Parking method and system, electronic device, and storage medium

Abstract

A parking method and system, an electronic device, and a storage medium, relating to the technical field of automobiles. The parking method comprises: controlling a vehicle to travel to a target area; controlling the vehicle to turn in place in the target area to a first direction adapted to a target parking space; and after the vehicle completes in-place turn, controlling the vehicle to park in the target parking space.

Description

Parking method, system, electronic device and storage medium

[0001] Related cross-references

[0002] This application is based on the Chinese patent application with application number 202310884522.1 and application date of July 17, 2023, and claims the priority of the above-mentioned Chinese patent application. The entire content of the above-mentioned Chinese patent application is hereby introduced into this application as a reference. Technical Field

[0003] The present application relates to the field of automotive technology, and in particular to a parking method, system, electronic device, and storage medium. Background Art

[0004] Due to the limitations of their drivetrain, vehicles currently on the market typically steer based on Ackermann steering geometry. This creates an arc-shaped trajectory when turning. Therefore, path planning in automated parking functions typically uses arcs of varying curvature to create a trajectory, guiding the vehicle along that trajectory.

[0005] Taking a common vertical parking space as an example, two planning paths can usually be found based on the surrounding space. For path one, see Figure 1a:

[0006] The vehicle moves sideways from its initial position, turns, and then tilts to its center position before reversing to its final position. This path requires ample space near the center position (e.g., the boxed area in the image). In real-world scenarios, this path is not suitable for parking spaces near walls or with limited road space.

[0007] For path 2, see Figure 1b:

[0008] The vehicle moves forward directly from its initial position, placing it upright at the center, and then reverses to its final position. This path requires sufficient space near the center and between the center and final positions (e.g., the boxed area in the diagram). In real-world scenarios, this path is not suitable for parking spaces near walls or with narrow roadways.

[0009] Based on the above, it can be seen that the steering method designed based on Ackermann steering geometry in the existing technology is difficult to achieve automatic parking in areas with narrow spaces.

[0010] Summary of the Invention

[0011] In view of the above problems, embodiments of the present application provide a parking method, system, electronic device, and storage medium that overcome the above problems or at least partially solve the above problems.

[0012] In a first aspect, an embodiment of the present application provides a parking method, comprising:

[0013] Control the vehicle to drive to the target area;

[0014] Controlling the vehicle to turn in situ in the target area to a first direction adapted to the target parking space;

[0015] After the vehicle completes the on-site turn, the vehicle is controlled to park in the target parking space.

[0016] In a second aspect, an embodiment of the present application provides a parking system, comprising:

[0017] Main controller;

[0018] A transverse and longitudinal controller and an in-situ steering controller connected to the main controller;

[0019] The main controller is used to: control the transverse and longitudinal controllers to guide the vehicle to travel to the target area; control the on-site steering controller to guide the vehicle to turn on-site in the target area to a first direction adapted to the target parking space; and after the vehicle completes the on-site steering, control the transverse and longitudinal controllers to guide the vehicle to park in the target parking space.

[0020] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0021] Memory for storing computer programs;

[0022] The processor is configured to implement the steps of the parking method described in the first aspect when executing the computer program stored in the memory.

[0023] In a fourth aspect, an embodiment of the present application provides a non-volatile readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the parking method described in the first aspect above.

[0024] In an embodiment of the present application, after controlling the vehicle to drive to the target area, the vehicle is controlled to turn on the spot to a first direction that is compatible with the target parking space, and after the vehicle completes the on-the-spot turning, the vehicle is controlled to park in the target parking space. Based on the on-the-spot turning function, a relatively simple path planning method can be used to determine a shorter parking path, so that the vehicle uses less space when turning, completes the turn and parks in a narrow space, and saves computing power, improves the success rate of path planning, reduces the average parking time, and brings a new parking experience to the driver.

[0025] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for describing the embodiments.

[0027] FIG1a shows a schematic diagram of an automatic parking path for a vertical parking space in the prior art;

[0028] FIG1b shows a second schematic diagram of an automatic parking path for a perpendicular parking space in the prior art;

[0029] FIG2 is a schematic diagram of a parking method provided by an embodiment of the present application;

[0030] FIG3 is a schematic diagram showing a vehicle turning in place provided by an embodiment of the present application;

[0031] FIG4 is a schematic diagram showing an automatic parking system based on a pivoting function according to an embodiment of the present application;

[0032] FIG5 is a flowchart showing an overall implementation of the parking method provided in an embodiment of the present application;

[0033] FIG6 is a schematic diagram of a parking system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0035] It should be understood that references throughout this specification to "one embodiment" or "an embodiment" mean that a particular feature, structure, or characteristic associated with the embodiment is included in at least one embodiment of the present application. Therefore, the appearances of "in one embodiment" or "in an embodiment" throughout this specification do not necessarily refer to the same embodiment. Furthermore, these particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0036] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0037] In order to solve the problem of difficulty in automatic parking in narrow spaces, the embodiments of the present application provide an automatic parking method based on a four-wheel independent drive vehicle. There is no need to use the conventional "circle drawing method" to generate a parking path. Based on the vehicle's on-the-spot turning function, a relatively simple path planning method can be used to determine a shorter parking path, so that the vehicle uses less space when turning, and can complete the turn and park in a narrow space. At the same time, it can improve the success rate of path planning, reduce the average parking time, and bring a new parking experience to the driver.

