Parking procedure, medium and vehicle

Abstract

A parking procedure, a medium, and a vehicle relating to vehicle technologies are provided. The parking procedure involves: determining a drivable area associated with a target parking space, where the drivable area is an area surrounding the target parking space and free of obstacles; and steering a vehicle, based on a target reference point, to park from the drivable area into the target parking space. The vehicle can steer around the target reference point using four-wheel drive with independent steering. The turning radius of the vehicle when steered around the target reference point is smaller than the turning radius of the vehicle when steered with a maximum front-wheel steering angle.

Description

CROSS-REFERENCE TO RELATED REGISTRATIONS

[0001] The present disclosure claims priority from Chinese patent application No. 202311222836,1, filed with the Chinese National Intellectual Property Administration on September 20, 2023, entitled “PARKING METHOD, MEDIUM AND VEHICLE”, which is incorporated herein by reference in its entirety. TECHNICAL AREA

[0002] The present disclosure relates to the field of vehicle technologies and in particular to a parking method, a medium and a vehicle. BACKGROUND

[0003] In a related technology, an automatic parking function typically allows a vehicle to move along a planned trajectory into a designated parking space by controlling acceleration and steering angle. The vehicle's turning radius is relatively large when steering. When parking in a confined space, the vehicle often requires multiple back-and-forth adjustments to achieve proper alignment, resulting in low efficiency for automatic parking. SUMMARY

[0004] To overcome a problem in a related technology, the present disclosure provides a parking method, a medium, and a vehicle.

[0005] According to a first aspect of embodiments of the present disclosure, a parking method is provided which includes the following: Determining a drivable area associated with a destination parking space, wherein the drivable area is an area surrounding the destination parking space that does not contain any obstructions; and Steering, based on a target reference point, of a vehicle to park from the drivable area into the target parking space. The vehicle can steer around the target reference point using four-wheel drive with independent control. The turning radius of the vehicle when steering around the target reference point is smaller than the turning radius of the vehicle when steering with the maximum front wheel steering angle.

[0006] Optionally, the target reference point includes a geometric center or center of gravity. A vehicle body rotates around the geometric center or center of gravity when the vehicle steers around the target reference point.

[0007] Alternatively, the target reference point includes a wheel axle center point. The vehicle body rotates around the wheel axle center point when the vehicle steers around the target reference point.

[0008] Alternatively, the target reference point includes a front axle center point or a rear axle center point. The vehicle body rotates around the front axle center point or the rear axle center point when the vehicle steers around the target reference point.

[0009] Alternatively, the target reference point is located on a target transverse axis. The target transverse axis is an axis on which a geometric center of the vehicle is located and which is horizontally perpendicular to the vehicle's direction of travel. The vehicle body rotates about a point on the target transverse axis when the vehicle steers around the target reference point.

[0010] Optionally, the procedure includes, prior to steering, a vehicle based on a target reference point to park from the drivable area into the target parking space, furthermore: Determining the target reference point based on the type of target parking space and the road width in the drivable area.

[0011] Optionally, this includes determining the target reference point based on the type of target parking space and the road width in the drivable area: If the target parking space is a parallel parking space, both longitudinal edges of the target parking space are connected to the drivable area, and the road width in the drivable area satisfies a width condition, determine that the target reference point includes the geometric center or center of gravity of the vehicle. The width condition specifies that the road widths on both sides of the target parking space must be greater than or equal to a first threshold value.

[0012] Optionally, this includes determining the target reference point based on the type of target parking space and the road width in the drivable area: If the target parking space is a parallel parking space, at least one longitudinal edge of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a second threshold value, determine that the target reference point includes the wheel axle center of the vehicle.

[0013] Optionally, this includes determining the target reference point based on the type of target parking space and the road width in the drivable area: If the destination parking space is a non-parallel parking space, any short edge of the destination parking space connects with the drivable area, and the road width in the drivable area is greater than or equal to a third threshold, determine that the destination reference point includes the front axle center point or the rear axle center point of the vehicle.

[0014] Optionally, this includes determining the target reference point based on the type of target parking space and the road width in the drivable area: If the target parking space is a non-parallel parking space, any short edge of the target parking space connects with the drivable area, and the road width in the drivable area is less than a fourth threshold, determine that the target reference point lies on the target transverse axis. The target transverse axis is an axis on which the geometric center of the vehicle lies and which is horizontally perpendicular to the vehicle's direction of travel.

[0015] Optionally, this includes steering a vehicle, based on a target reference point, to park from the drivable area into the target parking space: Controlling the speed, torque, and steering angle of each wheel of the vehicle based on the target reference point, so that the vehicle moves from the drivable area into the target parking space.

[0016] Optionally, determining a drivable area assigned to a destination parking space includes: Receiving perception information from the vehicle; Determining information about an obstacle around the vehicle and the target parking space based on perceptual information; and Determining the drivable area based on the target parking space and information about the obstacle.

[0017] Optionally, this includes steering a vehicle, based on a target reference point, to park from the drivable area into the target parking space: Performing parking trajectory planning based on the drivable area and the target reference point to obtain a target parking trajectory; and Steering, based on a function of the vehicle steering around the target reference point, of the vehicle to park from the drivable area along the target parking trajectory into the target parking space.

[0018] According to a second aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer program instructions. When the program instructions are executed by a processor, the parking method according to the first aspect of the embodiments of the present disclosure is implemented.

[0019] According to a third aspect of the embodiments of the present disclosure, a vehicle is provided, wherein the vehicle includes: a storage device, wherein the storage device stores a computer program; and a control unit, wherein the control unit is configured to execute the computer program to implement the parking procedure according to the first aspect of the embodiments of the present disclosure.

[0020] Optionally, the vehicle includes four motors, and each motor drives one wheel accordingly.

[0021] The technical solutions provided in the embodiments of this disclosure may include the following advantageous effects.

[0022] In the embodiments described in this disclosure, the vehicle is steered around the target reference point based on the function of the vehicle steering system in order to park from the drivable area into the target parking space. When the vehicle steers around the target reference point using four-wheel drive with independent control, the turning radius of the vehicle when steering around the target reference point is smaller than the turning radius of the vehicle when steering with the maximum front-wheel steering angle, so that the vehicle can turn at a larger angle in a confined space. In this way, it is easier for the vehicle to adjust the orientation of the vehicle body within the drivable area, thereby improving the efficiency of automatic parking.

