Automatic parking simulation system and method based on road surface obstacles and related device

Abstract

The invention discloses an automatic parking simulation system and method based on road surface obstacles and a related device, and the system comprises an obstacle model selection and parameter configuration device which is used for obtaining a target obstacle model selected by a user and input configuration parameter information of the target obstacle model, and according to the target obstacle model and the configuration parameter information, obtaining a target obstacle model according to the target obstacle model and the configuration parameter information; determining a trajectory function on a target plane when the wheel crosses a target obstacle corresponding to the target obstacle model; a gradient calculator for calculating a gradient function according to the trajectory function; the obstacle editor is used for receiving the placement position and the geometrical shape of the target obstacle edited and set by the user; the obstacle description file generator is used for generating description file information of the target obstacle according to the gradient function, the placement position and the geometrical shape; and the simulator is used for calculating the total resistance borne by the vehicle according to the description file information of the target obstacle and the attribute information of the wheels, and inputting the total resistance into the dynamic vehicle model for simulation.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and more specifically, to an automatic parking simulation system, method, and related apparatus based on road obstacles. Background Technology

[0002] During the mass production phase of parking product development, as the number of parking lots covered by the product continues to increase, the number of situations where obstacles on the ground are encountered gradually increases. In order to ensure the safety of the parking system under various operating conditions, the R&D personnel need to test extreme scenarios with various ground obstacles.

[0003] However, traditional simulation methods require a professional team to develop a complete simulator for different obstacle scenarios, which is not only costly but also relatively inefficient. Summary of the Invention

[0004] This application provides an automatic parking simulation system, method, and related apparatus based on road obstacles, which can improve simulation efficiency and reduce the development cost of the simulation system.

[0005] The specific technical solution is as follows:

[0006] In a first aspect, embodiments of this application provide an automatic parking simulation system based on road obstacles, the system comprising:

[0007] An obstacle model selector and parameter configurator is used to obtain the target obstacle model selected by the user and the configuration parameter information of the target obstacle model input, and to determine the trajectory function of the wheel on the target plane when it passes the target obstacle corresponding to the target obstacle model based on the target obstacle model and the configuration parameter information, wherein the target plane is a plane parallel to the cross-section of the target obstacle;

[0008] A slope calculator, used to calculate the slope function based on the trajectory function;

[0009] An obstacle editor is used to receive the placement position and geometry of the target obstacle set by the user through editing.

[0010] An obstacle description file generator is used to generate description file information of the target obstacle based on the slope function, the placement position, and the geometry.

[0011] The simulator is used to calculate the total resistance borne by the vehicle based on the description file information of the target obstacle and the attribute information of the wheels, and input the total resistance into the dynamic vehicle model for simulation.

[0012] As can be seen from the above scheme, the automatic parking simulation system provided in this application embodiment only requires technicians (i.e., users) to select a pre-set target obstacle model and input the configuration parameter information of the target obstacle model in the human-computer interaction interface of the obstacle model selection and parameter configurator. Then, the placement position and geometry of the target obstacle are edited and set in the human-computer interaction interface of the obstacle editor. Afterwards, the obstacle model selection and parameter configurator in the simulation system automatically generates a trajectory function, the slope calculator calculates the slope function based on the trajectory function, and the obstacle description file generator generates the description file information of the target obstacle based on the slope function, the placement position, and the geometry. Finally, the simulation calculates the total resistance borne by the vehicle based on the description file information and the wheel attribute information, and inputs the total resistance into the dynamic vehicle model for simulation. Therefore, the automatic parking simulation system provided in this application embodiment only requires users to perform simple configuration according to simulation needs, without the need to develop a complete simulator for each obstacle scenario. This not only reduces the professional requirements of technicians and lowers R&D costs, but also improves simulation efficiency.

[0013] In one possible implementation, the slope calculator is used to obtain the slope function by calculating the derivative of the trajectory function; and / or,

[0014] The simulator is used to determine the number of wheels bearing resistance based on the length of the target obstacle and the position information of the wheels in the description file information of the target obstacle when the attribute information of the wheels includes the position information of the wheels. It also calculates the resistance borne by each wheel according to the slope function and the target gravity, projects the resistance borne by each wheel onto the centerline of the vehicle, and calculates the total resistance borne by the vehicle based on the number of wheels and the projection of the resistance borne by each wheel.

[0015] As can be seen from the above scheme, compared with blindly calculating the total resistance based on the resistance of the four wheels, the embodiment of this application first determines the number of wheels that actually bear the resistance based on the actual situation of the vehicle passing over the obstacle, and then determines the total resistance, which can improve the accuracy of the total resistance.

[0016] In one possible implementation, when the target obstacle model is a speed bump model, the configuration parameter information includes the width of the speed bump and the height of the speed bump apex.

[0017] The obstacle model selector and parameter configurator is used to calculate the trajectory function according to the first formula;

[0018] The first formula includes:

[0019]

[0020] Wherein, f(x) represents the trajectory function, A represents the height, L1 represents the width, x represents the coordinate of the wheel on the x-axis of the first coordinate system during the wheel's movement, and R represents the wheel radius;

[0021] The method for establishing the first coordinate system includes: in the cross-section of the speed bump corresponding to the speed bump model, taking the endpoint closest to the wheel that does not touch the speed bump as the origin, taking the line parallel to the ground as the x-axis, and taking the direction perpendicular to the ground upward as the z-axis, the first coordinate system is established, wherein the direction of travel when the wheel passes the speed bump is the positive direction of the x-axis, and the direction perpendicular to the ground upward is the positive direction of the z-axis.