[0038] The parking method provided in the embodiment of the present application is described below. Referring to FIG2 , the parking method includes the following steps:

[0039] Step 201: Control the vehicle to travel to the target area.

[0040] The parking method provided in the embodiment of the present application is applied to a main controller, which is an automatic parking controller. The main controller first obtains the target parking space of the vehicle to be parked, and determines the target area based on the position information of the target parking space. The target area is the area where the vehicle is located when performing an on-the-spot turn.

[0041] In the embodiment of the present application, the positional relationship between the target parking space and the vehicle can be: the target parking space is a perpendicular parking space or a diagonal parking space corresponding to the vehicle's position. In the case of a diagonal parking space, the inclination angle of the target parking space relative to the vehicle needs to be within a set range.

[0042] Step 202: Control the vehicle to turn in situ in the target area to a first direction that matches the target parking space.

[0043] After the vehicle reaches the target area, the main controller obtains rotation information corresponding to the vehicle's pivot turn in the target area and, based on the rotation information, controls the vehicle to pivot in the target area to a first direction that matches the target parking space, thereby aligning with the target parking space. When the main controller controls the vehicle to pivot, it can send a rotation instruction carrying the rotation information to a pivot controller equipped with pivot steering functionality, which then pivots the vehicle based on the rotation instruction.

[0044] The vehicle of the embodiment of the present application is a four-wheel independent drive vehicle, which can achieve a "tank-like" on-the-spot U-turn by relying on the mutual reversal of the left and right side wheels. When the vehicle is turning on the spot, it is essentially rotating around the vehicle's rotation center (such as the center of mass), and the vehicle can be rotated at any angle around the vehicle's rotation center. The required space is a radius of X+Xs, and the angle corresponding to the on-the-spot turning forms an area close to a fan-shaped area. For example, referring to Figure 3, X represents the distance from the center of mass of the vehicle to the front of the vehicle, and Xs represents the safety distance reserved when the on-the-spot turning function is used, with the front of the vehicle as the reference. And when the on-the-spot turning function is enabled, it is necessary to use detection equipment (such as ultrasonic radar) to detect whether there are obstacles around.

[0045] Step 203: After the vehicle completes the on-site turn, the vehicle is controlled to park in the target parking space.

[0046] After the vehicle completes the pivot, the main controller can control the vehicle to park into the target parking space by reversing or moving forward to complete automatic parking. Figure 4 illustrates the situation where the vehicle, after pivoting, aligns its rear end with the target parking space and then reverses to park into the target space.

[0047] As an implementation method, when controlling a vehicle to park into a target parking space by reversing or moving forward, the vehicle's posture may be corrected to ensure that the vehicle is parked properly.

[0048] The above-mentioned implementation scheme of the present application, after controlling the vehicle to drive to the target area, controls the vehicle to turn on the spot in the target area to a first direction adapted to the target parking space, and controls the vehicle to park in the target parking space after the vehicle completes the on-the-spot turning. Based on the on-the-spot turning function, a relatively simple path planning method can be used to determine a shorter parking path, so that the vehicle uses less space when turning, and can complete the turning and park in a narrow space. At the same time, it can save computing power, improve the success rate of path planning, reduce the average parking time, and bring a new parking experience to the driver.

[0049] In an embodiment of the present application, the main controller may determine a target area before controlling the vehicle to travel to the target area. As an optional embodiment, the method for determining the target area includes: determining the target area based on the location information of the target parking space and the location information of the vehicle. The current location information of the vehicle is the location information of the vehicle when the automatic parking function is activated and the automatic parking function begins.

[0050] After the main controller determines the target area based on the position information of the target parking space and the position information of the vehicle, it can control the vehicle to travel to the target area. Among them, the target area is the target point. Controlling the vehicle to travel to the target area is actually controlling the vehicle to travel to the first position where the vehicle rotation center coincides with the target point. For example, referring to Figure 4, the vehicle advances from the initial position to the first position (i.e., the middle position for turning in situ), and the vehicle rotation center coincides with the target point at the first position. The vehicle rotation center can be the vehicle center of mass, and the vehicle rotation center has been determined at the beginning of the vehicle design. Accordingly, the position of the vehicle center of mass has been determined at the beginning of the vehicle design and can be obtained by measurement after the vehicle is produced. When the vehicle rotation center (such as the vehicle center of mass) coincides with the target point, the vehicle stops moving forward, and the vehicle now reaches the position for performing turning in situ.

[0051] In an optional embodiment of the present application, before controlling the vehicle to turn in situ in the target area to a first direction adapted to the target parking space, and after controlling the vehicle to drive to the target area, the main controller may further perform the following steps:

[0052] Obtain rotation information corresponding to the vehicle turning in place in the target area, wherein the rotation information is used to instruct the vehicle to turn to a first direction, and the rotation information is determined based on the relative position relationship between the vehicle body posture and the target parking space after the vehicle travels to the target area.

[0053] After the vehicle reaches the target area, the main controller obtains the vehicle's corresponding rotation information based on the relative position between the vehicle's current posture and the target parking space. The vehicle's corresponding rotation information includes at least a rotation direction and a rotation angle, and the rotation information is used to instruct the vehicle to turn in a first direction to align with the target parking space. Aligning the vehicle with the target parking space can be understood as the vehicle being able to park in the target parking space by reversing or moving forward. That is, the rotation information can indicate that the front of the vehicle is aligned with the target parking space, or that the rear of the vehicle is aligned with the target parking space.