[0023] Further features and advantages of the present disclosure are described in detail in the following description of exemplary embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which are incorporated herein into the description and form part of the description, illustrate embodiments that correspond to the present disclosure and are used together with the description to explain the principles of the present disclosure. Fig. Figure 1 is a schematic diagram of a principle whereby a conventional vehicle steers around according to the state of the art; Fig. Figure 2 is a schematic diagram of a scenario in which a conventional vehicle makes back-and-forth adjustments when parking in a confined space according to the state of the art; Fig. 3 is a flowchart of a parking procedure according to an exemplary embodiment; Fig. Figure 4 is a schematic structure diagram of a four-wheel drive vehicle with independent control according to an exemplary embodiment; Fig. Figure 5 is a schematic diagram of a function of a vehicle steering around a geometric center or center of gravity, according to an exemplary embodiment; Fig. Figure 6 is a schematic diagram of a scenario in which a vehicle steers around a geometric center or center of gravity, according to one embodiment; Fig. Figure 7 is a schematic diagram of a function of a vehicle that steers around a wheel axle center point, according to an exemplary embodiment; Fig. Figure 8 is a schematic diagram of a scenario in which a vehicle steers around a wheel axle center point, according to one embodiment; Fig. Figure 9 is a schematic diagram of a function of a vehicle that steers around a front axle center point or a rear axle center point, according to an exemplary embodiment; Fig. Figure 10 is a schematic diagram of a scenario in which a vehicle steers around a front axle center point, according to one embodiment; Fig. Figure 11 is a schematic diagram of a scenario in which a vehicle steers around a rear axle center point, according to one embodiment; Fig. Figure 12 is a schematic diagram of a function of a vehicle steering around a point on a target transverse axis, according to an exemplary embodiment; Fig. Figure 13 is a schematic diagram of a scenario in which a vehicle steers around a point on a target transverse axis, according to an embodiment; Fig. Figure 14 is a flowchart of another parking procedure according to an exemplary embodiment; Fig. Figure 15 is a block diagram of a parking device according to an exemplary embodiment; Fig. Figure 16 is a block diagram of a vehicle according to an exemplary embodiment; Fig. Figure 17 is a schematic diagram of another scenario in which a vehicle steers around a geometric center or center of gravity, according to an embodiment; Fig. Figure 18 is a schematic diagram of another scenario in which a vehicle steers around a front axle center point or a rear axle center point, according to an embodiment; Fig. Figure 19 is a schematic diagram of another scenario in which a vehicle steers around a front wheel axle center point, according to an embodiment; Fig. Figure 20 is a schematic diagram of yet another scenario in which a vehicle steers around a front wheel axle center point, according to one embodiment; Fig. Figure 21 is a schematic diagram of a scenario in which a vehicle steers around a corner point of the vehicle, according to an embodiment; Fig. Figure 22 is a schematic diagram of a scenario in which a vehicle is reversing outside a parking space, according to an exemplary embodiment; Fig. Figure 23 is a schematic diagram of a scenario in which a vehicle performs a reverse arc maneuver, according to an exemplary embodiment; Fig. Figure 24 is a schematic diagram of a scenario in which a vehicle performs an arc steering maneuver when parking forwards into a parking space, according to one embodiment; and Fig. Figure 25 is a schematic diagram of a parking scenario when a vehicle parks sideways into a parking space, according to an exemplary embodiment. DESCRIPTION OF EXAMPLES OF EXECUTION

[0025] Exemplary embodiments are described in detail herein, and examples thereof are shown in the accompanying drawings. Where the following description refers to the accompanying drawings, unless otherwise indicated, identical reference numerals in different accompanying drawings represent identical or similar elements. The embodiments described in the following exemplary embodiments do not represent all implementations compatible with the present disclosure. On the contrary, they are merely examples of devices and methods compatible with some aspects of the present disclosure and which are described in detail in the accompanying claims.

[0026] With the rapid global development of intelligent driving technology, automatic parking technology is becoming increasingly sophisticated. An automatic parking assist (APA) system measures a vehicle's speed and angle, as well as the relative distance between the vehicle and surrounding objects, using in-vehicle sensors installed on the vehicle and distributed around it. For example, a parking radar is used to automatically identify an available parking space, and image information from a 360° panoramic camera, combined with an ultrasonic radar sensor, enables the perception and recognition of the parking space and its surroundings. Subsequently, an in-vehicle processor / computing platform or a cloud computing platform calculates an operational sequence to control the vehicle for automatic parking.Automated Parking Assistance (APA) requires no manual intervention and can automatically identify parking spaces, completing most automatic parking maneuvers with the support of the vehicle's onboard sensors, processor, and control system, thus greatly simplifying the parking process. However, in reality, some parking spaces with narrow aisles and short lengths are difficult to complete manually or using APA. Drivers often have to give up after several unsuccessful attempts.

[0027] A conventional vehicle does not slip during an automatic parking maneuver and can only travel along a conventional path, such as a straight line, a circular arc, a combination of a straight line and a circular arc, or a continuous smooth higher-order curve. The aforementioned path requires a relatively large amount of space. Fig. Figure 1 is a schematic diagram of a principle by which a conventional vehicle steers. The position of a turning center O on an extension line of a rear axle of the vehicle can be determined based on a front wheel steering angle between a front wheel and the direction of travel of the vehicle. The distance between the center of a left front axle and the turning center O is the turning radius of the vehicle. If an available parking space is tight, the vehicle can only park in it by several maneuvers and repeated back-and-forth adjustments. With reference to Fig. 2. A solid line frame represents the vehicle's initial parking position, and a dotted line frame represents the vehicle's position after two movements along dashed lines. A curved dotted line represents the vehicle's trajectory during parking. In a confined space, the vehicle moves sequentially along a direction indicated by curved arrows to enter the parking space. In this case, multiple back-and-forth adjustments are required to modify the vehicle's orientation, resulting in low parking efficiency. Additionally, waiting time caused by frequent starts, stops, and gear changes during these repeated adjustments leads to a poor driver experience.If the road width in a parking scenario is further reduced, for example in the case of a narrow parallel parking space with obstacles both in front and behind, a parking maneuver may not be completed even after several adjustments due to the limited space, leading to the failure of the automatic parking system. These drawbacks severely restrict the application scenarios of an automatic parking system and negatively impact the driver experience.

[0028] With reference to Fig. 3 is Fig. 3. A flowchart of a parking procedure according to an exemplary embodiment. As in Fig. As shown in section 3, the parking procedure includes the following steps.

[0029] S301: Determining a drivable area associated with a destination parking space, wherein the drivable area is an area surrounding the destination parking space and containing no obstructions.

[0030] S302: Steering, based on a function of a vehicle steering around a target reference point, to park a vehicle from the drivable area into the target parking space, wherein a turning radius of the vehicle when steering around the target reference point by four-wheel drive with independent control is smaller than a turning radius of the vehicle when steering with a maximum front wheel steering angle.

[0031] For example, the drivable area is the vehicle's driving area while parked. The drivable area is connected to at least one boundary of the target parking space, allowing the vehicle to drive into the target parking space. The target reference point may be within an area enclosed by sequentially connecting the axle centers of four wheels, or it may be outside the area. However, the vehicle steers around the target reference point using independent four-wheel drive, so the turning radius may be smaller than the turning radius achieved when steering with the maximum front-wheel steering angle. The turning radius achieved when steering with the maximum front-wheel steering angle is the turning radius obtained when the vehicle steers only one front wheel and steers that front wheel with its maximum steering angle.This turning radius is also referred to as the minimum turning radius. The minimum turning radius is the radius of a trajectory circle obtained by rolling the center of an outer steering wheel on a support plane when the steering wheel is turned to a limit position and the vehicle is traveling at a lowest stable speed. Thus, the minimum turning radius is related to the steering angle of the vehicle's front wheel, the vehicle's wheelbase, and the vehicle's track width. As in... Fig. As shown in Figure 1, when the vehicle turns right with a maximum front-wheel steering angle θ, a corresponding minimum turning radius can be a line connecting the turning center O and the center of the left front axle of the vehicle. The minimum turning radius can be used to represent the vehicle's ability to navigate a tight curved section or bypass an impassable obstacle. Therefore, the turning radius of the vehicle when steering around the target reference point using independent four-wheel drive is smaller than the turning radius of the vehicle when steering with the maximum front-wheel steering angle. Thus, the vehicle exhibits a greater ability to navigate the tight curved section or bypass the impassable obstacle, and the vehicle can turn through a larger angle in a confined space.The vehicle is steered to park from the drivable area into the target parking space by utilizing its ability to steer around the target reference point via four-wheel drive with independent steering. This improves the vehicle's steering capability during parking and expands the available scenarios for the vehicle's automatic parking function.