[0022] In one possible implementation, when the target obstacle model is a step model, the configuration parameter information includes the step height, and the wheel parameter information also includes the wheel radius;

[0023] The obstacle model selector and parameter configurator is used to calculate the trajectory function according to the second formula;

[0024] The second formula includes:

[0025]

[0026] Wherein, f(x) represents the trajectory function, x represents the coordinate of the wheel on the x-axis of the second coordinate system during the wheel's movement, H represents the step height, R represents the wheel radius, and L2 represents the distance from the point of tangency between the wheel and the ground to the step when the wheel first contacts the step.

[0027] The method for establishing the second coordinate system includes: taking the center point of the wheel as the origin when the wheel crosses over the step plane and is tangent to the step plane for the first time, taking the driving direction of the wheel at this time as the positive x-axis, and taking the direction perpendicular to the x-axis upward as the positive z-axis, and establishing the second coordinate system.

[0028] Secondly, embodiments of this application provide an automatic parking simulation method based on road obstacles, the method comprising:

[0029] The system obtains the target obstacle model selected by the user and the configuration parameter information of the target obstacle model, and determines the trajectory function of the wheel on the target plane when it passes the target obstacle corresponding to the target obstacle model, based on the target obstacle model and the configuration parameter information, wherein the target plane is a plane parallel to the cross-section of the target obstacle;

[0030] Calculate the slope function based on the trajectory function;

[0031] Receives the placement position and geometry of the target obstacle as set by the user through editing;

[0032] Based on the slope function, the placement location, and the geometry, a description file of the target obstacle is generated;

[0033] Based on the description file information of the target obstacle and the attribute information of the wheels, the total resistance borne by the vehicle is calculated, and the total resistance is input into the dynamic vehicle model for simulation.

[0034] In one possible implementation, the wheel's attribute information includes the wheel's position information. Based on the description file information of the target obstacle and the wheel's attribute information, the total resistance borne by the vehicle is calculated, including:

[0035] Based on the length of the target obstacle and the position information of the wheels in the description file of the target obstacle, determine the number of wheels that bear the resistance;

[0036] The resistance borne by each wheel is calculated based on the slope function and the target gravity, and the resistance borne by each wheel is projected onto the central axis of the vehicle.

[0037] The total resistance borne by the vehicle is calculated based on the number of wheels and the projection of the resistance borne by each wheel.

[0038] In one possible implementation, when the target obstacle model is a speed bump model, the configuration parameter information includes the width of the speed bump and the height of the speed bump apex.

[0039] The step of determining the trajectory function on the target plane when the wheel passes over the target obstacle corresponding to the target obstacle model, based on the target obstacle model and the configuration parameter information, includes:

[0040] The trajectory function is calculated according to the first formula;

[0041] The first formula includes:

[0042]

[0043] Wherein, f(x) represents the trajectory function, A represents the height, L1 represents the width, x represents the coordinate of the wheel on the x-axis of the first coordinate system during the wheel's movement, and R represents the wheel radius;

[0044] The method for establishing the first coordinate system includes: in the cross-section of the speed bump corresponding to the speed bump model, taking the endpoint closest to the wheel that does not touch the speed bump as the origin, taking the line parallel to the ground as the x-axis, and taking the direction perpendicular to the ground upward as the z-axis, the first coordinate system is established, wherein the direction of travel when the wheel passes the speed bump is the positive direction of the x-axis, and the direction perpendicular to the ground upward is the positive direction of the z-axis.

[0045] In one possible implementation, when the target obstacle model is a step model, the configuration parameter information includes the step height, and the wheel parameter information also includes the wheel radius;

[0046] The step of determining the trajectory function on the target plane when the wheel passes over the target obstacle corresponding to the target obstacle model, based on the target obstacle model and the configuration parameter information, includes:

[0047] Calculate the trajectory function according to the second formula;

[0048] The second formula includes:

[0049]

[0050] Wherein, f(x) represents the trajectory function, x represents the coordinate of the wheel on the x-axis of the second coordinate system during the wheel's movement, H represents the step height, R represents the wheel radius, and L2 represents the distance from the point of tangency between the wheel and the ground to the step when the wheel first contacts the step.

[0051] The method for establishing the second coordinate system includes: taking the center point of the wheel as the origin when the wheel crosses over the step plane and is tangent to the step plane for the first time, taking the driving direction of the wheel at this time as the positive x-axis, and taking the direction perpendicular to the x-axis upward as the positive z-axis, and establishing the second coordinate system.

[0052] As can be seen from the above scheme, the automatic parking simulation method provided in this application embodiment only requires the technician (i.e., the user) to select a pre-set target obstacle model in the human-computer interaction interface of the obstacle model selection and parameter configuration device, and input the configuration parameter information of the target obstacle model. In the human-computer interaction interface of the obstacle editor, the placement position and geometry of the target obstacle are edited and set. Then, the obstacle model selection and parameter configuration device in the simulation system automatically generates a trajectory function, the slope calculator calculates the slope function based on the trajectory function, and the obstacle description file generator generates the description file information of the target obstacle based on the slope function, the placement position, and the geometry. Finally, the simulation calculates the total resistance borne by the vehicle based on the description file information and the wheel attribute information, and inputs the total resistance into the dynamic vehicle model for simulation. Therefore, the automatic parking simulation system provided in this application embodiment only requires the user to perform simple configuration according to the simulation requirements, without the need to develop a complete simulator for each obstacle scenario. This not only reduces the professional requirements of the technicians and the R&D cost, but also improves simulation efficiency.