[0054] In an embodiment of the present application, the target area can be determined based on the intersection of a target median perpendicular line and the longitudinal axis of the vehicle. The target median perpendicular line is the median perpendicular line of the line segment between the first and second front corner points of the target parking space. That is, the target median perpendicular line is perpendicular to the line connecting the first and second front corner points of the target parking space and passes through the midpoint between the first and second front corner points.

[0055] After obtaining the target parking space's location information and the vehicle's current location information (as shown in FIG4 , the vehicle's location information at its initial position), the main controller can determine the target perpendicular midline based on the perpendicular midline of the line segment between the first and second front corner points of the target parking space, and then determine the intersection of the target perpendicular midline and the vehicle's longitudinal axis. This intersection is the vehicle's target position. For example, referring to FIG4 , the vehicle's longitudinal axis passes through the center of the vehicle's rear axle and extends in the longitudinal direction of the vehicle. The target position is determined based on the intersection of the target perpendicular midline and the vehicle's longitudinal axis.

[0056] In the embodiment of the present application, the first front corner point and the second front corner point are the two corner points of the target parking space relative to the vehicle's entrance. Since the essence of a vehicle turning in place is that the vehicle rotates about its rotation center, when the vehicle's rotation center coincides with the target point, the vehicle can rotate about the target point. By determining the target point based on the intersection of the target perpendicular midline and the vehicle's longitudinal axis, it is possible to ensure that the target point and the midpoint of the first and second front corner points are collinear. Furthermore, the vehicle's rotation center and the midpoint are collinear, ensuring that the vehicle can be accurately parked in the parking space after turning.

[0057] In an embodiment of the present application, the main controller can determine the position coordinates of the second position based on the position coordinates of the first front corner point and the second front corner point in the plane coordinate system, and then determine the target point position based on the position coordinates of the second position, the first distance between the longitudinal axis of the vehicle and the horizontal coordinate axis, and the slope of the straight line connecting the first front corner point and the second front corner point.

[0058] The second position is the midpoint between the first front corner point and the second front corner point. The horizontal coordinate axis of the plane coordinate system is parallel to the longitudinal axis of the vehicle, and the vertical coordinate axis of the plane coordinate system is parallel to the transverse axis of the vehicle. The transverse axis of the vehicle passes through the center of the rear axle of the vehicle and extends in the transverse direction of the vehicle. As an embodiment, a plane coordinate system can be established with the center of the rear axle of the vehicle as the coordinate origin, the longitudinal axis of the vehicle as the horizontal coordinate axis (i.e., the X-axis), and the transverse axis of the vehicle as the vertical coordinate axis (i.e., the Y-axis).

[0059] Since the position coordinates of the second position have been determined, the first distance between the longitudinal axis of the vehicle and the horizontal coordinate axis can be determined when determining the plane coordinate system, that is, the first distance is a known quantity. Therefore, based on the relative position of the line connecting the first front corner point and the second front corner point and the horizontal coordinate axis, a suitable method can be used to determine the position coordinates of the target point based on the position coordinates of the second position, the first distance and the slope of the straight line connecting the first front corner point and the second front corner point.

[0060] For example, when the line connecting the first front corner point and the second front corner point is parallel to the horizontal coordinate axis, the position coordinates of the target point can be directly determined based on the horizontal coordinate value of the second position and the first distance.

[0061] Since the line connecting the first and second front corner points is parallel to the horizontal coordinate axis and the longitudinal axis of the vehicle, i.e., the slope of the line connecting the first and second front corner points is 0, and the target perpendicular bisector passes through the target point, the lateral coordinate value of the midpoint between the first and second front corner points is the lateral coordinate value (i.e., horizontal coordinate value) of the target point. Since the horizontal coordinate axis is parallel to the longitudinal axis of the vehicle, the target point is on the longitudinal axis of the vehicle, and the first distance between the longitudinal axis of the vehicle and the horizontal coordinate axis is the distance between the target point and the horizontal coordinate axis. Based on this distance, the longitudinal coordinate value (i.e., vertical coordinate value) of the target point can be determined.

[0062] The following describes the process of determining the target point position, taking the center of the vehicle's rear axle as the coordinate origin, the vehicle's longitudinal axis as the horizontal coordinate axis (i.e., the X-axis), and the vehicle's transverse axis as the vertical coordinate axis (i.e., the Y-axis) as an example.

[0063] The coordinates of the first front corner point A of the target parking space are (X a ,Y a ), the coordinates of the second front corner point B are (X b ,Y b ), since the line connecting the first front corner point A and the second front corner point B is parallel to the X-axis, the ordinates of the first front corner point A and the second front corner point B are equal (for example, the first front corner point A and the second front corner point B can be in the same quadrant of the plane coordinate system). Since the target point is located on the perpendicular bisector of the line segment between the first front corner point A and the second front corner point B, the X-coordinate of the target point is (X a +X b ) / 2, and since the target point is on the X axis, the Y coordinate of the target point is 0, so the coordinates of the target point can be obtained [(X a +X b ) / 2,0].