[0032] As in Fig. As shown in Figure 4, the direction indicated by an arrow is the vehicle's normal direction of travel. The four-wheel drive with independent control means that the direction of rotation, speed, and torque of each wheel are controlled by an independent motor. Through the interaction of the four wheels, the vehicle can perform steering maneuvers in a more flexible and precise manner, resulting in strong maneuverability. This allows the vehicle to perform a U-turn and a turn on the spot in tight spaces. Even in spaces where the vehicle's size does not meet the minimum turning radius of a conventional vehicle, it can still change direction, enter a specific area, or avoid an obstacle, thus demonstrating flexible steering capability.

[0033] In this embodiment of the present disclosure, the vehicle is steered around the target reference point based on the function of the vehicle steering system in order to park from the drivable area into the target parking space. When the vehicle steers around the target reference point by means of four-wheel drive with independent control, the turning radius is smaller than the turning radius of the vehicle when steering with the maximum front-wheel steering angle. In this way, the vehicle can turn through a larger angle in a limited space. This makes it easier for the vehicle to adjust the orientation of its body within the drivable area, thereby improving the efficiency of automatic parking.

[0034] In an optional embodiment, the target reference point includes a geometric center or center of gravity. The function of the vehicle steering around the target reference point involves the vehicle body rotating around the geometric center or center of gravity.

[0035] Alternatively, the target reference point includes the center point of the wheel axles. The function of the vehicle steering around the target reference point involves the vehicle body rotating around the center point of the wheel axles.

[0036] Alternatively, the target reference point includes a front axle center point or a rear axle center point. The function of the vehicle steering around the target reference point involves the vehicle body rotating around the front axle center point or the rear axle center point.

[0037] Alternatively, the target reference point is located on a target transverse axis. The target transverse axis is an axis on which a geometric center of the vehicle is located and which is horizontally perpendicular to the vehicle's direction of travel. The function of vehicle steering around the target reference point involves the vehicle body rotating around a point on the target transverse axis.

[0038] For example, based on the flexible steering capability achieved by the aforementioned four-wheel drive with independent control, the inventor proposes that various vehicle steering functions around different reference points can be selected for parking based on different parking scenarios in order to determine turning radii suitable for various parking scenarios. With reference to Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12 to Fig. 13 and Fig. 17, Fig. 18, Fig. 19, Fig. 20 to Fig. 21. The vehicle can implement various flexible steering functions using a four-wheel drive technology with independent control; that is, four wheel motors can separately output torques of different magnitudes and directions, thereby improving the dynamic performance and the vehicle body's ability to adapt to changes in orientation. Specifically, steering can be performed with any of the vehicle's geometric center or center of gravity, the wheel axle centerline, the front axle centerline, the rear axle centerline, or a point on the target transverse axis as the center point. Alternatively, steering can be performed around the vehicle's corner point. The following is described with reference to a specific parking scenario.

[0039] For example, the vehicle has the ability to steer around its geometric center or center of gravity. Referring to Fig. 5 is the vehicle's center of rotation, its geometric center or center of rotation, and M indicates a clockwise rotation. Motors of the left and right wheels are controlled using independent four-wheel drive technology to output torques that are equal in magnitude and opposite in direction, resulting in a combined force of zero acting on the vehicle's geometric center or center of gravity. After the steering angles of the wheels have been controlled, the vehicle experiences a resultant torque in the same direction, so that the vehicle body does not move but rotates in place around the geometric center or center of gravity, thus achieving a function of rotation in place around the vehicle's geometric center or center of gravity.In an ideal state, the turning radius of the vehicle when steering around its geometric center or center of gravity is 0. This means that the vehicle can perform a turn on the spot and a U-turn in a tight space. As in . Fig. 6 and Fig. As shown in Figure 17, the vehicle enters a parallel parking space with access lanes on both sides at an angle. If the vehicle's center of gravity is located in the middle of the parking space, a one-step parking maneuver can be achieved by rotating on the spot around the vehicle's center of gravity.

[0040] For example, the vehicle has the ability to rotate around the center point of the front axle or the center point of the rear axle. As in Fig. As shown in Figure 9, in an example where the vehicle's rear axle center point is the center of rotation and the direction of rotation is clockwise, the vehicle's turning radius is the distance between the vehicle's rear axle center point and the center point of the left front axle. If the vehicle's direction of rotation is counterclockwise, the vehicle's turning radius is the distance between the vehicle's rear axle center point and the center point of the right front axle. In particular, the above capability can be implemented by combining independent four-wheel drive technology with an electric parking brake (EPB). For example, if an EPB controls and locks the rear axle wheels while the front axle wheels rotate in opposite directions, the vehicle can rotate around the rear axle center point.In another example, if the EPB controls and locks the front axle wheels while the rear axle wheels rotate in opposite directions, the vehicle can rotate around the center point of the front axle. As in . Fig. As shown in Figure 18, the vehicle travels a certain distance from position A and then rotates for the first time around a center of gravity O1 of the vehicle to reach position B. After traveling another distance, the vehicle enters a parking space at an angle to reach position C. Once in position C, the vehicle rotates around a front axle center point or a rear axle center point O2 to straighten itself for parking in the space.

[0041] For example, the vehicle has the ability to steer around the center of its wheel axles, and one of the vehicle's centers of rotation is one of its wheel axle centers. As in Fig. As shown in Figure 7, M indicates a clockwise rotation. In an example where the center of rotation is the right rear axle centerline, the vehicle rotates clockwise around the right rear axle centerline, and the vehicle's turning radius is the distance between the vehicle's right rear axle centerline and the vehicle's left front axle centerline. By combining independent four-wheel drive technology with EPB technology, the four independent motors apply different torques to each wheel, and the EPB technology is used to control the wheels' directions, allowing the vehicle to rotate around a single wheel axle centerline. Referring to Fig. 19 and Fig. 20 serial numbers in the figures indicate steps for parking the vehicle in a parking space. Fig. 19. After driving to a position parallel to a parallel parking space, the vehicle rotates in step 1 by a specific angle around the center point of the right rear wheel axle so that the front of the vehicle can enter the parking space at an angle. In step 2, the vehicle rotates by a specific angle around the center point of the left front wheel axle to straighten the rear of the vehicle and park it in the parking space. If the length of the parking space is relatively short, each rotation angle is small. The process is repeated until the vehicle is fully parked, achieving a parking effect similar to lateral translation. Fig. In step 20, the vehicle rotates around its center of gravity to a tilted position for a parallel parking space located at a corner of a wall. After the vehicle has arrived behind the parking space, in step 1, the vehicle rotates towards the parking space to be parked in a parallel parking space located at a corner of a wall. In step 2, the vehicle moves forward a certain distance before entering the parking space. In step 3, the vehicle rotates around the center point of its left front wheel axle by a certain angle until it is fully parked and straight.