[0053] Thirdly, embodiments of this application provide an automatic parking simulation device based on road obstacles, the device comprising:

[0054] The acquisition unit is used to acquire the target obstacle model selected by the user and the configuration parameter information of the target obstacle model input by the user;

[0055] The determining unit is configured to determine, based on the target obstacle model and the configuration parameter information, the trajectory function of the wheel on the target plane when it passes over the target obstacle corresponding to the target obstacle model, wherein the target plane is a plane parallel to the cross-section of the target obstacle;

[0056] The first calculation unit is used to calculate the slope function based on the trajectory function;

[0057] The receiving unit is used to receive the placement position and geometry of the target obstacle set by the user through editing.

[0058] The generation unit is used to generate a description file of the target obstacle based on the slope function, the placement position, and the geometry.

[0059] The second calculation unit is used to calculate the total resistance borne by the vehicle based on the description file information of the target obstacle and the attribute information of the wheels, and input the total resistance into the dynamic vehicle model for simulation.

[0060] In one possible implementation, the attribute information of the wheel includes the position information of the wheel, and the second calculation unit includes:

[0061] The determination module is used to determine the number of wheels that bear resistance based on the length of the target obstacle and the position information of the wheels in the description file information of the target obstacle;

[0062] The projection module is used to calculate the resistance borne by each wheel according to the slope function and the target gravity, and project the resistance borne by each wheel onto the central axis of the vehicle.

[0063] The calculation module is used to calculate the total resistance borne by the vehicle based on the number of wheels and the projection of the resistance borne by each wheel.

[0064] In one possible implementation, when the target obstacle model is a speed bump model, the configuration parameter information includes the width of the speed bump and the height of the speed bump apex.

[0065] A determining unit is used to calculate the trajectory function according to the first formula;

[0066] The first formula includes:

[0067]

[0068] Wherein, f(x) represents the trajectory function, A represents the height, L1 represents the width, x represents the coordinate of the wheel on the x-axis of the first coordinate system during the wheel's movement, and R represents the wheel radius;

[0069] The method for establishing the first coordinate system includes: in the cross-section of the speed bump corresponding to the speed bump model, taking the endpoint closest to the wheel when the wheel does not touch the speed bump as the origin, taking the line parallel to the ground as the x-axis, and taking the direction perpendicular to the ground upward as the z-axis, the first coordinate system is established, wherein the direction of travel when the wheel passes the speed bump is the positive direction of the x-axis, and the direction perpendicular to the ground upward is the positive direction of the z-axis.

[0070] In one possible implementation, when the target obstacle model is a step model, the configuration parameter information includes the step height, and the wheel parameter information also includes the wheel radius;

[0071] A determining unit is used to calculate the trajectory function according to the second formula;

[0072] The second formula includes:

[0073]

[0074] Wherein, f(x) represents the trajectory function, x represents the coordinate of the wheel on the x-axis of the second coordinate system during the wheel's movement, H represents the step height, R represents the wheel radius, and L2 represents the distance from the point of tangency between the wheel and the ground to the step when the wheel first contacts the step.

[0075] The method for establishing the second coordinate system includes: taking the center point of the wheel as the origin when the wheel crosses over the step plane and is tangent to the step plane for the first time, taking the driving direction of the wheel at this time as the positive x-axis, and taking the direction perpendicular to the x-axis upward as the positive z-axis, and establishing the second coordinate system.

[0076] As can be seen from the above scheme, the automatic parking simulation device provided in this application embodiment only requires the technician (i.e., the user) to select a pre-set target obstacle model in the human-computer interaction interface of the obstacle model selection and parameter configuration device, and input the configuration parameter information of the target obstacle model. In the human-computer interaction interface of the obstacle editor, the placement position and geometry of the target obstacle are edited and set. Then, the obstacle model selection and parameter configuration device in the simulation system automatically generates a trajectory function, the slope calculator calculates the slope function based on the trajectory function, and the obstacle description file generator generates the description file information of the target obstacle based on the slope function, the placement position, and the geometry. Finally, the simulation calculates the total resistance borne by the vehicle based on the description file information and the wheel attribute information, and inputs the total resistance into the dynamic vehicle model for simulation. Therefore, the automatic parking simulation system provided in this application embodiment only requires the user to perform simple configuration according to the simulation requirements, without the need to develop a complete simulator for each obstacle scenario. This not only reduces the professional requirements of the technicians and the R&D costs, but also improves simulation efficiency.

[0077] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method as described in any possible implementation of the second aspect.

[0078] Fifthly, embodiments of this application provide an electronic device, which includes:

[0079] One or more processors;

[0080] The processor is coupled to a storage device for storing one or more programs;

[0081] When one or more programs are executed by one or more processors, the electronic device performs the method as described in any possible implementation of the second aspect.

[0082] In a sixth aspect, embodiments of this application provide a computer program product containing instructions that, when executed on a computer or processor, cause the computer or processor to perform the method described in any possible implementation of the second aspect. Attached Figure Description

[0083] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0084] Figure 1 A schematic diagram of the structure of an automatic parking simulation system based on road obstacles provided in this application embodiment;

[0085] Figure 2 An example diagram illustrating a method for establishing a coordinate system for a speed bump model provided in this application embodiment;

[0086] Figure 3 An example diagram of a speed bump resistance function curve provided in an embodiment of this application;

[0087] Figure 4 An example diagram illustrating a method for establishing a coordinate system for a step model provided in this application embodiment;

[0088] Figure 5 A flowchart illustrating an automatic parking simulation method based on road obstacles provided in this application embodiment;

[0089] Figure 6 A block diagram illustrating the composition of an automatic parking simulation device based on road obstacles, provided in this application embodiment;