[0064] When the angle between the line connecting the first front corner point and the second front corner point and the horizontal coordinate axis is within a preset angle range, a target straight line equation is determined based on the position coordinates of the second position and the slope of the target perpendicular bisector, and the position coordinates of the target point are determined based on the target straight line equation and the first distance. The slope of the target perpendicular bisector is determined based on the slope of the line connecting the first front corner point and the second front corner point, and the slope of the line connecting the first front corner point and the second front corner point is determined based on the position coordinates of the first front corner point and the second front corner point.

[0065] When the angle between the line connecting the first front corner point and the second front corner point and the horizontal coordinate axis is within the preset angle range, such as greater than 0 degree and less than or equal to 30 degrees (if counterclockwise is the positive direction, the angle between the line connecting the first front corner point and the second front corner point and the horizontal coordinate axis is between 0 degree and ± 30 degrees), the target point position can be determined by determining the straight line equation. Since the position coordinates of the first front corner point and the second front corner point are known parameters, the straight line slope of the line connecting the first front corner point and the second front corner point can be determined based on the two position coordinates, and the slope of the target perpendicular bisector can be obtained based on the determined straight line slope. The target straight line equation can be determined based on the slope of the target perpendicular bisector and the second position (i.e., the midpoint of the first front corner point and the second front corner point). Since the target point position is on the longitudinal axis of the vehicle, the first distance between the longitudinal axis of the vehicle and the horizontal coordinate axis is a known quantity, so the longitudinal coordinate value of the target point position can be determined, and the longitudinal coordinate value of the target point position is substituted into the target straight line equation to determine the transverse coordinate value of the target point position.

[0066] It should be noted that, since the horizontal coordinate system is determined based on the longitudinal axis and the transverse axis of the vehicle, the quadrant of each position in the horizontal coordinate system can be determined, and then the position coordinates of the target point can be determined.

[0067] The following describes the process of determining the target point position, taking the center of the vehicle's rear axle as the coordinate origin, the vehicle's longitudinal axis as the horizontal coordinate axis (i.e., the X-axis), and the vehicle's transverse axis as the vertical coordinate axis (i.e., the Y-axis) as an example.

[0068] The coordinates of the first front corner point A of the target parking space are (X a ,Y a ), the coordinates of the second front corner point B are (X b ,Y b ), the coordinates of the midpoint between the first front corner point A and the second front corner point B are [(X a +X b ) / 2,(X a +X b ) / 2]. The slope of the line connecting the first front corner point A and the second front corner point B is K1=(Y b -Y a ) / (X b -X a ), the slope of the target perpendicular line K2 is equal to the negative value of the reciprocal of K1, that is, K2 multiplied by K1 is -1. Based on the coordinates of the midpoint of K2, the first front corner point A and the second front corner point B [(X a +X b ) / 2,(Y a +Y b ) / 2] It can be determined that the target straight line equation of the target perpendicular line satisfies:

[0069] Since the target point is located on the longitudinal axis of the vehicle, and the longitudinal coordinate value on the longitudinal axis of the vehicle is 0, substituting y=0 into the above target straight line equation, the transverse coordinate value can be obtained. The transverse coordinate value can be:

[0070] That is, the coordinates of the target point are:

[0071] For situations other than the above two situations (the line connecting the first front corner point and the second front corner point is parallel to the horizontal coordinate axis, and the angle between the line connecting the first front corner point and the second front corner point and the horizontal coordinate axis is within the preset angle range), it is judged as an automatic parking situation where the on-the-spot steering function does not need to be executed.

[0072] The above implementation process introduces a solution for determining the target point. By determining the target point, the position where the vehicle performs the on-the-spot turning function can be determined, so that the vehicle can complete the turn and park in the parking space based on on-the-spot turning and using less space.

[0073] In an optional embodiment of the present application, the target parking space is determined from at least one candidate parking space where the vehicle can park. Specifically, the main controller can obtain at least one candidate parking space where the vehicle can park; and determine the target parking space from the at least one candidate parking space.

[0074] Before determining the target location, the main controller may send a detection instruction to the detection device. The detection device then detects available parking spaces near the vehicle based on the detection instruction. The detection device may include ultrasonic radar and / or visual sensors. For example, visual sensors may include cameras, lidar, etc. After detecting available parking spaces, the detection device provides feedback to the main controller. The main controller then obtains at least one candidate parking space and determines the target parking space from the at least one candidate space.

[0075] As an embodiment, when determining a target parking space, the main controller may select the most suitable parking space from at least one candidate parking space and present it to the user via a display device. The user then confirms whether to park in the space. If the user agrees to park in the space, the main controller determines the space as the target parking space. If the user disagrees to park in the space, the main controller may screen out other parking spaces different from the selected space and request user confirmation until the target parking space is determined. After presenting the selected parking space to the user via the display device, if the display device receives a confirmation or rejection operation from the user, the main controller may notify the main controller. Based on the notification from the display device, the main controller may determine the target parking space or re-screen parking spaces for user confirmation.

[0076] After obtaining at least one candidate parking space, the main controller may transmit the parking space information corresponding to the at least one candidate parking space to a display device. Alternatively, the detection device may directly transmit the parking space information corresponding to the at least one candidate parking space to the display device, which then displays the parking space identifier corresponding to the at least one candidate parking space. After the user selects a candidate parking space based on the parking space identifier, the main controller determines the candidate parking space as the target parking space, thereby determining the target parking space based on the user's active selection.

