AUTOMATIC PARKING CONTROL METHOD, DOMAIN CONTROLLER, VEHICLE AND COMPUTER PROGRAM PRODUCT

Abstract

The present invention presents an automatic parking control method, a domain controller, a vehicle, and a computer program product, wherein the automatic parking control method proposed in the present invention generates a parking path based on the initial position of the vehicle and the target parking position, the parking path comprising at least one path segment and a direction-change node located at the end of the path segment. During the automatic parking control of the vehicle based on the parking path, a gear-shift request is sent to the gear controller before the vehicle reaches the direction-change node, so that the gear shift is completed before the vehicle reaches the direction-change node.Once the vehicle reaches the direction change node, it is controlled, based on the newly selected gear, to move along the next path segment within the parking path from the current direction change node to the next direction change node. After the vehicle has reached the target parking position with the correct orientation along the final path segment within the parking path, the parking maneuver is complete. This process eliminates pauses between forward and reverse movements during parking, avoids problems of braking and starting to roll during parking, and allows the vehicle to move smoothly and without interruption, thus improving the outcome and user experience of automatic parking.

Description

AREA OF INVENTION

[0001] The present invention relates to the field of vehicle control technology and in particular to an automatic parking control method, a domain controller, a vehicle and a computer program product. STATE OF THE ART

[0002] Auto Parking Assist (APA) is an advanced driver assistance technology that helps the driver automatically park their vehicle in a designated parking space without manual intervention. This technology uses built-in sensors (such as ultrasonic radar, millimeter-wave radar, or cameras) and a computer control system to enable the vehicle to automatically detect and park in a suitable parking space. By collecting environmental data, analyzing the vehicle's position and surrounding parameters, and calculating the appropriate parking path, the system controls the vehicle's movement along this path to facilitate automatic parking.

[0003] However, if automatic parking requires multiple forward and reverse movements of the vehicle, pauses often occur during gear shifting between these movements. With existing technologies, gear shifting during automated parking only occurs after the vehicle has come to a complete stop. This inevitably leads to pauses in gear shifting, and the complete stop is often accompanied by brake rollover, significantly impacting the user experience of the automatic parking function. REVELATION OF THE INVENTION

[0004] Based on this, the present invention provides an automatic parking control method, a domain controller, a vehicle, and a computer program product. When using this automatic parking control method, a gear shift request is sent to the gear controller in advance of the automatic parking maneuver, before the vehicle reaches the direction change node. This allows the vehicle to complete the gear shift before reaching the direction change node and to resume its movement smoothly in the selected gear after reaching the node. This method eliminates pauses between forward and reverse movements during parking, avoids problems of braking and starting roll during parking, and allows the vehicle to move smoothly and without interruption, thereby improving the outcome and user experience of automatic parking.

[0005] On the one hand, the present invention provides an automatic parking control method comprising the following: Generating a parking path based on the vehicle's initial position and the target parking position, wherein the parking path comprises at least one path segment and a direction change node located at the end of the path segment; Sending a gear shift request to the gear controller during the automatic parking control of the vehicle based on the parking path, before the vehicle reaches the direction change node, so that the gear shift is completed before the vehicle reaches the direction change node; and controlling the vehicle based on the newly selected gear after the vehicle has reached the direction change node, so that it moves along the next path segment within the parking path from the current direction change node to the next direction change node; completing the parking maneuver after the vehicle has reached the target parking position with the target orientation along the last path segment within the parking path.

[0006] Furthermore, in some embodiments, the completion of the parking process, after the vehicle has reached the target parking position with the target orientation along the last path segment within the parking path, includes the following: Determine whether the current path segment along which the vehicle is moving is the last path segment within the parking path; If the current path segment is the last path segment, send a gear shift request to the gear control after the vehicle has reached the target parking position with the target orientation along the last path segment and has been braked to a standstill in order to shift the vehicle into park.

[0007] Furthermore, in some embodiments, determining whether the current path segment along which the vehicle is moving is the last path segment within the parking path includes the following: Capturing the current vehicle orientation and position while the vehicle is moving along the current path segment; Calculating a first distance between the current vehicle position and the target parking position, and separately calculating a second distance and a third distance between the current vehicle position and two adjacent parking space boundary lines; Calculating the alignment deviation angle between the current vehicle alignment and the target alignment; If the first distance is smaller than the threshold of the first distance, the second distance is within the range of the second distance, the third distance is within the range of the third distance, and the alignment deviation angle is smaller than the preset threshold of the angle, the current path segment is considered to be the last path segment within the park path.

[0008] Furthermore, in some embodiments, sending a gear shift request to the gear control before the vehicle reaches the direction change node, so that the gear shift is completed before the vehicle reaches the direction change node, includes the following: Determining the remaining distance between the vehicle and the directional change junction; Sending a gear shift request to the gear control unit when the remaining distance is less than or equal to a preset distance threshold, so that the gear shift is completed before the vehicle reaches the direction change node.