[0090] Figure 7 This is a schematic diagram of the structure of an electronic device or computer device provided in an embodiment of this application. Detailed Implementation

[0091] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0092] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The terms "comprising" and "having," and any variations thereof, in the embodiments and drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0093] To reduce R&D costs and improve simulation efficiency, this application provides an automatic parking simulation system based on road obstacles, such as... Figure 1 As shown, the system includes: an obstacle model selector and parameter configurator 110, a slope calculator 120, an obstacle editor 130, an obstacle description file generator 140, and a simulator 150;

[0094] The obstacle model selector and parameter configurator 110 is used to obtain the target obstacle model selected by the user and the configuration parameter information of the input target obstacle model, and to determine the trajectory function on the target plane when the wheel crosses the target obstacle corresponding to the target obstacle model based on the target obstacle model and the configuration parameter information, wherein the target plane is a plane parallel to the cross-section of the target obstacle;

[0095] Slope Calculator 120 is used to calculate the slope function based on the trajectory function;

[0096] The obstacle editor 130 is used to receive the placement position and geometry of the target obstacle set by the user through editing.

[0097] Obstacle description file generator 140 is used to generate description file information of the target obstacle based on the slope function, placement location and geometry;

[0098] Simulator 150 is used to calculate the total resistance borne by the vehicle based on the description file information of the target obstacle and the attribute information of the wheels, and input the total resistance into the dynamic vehicle model for simulation.

[0099] In this embodiment, the obstacle model includes a speed bump model and / or a step model. Therefore, the target obstacle model selected by the user can be either a speed bump model or a step model. The speed bump model can simulate a speed bump, while the step model can simulate obstacles such as curbs, parking space bottom limiters, and bricks.

[0100] When the target obstacle model is a speed bump model, the configuration parameter information includes the width of the speed bump and the height of the top of the speed bump; when the target obstacle model is a step model, the configuration parameter information includes the step height.

[0101] The automatic parking simulation system includes a human-machine interface. Users can select a target obstacle model and input its configuration parameters in the obstacle model selection and parameter configurator 110 interface. They can then edit the placement and geometry of the target obstacle in the obstacle editor 130 interface. The editable geometry includes geometric attributes other than the configuration parameters, such as length and curvature.

[0102] The description file information of the target obstacle includes the slope function, placement location and geometry, and the wheel attribute information includes the wheel position information and / or wheel radius.

[0103] After obtaining the description file information of the target obstacle and the attribute information of the wheels, the simulator 150 can use the description file information of the target obstacle and the attribute information of the wheels to first calculate the resistance borne by each wheel that passes the target obstacle, then calculate the total resistance borne by the vehicle, and finally input the total resistance into the dynamic vehicle model for simulation.

[0104] The automatic parking simulation system based on road obstacles provided in this application embodiment only requires technicians (i.e., users) to select a pre-set target obstacle model and input its configuration parameters through the human-computer interaction interface of the obstacle model selection and parameter configuration tool. The placement position and geometry of the target obstacle are then edited and set in the human-computer interaction interface of the obstacle editor. The obstacle model selection and parameter configuration tool automatically generates a trajectory function, the slope calculator calculates the slope function based on the trajectory function, and the obstacle description file generator generates a description file for the target obstacle based on the slope function, placement position, and geometry. Finally, the simulation tool calculates the total resistance borne by the vehicle based on the description file information and wheel attribute information, and inputs the total resistance into the dynamic vehicle model for simulation. Therefore, the automatic parking simulation system provided in this application embodiment only requires simple configuration by the user according to simulation needs, without the need to develop a complete simulator for each obstacle scenario. This not only reduces the professional requirements for technicians and lowers R&D costs but also improves simulation efficiency.

[0105] In one implementation, the slope calculator 120 is used to obtain the slope function by calculating the derivative of the trajectory function; and / or,

[0106] The simulator 150 is used to determine the number of wheels bearing resistance based on the length of the target obstacle and the position information of the wheels in the description file of the target obstacle when the attribute information of the wheels includes the position information of the wheels. It calculates the resistance borne by each wheel according to the slope function and the target gravity, projects the resistance borne by each wheel onto the centerline of the vehicle, and calculates the total resistance borne by the vehicle based on the number of wheels and the projection of the resistance borne by each wheel.

[0107] The vehicle's positioning system typically locates the position information of a reference point on the vehicle, such as the center point of the rear axle. Therefore, the position information of the wheels can be determined based on the position information of the reference point on the vehicle and the relative positional relationship between the reference point and the wheel. The target gravity can be obtained based on the principles of physical force analysis; it may be the weight of a single wheel, or it may be greater than the weight of a single wheel.

[0108] In practical applications, due to issues such as the target obstacle being short or the vehicle traveling within the boundary area of ​​the target obstacle, only some wheels may pass over the target obstacle. For example, only the two wheels on the left may pass over the target obstacle, while the two wheels on the right may only travel on flat ground without obstacles. Therefore, it is necessary to first determine the number of wheels bearing the resistance based on the length of the target obstacle and the position information of the wheels in the target obstacle description file, and then calculate the total resistance borne by the vehicle based on the number of wheels and the projection of the resistance borne by each wheel.

[0109] In one implementation, when the target obstacle model is a speed bump model, the configuration parameter information includes the width of the speed bump and the height of the speed bump apex.

[0110] Obstacle model selector and parameter configurator 110 is used to calculate the trajectory function according to the first formula;

[0111] The first formula includes:

[0112]

[0113] Where f(x) represents the trajectory function, A represents the height, L1 represents the width, x represents the coordinate on the x-axis of the first coordinate system during the wheel's movement, and R represents the wheel radius.