[0077] In the above implementation process, the main controller can select a parking space from the candidate parking spaces for the user to confirm, thereby screening out the target parking space that meets the user's needs, or the user can actively select the target parking space, providing different implementation methods for determining the target parking space.

[0078] In an optional embodiment of the present application, the rotation information includes a rotation angle and a rotation direction corresponding to the pivot turn. The main controller may obtain the rotation information based on the relative positional relationship between the vehicle's body posture and the target parking space after the vehicle reaches the target area. For example, the main controller may obtain the rotation angle and rotation direction corresponding to the pivot turn based on the relative angle and relative orientation of the vehicle's body posture and the target parking space, as well as the vehicle's desired orientation.

[0079] For example, after the vehicle drives to the target area (such as the vehicle's rotation center coincides with the target point), the rotation angle and rotation direction corresponding to the on-the-spot turn can be obtained based on the relative angle between the current vehicle body posture and the target parking space, the relative orientation of the current vehicle body posture and the target parking space (that is, which side of the target parking space the vehicle body is on) and the desired orientation of the vehicle (the desired orientation of the front of the vehicle or the parking space).

[0080] It is understandable that the desired orientation of the front or rear of the vehicle may be determined by the main controller and the user may be requested to confirm, or the user may actively provide the desired orientation.

[0081] For example, if the relative angle between the current vehicle posture and the target parking space is α, the pivot angle β = 90° ± α, where the plus and minus signs change depending on the positive direction of α. As shown in Figure 4, for a scenario where the target parking space is to the right of the vehicle with the rear end facing inward, the positive direction is counterclockwise. If α is 10°, then β = 90° - 10° = 80°. This means that the pivot function requires the vehicle to rotate 80° counterclockwise, reversing into the target parking space with the front of the vehicle close to the target point.

[0082] The above process introduces the process of determining the rotation angle and rotation direction corresponding to the on-the-spot turn. By determining the rotation angle and rotation direction, the vehicle can be controlled to rotate on-the-spot along the rotation direction by the determined rotation angle, so that the vehicle can be aligned with the target parking space and then accurately parked in the parking space.

[0083] As an embodiment, after obtaining the rotation information corresponding to the vehicle turning in place, the main controller can also perform the following operations: generate a driving trajectory to guide the vehicle to the target parking space based on the rotation information; and control the display device to display the driving trajectory.

[0084] After obtaining the rotation information, the main controller can generate a driving trajectory based on the rotation information to guide the vehicle to the target parking space, and send the driving trajectory to the display device, which displays the driving trajectory to facilitate the user's understanding of the driving path planned by the main controller. The display device in the embodiment of the present application can be a central control display screen. Furthermore, after the driving path is planned, the vehicle's movement process can be presented in a virtual reality manner, vividly demonstrating the vehicle parking process.

[0085] It is understandable that when the main controller controls the vehicle to turn in place to a first direction that is compatible with the target parking space according to the rotation information, it can generate a rotation instruction based on the rotation information and continue to send the rotation instruction within a preset time period to control the vehicle to turn in place.

[0086] After obtaining the rotation information, the main controller can generate a rotation command based on the rotation information and send the rotation command to the on-the-spot steering controller. The on-the-spot steering controller then controls the vehicle to perform an on-the-spot steering around the vehicle's rotation center based on the rotation command. To ensure that the on-the-spot steering controller receives valid rotation commands, the main controller can continuously send rotation commands for a preset period of time, allowing the on-the-spot steering controller to determine the correctness of the commands.

[0087] The preset duration can be a default duration, such as 500ms, or it can be dynamically adjusted based on actual conditions. For example, to achieve an 80-degree counterclockwise rotation, the main controller can issue a rotation command representing +80 degrees, hold it for more than 500ms, and then jump to 0 degrees. At this point, the in-place turn controller determines that the command is valid and begins executing the 80-degree counterclockwise in-place turn.

[0088] By continuously issuing rotation commands, the on-the-spot steering controller can be ensured to determine that the command is a valid command, so as to control the vehicle to perform on-the-spot steering based on the valid command, thereby avoiding the execution of the on-the-spot steering function based on a falsely triggered rotation command.

[0089] The parking method provided in the embodiment of the present application is described below through a specific implementation process. Referring to FIG5 , the parking method includes:

[0090] Step 501: The main controller obtains at least one candidate parking space where a vehicle can park, and determines a target parking space among the at least one candidate parking space.

[0091] Step 502: Determine the perpendicular midline corresponding to the line connecting the first front corner point and the second front corner point of the target parking space, and determine the target point position according to the intersection of the target perpendicular midline and the longitudinal axis of the vehicle.

[0092] The perpendicular bisector corresponding to the line connecting the first front corner point and the second front corner point is the target perpendicular bisector, and the target perpendicular bisector is the perpendicular bisector of the line segment between the first front corner point and the second front corner point.

[0093] Step 503: Control the vehicle to travel to a first position where the vehicle rotation center coincides with the target point.

[0094] Step 504: Obtain rotation information corresponding to the pivot turn, including a rotation angle and a rotation direction, based on the relative angle and relative orientation between the vehicle's body posture and the target parking space and the desired orientation of the vehicle.

[0095] Step 505: Generate a driving trajectory for guiding the vehicle to the target parking space according to the rotation information, and control the display device to display the driving trajectory.

