target parking space. Next, the vehicle width is subtracted from the parking space width to obtain the effective width of the target parking space. The front overhang distance refers to the distance from the front of the vehicle along its axial direction to the center of the front axle, and the rear overhang distance refers to the distance from the rear of the vehicle along its axial direction to the center of the rear axle. Accurately obtaining these two distances is crucial for calculating the effective length of the target parking space.

[0106] If the effective length is greater than the preset length and the effective width is greater than the preset width, the steps to determine that the size of the target parking space meets the preset size conditions for compass parking include:

[0107] 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, then the size of the target parking space is determined to meet the preset size conditions of compass parking.

[0108] It should be understood that the product of the vehicle's wheelbase and a first preset coefficient is used as the criterion for determining the preset length, and the product of the vehicle's width and a second preset coefficient is used as the criterion for determining the preset width. This is to more flexibly adapt to the needs of different vehicles and different parking scenarios. The first and second preset coefficients are determined based on a large amount of experimental data and actual parking experience. They can comprehensively consider the space requirements of factors such as the vehicle's turning and movement during the parking process. When the effective length of the target parking space is greater than or equal to the product of the vehicle's wheelbase and the first preset coefficient, and the effective width is greater than or equal to the product of the vehicle's width and the second preset coefficient, it means that the target parking space has sufficient space in both length and width directions for the vehicle to park in a circular parking configuration. This can effectively avoid collisions between the vehicle and surrounding obstacles during the parking process, ensuring the safety and accuracy of parking.

[0109] In some application scenarios, the effective length is set as Leffective, the effective width as Weffective, the front overhang distance as Lk, the rear overhang distance as Lh, the vehicle width as Ws, the vehicle wheelbase as A, the target parking space length as Lp, and the target parking space width as Wp. Then, the formula for calculating the effective length Leffective is Leffective = Lp - (Lk + Lh), and the formula for calculating the effective width Weffective is Weffective = Wp - Ws. Assuming the front overhang distance Lk is 1000mm, the rear overhang distance Lh is 1200mm, the vehicle width Ws is 1800mm, the vehicle wheelbase A is 3000mm, the target parking space length Lp is 6500mm, and the target parking space width Wp is 3000mm. Substituting these data into the above formula, we get the effective length Leffective = 6500 - (1000 + 1200) = 4300mm, and the effective width Weffective = 3000 - 1800 = 1200mm. If the first preset coefficient is set to 1.2 and the second preset coefficient is set to 0.3, then the product of the vehicle wheelbase and the first preset coefficient is 3000 × 1.2 = 3600mm, and the product of the vehicle width and the second preset coefficient is 1800 × 0.3 = 540mm. Since the effective length 4300mm is greater than 3600mm and the effective width 1200mm is greater than 540mm, it can be determined that the dimensions of the target parking space meet the preset dimensions for compass parking.

[0110] A second aspect of this application provides an electronic device, including: a processor; and a memory for storing a computer program, wherein the computer program, when executed by the processor, implements the parking control method of any of the above embodiments.

[0111] Figure 11 This is a schematic diagram of the structural framework of an embodiment of the electronic device 600 provided in this application.

[0112] Combination Figure 11In some specific embodiments, the electronic device 600 includes a central processing unit (CPU) 601 and a read-only memory (ROM) 602. The CPU 601 is a processor, and the ROM 602 is a memory. The CPU 601 can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in the ROM 602 or programs loaded from storage portion 608 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for system operation. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0113] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, 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, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0114] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs various functions defined in the system of this application.

[0115] A third aspect of this application provides a computer-readable storage medium 40, Figure 12This is a schematic diagram of the structural framework of an embodiment of the computer-readable storage medium 40 provided in this application.

[0116] Combination Figure 12 The computer-readable storage medium 40 stores a computer program 41, which, when executed by a processor, implements the parking control method as described in any of the above embodiments.

[0117] It should be noted that the computer-readable medium 40 shown in the embodiments of this application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a 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, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. The transmitted data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0118] In summary, the parking control method, device, and storage medium provided in this application include: detecting 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 they meet, determining a target point within 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 entry side boundary line of the target parking space is a second distance; 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, controlling the vehicle to perform compass parking; wherein the current lateral distance is the distance between the center of the vehicle's rear axle and a reference line, and the reference line is a virtual reference line passing through the target point and parallel to the vehicle entry side boundary line. Therefore, by determining the target point, ensuring that the midpoint of the vehicle's front axle coincides with the target point, and that the current lateral distance is less than or equal to the target lateral distance, the vehicle is in a good initial parking position, avoiding collisions with surrounding obstacles during the parking process, thereby achieving a good parking effect.

[0119] The above description is merely a preferred exemplary embodiment of this application and is not intended to limit the implementation of this application. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of this application. Therefore, the scope of protection of this application should be determined by the scope of protection claimed in 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; 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.

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, 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.

5. 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.

6. 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.

7. The parking control method according to claim 6, 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.

8. 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 1-7.

9. 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 1-7.

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