[0114] The method for establishing the first coordinate system includes: in the cross-section of the speed bump model, taking the endpoint closest to the wheel where the wheel has not touched the speed bump as the origin, the line parallel to the ground as the x-axis, and the vertical upward direction as the z-axis, establishing the first coordinate system. The direction of travel when the wheel passes the speed bump is the positive direction of the x-axis, and the direction perpendicular to the ground is the positive direction of the z-axis. Figure 2In the diagram, the origin is point O, and the other endpoint of the cross-section is point A. The force exerted on the wheel on the speed bump can be represented by F. n Decompose into F z (Target gravity) and F d (resistance).

[0115] After determining the trajectory function f(x), the slope function is obtained by taking the derivative of f(x).

[0116]

[0117] Then calculate the resistance.

[0118]

[0119] like Figure 3 As shown, the solid line represents F. d The function curve of (x), i.e., F d The curve relationship with x, with the dashed line representing the cross-sectional outline of the speed bump.

[0120] In one implementation, when the target obstacle model is a step model, the configuration parameter information includes the step height, and the wheel parameter information also includes the wheel radius.

[0121] Obstacle model selector and parameter configurator 110 is used to calculate the trajectory function according to the second formula;

[0122] The second formula includes:

[0123]

[0124] Where f(x) represents the trajectory function, x represents the coordinate of the wheel on the x-axis in the second coordinate system during the wheel's movement, H represents the step height, R represents the wheel radius, and L2 represents the distance from the point of tangency between the wheel and the ground to the step when the wheel first contacts the step.

[0125] like Figure 4 As shown, the method for establishing the second coordinate system includes: taking the center point of the wheel when it crosses over the step plane and is tangent to the step plane for the first time as the origin, taking the direction of the wheel's travel at this time as the positive x-axis, and taking the direction perpendicular to the x-axis upwards as the positive z-axis, thus establishing the second coordinate system. The solid circle in the figure represents the position when the wheel just touches the step, and the dashed circle represents the position when the wheel crosses over the step plane and is tangent to the step plane for the first time.

[0126] After obtaining the trajectory function f(x), we can first differentiate f(x) to obtain the slope function slope(x), and then combine the slope function slope(x) with the target gravity F. z Multiply to obtain the resistance F d (x).

[0127] It should be noted that the method for establishing the coordinate system of the target obstacle model in this application embodiment is not limited. However, the coordinate system established in the following way is convenient for calculating resistance: taking the longitudinal central axis of the target obstacle as a reference, taking the direction parallel to the ground and perpendicular to the longitudinal central axis as the x-axis, and taking the coordinate axis perpendicular to the ground and perpendicular to the x-axis direction as the z-axis. The position of the origin is not limited.

[0128] Another embodiment of this application provides an automatic parking simulation method based on road obstacles, which can be applied to electronic devices or computer equipment, such as... Figure 5 As shown, the method includes:

[0129] S210: Obtain the target obstacle model selected by the user and the configuration parameter information of the input target obstacle model, and determine the trajectory function on the target plane when the wheel crosses the target obstacle corresponding to the target obstacle model based on the target obstacle model and the configuration parameter information.

[0130] The automatic parking simulation system includes a human-machine interface, through which users can select a target obstacle model and input its configuration parameters.

[0131] The obstacle model includes speed bump models and / or step models, so the target obstacle model selected by the user can be either a speed bump model or a step model. The speed bump model can simulate speed bumps, while the step model can simulate obstacles such as curbs, parking space bottom limiters, and bricks. When the target obstacle model is a speed bump model, the configuration parameters include the width of the speed bump and the height of its apex; when the target obstacle model is a step model, the configuration parameters include the step height.

[0132] After obtaining the target obstacle model and configuration parameter information, the trajectory function of the wheel on the target plane when it crosses the target obstacle corresponding to the target obstacle model can be determined based on the target obstacle model and configuration parameter information. The target plane is a plane parallel to the cross-section of the target obstacle.

[0133] The methods for determining the trajectory function are explained in detail below for both the speed bump model and the step model:

[0134] (I) Speed ​​Bump Model

[0135] When the target obstacle model is a speed bump model, the configuration parameter information includes the width of the speed bump and the height of the speed bump apex.

[0136] Calculate the trajectory function according to the first formula;

[0137] The first formula includes:

[0138]

[0139] Where f(x) represents the trajectory function, A represents the height, L1 represents the width, x represents the coordinate of the wheel on the x-axis of the first coordinate system during the wheel's movement, and R represents the wheel radius.

[0140] The method for establishing the first coordinate system includes: in the cross-section of the speed bump model, taking the endpoint closest to the wheel that is not in contact with the speed bump as the origin, taking the line parallel to the ground as the x-axis, and taking the direction perpendicular to the ground upward as the z-axis, the first coordinate system is established, wherein the direction of travel when the wheel passes over the speed bump is the positive direction of the x-axis, and the direction perpendicular to the ground upward is the positive direction of the z-axis.

[0141] (II) Staircase Model

[0142] When the target obstacle model is a step model, the configuration parameter information includes the step height, and the wheel parameter information also includes the wheel radius.

[0143] Calculate the trajectory function according to the second formula;

[0144] The second formula includes:

[0145]

[0146] Where f(x) represents the trajectory function, x represents the coordinate of the wheel on the x-axis in the second coordinate system during the wheel's movement, H represents the step height, R represents the wheel radius, and L2 represents the distance from the point of tangency between the wheel and the ground to the step when the wheel first contacts the step.