[0096] Step 506: Generate a rotation instruction based on the rotation information, and continue to send the rotation instruction within a preset time period to control the vehicle to turn in place.

[0097] Step 507: After the vehicle completes the on-site turn, the vehicle is controlled to park in the target parking space.

[0098] The above implementation process can be based on the on-the-spot turning function, allowing the vehicle to complete on-the-spot turning and park in a parking space using less space, providing a new parking method and optimizing the user's parking experience.

[0099] The above is the overall implementation plan of the parking method provided in the embodiment of the present application. After controlling the vehicle to drive to the target area, the rotation information corresponding to the vehicle's on-the-spot turn can be obtained based on the relative position relationship between the vehicle's body posture and the target parking space. Based on the rotation information, the vehicle is controlled to turn on the spot and aim at the target parking space. After the vehicle completes the on-the-spot turn, the vehicle is controlled to park in the target parking space. Based on the on-the-spot turning function, a relatively simple path planning method can be used to determine a shorter parking path, so that the vehicle uses less space when turning, and completes the turn and parks in a narrow space. At the same time, it can save computing power, improve the success rate of path planning, reduce the average parking time, and bring a new parking experience to the driver.

[0100] Furthermore, the main controller can select a parking space from the candidate parking spaces for the user to confirm, or the user can actively select the target parking space, providing different implementation methods for determining the target parking space; by continuously issuing rotation instructions, it can ensure that the on-the-spot steering controller determines that the instruction is a valid instruction, so as to control the vehicle to turn on the spot based on the valid instruction, and avoid executing the on-the-spot steering function based on the erroneously triggered rotation instruction.

[0101] The embodiment of the present application further provides a parking system. Referring to FIG6 , the parking system includes: a main controller 601; a horizontal and vertical controller 602 and an in-place steering controller 603 connected to the main controller 601;

[0102] The main controller 601 is used to: control the horizontal and vertical controller 602 to guide the vehicle to the target area; control the on-site steering controller 603 to guide the vehicle to turn on-site in the target area to a first direction that is compatible with the target parking space; after the vehicle completes the on-site steering, control the horizontal and vertical controller 602 to guide the vehicle to park in the target parking space.

[0103] The main controller 601 is an automatic parking controller. It obtains the target parking space for the vehicle to be parked and determines a target area based on the location of the target space. The target area is the area where the vehicle will perform a pivot turn. The positional relationship between the target space and the vehicle can be: the target space is either a perpendicular space or a diagonal space corresponding to the vehicle's position. For diagonal spaces, the target space's inclination angle relative to the vehicle must be within a set range.

[0104] After determining the target area, the main controller 601 controls the horizontal and vertical controller 602 to guide the vehicle to the target area so that the vehicle can turn on the spot in the target area.

[0105] After the vehicle reaches the target area, the main controller 601 obtains the rotation information and controls the on-site steering controller 603 according to the rotation information to guide the vehicle to turn on-site in the target area to a first direction adapted to the target parking space.

[0106] After the vehicle completes the pivot, the main controller 601 can control the vehicle to park in the target parking space by reversing or moving forward, completing automatic parking. Specifically, the main controller 601 sends a reverse or forward command to the horizontal and vertical controller 602, which then guides the vehicle into the target parking space based on the received command. During the process, the vehicle's posture can be corrected to ensure that the vehicle is parked properly in the target parking space.

[0107] Among them, the main controller 601 is also used to: determine the target area based on the position information of the target parking space and the position information of the vehicle; determine the rotation information based on the relative position relationship between the vehicle body posture and the target parking space after the vehicle travels to the target area, and the rotation information is used to instruct the vehicle to turn to the first direction.

[0108] The target area is determined based on the intersection of the target median perpendicular line and the longitudinal axis of the vehicle. The target median perpendicular line is the median perpendicular line of the line segment between the first front corner point and the second front corner point of the target parking space, and the target area is the target point position.

[0109] The current position information of the vehicle is the position information when the vehicle starts the automatic parking function and begins automatic parking. After the main controller 601 determines the target area based on the position information of the target parking space and the position information of the vehicle, it controls the vehicle to travel to the target area.

[0110] When the target area is a target point, controlling the vehicle to travel to the target area actually means controlling the vehicle to travel to a first position where the vehicle's rotation center coincides with the target point. For example, referring to Figure 4 , the vehicle moves from the initial position to the first position (i.e., the intermediate position for performing a pivot turn), where the vehicle's rotation center coincides with the target point.

[0111] After obtaining the target parking space and the current vehicle position information, the target point can be determined based on the perpendicular midline of the line segment between the first and second front corners of the target parking space. The intersection of the target midline and the longitudinal axis of the vehicle is then determined, with this intersection serving as the target point. For example, as shown in FIG4 , the longitudinal axis of the vehicle extends longitudinally through the center of the rear axle of the vehicle, and the target point is determined based on the intersection of the target midline and the longitudinal axis of the vehicle.

[0112] After the vehicle reaches the target area, the main controller 601 can obtain the corresponding rotation information of the vehicle based on the relative positional relationship between the vehicle's current body posture and the target parking space. When the main controller 601 controls the on-site steering controller 603 to guide the vehicle to perform an on-site turn based on the rotation information, the main controller 601 sends a rotation instruction generated based on the rotation information to the on-site steering controller 603. The on-site steering controller 603 then controls the vehicle to perform an on-site turn based on the rotation instruction. To ensure that the on-site steering controller 603 receives a valid rotation instruction, the main controller 601 can continue to send the rotation instruction for a preset period of time so that the on-site steering controller 603 can determine the correctness of the instruction.