[0042] For example, the vehicle also has the ability to steer around the vehicle's corner point. Referring to Fig. Figure 21 shows the front of the vehicle facing downwards. For a parallel parking space with a relatively narrow passage, the vehicle can also reverse into the parking space at an angle, then rotate around a left rear corner of the vehicle until the vehicle body is aligned with the parking space, thus achieving one-step parking.

[0043] In an optional embodiment, the method further includes, before the vehicle is steered around the target reference point based on the vehicle steering function in order to park from the drivable area into the target parking space: Determining the target reference point based on the type of target parking space and the road width in the drivable area. In particular, the target reference point can also be determined based on information such as the type and position of the target parking space, a relationship between the target parking space and the drivable area, and the road width in the drivable area.

[0044] In an optional embodiment, determining the target reference point based on a target parking space type and a road width in the drivable area includes: If the target parking space is a parallel parking space, both longitudinal edges of the target parking space are connected to the drivable area, and the road width in the drivable area satisfies a width condition, determine that the target reference point includes the geometric center or center of gravity of the vehicle. The width condition specifies that the road widths on both sides of the target parking space must be greater than or equal to a first threshold value.

[0045] For example, in addition to the destination parking space, the vehicle can drive to any position that provides sufficient room for maneuvering in place and adjust its orientation in place for parking. In this way, the vehicle can adjust its orientation in place within the destination parking space to complete parking. If the destination parking space is a parallel parking space, space is limited in one width direction of the parallel parking space, but the drivable area is sufficient for the vehicle to turn in place. In this case, an optimal entry solution for the vehicle is to enter the parking space at an angle and then turn around the vehicle's geometric center to park in the space. Referring to a schematic diagram of a scenario in Fig. 6 is a direction indicated by an arrow, a direction of travel for the vehicle. P represents the vehicle's position in an initial parked state, A represents the vehicle's position after it has entered a target parking space at an angle, and B represents the vehicle's position after it has rotated within the target parking space. After entering the target parking space at an angle, the vehicle can quickly adjust its body orientation to park by rotating in place around the geometric center or center of gravity of the vehicle within the target parking space. This eliminates the need for multiple back-and-forth adjustments, thus improving the efficiency of automatic parking. In this scenario, from Fig. 5 and Fig. 6. It can be learned that the road widths on both sides of the target parking space each fulfill the width condition of being greater than the first threshold. The first threshold can be greater than or equal to a difference between half the length of the vehicle body and half the width of the target parking space.

[0046] In another optional embodiment, if the road width in the drivable area is greater than or equal to a preset threshold, the target reference point can be determined to be located on a front axle line or a rear axle line of the vehicle. Specifically, the following two cases can be classified based on the type and position of the target parking space.

[0047] In one case, determining the target reference point based on the type of target parking space and the road width in the drivable area involves: If the target parking space is a parallel parking space, at least one longitudinal edge of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a second threshold value, determine that the target reference point includes the wheel axle center of the vehicle.

[0048] For example, the vehicle can adjust its position in a confined space by a relatively large angle using its ability to steer around the center of the wheel axles. Additionally, by independently controlling the torque, speed, and direction of rotation of each wheel, the vehicle can, in an ideal case, achieve strong lateral maneuverability by alternately turning small angles in opposite directions around the center of the front and rear wheels on one side. This function can further enhance the vehicle's flexibility, thereby significantly improving its automatic parking capability. This is particularly evident when referring to a schematic diagram of a vehicle in [location missing]. Fig. 8 scenarios shown. The vehicle drives to a suitable position and performs a clockwise one-pivot swing around the center of rotation of a left front wheel 1 to adjust the vehicle's orientation from position A to position B. The vehicle then performs a counterclockwise one-pivot swing around the center of rotation of a left rear wheel 4 to adjust the vehicle's orientation to reach position C. Through this one-pivot swing, the vehicle achieves lateral movement and parks itself in a parallel parking space, with certain changes in the vehicle's orientation on the right side of the... Fig. Figure 8 shows that a combination of front and rear single-pivot swings allows the vehicle to achieve both lateral movement and positional adjustment, significantly enhancing its maneuverability and flexibility. The road width within the drivable area is greater than the second threshold. This second threshold can be greater than or equal to the width of the vehicle body, allowing the vehicle to enter the drivable area.

[0049] For example, in a process of controlling a vehicle's movement based on a positional relationship between the destination parking space and the vehicle, a target point around which the vehicle rotates can be determined as the center of rotation from the wheel axle centers. The target point can be any of the wheel axle centers. For example, if the destination parking space is on the left side of the vehicle's direction of travel, the vehicle's position can be adjusted using the left front wheel axle center or the left rear wheel axle center as the center of rotation. Alternatively, if the destination parking space is on the right side of the vehicle's direction of travel, the vehicle's position can be adjusted using the right front wheel axle center or the right rear wheel axle center as the center of rotation. The target point can also be any of the wheel axle centers on the same side of the vehicle.For example, if with reference to . Fig. If the target parking space is on the left side of the vehicle's direction of travel, the center of rotation of the left front wheel (1) and the center of rotation of the left rear wheel (4) can be used sequentially as the pivot point for steering to adjust the vehicle's position. If the target parking space is on the right side of the vehicle's direction of travel, the center of rotation of a right front wheel (2) and the center of rotation of a right rear wheel (3) can be used sequentially as the pivot point for steering to adjust the vehicle's position.

[0050] In the other case, determining the target reference point based on the type of target parking space and the road width in the drivable area involves: If the destination parking space is a non-parallel parking space, any short edge of the destination parking space connects with the drivable area, and the road width in the drivable area is greater than or equal to a third threshold, determine that the destination reference point includes the front axle center point or the rear axle center point of the vehicle.

[0051] For example, the non-parallel parking space could be a perpendicular parking space, an angled parking space, an irregular parking space, or the like. By independently controlling the torque of each wheel, the vehicle can execute a single-pivot swing locally around the front axle center point or the rear axle center point. Similar to the ability to rotate around the wheel axle center point, this function extends the vehicle's swing-adaptive capability and is suitable for parking in a perpendicular or angled tight parking space. Referring to a schematic diagram of a Fig. In the 10 scenarios shown, P represents the vehicle's position in an initial parked state, and A represents a position before steering. After the vehicle has rotated around the center point of its front axle, the vehicle's orientation is adjusted from position A to position B. C represents a position after the vehicle has parked in a target parking space. Referring to a schematic diagram of a Fig. In the 11 scenarios shown, F represents the vehicle's initial parking position, A represents the vehicle's position during obstacle avoidance, and B represents the vehicle's position after it has moved to the front of a target parking space. After rotating around its rear axle centerline, the vehicle adjusts its orientation from position B to position C. After parking in the target parking space from position C, the vehicle adjusts its orientation from position C to position D. The vehicle moves to a suitable position and achieves a large-angle adjustment of its orientation with just a single rotation around either its front axle centerline or its rear axle centerline, allowing it to park directly in the parking space. The road width in the drivable area is greater than or equal to the third threshold.The third threshold should be determined based on the vehicle's turning radius, steering angle, and body size, or set based on an empirical value. This is not limited here.