[0009] Furthermore, in some embodiments, sending a gear shift request to the gear control before the vehicle reaches the direction change node, so that the gear shift is completed before the vehicle reaches the direction change node, includes the following: Recording vehicle speed and acceleration; Sending a gear shift request to the gear control when the vehicle speed is less than or equal to the threshold of a first speed and the acceleration is less than zero, so that the gear shift is completed before the vehicle reaches the direction change node.

[0010] Furthermore, in some embodiments, sending a gear shift request to the gear control before the vehicle reaches the direction change node, so that the gear shift is completed before the vehicle reaches the direction change node, includes the following: Determining the vehicle speed and acceleration, as well as the remaining distance between the vehicle and the directional change node; Estimating the remaining time the vehicle needs to reach the direction-change node, based on the vehicle speed, acceleration, and remaining distance; Sending a gear shift request to the gear control when the remaining time is less than or equal to a preset time threshold, so that the gear shift is completed before the vehicle reaches the direction change node.

[0011] Furthermore, in some embodiments, the method also includes the following: before the vehicle reaches the direction change node and if the vehicle speed is less than or equal to the threshold of a second speed, optimize the next path segment and the next direction change node within the parking path based on the current vehicle orientation and the current vehicle position to obtain an optimized path segment and an optimized direction change node; After completing the gear change, but before the vehicle reaches the direction change node, steer the vehicle based on the newly selected gear to move from the current position along the optimized path segment to the optimized direction change node.

[0012] Furthermore, in some embodiments, the parking path also includes a starting steering wheel angle and an ending steering wheel angle corresponding to the path segment, wherein the starting steering wheel angle is the steering wheel angle in the initial phase of the vehicle's journey along the path segment and the ending steering wheel angle is the steering wheel angle after the vehicle has reached the end of the path segment; where the final steering wheel angle corresponding to any path segment within the parking path is identical to the starting steering wheel angle corresponding to the next path segment.

[0013] Furthermore, in some embodiments, the parking path also includes a maximum driving speed corresponding to the path segment, wherein the maximum driving speed is determined based on the curvature of the path segment and the distance to obstacles, and the maximum driving speed is used to ensure that the vehicle's speed does not exceed the maximum driving speed when the vehicle is moving along the path segment.

[0014] On the other hand, the present invention provides a domain controller comprising a processor and a memory; wherein a computer program is stored in the memory and the computer program is suitable for being loaded and executed by the processor to perform the steps of the automatic parking control procedure described above.

[0015] On the other hand, the present invention provides a computer program product on which at least one command is stored, wherein the at least one command, when executed by the domain controller, performs the steps of the automatic parking control procedure described above.

[0016] The automatic parking control method provided in the present invention generates a parking path based on the vehicle's initial position and the target parking position, wherein the parking path comprises at least one path segment and a direction-change node located at the end of the path segment. During the automatic parking control of the vehicle based on the parking path, a gear shift request is sent to the gear control unit before the vehicle reaches the direction-change node, so that the gear shift is completed before the vehicle reaches the direction-change node. After the vehicle reaches the direction-change node, the vehicle is controlled, based on the newly selected gear, to move along the next path segment within the parking path from the current direction-change node to the next direction-change node.Once the vehicle has reached the target parking position with the correct orientation along the final path segment within the parking path, the parking process is complete. This procedure eliminates pauses between forward and reverse movements during parking, avoids problems of braking and starting to roll during parking, and allows the vehicle to move smoothly and without interruption, thus improving the result and user experience of automatic parking.

[0017] It should be understood that the information contained in the description of the present invention is not intended to limit the essential or important features of the embodiments of the present invention or to restrict the scope of the present invention. Further features of the present invention will be readily understood from the following description. DESCRIPTION OF THE FIGURES Fig. Figure 1 is a schematic flowchart of an automatic parking control procedure provided by an embodiment of the present invention; Fig. Figure 2 is a schematic representation of an example of automatic parking provided by an embodiment of the present invention; Fig. Figure 3 is a schematic representation of a parking process provided by an embodiment of the present invention; Fig. Figure 4 is a schematic representation of the structure of a domain controller provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EXECUTION FORMS

[0018] To clarify the objective, the technical solutions, and the advantages of the present invention, the technical solutions of the invention are described clearly and completely below with reference to specific embodiments of the invention and the corresponding figures. Naturally, the described embodiments represent only a subset of the embodiments of the present invention and not all of them. Based on the embodiments of the present invention, all further embodiments that ordinary people skilled in the field would obtain without innovative effort fall within the scope of protection of the present invention.

[0019] In the description of one or more embodiments of the present invention, the term "comprise" and similar terms should be understood as encompassing in an open manner, that is, as "comprising but not being limited to". The term "based on" should be understood as "at least partially based on". The terms "an embodiment" or "this embodiment" should be understood as "at least one embodiment". The terms "first", "second", and so on may refer to different or the same objects. Further explicit and implicit definitions may be included below.