[0113] The detailed process of the main controller 601 determining the target point position and the detailed process of the main controller 601 obtaining the rotation information can be found in the relevant description of the method side, which will not be elaborated here.

[0114] As an embodiment, the parking system further includes: a detection device 604 connected to the main controller 601;

[0115] The detection device 604 is used to detect available parking space information to determine at least one candidate parking space where the vehicle can be parked;

[0116] The main controller 601 is further configured to obtain at least one candidate parking space and determine a target parking space among the at least one candidate parking space.

[0117] Before determining the target location, the main controller 601 may send a detection instruction to the connected detection device 604. Based on the detection instruction, the detection device 604 detects available parking spaces near the vehicle. The detection device 604 may include an ultrasonic radar and / or a visual sensor. For example, the visual sensor may include a camera or a lidar. After detecting available parking spaces, the detection device 604 provides feedback to the main controller 601. The main controller 601 then obtains at least one candidate parking space and determines the target parking space from the candidate space.

[0118] The parking system further includes a display device 605 connected to the main controller 601 , and the display device 605 is used to obtain and display a parking space identifier corresponding to at least one candidate parking space, or obtain and display a parking space identifier corresponding to a candidate parking space selected by the main controller 601 .

[0119] When determining a target parking space, the main controller 601 may select the most suitable parking space from at least one candidate parking space and present it to the user via the display device 605, allowing the user to confirm whether to park in the space. At this point, the display device 605 obtains and displays the parking space identifier corresponding to the candidate parking space selected by the main controller 601. If the user agrees to park in the space, the main controller 601 determines that the space is the target parking space. If the user disagrees, the main controller 601 may select other parking spaces that are different from the selected space, requiring the user to confirm again until the target parking space is determined. After the selected parking space is presented to the user via the display device 605, if the display device 605 receives a confirmation or rejection from the user, it may notify the main controller 601. Based on the notification from the display device 605, the main controller 601 may determine the target parking space or reselect parking spaces for the user to confirm.

[0120] After obtaining at least one candidate parking space, the main controller 601 may send parking space information corresponding to the at least one candidate parking space to the display device 605. Alternatively, the detection device 604 may directly send the parking space information of the at least one candidate parking space to the display device 605. In this case, the display device 605 is connected to the detection device 604. The display device 605 may display a parking space identifier corresponding to the at least one candidate parking space. After the user selects a candidate parking space, the main controller 601 may determine the selected candidate parking space as the target parking space, thereby determining the target parking space based on the user's active selection.

[0121] When determining the target parking space, the main controller 601 can select a parking space from the candidate parking spaces for the user to confirm, thereby screening out a parking space that meets the user's needs; or the user can select the target parking space based on the content displayed by the display device 605, thereby enabling the user to actively select a parking space that meets the needs.

[0122] As an embodiment, the main controller 601 is also used to: after obtaining the rotation information, generate a driving trajectory to guide the vehicle to the target parking space according to the rotation information, and send the driving trajectory to the display device 605; the display device 605 is also used to: display the driving trajectory.

[0123] After obtaining the rotation information, the main controller 601 can generate a driving trajectory based on the rotation information to guide the vehicle to the target parking space, and send the driving trajectory to the display device 605, which displays the driving trajectory to facilitate the user's understanding of the driving path planned by the main controller 601. In this embodiment, the display device 605 can be a central control display screen. Furthermore, after the driving path is planned, the vehicle's movement process can be presented in a virtual reality manner, vividly demonstrating the vehicle's automatic parking process.

[0124] The parking system provided in the embodiment of the present application can determine a shorter parking path based on the on-the-spot turning function using a relatively simple path planning method, so that the vehicle uses less space when turning, completes the turn and parks in a narrow space. At the same time, it can save computing power, improve the success rate of path planning, reduce the average parking time, and bring a new parking experience to the driver.

[0125] As for the above parking system embodiment, since it is basically similar to the parking method embodiment, the relevant parts can be referred to the partial description of the method embodiment.

[0126] An embodiment of the present application further provides an electronic device comprising a processor and a memory, wherein the processor and the memory communicate with each other via a communication bus. The memory is used to store a computer program. When the processor is used to execute the program stored in the memory, the following steps are implemented: controlling a vehicle to travel to a target area; controlling the vehicle to turn in place in the target area to a first direction that is compatible with a target parking space; and controlling the vehicle to park in the target parking space after the vehicle completes the turn in place. The processor may also implement other steps in the above-mentioned parking method, which will not be described in detail here.

[0127] The communication bus mentioned in the electronic device mentioned above may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is used in the figure, but this does not mean that there is only one bus or only one type of bus.

[0128] The communication interface is used for communication between the above terminal and other devices.

[0129] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage. Alternatively, the memory may be at least one storage device located away from the processor.

[0130] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0131] In another embodiment provided by the present application, a non-volatile readable storage medium is further provided. The non-volatile readable storage medium stores instructions. When the instructions are executed on a computer, the computer executes the parking method described in the above embodiment.

[0132] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute the parking method described in the above embodiment.