[0052] In another optional embodiment, determining the target reference point based on a target parking space type and a road width in the drivable area includes: If the target parking space is a non-parallel parking space, any short edge of the target parking space connects with the drivable area, and the road width in the drivable area is less than a fourth threshold, determine that the target reference point lies on the target transverse axis. The target transverse axis is an axis on which the geometric center of the vehicle lies and which is horizontally perpendicular to the vehicle's direction of travel.

[0053] For example, the vehicle has the ability to rotate around a point on the vehicle's target lateral axis. Referring to Fig. 12. The vehicle's center of rotation is located on a transverse axis of the vehicle, and the vehicle's turning radius is the distance between a center of rotation and a wheel axle center located on the opposite side of the vehicle from the center of rotation. It is understood that, since the vehicle is a four-wheel drive vehicle with independent steering, the vehicle's turning radius is less than or equal to the vehicle's minimum turning radius when steering with the maximum front wheel steering angle.

[0054] For example, the vehicle can rotate and, by independently controlling the torque of each wheel, oscillate around a point on the target transverse axis. As in Fig. As shown in Figure 13, F represents the vehicle's initial parking position, A represents the vehicle's position during obstacle avoidance, and B represents the vehicle's position after it has moved to the front of a target parking space. After rotating about a point on the target transverse axis, the vehicle adjusts its orientation from position B to position C. After parking in the target parking space from position C, the vehicle adjusts its orientation from position C to position D. In a scenario where the vehicle parks in a perpendicular parking space with a street width less than the fourth threshold, the vehicle parks in the target parking space using the vehicle's rotating function about a point on the target transverse axis. This ensures proper use of the drivable space and improves the vehicle's automatic parking capability.The fourth threshold can be the same as the preceding third threshold, or the fourth threshold can be the length of the vehicle.

[0055] In an optional embodiment, this includes the vehicle being steered around the target reference point based on the vehicle steering function in order to park from the drivable area into the target parking space:

[0056] The wheel speed, torque, and steering angle of each wheel of the vehicle are controlled based on the target reference point, so that the vehicle moves from the drivable area into the target parking space.

[0057] For example, a vehicle's speed when parking is generally relatively low, as higher speeds can cause skidding, reducing the accuracy of an estimated turning radius. Therefore, in a low-speed condition, the wheel speed, torque, and steering angle of each wheel can be controlled based on a specific target reference point, allowing the vehicle to park in the target parking space based on the drivable area. Specifically, in a low-speed condition, the vehicle's speed can be less than 30 km / h. The controlled wheel speed, torque, and steering angle of each wheel can be determined by a specific calculation of the target reference point. In various applications, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12 to Fig. The wheel speed, torque, and steering angle of each wheel are not shown in the 13 scenarios depicted. It is understood that, based on various target reference points, the wheel speed, torque, and steering angle of each wheel are specifically controlled to be different.

[0058] For example, in a low-speed state, all movements of the vehicle must comply with the following restrictions: ω=(vR−vL)L,r=vω=L(vR+vL)2(vR−vL) v R is a combined speed of wheels on the right side, i.e., a combined speed of a right front wheel and a right rear wheel; v Lis a combined speed of wheels on the left side, i.e., a combined speed of a left front wheel and a left rear wheel; L is a track width of the vehicle; r is a turning radius of the vehicle; v is a combined speed of the vehicle's wheels, where linear speed vectors of the wheels are combined to form a linear overall speed vector of a wheel system; and ω is an angular velocity of the vehicle when turning. In a low-speed condition, by independently and precisely controlling the four wheels, a speed difference (v) is achieved. R - v L ) between the wheels on the left side and a speed difference (v R + v L ) between the wheels on the right side, which is not limited to differential speed control of the vehicle. This allows the vehicle to have a turning radius r ≤ r minachieved, whereby r min The minimum turning radius is achieved when the vehicle is steered with the maximum front-wheel steering angle. In this way, the vehicle can utilize independent four-wheel drive to achieve the ability to turn around the target reference point with a turning radius less than or equal to the theoretical minimum turning radius r. min is.

[0059] In an optional embodiment, this includes the vehicle being steered around the target reference point based on the vehicle steering function in order to park from the drivable area into the target parking space: If a parking scenario corresponding to the drivable area and the target parking space is a preset scenario, the vehicle is steered around the target reference point based on the vehicle steering function to park from the drivable area into the target parking space. The preset scenario represents the target parking space as being at the end of the row.

[0060] For example, with reference to Fig. 2. In a scenario where the target parking space is the one at the end of the row, the vehicle cannot use an adjacent lane to park. A conventional parking procedure involves several back-and-forth adjustments to adapt the vehicle's orientation, as shown in Fig. Figure 2 shows that the road width in the drivable area is less than the vehicle's length, and one section of the drivable area is narrow. In this case, wide-angle steering cannot be performed, so multiple back-and-forth adjustments are required to adjust the vehicle's orientation. Therefore, if the parking scenario corresponding to the drivable area and the target parking space is the preset scenario, the vehicle can be steered around the target reference point to park in the target parking space based on the vehicle steering function. In a non-preset scenario, the vehicle can be steered to park in the target parking space using the same parking procedure as a conventional, non-four-wheel-drive, independent-steer vehicle.For example, arc plus straight line, RS curve, Dubins curve, clothoid curve, hybrid A* algorithm, or similar algorithms can be used to generate a parking path for single-step or multi-step parking. A step count threshold can also be set. If the number of steps required to generate a multi-step parking path exceeds the step count threshold, the vehicle can be steered around the target reference point based on the vehicle steering function to park from the drivable area into the target parking space, thus improving parking efficiency.

[0061] In an optional embodiment, determining a drivable area assigned to a target parking space includes: Receiving perception information from the vehicle; Determining information about an obstacle around the vehicle and the target parking space based on perceptual information; and Determining the drivable area based on the target parking space and information about the obstacle.

[0062] For example, the vehicle uses an optical sensor and an ultrasonic sensor to perceive its surroundings, obtain perceptual information, identify information about a surrounding obstacle, and convert this information into a point-like obstacle, a linear obstacle, and a polygonal obstacle. The optical sensor calculates and analyzes the received perceptual information to obtain information about a parking space around the vehicle and the status of that parking space in order to determine an available parking space. If multiple parking spaces are available, they can be displayed on an interface mounted on the vehicle. A driver can select any parking space as the target parking space or designate a parking space that is less than a specified distance threshold from the vehicle as the target parking space.For the target parking space, a parking boundary can be extracted based on information about a boundary, such as a surrounding wall and pillar. The drivable area is further obtained by combining the information about the obstacle with the target parking space.

[0063] In an optional embodiment, this includes the vehicle being steered around the target reference point based on the vehicle steering function in order to park from the drivable area into the target parking space: Parking trajectory planning is carried out based on the drivable area and the target reference point in order to obtain a target parking trajectory; and The vehicle is steered around the target reference point based on the vehicle steering function in order to park from the drivable area along the target parking trajectory into the target parking space.

[0064] For example, once the target parking trajectory has been obtained, an automatic parking maneuver is performed using the vehicle's automatic parking function. Additionally, a sensor is used to detect surrounding obstacles in real time, and a collision risk calculation is performed for any dynamic obstacles that appear during parking, thus avoiding the obstacle. Alternatively, the success of the automatic parking maneuver can be determined based on whether the target parking trajectory is successfully completed and whether the vehicle reaches the expected target parking space.