[0020] See Fig. Figure 1, which shows a schematic flowchart of an automatic parking control procedure provided by an embodiment of the present invention. This procedure can be executed by an automatic parking control program. Alternatively, the procedure can also be executed by a vehicle or a domain controller equipped with the aforementioned program, or by another device capable of communicating with a vehicle, a domain controller, or the like; this is not further limited.

[0021] The following will describe the in Fig. The process shown in 1 is explained in detail, whereby the automatic parking control procedure can specifically include the following steps: Step S102, generating a parking path based on the vehicle's starting position and the target parking position, wherein the parking path includes at least one path segment and a direction change node located at the end of the path segment; More precisely, in response to the activation of the automatic parking function, the parking control unit acquires environmental data collected via visual and radar sensors. Using this data, it determines the vehicle's initial position and the target parking position. It then plans the parking path based on the vehicle's initial position, the target parking position, and information about detected obstacles in the environment, thus determining the parking path, which comprises at least one path segment and a direction-change node located at the end of the path segment.

[0022] The direction change node refers to a position point where the vehicle must change its direction of travel while parking in order to switch between forward and reverse travel at that point. The path segment refers to an entire vehicle movement path where the direction of travel does not need to be changed.

[0023] See Fig. 2, which shows a schematic representation of an example of a park path provided by an embodiment of the present invention. As in Fig. As shown in Figure 2, the diagram includes the starting position of the vehicle m1, the target parking position m2, the direction change node n1, the direction change node n2, the path segment L1 between the starting position of the vehicle m1 and the direction change node n1, the path segment L2 between the direction change node n1 and the direction change node n2, and the path segment L3 between the direction change node n2 and the target parking position m2.

[0024] The target parking position can be determined based on the user's selection. The vehicle can identify multiple parking positions using environmental data, allowing the user to select a target parking position.

[0025] Step S104, sending a gear shift request to the gear controller during the control of the automatic parking of the vehicle based on the parking path, before the vehicle reaches the direction change node, so that the gear shift is completed before the vehicle reaches the direction change node; and controlling the vehicle based on the newly selected gear after it has reached the direction change node, so that it moves along the next path segment within the parking path from the current direction change node to the next direction change node;

[0026] More precisely, during automatic parking based on the parking path, the vehicle must move sequentially through each path segment of the planned parking path in the specified order. While moving along a path segment, the vehicle must send a gear shift request to the gear selector before reaching the direction change node at the end of the path segment, so that the gear shift is completed before the vehicle reaches the direction change node at the end of the path segment. After the vehicle reaches the direction change node, it can be controlled, based on the newly selected gear, to move along the next path segment within the parking path from the current direction change node to the next direction change node.

[0027] See Fig. 2, which shows a schematic representation of an example of an automatic parking process provided by an embodiment of the present invention. As in Fig. As shown in Figure 2, m1 is the starting position where parking begins, and m2 is the target parking position. While the vehicle travels from m1 to m2 during automatic parking, it must follow the planned parking path, which consists of path segments L1, L2, L3, and L4. n1, n2, and n3 are the direction-change nodes between the path segments. For example, while the vehicle is traveling along path segment L2 from direction-change node n1 to direction-change node n2, a gear shift request is sent to the gear selector in advance, before the vehicle reaches direction-change node n2. This allows the gear selector to complete the gear shift according to the request before the vehicle reaches direction-change node n2 at the end of the path segment.

[0028] It is important to note that shifting gears allows the vehicle to change direction. Therefore, the vehicle should shift gears at the direction-change node. With existing automatic parking technologies, the gear shift typically only occurs after the vehicle has come to a complete stop. More precisely, this happens after the vehicle has reached the direction-change node at the end of the current path segment and has braked to a standstill. However, the automatic parking control unit requires a certain amount of time to generate a gear-shift request and complete the process. Therefore, a pause inevitably occurs during the parking maneuver when a gear shift takes place. Furthermore, braking before this pause causes the vehicle to roll, significantly impairing the effectiveness of the automatic parking function.

[0029] Furthermore, before the vehicle reaches the direction change node at the end of the path segment, a gear shift request is sent to the gear controller. This gear shift request can be sent to the gear controller during the vehicle's braking process immediately before reaching the direction change node. During braking, the vehicle is controlled based on its own velocity inertia and the braking system, reducing the vehicle's speed to zero upon reaching the direction change node. Subsequently, based on the newly selected gear, a drive torque is generated to move the vehicle along the next path segment within the parking path, from the current direction change node to the next direction change node.

[0030] In this embodiment, a gear shift request is sent to the gear selector before the vehicle reaches the direction change node, so that the gear shift is completed before the vehicle reaches the direction change node. After the vehicle reaches the direction change node, it can be controlled, based on the newly selected gear, to move along the next path segment within the parking path from the current direction change node to the next direction change node. This method eliminates pauses during gear shifting in the parking process and ensures continuous and smooth vehicle movement during automatic parking, thereby improving the outcome and user experience of automatic parking.