[0147] The method for establishing the second coordinate system includes: taking the center point of the wheel when it crosses the step plane and is tangent to the step plane for the first time as the origin, taking the direction of the wheel's travel at this time as the positive x-axis, and taking the direction perpendicular to the x-axis upward as the positive z-axis, and establishing the second coordinate system.

[0148] S220: Calculate the slope function based on the trajectory function.

[0149] The slope function can be derived from the trajectory function, and the slope function can be discretized to obtain serialized slope values, which can speed up the calculation of resistance later.

[0150] S230: Receives the placement position and geometry of the target obstacle set by the user through editing.

[0151] Users can edit the placement and geometry of target obstacles through the human-machine interface of the automatic parking simulation system. The editable geometry includes geometric attributes other than configuration parameters, such as length and curvature.

[0152] S240: Generate description file information for the target obstacle based on the slope function, placement location, and geometry.

[0153] The description file information conforms to the file format used by the simulator for calculation, including the slope function, placement location, and geometry.

[0154] S250: Based on the description file information of the target obstacle and the attribute information of the wheels, calculate the total resistance borne by the vehicle and input the total resistance into the dynamic vehicle model for simulation.

[0155] The wheel's attribute information includes its position and may also include its radius.

[0156] In practical applications, due to issues such as the target obstacle being short or the vehicle traveling within the boundary area of ​​the target obstacle, only some wheels may pass over the target obstacle. For example, only the two wheels on the left may pass over the target obstacle, while the two wheels on the right may only travel on flat ground without obstacles. Therefore, it is necessary to first determine the number of wheels bearing the resistance based on the length of the target obstacle and the position information of the wheels in the target obstacle description file, and then calculate the total resistance borne by the vehicle based on the number of wheels and the projection of the resistance borne by each wheel.

[0157] Specifically, the number of wheels bearing resistance can be determined first based on the length of the target obstacle and the position information of the wheels in the description file of the target obstacle; then, the resistance borne by each wheel can be calculated based on the slope function and the target gravity, and the resistance borne by each wheel can be projected onto the centerline of the vehicle; finally, the total resistance borne by the vehicle can be calculated based on the number of wheels and the projection of the resistance borne by each wheel.

[0158] The vehicle's positioning system typically locates the position information of a reference point on the vehicle, such as the center point of the rear axle. Therefore, the position information of the wheels can be determined based on the position information of the reference point on the vehicle and the relative positional relationship between the reference point and the wheel. The target gravity can be obtained based on the principles of physical force analysis; it may be the weight of a single wheel, or it may be greater than the weight of a single wheel.

[0159] The automatic parking simulation method based on road obstacles provided in this application only requires the technician (i.e., the user) to select a pre-set target obstacle model and input the configuration parameters of the target obstacle model through the human-computer interaction interface of the obstacle model selection and parameter configuration device. The placement position and geometry of the target obstacle are then edited and set in the human-computer interaction interface of the obstacle editor. The obstacle model selection and parameter configuration device in the simulation system automatically generates a trajectory function, the slope calculator calculates the slope function based on the trajectory function, and the obstacle description file generator generates the description file information of the target obstacle based on the slope function, the placement position, and the geometry. Finally, the simulation calculates the total resistance borne by the vehicle based on the description file information and the wheel attribute information, and inputs the total resistance into the dynamic vehicle model for simulation. Therefore, the automatic parking simulation system provided in this application only requires simple configuration by the user according to the simulation requirements, without the need to develop a complete simulator for each obstacle scenario. This not only reduces the professional requirements of the technicians and the R&D costs but also improves simulation efficiency.

[0160] Based on the above method embodiments, another embodiment of this application provides an automatic parking simulation device based on road obstacles, such as... Figure 6 As shown, the device includes:

[0161] The acquisition unit 310 is used to acquire the target obstacle model selected by the user and the configuration parameter information of the target obstacle model input;

[0162] The determining unit 320 is used to determine the trajectory function of the wheel on the target plane when it passes the target obstacle corresponding to the target obstacle model, based on the target obstacle model and the configuration parameter information, wherein the target plane is a plane parallel to the cross-section of the target obstacle;

[0163] The first calculation unit 330 is used to calculate the slope function based on the trajectory function;

[0164] The receiving unit 340 is used to receive the placement position and geometry of the target obstacle set by the user through editing.

[0165] The generation unit 350 is used to generate a description file of the target obstacle based on the slope function, the placement position, and the geometry.

[0166] The second calculation unit 360 is used to calculate the total resistance borne by the vehicle based on the description file information of the target obstacle and the attribute information of the wheel, and input the total resistance into the dynamic vehicle model for simulation.

[0167] In one possible implementation, the attribute information of the wheel includes the position information of the wheel, and the second calculation unit 360 includes:

[0168] The determination module is used to determine the number of wheels that bear resistance based on the length of the target obstacle and the position information of the wheels in the description file information of the target obstacle;

[0169] The projection module is used to calculate the resistance borne by each wheel according to the slope function and the target gravity, and project the resistance borne by each wheel onto the central axis of the vehicle.

[0170] The calculation module is used to calculate the total resistance borne by the vehicle based on the number of wheels and the projection of the resistance borne by each wheel.

[0171] In one possible implementation, when the target obstacle model is a speed bump model, the configuration parameter information includes the width of the speed bump and the height of the speed bump apex.

[0172] The determining unit 320 is used to calculate the trajectory function according to the first formula;

[0173] The first formula includes:

[0174]

[0175] Wherein, f(x) represents the trajectory function, A represents the height, L1 represents the width, x represents the coordinate of the wheel on the x-axis of the first coordinate system during the wheel's movement, and R represents the wheel radius;

[0176] The method for establishing the first coordinate system includes: in the cross-section of the speed bump corresponding to the speed bump model, taking the endpoint closest to the wheel that does not touch the speed bump as the origin, taking the line parallel to the ground as the x-axis, and taking the direction perpendicular to the ground upward as the z-axis, the first coordinate system is established, wherein the direction of travel when the wheel passes the speed bump is the positive direction of the x-axis, and the direction perpendicular to the ground upward is the positive direction of the z-axis.