[0065] For example, the vehicle can perform a reverse turn. As in Fig. 22 and Fig. As shown in Figure 23, if the vehicle is traveling on a road and needs to reverse, it can use the vehicle steering function to reverse around the target reference point into the parking space using four-wheel drive with independent control. For example, based on a detected parking space width, road width, and vehicle size, the vehicle steering function can determine whether parking should be performed by using four-wheel drive with independent control around the target reference point. Additionally, the wheel rotation angles and the vehicle's travel distance are determined, and the steering angle is minimized while ensuring a gradual parking maneuver to reduce tire wear.

[0066] For example, if a parking system determines that a passage is relatively narrow or the vehicle is relatively close to an obstacle, the turning radius can be reduced using the vehicle rotation function around the target reference point via four-wheel drive with independent control. As in Fig. 22 and Fig. Figure 23 shows an example where the vehicle steers around the center of its wheel axles and reverses into a parking space. The vehicle travels forward on a road. After selecting the parking space, the vehicle begins to park. When the vehicle reaches a target position in front of the parking space, it begins to reverse in an arc. A starting position for this arc can be determined by a user's driving position. For example, if the vehicle is close to an obstacle, it can reverse in an arc from a position close to the target parking space or from a position farther away. Specifically, the vehicle uses the parking system to determine the surrounding coordinates around the target parking space and thus the starting position for the reverse maneuver.During a reversing maneuver, the distance between the vehicle and the obstacle should be greater than or equal to a safety margin, for example, 20 cm. After reversing straight into the parking space to achieve a turning position, the vehicle can rotate around the target reference point until it is aligned with the parking space. The vehicle's target reference point is either a right rear corner or the center point of the rear axle, allowing the vehicle's turning angle to be relatively small, thus reducing tire wear.

[0067] For example, a target reference point during a turn, based on an actual situation, is any point on the geometric center or center of gravity of the vehicle, the wheel axle centerline, the front axle centerline, the rear axle centerline, a point on the target transverse axis, or a corner point of the vehicle. It is understood that in a case of single-step parking, when the vehicle has entered the target parking space but has not yet turned, the target reference point for a turn after parking is complete will be in a final position. In other words, the position of the target reference point remains unchanged before and after the turn.

[0068] For example, similar to the reverse parking maneuver described above, the vehicle can also perform a forward parking maneuver into the parking space. As in Fig. 24 and Fig. As shown in Figure 25, the vehicle can first perform an arc turn on a road by using its ability to steer around the target reference point. The vehicle then travels a certain distance straight to allow the front of the vehicle to enter the parking space. Once the right front wheel reaches the final parking position after parking is complete, the vehicle can rotate a certain angle around the right front wheel to straighten the vehicle body and complete the parking maneuver. Side parking can be used to park in a parallel parking space with a narrow aisle. Due to the limited space and small distance between the vehicle and a parking line, it is difficult for the vehicle to perform a U-turn before entering the parking space. In this case, the vehicle can, as shown in Figure 25, perform a side parking maneuver. Fig. As shown in Figure 25, the vehicle first drives to a position aligned with the parallel parking space, then rotates a relatively small angle around the center point of the left front axle to allow the left rear wheel of the vehicle to enter the target parking space. Next, the vehicle rotates a relatively large angle around the center point of the left rear axle to allow the front of the vehicle to enter the target parking space. Finally, the vehicle rotates a relatively small angle around the center point of the right front axle to allow the rear of the vehicle to enter the parking space. In this way, the vehicle body is aligned and the parking maneuver is complete.In this way, a process of rotating around the center point of each wheel axle is performed several times, allowing the vehicle to be maneuvered into the parking space gradually in several steps, achieving an effect similar to lateral translation. If the vehicle's starting parking position is relatively far from the parking space, the number of individual wheel rotations can be increased to complete the parallel parking maneuver.

[0069] In this embodiment of the present disclosure, the vehicle can achieve one-step parking in the parking space by means of four-wheel drive with independent control when the vehicle cannot park in the parking space using conventional APA or when multiple back-and-forth adjustments are required. Additionally, in the prior art, the vehicle can only perform reverse parking. In the aforementioned solution, the vehicle can perform forward parking and can also achieve side parking. In this way, the vehicle can more easily adjust the orientation of the vehicle body in a narrow, drivable area, which improves the vehicle's parking capability and expands applicable parking scenarios, thereby improving both parking efficiency and the variety of parking procedures.

[0070] With reference to Fig. 14 is Fig. 14 A flowchart of another parking procedure according to an exemplary embodiment. As in Fig. As shown in 14, the parking procedure includes the following steps. S1400: After activating an automatic parking function on a device attached to the vehicle, a driver checks whether the vehicle doors are closed, the chassis response status, and whether each sensor is functioning normally. If the checks are successful, the automatic parking function is determined to be activated. S1401: Environmental perception, mapping, and positioning. An optical sensor and an ultrasonic sensor are used to perceive the environment, identify information about a surrounding obstacle, and convert this information into a point-like obstacle, a linear obstacle, and a polygonal obstacle. The perceived information and the obstacle information are used for mapping, and the positional state of the entire vehicle is determined using a positioning module. S1402: The optical sensor analyzes the received perception information to obtain information about an available parking space around the vehicle and the status of the parking space, identifies a usable parking space and determines a target parking space to enter. S1403: For the target parking space, an available parking boundary is extracted based on information about a boundary, such as a surrounding wall and column. A drivable parking area is further obtained by using information about the obstacle and the target parking space. It can be determined whether a scenario type corresponding to the target parking space is a narrow space or a space-constrained scenario where parking is difficult. If so, step S1405 is performed; if not, step S1404 is performed. S1404: Performing path planning using a conventional automatic parking procedure. S1405: Determine whether the parking space is a perpendicular or angled parking space. If yes, perform step S1407; if not, perform step S1406.

[0071] If the destination parking space is perpendicular to or at an angle to a direction of travel, path planning is carried out using a perpendicular parking procedure; otherwise, path planning is carried out using a parallel parking procedure.

[0072] S1406: Applying a parallel parking procedure for a parallel parking space with limited space.

[0073] In the first case, the destination parking space is limited, but the drivable area is sufficient for the vehicle to turn around.

[0074] As in Fig. As shown in Figure 6, the spaces in front of and behind the target parking space are limited, but a drivable space is sufficient for the vehicle to rotate around itself. In this case, an optimal entry solution for the vehicle is to enter the parking space at an angle, with position P aligned to position A, and then rotate around the vehicle's geometric center to align from position A to position B, thereby parking in the target parking space.

[0075] In a second case, the destination parking space is limited, and the drivable area does not allow the vehicle to turn around.

[0076] As in Fig. As shown in Figure 8, the spaces in front of, behind, and to the left of the target parking space are limited, making it impossible for the vehicle to park by rotating around itself within the space. In this case, the vehicle's ability to rotate around the center of its wheel axles can be used for parking. First, the vehicle moves to an upper right corner of the target parking space. In this case, the vehicle's orientation is position A. Then, the vehicle rotates clockwise around its left front wheel 1, with position A becoming position B. Subsequently, the vehicle rotates counterclockwise around its left rear wheel 2, with position B becoming position C. Changes in the vehicle's orientation are shown in Figure 8. Fig. Figure 8 shows that in a parallel parking scenario, the road width is sufficient for the vehicle to enter, and the vehicle can park in the parallel parking space using this procedure.