[0031] Step S106, Completion of parking, after the vehicle has reached the target parking position with the target orientation along the last path segment within the parking path.

[0032] The target orientation is the final vehicle alignment upon reaching the target parking position. The target orientation is determined by the shape and dimensions of the target parking position. For example, the target orientation can be defined such that the vehicle is positioned within a parking space corresponding to the target parking position, maintaining equal distances between both sides of the vehicle and the parking space's boundary lines.

[0033] In the exemplary embodiments of the present invention, a parking path is generated based on the initial position of the vehicle and the target parking position, wherein the parking path comprises at least one path segment and a direction change node arranged at the end of the path segment.

[0034] During automatic parking based on the parking path, a gear shift request is sent to the gear selector before the vehicle reaches the direction change node, ensuring the gear shift is completed before the vehicle arrives at the node. Once the vehicle reaches the direction change node, it is controlled, based on the newly selected gear, to move along the next path segment within the parking path, from the current direction change node to the next. Parking is finally complete once the vehicle has reached the target parking position with the desired orientation along the final path segment.This process eliminates pauses between forward and reverse movements during parking, avoids problems of braking and starting to roll during parking, and allows the vehicle to move smoothly and without interruption, thus improving the result and user experience of automatic parking.

[0035] In one embodiment, step S106 completes the parking process after the vehicle has reached the target parking position with the correct orientation along the last path segment within the parking path. Specifically, this can include: determining whether the current path segment along which the vehicle is moving is the last path segment within the parking path; if the current path segment is the last path segment, sending a gear shift request to the gear control unit after the vehicle has reached the target parking position with the correct orientation along the last path segment and has braked to a standstill, in order to shift the vehicle into park.

[0036] After moving along the last path segment, the vehicle will come to a standstill in the target parking position with the correct orientation. This means that while the vehicle is moving along the parking path, the automatic parking control unit continuously checks whether the current path segment is the last one. If the current path segment is determined to be the last one, a gear shift request is sent to the transmission control unit after the vehicle has reached the target parking position with the correct orientation and has come to a standstill. This gear shift request engages the vehicle's park gear.

[0037] It is easy to understand that the vehicle stops moving once it reaches its destination, as this path segment is the last. Consequently, no further pauses due to gear changes during the remaining movement need to be considered. However, if a gear change request were sent to the gear controller before the vehicle reached the direction change node, control errors could lead to a loss of power after the premature gear change. In such cases, the vehicle's inertia alone would not be sufficient to reach the exact target parking position, thus compromising the final parking result. For example, in Fig. As shown in Figure 2, the vehicle is decelerated during the period in which it is being steered along path segment L4 to move from the direction change node n3 to the target parking position m2. After reaching the target parking position m2, it decelerates until it comes to a standstill. Subsequently, a gear shift request is generated and sent to the gear control unit to shift the vehicle into park.

[0038] In the embodiments of the present invention, when the vehicle moves along the last path segment of the parking path, the gear shift request is only sent to the gear control after the vehicle has reached the target parking position and has been braked to a standstill, thereby ensuring that the vehicle is parked precisely with the target orientation at the target parking position, which in turn guarantees both the parking result and the user experience.

[0039] In one embodiment, determining whether the current path segment along which the vehicle is moving is the last path segment within the parking path can specifically include the following: sensing the current vehicle orientation and the current vehicle position while the vehicle is moving along the current path segment; calculating a first distance between the current vehicle position and the target parking position and separately calculating a second distance and a third distance between the current vehicle position and two adjacent parking space boundary lines; calculating the orientation deviation angle between the current vehicle orientation and the target orientation;If the first distance is smaller than the threshold of the first distance, the second distance is within the range of the second distance, the third distance is within the range of the third distance, and the alignment deviation angle is smaller than the preset threshold of the angle, the current path segment is considered the last path segment within the park path.

[0040] The current vehicle position can represent the coordinates of a point on the vehicle, the center of the vehicle shape in top view, or the vehicle's center of gravity.

[0041] More precisely, the environmental perception system monitors the surroundings during vehicle movement to determine the vehicle's current orientation and position in real time. It calculates the first distance between the current vehicle position and the target parking position, and separately calculates the second and third distances between the current vehicle position and two adjacent parking space boundary lines. It's easy to understand that a parking space is typically rectangular, with the two adjacent boundary lines corresponding to the long and short boundary lines of the parking space, respectively. For example, the second distance could represent the distance between the current vehicle position and one of the short boundary lines, while the third distance could represent the distance between the current vehicle position and one of the long boundary lines.The alignment deviation angle between the current vehicle orientation and the target orientation is calculated. If the first distance is less than the threshold value of the first distance, the second distance is within the range of the second distance, the third distance is within the range of the third distance, and the alignment deviation angle is less than the preset angle threshold, the current path segment is considered the last path segment within the parking path.