[0177] In one possible implementation, when the target obstacle model is a step model, the configuration parameter information includes the step height, and the wheel parameter information also includes the wheel radius;

[0178] The determining unit 320 is used to calculate the trajectory function according to the second formula;

[0179] The second formula includes:

[0180]

[0181] Wherein, f(x) represents the trajectory function, x represents the coordinate of the wheel on the x-axis of the second coordinate system during the wheel's movement, H represents the step height, R represents the wheel radius, and L2 represents the distance from the point of tangency between the wheel and the ground to the step when the wheel first contacts the step.

[0182] The method for establishing the second coordinate system includes: taking the center point of the wheel as the origin when the wheel crosses over the step plane and is tangent to the step plane for the first time, taking the driving direction of the wheel at this time as the positive x-axis, and taking the direction perpendicular to the x-axis upward as the positive z-axis, and establishing the second coordinate system.

[0183] The automatic parking simulation device based on road obstacles provided in this application embodiment only requires technicians (i.e., users) to select a pre-set target obstacle model and input its configuration parameters through the human-computer interaction interface of the obstacle model selection and parameter configuration tool. The placement position and geometry of the target obstacle are then edited and set in the human-computer interaction interface of the obstacle editor. The obstacle model selection and parameter configuration tool in the simulation system automatically generates a trajectory function, the slope calculator calculates the slope function based on the trajectory function, and the obstacle description file generator generates a description file of the target obstacle based on the slope function, the placement position, and the geometry. Finally, the simulation tool calculates the total resistance borne by the vehicle based on the description file information and wheel attribute information, and inputs the total resistance into the dynamic vehicle model for simulation. Therefore, the automatic parking simulation system provided in this application embodiment only requires simple configuration by the user according to simulation needs, without the need to develop a complete simulator for each obstacle scenario. This not only reduces the professional requirements for technicians and lowers R&D costs but also improves simulation efficiency.

[0184] Based on the above method embodiments, another embodiment of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in any of the above embodiments.

[0185] Based on the above method embodiments, another embodiment of this application provides an electronic device or computer device, such as... Figure 7 As shown, it includes:

[0186] One or more processors 410;

[0187] The processor 410 is coupled to a storage device 420, the storage device 420 being used to store one or more programs;

[0188] When the one or more programs are executed by the one or more processors 410, the electronic device or computer device performs the method as described in any of the above embodiments.

[0189] Based on the above embodiments, another embodiment of this application provides a computer program product, which includes instructions that, when executed on a computer or processor, cause the computer or processor to perform the method described in any of the above embodiments.

[0190] The above-described apparatus embodiments correspond to the method embodiments and have the same technical effects. For detailed descriptions, please refer to the method embodiments. The apparatus embodiments are derived from the method embodiments; detailed descriptions can be found in the method embodiments section, and will not be repeated here. Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of one embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application.

[0191] Those skilled in the art will understand that the modules in the apparatus of the embodiments can be distributed in the apparatus of the embodiments as described in the embodiments, or they can be located in one or more devices different from this embodiment with corresponding changes. The modules of the above embodiments can be combined into one module, or they can be further divided into multiple sub-modules.

[0192] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A system for automatic parking simulation based on road surface obstacles, characterized in that, The system comprises: an obstacle model selection and parameter configurator configured to obtain a target obstacle model selected by a user and input configuration parameter information of the target obstacle model, and determine a trajectory function of a vehicle wheel on a target plane when the vehicle wheel crosses a target obstacle corresponding to the target obstacle model according to the target obstacle model and the configuration parameter information, wherein the target plane is a plane parallel to a cross section of the target obstacle; a slope calculator configured to calculate a slope function according to the trajectory function; an obstacle editor configured to receive a placement position and a geometric shape of the target obstacle set by editing by a user; an obstacle description file generator configured to generate description file information of the target obstacle according to the slope function, the placement position and the geometric shape; a simulator configured to calculate total resistance borne by the vehicle according to the description file information of the target obstacle and attribute information of the vehicle wheel, and input the total resistance into a dynamic vehicle model for simulation.

2. The system of claim 1, wherein, The slope calculator is configured to obtain the slope function by calculating a derivative of the trajectory function; and / or, The simulator is configured to, when the attribute information of the vehicle wheel includes position information of the vehicle wheel, determine a number of vehicle wheels bearing resistance according to a target obstacle length in the description file information of the target obstacle and the position information of the vehicle wheel, calculate resistance borne by each of the vehicle wheels according to the slope function and target gravity respectively, project the resistance borne by each of the vehicle wheels to a center axis of the vehicle, and calculate the total resistance borne by the vehicle according to the number of the vehicle wheels and the projections of the resistance borne by each of the vehicle wheels.

3. The system of claim 1, wherein, When the target obstacle model is a speed bump model, the configuration parameter information includes a width of the speed bump and a height of a vertex of the speed bump; The obstacle model selection and parameter configurator is configured to calculate the trajectory function according to a first formula; The first formula comprises: wherein the f(x) represents the trajectory function, the A represents the height, the L1 represents the width, the x represents a coordinate of the vehicle wheel on an x-axis of a first coordinate system in a driving process of the vehicle wheel, and the R represents a wheel radius; The first coordinate system is established by taking an endpoint of a cross section of a speed bump corresponding to the speed bump model and closest to the vehicle wheel as an origin, taking a line parallel to the ground as an x-axis, and taking a direction perpendicular to the ground as a z-axis, wherein a driving direction of the vehicle wheel when driving through the speed bump is a positive direction of the x-axis, and a direction perpendicular to the ground is a positive direction of the z-axis.