[0077] S1407. Procedure for the perpendicular parking space or the angled parking space.

[0078] In the first case, for a parking space at the end of the row, which is in Fig. Figure 10 shows how to park the vehicle in the parking space by rotating it around the center of its front axle. A single rotation allows for a large-angle adjustment of the vehicle's position for quick parking.

[0079] In a second case, in the Fig. In scenario 11, when parking in a perpendicular parking space by using a lane in front of the target parking space, the vehicle rotates around the center of its rear axle. A single rotation achieves a large-angle adjustment of the vehicle's position for quick parking.

[0080] In a third case, in a Fig. In the scenario shown in Figure 13, when the road width is extremely narrow, the vehicle uses its ability to rotate around a point on the target transverse axis to park in a perpendicular parking space. F represents the vehicle's initial parking position, A represents its position during obstacle avoidance, and B represents its position after it has moved to the front of the target parking space. After rotating around a point on the target transverse axis, the vehicle adjusts its orientation from position B to position C. After parking in the target parking space from position C, the vehicle adjusts its orientation from position C to position D to complete the parking maneuver. This parking procedure achieves higher parking space utilization and solves a problem that a conventional vehicle cannot achieve in an extreme scenario.

[0081] S1408: Determine if a parking trajectory is successfully solved. If so, step S1409 is performed; if not, step S1410 is performed.

[0082] S1409: Performing automatic parking based on a calculated trajectory. Additionally, a sensor is used to detect the surrounding obstacle in real time, and a collision risk assessment is performed on any dynamic obstacle that appears during parking, thereby avoiding the obstacle.

[0083] S1410: Parking is complete. Whether automatic parking is successful is determined based on whether the parking trajectory is successfully completed and whether an expected position is reached. For example, if the parking trajectory is successfully completed and the vehicle is parked within the target parking space, automatic parking is successful. If the parking trajectory is not completed, or if the parking trajectory is successfully completed but the vehicle is not parked within the target parking space, automatic parking is successful.

[0084] In this embodiment of the present disclosure, the success rate and efficiency of the automatic parking system are improved, thereby reducing parking difficulty and time. In addition, applicable scenarios for the automatic parking function are expanded so that the automatic parking function can be used in environments with limited drivable space, such as a narrow street section or an environment with complex surrounding obstacles, thereby improving the driver's experience.

[0085] With reference to Fig. 15 is Fig. 15 A block diagram of a parking device according to an exemplary embodiment. As in Fig. The parking device shown in section 15 includes: a first determination module 1510 configured to determine a drivable area associated with a destination parking space, wherein the drivable area is an area surrounding the destination parking space that does not contain an obstacle; and A control module 1520 configured to steer a vehicle around a target reference point based on a function of a vehicle steering system, in order to park from the drivable area into the target parking space, wherein a turning radius of the vehicle when steering around the target reference point by means of four-wheel drive with independent control is smaller than a turning radius of the vehicle when steering with a maximum front wheel steering angle.

[0086] In an optional embodiment, the target reference point includes a geometric center or center of gravity. The function of the vehicle steering around the target reference point involves the vehicle body rotating around the geometric center or center of gravity.

[0087] Alternatively, the target reference point includes the center point of the wheel axles. The function of the vehicle steering around the target reference point involves the vehicle body rotating around the center point of the wheel axles.

[0088] Alternatively, the target reference point includes a front axle center point or a rear axle center point. The function of the vehicle steering around the target reference point involves the vehicle body rotating around the front axle center point or the rear axle center point.

[0089] Alternatively, the target reference point is located on a target transverse axis. The target transverse axis is an axis on which a geometric center of the vehicle is located and which is horizontally perpendicular to the vehicle's direction of travel. The function of vehicle steering around the target reference point involves the vehicle body rotating around a point on the target transverse axis.

[0090] In an optional embodiment, the parking device also includes: a second determination module configured to determine the target reference point based on the type of target parking space and the road width in the drivable area.

[0091] In an optional embodiment, the second determination module includes: A first determination submodule is configured as follows: if the target parking space is a parallel parking space, both longitudinal edges of the target parking space are connected to the drivable area, and the road width in the drivable area satisfies a width condition, determine that the target reference point includes the geometric center or center of gravity of the vehicle. The width condition specifies that the road widths on both sides of the target parking space are greater than or equal to a first threshold value.

[0092] In an optional embodiment, the second determination module includes: A second determination sub-module is configured: if the target parking space is a parallel parking space, at least one longitudinal edge of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a second threshold, determine that the target reference point includes the wheel axle center of the vehicle.

[0093] In an optional embodiment, the second determination module includes: A third determination submodule is configured: if the target parking space is a non-parallel parking space, any short edge of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a third threshold, determine that the target reference point includes the front axle center point or the rear axle center point of the vehicle.

[0094] In an optional embodiment, the second determination module includes: A fourth determination submodule is configured as follows: if the target parking space is a non-parallel parking space, any short edge of the target parking space connects to the drivable area, and the road width in the drivable area is less than a fourth threshold, determine that the target reference point lies on the target transverse axis. The target transverse axis is an axis on which the geometric center of the vehicle lies and which is horizontally perpendicular to the vehicle's direction of travel.

[0095] In an optional embodiment, the control module 1520 is configured in particular to: to control the wheel speed, torque, and steering angle of each wheel of the vehicle based on the target reference point, so that the vehicle parks from the drivable area into the target parking space.

[0096] In an optional embodiment, the first determination module 1510 includes: a maintenance module configured to retain perception information from the vehicle; a third determination module configured to determine information about an obstacle around the vehicle and the target parking space based on the perception information; and a fourth determination module configured to determine the drivable area based on the target parking space and information about the obstacle.

[0097] In an optional embodiment, the control module 1520 is configured in particular to: to perform parking trajectory planning based on the drivable area and the target reference point in order to obtain a target parking trajectory; and Based on the function of the vehicle steering system, the vehicle is steered around the target reference point in order to park from the drivable area along the target parking trajectory into the target parking space.

[0098] In this embodiment of the present disclosure, the vehicle is steered around the target reference point based on the function of the vehicle steering system in order to park from the drivable area into the target parking space. When the vehicle steers around the target reference point by means of four-wheel drive with independent control, the turning radius is smaller than the turning radius of the vehicle when steering with the maximum front-wheel steering angle. In this way, the vehicle can turn through a larger angle in a limited space. This makes it easier for the vehicle to adjust the orientation of the vehicle body within the drivable area, thereby improving the efficiency of automatic parking.

[0099] For the parking device in the preceding embodiment, a specific method by which each module performs a process is described in detail in the embodiments of the parking procedure. Details are not described therein.

[0100] The present disclosure further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions. When the program instructions are executed by a processor, the parking method according to the present disclosure is implemented.

[0101] The present disclosure further provides a vehicle, the vehicle comprising: a storage device, wherein the storage device stores a computer program; and a control unit, wherein the control unit is configured to execute the computer program to implement the parking procedure according to the present disclosure.

[0102] In an optional embodiment, the vehicle includes four motors, and each motor drives one wheel accordingly.

[0103] Fig. Figure 16 is a block diagram of a vehicle 1600 according to an exemplary embodiment. For example, the vehicle 1600 can be a hybrid vehicle, or it can be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or another type of vehicle. The vehicle 1600 can be an autonomous vehicle or a semi-autonomous vehicle.