[0042] It is understandable that if the first distance is less than the threshold value of the first distance, this means the vehicle is approaching the target parking position; and if the second distance is within the range of the second distance and the third distance is within the range of the third distance, and furthermore, the vehicle orientation and the orientation deviation angle are less than the preset angle threshold, it can be confirmed that the current vehicle orientation and the target orientation coincide. Under these circumstances, the vehicle can certainly reach the target parking position with the target orientation along the current path segment. Consequently, this path segment can be identified as the last path segment within the parking path.

[0043] See Fig. Figure 3, which shows a schematic representation of a parking process provided by an embodiment of the present invention. As in Fig. Figure 3 shows that the line Y represents the vehicle's central axis, the dashed frame the parking space, the point m the current vehicle position, Δy the first distance between the current vehicle position and the target parking position, Δx the second distance between the current vehicle position and the upper boundary line of the parking space, Δd the third distance between the current vehicle position and the left boundary line of the parking space, the xy shown is the target orientation of the vehicle, where the target orientation requires that the vehicle's central axis Y is parallel to the y-axis, and Δθ is the orientation deviation angle between the current vehicle orientation and the target orientation.By using appropriate parameter settings, the current path segment can be considered the last path segment within the park path if the first distance Δy is less than the threshold of the first distance, the second distance Δx is within the range of the second distance, the third distance Δd is within the range of the third distance, and the alignment deviation angle Δθ is less than the preset threshold of the angle.

[0044] Furthermore, determining whether the current path segment along which the vehicle is moving is the last path segment within the parking path may additionally include: recording the number of path segments the vehicle has traveled along the parking path since the start of the parking process; if the number of path segments traveled exceeds a preset threshold, the first distance is less than the threshold of the first distance, the second distance is within the range of the second distance, the third distance is within the range of the third distance, and the alignment deviation angle is less than the preset threshold of the angle, the current path segment is considered to be the last path segment within the parking path.

[0045] It is easy to understand that during the parking process, if the vehicle's movement to complete a path segment is considered a single movement, several movements are typically required throughout the entire parking process to adjust the vehicle's parking angle. Therefore, if fewer movements are performed, the current movement is not the last. That is, if the number of path segments traveled along the parking path since the start of the parking process is less than the preset threshold, the current movement is not considered the last.

[0046] By recording the number of path segments already traveled, a relatively low number of segments indicates that the current movement is not the last. Based on the number of path segments already traveled, in conjunction with several factors such as the first, second, and third distances, as well as the alignment deviation angle, it can be determined whether the current movement path represents the last movement. This improves the accuracy in identifying the last path segment within the parking path, thus ensuring a reliable parking result.

[0047] In one embodiment, determining whether the current path segment along which the vehicle is moving is the last path segment within the parking path can specifically include the following: In one embodiment, it is determined whether the current path segment traversed by the vehicle represents the last path segment within the parking path; more precisely: while the vehicle is moving along the current path segment, the direction of movement of the vehicle and the vehicle orientation at the starting point of the segment are detected. If the direction of movement of the vehicle points from the starting point of the current path segment to the target parking position and the deviation between the vehicle orientation at the starting point and the target orientation is less than the preset deviation value, the current path segment is considered to be the last path segment within the parking path.

[0048] It is understandable that if the vehicle's direction of travel at the starting point of a path segment points towards the target parking position, and the deviation between the vehicle's orientation at the starting point and the target orientation is small, it can be assumed that the vehicle will reach the target parking position with the target orientation in this direction of travel. Consequently, the current path segment is determined to be the last within the parking path.

[0049] In one embodiment, determining whether the current path segment along which the vehicle is moving is the last path segment within the parking path may further include: numbering each path segment during the creation phase of the parking path; and determining whether the current path segment is the last within the parking path during the parking process, based on the number corresponding to that path segment.

[0050] In one embodiment, step S104 sends a gear shift request to the gear controller before the vehicle reaches the direction change node, so that the gear shift is completed before the vehicle reaches the direction change node. Specifically, this can include: detecting the remaining distance between the vehicle and the direction change node; sending a gear shift request to the gear controller when the remaining distance is less than or equal to a preset distance threshold, so that the gear shift is completed before the vehicle reaches the direction change node.

[0051] More precisely, during the automatic parking process, sensors monitor the surroundings in real time as the vehicle moves along the parking path segment. The remaining distance between the vehicle and the direction-change node at the end of the current path segment is calculated in real time. If the remaining distance is less than or equal to a preset distance threshold, the automatic parking control unit generates a gear shift request corresponding to the next path segment and sends this request to the gear selector, ensuring the gear change is completed before the vehicle reaches the direction-change node.