4. The system of any one of claims 1-3, wherein, When the target obstacle model is a step model, the configuration parameter information includes a step height, and the attribute information of the vehicle wheel further includes a wheel radius; The obstacle model selection and parameter configurator is configured to calculate the trajectory function according to a second formula; The second formula comprises: ​ Wherein, f(x) represents the trajectory function, x represents the coordinate of the wheel on the x-axis of the second coordinate system during the wheel's movement, H represents the step height, R represents the wheel radius, and L2 represents the distance from the point of tangency between the wheel and the ground to the step when the wheel first contacts the step. The method for establishing the second coordinate system includes: taking the center point of the wheel as the origin when the wheel crosses over the step plane and is tangent to the step plane for the first time, taking the driving direction of the wheel at this time as the positive x-axis, and taking the direction perpendicular to the x-axis upward as the positive z-axis, and establishing the second coordinate system.

5. A method for automatic parking simulation based on road surface obstacles, characterized in that, The method includes: The system obtains the target obstacle model selected by the user and the configuration parameter information of the target obstacle model, and determines the trajectory function of the wheel on the target plane when it passes the target obstacle corresponding to the target obstacle model, based on the target obstacle model and the configuration parameter information, wherein the target plane is a plane parallel to the cross-section of the target obstacle; Calculate the slope function based on the trajectory function; Receives the placement position and geometry of the target obstacle as set by the user through editing; Based on the slope function, the placement location, and the geometry, a description file of the target obstacle is generated; Based on the description file information of the target obstacle and the attribute information of the wheels, the total resistance borne by the vehicle is calculated, and the total resistance is input into the dynamic vehicle model for simulation.

6. The method of claim 5, wherein, The wheel's attribute information includes its position information. Based on the description file information of the target obstacle and the wheel's attribute information, the total resistance borne by the vehicle is calculated, including: Based on the length of the target obstacle and the position information of the wheels in the description file of the target obstacle, determine the number of wheels that bear the resistance; The resistance borne by each wheel is calculated based on the slope function and the target gravity, and the resistance borne by each wheel is projected onto the central axis of the vehicle. The total resistance borne by the vehicle is calculated based on the number of wheels and the projection of the resistance borne by each wheel.

7. The method of claim 5, wherein, When the target obstacle model is a speed bump model, the configuration parameter information includes the width of the speed bump and the height of the speed bump apex; The step of determining the trajectory function on the target plane when the wheel passes over the target obstacle corresponding to the target obstacle model, based on the target obstacle model and the configuration parameter information, includes: The trajectory function is calculated according to the first formula; The first formula includes: Wherein, f(x) represents the trajectory function, A represents the height, L1 represents the width, x represents the coordinate of the wheel on the x-axis of the first coordinate system during the wheel's movement, and R represents the wheel radius; The method for establishing the first coordinate system includes: in the cross-section of the speed bump corresponding to the speed bump model, taking the endpoint closest to the wheel that does not touch the speed bump as the origin, taking the line parallel to the ground as the x-axis, and taking the direction perpendicular to the ground upward as the z-axis, the first coordinate system is established, wherein the direction of travel when the wheel passes the speed bump is the positive direction of the x-axis, and the direction perpendicular to the ground upward is the positive direction of the z-axis.

8. The method according to any one of claims 5-7, characterized in that, When the target obstacle model is a step model, the configuration parameter information includes the step height, and the wheel parameter information also includes the wheel radius; The step of determining the trajectory function on the target plane when the wheel passes over the target obstacle corresponding to the target obstacle model, based on the target obstacle model and the configuration parameter information, includes: Calculate the trajectory function according to the second formula; The second formula includes: Wherein, f(x) represents the trajectory function, x represents the coordinate of the wheel on the x-axis of the second coordinate system during the wheel's movement, H represents the step height, R represents the wheel radius, and L2 represents the distance from the point of tangency between the wheel and the ground to the step when the wheel first contacts the step. The method for establishing the second coordinate system includes: taking the center point of the wheel as the origin when the wheel crosses over the step plane and is tangent to the step plane for the first time, taking the driving direction of the wheel at this time as the positive x-axis, and taking the direction perpendicular to the x-axis upward as the positive z-axis, and establishing the second coordinate system.

9. An automatic parking simulation device based on a road surface obstacle, characterized by, The device includes: The acquisition unit is used to acquire the target obstacle model selected by the user and the configuration parameter information of the target obstacle model input by the user; The determining unit is configured to determine, based on the target obstacle model and the configuration parameter information, the trajectory function of the wheel on the target plane when it passes over the target obstacle corresponding to the target obstacle model, wherein the target plane is a plane parallel to the cross-section of the target obstacle; The first calculation unit is used to calculate the slope function based on the trajectory function; The receiving unit is used to receive the placement position and geometry of the target obstacle set by the user through editing. The generation unit is used to generate a description file of the target obstacle based on the slope function, the placement position, and the geometry. The second calculation unit is used to calculate the total resistance borne by the vehicle based on the description file information of the target obstacle and the attribute information of the wheels, and input the total resistance into the dynamic vehicle model for simulation.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 5-8.

11. An electronic device, comprising: The electronic device includes: One or more processors; The processor is coupled to a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the electronic device performs the method as described in any one of claims 5-8.

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