[0104] With reference to Fig.The vehicle 1600 can contain 16 different subsystems, such as an infotainment system 1610, a perception system 1620, a decision control system 1630, a propulsion system 1640, and a computing platform 1650. The vehicle 1600 can also contain more or fewer subsystems, and each subsystem can contain multiple components. Additionally, the connection between each subsystem of the vehicle 1600 and between each component can be implemented wired or wirelessly.

[0105] In some embodiments, the 1610 infotainment system may include a communication system, an entertainment system, a navigation system, and the like.

[0106] The Perception System 1620 can include multiple sensors configured to gather information about the environment surrounding the Vehicle 1600. For example, the Perception System 1620 can include a global positioning system (the global positioning system can be a GPS system, a Beidou system, or another positioning system), an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and an imaging device.

[0107] The decision control system 1630 can include a computing system, a vehicle control unit, a steering system, an accelerator pedal and a braking system.

[0108] The drive system 1640 can include a component that provides power for the movement of the vehicle 1600. In one embodiment, the drive system 1640 can include a motor, an energy source, a transmission system, and a wheel. The motor can be one or a combination of several internal combustion engines, motors, or compressed air engines. The motor can convert energy provided by the energy source into mechanical energy.

[0109] Some or all of the functions of the vehicle 1600 are controlled by the computing platform 1650. The computing platform 1650 can include at least one processor 1651 and one memory 1652, and the processor 1651 can execute an instruction 1653 that is stored in the memory 1652.

[0110] The 1651 processor can be any conventional processor, such as a standard CPU. The processor can also include a graphics processing unit (GPU), a field-programmable gate array (FPGA), a system-on-chip (SoC), an application-specific integrated circuit (ASIC), or a combination thereof.

[0111] The 1652 memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic storage device, a flash memory, a magnetic disk, or an optical disk.

[0112] In addition to instruction 1653, memory 1652 can also store data, such as a road map, route information, and the location, direction, and speed of a vehicle. Data stored in memory 1652 can be used by the computing platform 1650.

[0113] In this embodiment of the present disclosure, the processor 1651 can execute instruction 1653 to complete all or some of the steps of the preceding parking procedure.

[0114] In a further embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device. The computer program has a code section that is used to execute the parking procedure described above when executed by the programmable device.

[0115] A person skilled in the art can easily discover another implementation solution of the present disclosure after considering this description and implementing the present disclosure. This application is intended to cover all variations, functions, or adaptive modifications of the present disclosure. These variations, functions, or adaptive modifications comply with the general principles of the present disclosure and incorporate common general knowledge or a generally used technical means in the field that is not disclosed in the present disclosure. This description and the embodiments are considered merely as examples, and the actual scope and spirit of the present disclosure are set out by the following claims.

[0116] It is understood that the present disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and that various modifications and alterations may be made without deviating from the scope of protection. The scope of protection of the present disclosure is limited only by the accompanying claims. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] CN 202311222836,1

[0001]

Claims

[1] A parking procedure comprising: Determining a drivable area associated with a destination parking space, wherein the drivable area is an area surrounding the destination parking space that is free of obstructions; and Steering, based on a target reference point, of a vehicle to park from the drivable area into the target parking space, wherein the vehicle is capable of steering around the target reference point by means of four-wheel drive with independent control, and a turning radius of the vehicle when steering around the target reference point is smaller than a turning radius of the vehicle when steering with a maximum front wheel steering angle. [2] The parking method according to claim 1, wherein the target reference point has a geometric center or center of gravity, and a vehicle body rotates around the geometric center or center of gravity when the vehicle steers around the target reference point; the target reference point has a wheel axle center point, and the vehicle body rotates around the wheel axle center point when the vehicle steers around the target reference point; the target reference point has a front axle center point or a rear axle center point, and the vehicle body rotates around the front axle center point or the rear axle center point when the vehicle steers around the target reference point; or The target reference point is located on a target transverse axis, the target transverse axis is an axis on which a geometric center of the vehicle is located and which is horizontally perpendicular to a direction of travel of the vehicle, and the vehicle body rotates around a point on the target transverse axis when the vehicle steers around the target reference point. [3] The parking method according to claim 1 or 2, wherein the method further comprises, prior to steering, on the basis of a target reference point, a vehicle to park from the drivable area into the target parking space: Determining the target reference point based on the type of target parking space and the road width in the drivable area. [4] The parking method according to claim 3, comprising determining the target reference point based on a type of target parking space and a road width in the drivable area: If the target parking space is a parallel parking space, both longitudinal edges of the target parking space are connected to the drivable area, and the road width in the drivable area satisfies a width condition, determine that the target reference point has the geometric center or center of gravity of the vehicle, where the width condition is that road widths on both sides of the target parking space are greater than or equal to a first threshold value. [5] The parking method according to claim 3 or 4, comprising determining the target reference point based on a type of target parking space and a road width in the drivable area: If the target parking space is a parallel parking space, at least one longitudinal edge of the target parking space is connected to the drivable area, and the road width in the drivable area is greater than or equal to a second threshold value, determine that the target reference point has the wheel axle center point of the vehicle. [6] The parking method according to claims 3 to 5, comprising determining the target reference point based on a type of target parking space and a road width in the drivable area: If the destination parking space is a non-parallel parking space, any short edge of the destination parking space connects with the drivable area, and the road width in the drivable area is greater than or equal to a third threshold, determine that the destination reference point is the front axle center point or the rear axle center point of the vehicle. [7] The parking method according to one of claims 3 to 6, comprising determining the target reference point based on a type of target parking space and a road width in the drivable area: If the target parking space is a non-parallel parking space, any short edge of the target parking space is connected to the drivable area, and the road width in the drivable area is less than a fourth threshold, determine that the target reference point is on the target transverse axis, where the target transverse axis is an axis on which the geometric center of the vehicle is located and which is horizontally perpendicular to the direction of travel of the vehicle. [8] The parking method according to any one of claims 1 to 7, comprising the steering, based on a target reference point, of a vehicle to park from the drivable area into the target parking space: Controlling the speed, torque, and steering angle of each wheel of the vehicle based on the target reference point, so that the vehicle moves from the drivable area into the target parking space. [9] The parking method according to any one of claims 1 to 8, comprising determining a drivable area associated with a destination parking space: Receiving perception information from the vehicle; Determining information about an obstacle around the vehicle and the target parking space based on perceptual information; and Determining the drivable area based on the target parking space and information about the obstacle. [10] The parking method according to any one of claims 1 to 9, comprising the steering, based on a target reference point, of a vehicle to park from the drivable area into the target parking space: Performing parking trajectory planning based on the drivable area and the target reference point to obtain a target parking trajectory; and Steering, based on a function of the vehicle steering around the target reference point, of the vehicle to park from the drivable area along the target parking trajectory into the target parking space. [11] A computer-readable storage medium, wherein the computer-readable storage medium stores computer program instructions, and when the program instructions are executed by a processor, the parking method according to any one of claims 1 to 10 is implemented. [12] A vehicle, wherein the vehicle has: a storage device, wherein the storage device stores a computer program; and a control unit, wherein the control unit is configured to execute the computer program to implement the parking procedure according to any one of claims 1 to 10. [13] The vehicle according to claim 12, wherein the vehicle has four motors, and each of the motors drives a wheel accordingly.

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