[0052] The preset distance threshold is a predefined distance value. If the remaining distance is less than or equal to the preset distance threshold, the automatic parking control unit generates a gear shift request corresponding to the next path segment and sends this request to the gear selector. This means that if the vehicle is still within a preset distance threshold of the direction change node, a gear shift request is sent to the gear selector in advance. After the gear shift request is sent to the gear selector, the gear change is not executed immediately. At this point, the vehicle continues in its current gear along its original path segment until it reaches the direction change node. Before the vehicle reaches the direction change node, the gear selector shifts gear according to the gear shift request.The vehicle is then steered to roll out of inertia beyond the direction-change node. Based on the newly selected gear, the vehicle is then moved along the next path segment from the current direction-change node to the next. The pre-sent gear-shift request eliminates pauses during gear changes in the parking process, ensuring continuous and smooth vehicle movement throughout the automatic parking maneuver, thereby improving both the outcome and the user experience of automatic parking.

[0053] In one embodiment, step S104 sends a gear shift request to the gear controller before the vehicle reaches the direction change node, so that the gear shift is completed before the vehicle reaches the direction change node. Specifically, this can include: sensing the vehicle speed and acceleration; sending a gear shift request to the gear controller when the vehicle speed is less than or equal to the threshold of a first speed and the acceleration is less than zero, so that the gear shift is completed before the vehicle reaches the direction change node.

[0054] It should be noted that during the automatic parking process based on the parking path, the vehicle's speed varies as it moves along the path segment as follows: The vehicle accelerates from the starting point of the path segment and begins to decelerate as it approaches the endpoint. This continues until it has fully reached the direction change node at the end of the path segment, where its speed is reduced to zero. In this embodiment, the vehicle speed is monitored in real time as it moves along a path segment within the parking path.If the vehicle speed is less than or equal to the threshold of the first speed and the acceleration is less than zero, the automatic parking control unit generates a gear shift request corresponding to the next path segment and sends this request to the gear selector so that the gear shift is completed before the vehicle reaches the direction change node. If the acceleration is less than zero, this means that the vehicle is in a deceleration phase and is about to reach the direction change node. If, during this deceleration phase, the vehicle slows to a speed less than or equal to the threshold of the first speed, a gear shift request is sent to the gear selector so that the gear shift is completed before the vehicle reaches the direction change node.Once the vehicle reaches the direction change node, it is controlled, based on the newly selected gear, to move along the next path segment within the parking path from the current direction change node to the next direction change node. The pre-sent gear shift request eliminates pauses during gear changes in the parking process, ensuring continuous and smooth vehicle movement throughout the automatic parking procedure and improving both the outcome and the user experience of automatic parking.

[0055] In one embodiment, in step S104 a gear shift request is sent to the gear control unit before the vehicle reaches the direction change node, so that the gear shift is completed before the vehicle reaches the direction change node. This can specifically include the following steps: Step S1041: Determining the vehicle speed and acceleration, as well as the remaining distance between the vehicle and the direction change node; This means that during the automatic parking process based on the parking path, the vehicle speed is recorded in real time and the remaining distance between the vehicle and the turning node is continuously monitored through environmental perception. Step S1042: Estimating the remaining time the vehicle needs to reach the direction change node, based on the vehicle speed and the remaining distance; More precisely, the remaining time required for the vehicle to reach the directional change node is estimated based on the current vehicle speed, acceleration, and remaining distance between the vehicle and the directional change node. Step S1043: Sending a gear shift request to the gear control when the remaining time is less than or equal to a preset time threshold, so that the gear shift is completed before the vehicle reaches the direction change node.

[0056] The preset time threshold can be determined based on the execution time required for the gear shift. For example, if it takes 0.5 seconds from sending a gear shift request to the gear controller until the gear shift is completed, the preset time threshold should be set to 0.5 seconds. In this embodiment, if the remaining time is less than or equal to the preset time threshold, a gear shift request is sent to the gear controller, so that the gear shift is completed before the vehicle reaches the direction change node. By sending the gear shift request in advance, pauses during gear shifting in the parking process are eliminated, ensuring continuous and smooth vehicle movement during automatic parking, thereby improving the outcome and user experience of automatic parking.

[0057] In one embodiment, during the automatic parking process, based on the parking path, before the vehicle reaches the changeover node, if the vehicle speed is less than or equal to the threshold of a second speed and the acceleration is less than zero, the next path segment and the next changeover node within the parking path are optimized based on the current vehicle orientation and position to obtain an optimized path segment and a optimized changeover node; this completes the gear shift before the vehicle reaches the changeover node. After the vehicle reaches the changeover node, the vehicle is controlled based on the newly selected gear to move from its current position along the optimized path segment to the optimized changeover node.

[0058] If the vehicle speed is less than or equal to the threshold of the second speed and the acceleration is less than zero, this means that the vehicle is in a deceleration phase and is about to reach the change-of-direction node.

[0059] This means that while the vehicle is moving along a path segment within the parking path, before reaching the reversing node at the end of the path segment, if the vehicle speed is less than or equal to the threshold of a second speed and the acceleration is less than zero, the next path segment and the next reversing node within the parking path are optimized based on the current vehicle orientation and position to obtain an optimized path segment and reversing node; then the gear shift is completed before the vehicle reaches the reversing node. After the vehicle reaches the reversing node, the vehicle is controlled to move from its current position along the optimized path segment to the optimized reversing node.

[0060] It is understandable that the vehicle does not pause during gear changes due to the logic used in the automatic parking control method for pre-controlling the gear change according to one or more embodiments of the present invention. This can lead to deviations from the roadway during the parking process, for example, deviations in the vehicle's path segment or the vehicle's inability to precisely reach turning points. Based on this, in one or more embodiments of the present invention, while the vehicle is moving along a path segment within the parking path, before the vehicle speed drops to zero, the next path segment is optimized based on the vehicle's current position and orientation.This allows the vehicle to move along the optimized path segment, ensuring the successful completion of the parking process and improving the result of the automatic parking function.

[0061] In one embodiment, the parking path calculated in step S102 further comprises a starting steering wheel angle and an ending steering wheel angle corresponding to the path segment, wherein the starting steering wheel angle is the steering wheel angle in the initial phase of the vehicle's journey along the path segment and the ending steering wheel angle is the steering wheel angle after the vehicle has reached the end of the path segment; wherein the ending steering wheel angle corresponding to any path segment within the parking path is identical to the starting steering wheel angle corresponding to the next path segment.

[0062] The starting steering wheel angle refers to the initial angle of the steering wheel when the vehicle is at the starting point of a path segment. The final steering wheel angle refers to the angle of the steering wheel when the vehicle's speed drops to zero upon reaching the endpoint of the path segment. As the vehicle moves along the path segment, the steering wheel angle changes dynamically in real time depending on the vehicle's actual trajectory and the curvature of the path segment, transitioning from the starting steering wheel angle to the final steering wheel angle.

[0063] Furthermore, in the two adjacent path segments before and after the gear change during the parking path, the final steering wheel angle of the preceding segment corresponds to the starting steering wheel angle of the following segment. This avoids abrupt changes in the steering wheel angle before and after the gear change, thus ensuring continuity of vehicle movement throughout the entire parking process and improving comfort.

[0064] In one possible embodiment, a steering wheel angle change command is sent to the steering wheel control unit before the vehicle reaches the direction change node, so that the final steering wheel angle upon reaching the direction change node matches the starting steering wheel angle of the next path segment.

[0065] In one embodiment, the parking path calculated in step S102 further includes a maximum driving speed corresponding to the path segment, wherein the maximum driving speed is determined based on the curvature of the path segment and the distance to obstacles, and the maximum driving speed is used to ensure that the vehicle's speed does not exceed the maximum driving speed when moving along the path segment. This ensures driving safety during the parking process.

[0066] Furthermore, the parking path calculated in step S102 also includes the respective parking accelerations for each path segment. This means that as the vehicle moves along a path segment, it accelerates or decelerates according to these parking accelerations. Once the vehicle reaches its maximum speed, the acceleration stops, and before reaching the direction change node, the vehicle decelerates according to the parking acceleration.

[0067] Furthermore, in one possible embodiment, during the generation of the parking path based on the vehicle's initial and target parking positions, parking speed planning is also performed according to the respective path segments within the parking path. The parking speed information for each path segment is defined, including the maximum parking speed and maximum acceleration. The maximum parking speed can be determined based on the length and curvature of the path segment.

[0068] In some embodiments, the present invention further provides a Fig. Figure 4 shows a schematic representation of the structure of a domain controller. As in Fig.As shown in Figure 4, the domain controller at the hardware level comprises a processor 11, an internal bus 12, a network interface 13, internal memory 14, and non-volatile memory 15. It may, of course, also include other hardware required for specific tasks. The domain controller can be located in the vehicle, where the processor 11 can read the appropriate computer program from the non-volatile memory 15 into the internal memory and execute it. This implements the automatic parking control procedure described above and prevents erroneous activation of the emergency braking function, thereby increasing driving safety.

[0069] In some embodiments, the present invention further provides a vehicle comprising the aforementioned domain controller.

[0070] In some embodiments, the present invention further provides a computer program product, wherein at least one instruction is stored in the computer program product, wherein the at least one instruction can be loaded and executed by a domain processor to execute the automatic parking control procedure according to the embodiments mentioned above; the specific execution process can be found in the corresponding descriptions in the embodiments mentioned above and is therefore not repeated here.

[0071] Finally, it should be noted that the embodiments of the present invention are described in a progressive manner, with the same or similar parts of the individual embodiments relating to one another. Each embodiment focuses on the differences from the other embodiments. In particular, the embodiments for the system are described relatively simply, since they are essentially similar to the embodiments for the method, and relevant aspects can be found in the corresponding parts of the description of the embodiments of the method.

[0072] The above statements serve only as examples of the present invention and do not limit it. Those skilled in the art will understand that the present invention can undergo various changes and modifications. All changes, equivalent replacements, improvements, and so forth, which are made within the scope of the spirit and principles of the present invention, shall fall within the scope of protection of the claims of this invention.

Claims

[1] Automatic parking control procedure, including: Generating a parking path based on the vehicle's initial position and the target parking position, wherein the parking path comprises at least one path segment and a direction change node located at the end of the path segment; Sending a gear shift request to the gear controller during the automatic parking control of the vehicle based on the parking path, before the vehicle reaches the direction change node, so that the gear shift is completed before the vehicle reaches the direction change node; and controlling the vehicle based on the newly selected gear after the vehicle has reached the direction change node, so that it moves along the next path segment within the parking path from the current direction change node to the next direction change node; Completion of the parking process, after the vehicle has reached the target parking position with the target orientation along the last path segment within the parking path. [2] Method according to claim 1, wherein completing the parking process after the vehicle has reached the target parking position with the target orientation along the last path segment within the parking path comprises: Determine whether the current path segment along which the vehicle is moving is the last path segment within the parking path; If the current path segment is the last path segment, send a gear shift request to the gear control after the vehicle has reached the target parking position with the target orientation along the last path segment and has been braked to a standstill in order to shift the vehicle into park. [3] Method according to claim 2, wherein determining whether the current path segment along which the vehicle is moving is the last path segment within the parking path comprises: Capturing the current vehicle orientation and position while the vehicle is moving along the current path segment; Calculating a first distance between the current vehicle position and the target parking position, and separately calculating a second distance and a third distance between the current vehicle position and two adjacent parking space boundary lines; Calculating the alignment deviation angle between the current vehicle alignment and the target alignment; If the first distance is smaller than the threshold of the first distance, the second distance is within the range of the second distance, the third distance is within the range of the third distance, and the alignment deviation angle is smaller than the preset threshold of the angle, the current path segment is considered to be the last path segment within the park path. [4] Method according to claim 1, wherein sending a gear shift request to the gear control before the vehicle reaches the direction change node, such that the gear shift is completed before the vehicle reaches the direction change node, comprises: Determining the remaining distance between the vehicle and the directional change junction; Sending a gear shift request to the gear control unit when the remaining distance is less than or equal to a preset distance threshold, so that the gear shift is completed before the vehicle reaches the direction change node. [5] Method according to claim 1, wherein sending a gear shift request to the gear control before the vehicle reaches the direction change node, such that the gear shift is completed before the vehicle reaches the direction change node, comprises: Recording vehicle speed and acceleration; Sending a gear shift request to the gear control when the vehicle speed is less than or equal to the threshold of a first speed and the acceleration is less than zero, so that the gear shift is completed before the vehicle reaches the direction change node. [6] Method according to claim 1, wherein sending a gear shift request to the gear control before the vehicle reaches the direction change node, such that the gear shift is completed before the vehicle reaches the direction change node, comprises: Determining the vehicle speed and acceleration, as well as the remaining distance between the vehicle and the directional change node; Estimating the remaining time the vehicle needs to reach the direction-change node, based on the vehicle speed, acceleration, and remaining distance; Sending a gear shift request to the gear control when the remaining time is less than or equal to a preset time threshold, so that the gear shift is completed before the vehicle reaches the direction change node. [7] The method of claim 1, wherein the method further comprises: Before the vehicle reaches the direction change node, optimize the next path segment and the next direction change node within the parking path based on the current vehicle orientation and the current vehicle position, if the vehicle speed is less than or equal to the threshold of a second speed and the acceleration is less than zero, in order to obtain an optimized path segment and an optimized direction change node; After completing the gear change, but before the vehicle reaches the direction change node, steer the vehicle based on the newly selected gear to move from the current position along the optimized path segment to the optimized direction change node. [8] Method according to claim 1, wherein the parking path further comprises a starting steering wheel angle and an end steering wheel angle corresponding to the path segment, wherein the starting steering wheel angle is the steering wheel angle in the initial phase of the vehicle's journey along the path segment and the end steering wheel angle is the steering wheel angle after the vehicle has reached the end of the path segment; where the final steering wheel angle corresponding to any path segment within the parking path is identical to the starting steering wheel angle corresponding to the next path segment. [9] Method according to claim 1, wherein the parking path further comprises a maximum driving speed corresponding to the path segment, wherein the maximum driving speed is determined on the basis of the curvature of the path segment and the distance to obstacles, wherein the maximum driving speed is used to ensure that the speed of the vehicle does not exceed the maximum driving speed when the vehicle moves along the path segment. [10] Domain controller comprising: a processor and a memory; wherein the memory stores computer-readable instructions suitable for being loaded by the processor to execute the steps of a method according to any one of claims 1 to 9. [11] Computer program product on which at least one instruction is stored, wherein the at least one instruction, when executed by a domain controller, performs the steps of a method according to any one of claims 1 to 9.

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