[0133] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center by wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The non-volatile readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0134] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0135] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so the description is relatively simple. For related parts, refer to the description of the method embodiment.

[0136] The above description is only a preferred embodiment of the present application and is not intended to limit the scope of protection of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the scope of protection of the present application.

Claims

1. A parking method, comprising: Control the vehicle to drive to the target area; Control the vehicle to turn in situ in the target area to a first direction adapted to the target parking space; After the vehicle completes the on-site turning, the vehicle is controlled to park in the target parking space.

2. The method according to claim 1, before controlling the vehicle to drive to the target area, the method further comprises: The target area is determined according to the position information of the target parking space and the position information of the vehicle.

3. The method according to claim 1 or 2, before controlling the vehicle to turn in situ in the target area to a first direction adapted to the target parking space, the method further comprises: Obtain rotation information corresponding to the vehicle turning in situ in the target area, wherein the rotation information is used to instruct the vehicle to turn to the first direction, and the rotation information is determined based on the relative position relationship between the vehicle body posture and the target parking space after the vehicle travels to the target area.

4. According to the method of claim 2, the target area is determined based on the intersection of a target perpendicular bisector and the longitudinal axis of the vehicle, and the target perpendicular bisector is the perpendicular bisector of the line segment between the first front corner point and the second front corner point of the target parking space. The method according to claim 4 , wherein the target area is a target point.

6. The method according to claim 5, further comprising: Determine the position coordinates of a second position according to the position coordinates of the first front corner point and the second front corner point in a plane coordinate system, wherein the second position is a midpoint between the first front corner point and the second front corner point, wherein the horizontal coordinate axis of the plane coordinate system is parallel to the longitudinal axis of the vehicle, and the vertical coordinate axis of the plane coordinate system is parallel to the transverse axis of the vehicle; The target point position is determined according to the position coordinates of the second position, a first distance between the longitudinal axis of the vehicle and the horizontal coordinate axis, and a slope of a straight line connecting the first front corner point and the second front corner point.

7. The method according to claim 6, wherein determining the target point according to the position coordinates of the second position, the first distance between the longitudinal axis of the vehicle and the horizontal coordinate axis, and the slope of a line connecting the first front corner point and the second front corner point comprises: In a case where a line connecting the first front corner point and the second front corner point is parallel to the horizontal coordinate axis, determining the position coordinates of the target point based on the lateral coordinate value of the second position and the first distance; When the angle between the line connecting the first front corner point and the second front corner point and the horizontal coordinate axis is within a preset angle range, the target straight line equation is determined based on the position coordinates of the second position and the slope of the target perpendicular bisector, and the position coordinates of the target point are determined based on the target straight line equation and the first distance, and the slope of the target perpendicular bisector is determined based on the slope of the straight line connecting the first front corner point and the second front corner point.

8. The method according to any one of claims 1 to 7, wherein the target parking space is determined from at least one candidate parking space where the vehicle can be parked.

9. The method according to claim 3, wherein the rotation information includes a rotation angle and a rotation direction corresponding to turning in place.

10. The method according to claim 3, after obtaining the rotation information corresponding to the vehicle turning in situ in the target area, the method further comprises: generating a driving trajectory for guiding the vehicle to drive to the target parking space according to the rotation information; Control the display device to display the driving trajectory.

11. The method according to claim 3, wherein controlling the vehicle to turn in situ in the target area to a first direction adapted to the target parking space comprises: A rotation instruction is generated according to the rotation information, and the rotation instruction is continuously sent within a preset time period to control the vehicle to turn on the spot in the target area.

12. A parking system, comprising: Main controller; A lateral and longitudinal controller and an in-situ steering controller connected to the main controller; The main controller is used to: control the transverse and longitudinal controller to guide the vehicle to drive to the target area; control the on-site turning controller to guide the vehicle to turn on-site in the target area to a first direction adapted to the target parking space; after the vehicle completes the on-site turning, control the transverse and longitudinal controller to guide the vehicle to park in the target parking space.

13. The parking system according to claim 12, wherein the main controller is further configured to: determine the target area according to the position information of the target parking space and the position information of the vehicle; determine rotation information according to the relative position relationship between the vehicle body posture after the vehicle travels to the target area and the target parking space, wherein the rotation information is used to instruct the vehicle to turn to the first direction; in, The target area is determined based on the intersection of a target perpendicular bisector and the longitudinal axis of the vehicle, the target perpendicular bisector being the perpendicular bisector of the line segment between the first front corner point and the second front corner point of the target parking space, and the target area is the target point position.

14. The parking system according to claim 13, further comprising: A detection device connected to the main controller; The detection device is used to detect available parking space information to determine at least one candidate parking space where the vehicle can be parked; The main controller is further used to: obtain the at least one candidate parking space, and determine a target parking space among the at least one candidate parking space.

15. The parking system according to claim 14, further comprising: A display device connected to the main controller, the display device is used to obtain and display the parking space identification corresponding to the at least one candidate parking space, or to obtain and display the parking space identification corresponding to the candidate parking space selected by the main controller.

16. The parking system according to claim 15, wherein the main controller is further configured to: after acquiring the rotation information, generate a driving trajectory for guiding the vehicle to drive to the target parking space according to the rotation information, and send the driving trajectory to the display device; The display device is also used to: display the driving trajectory.

17. An electronic device comprising: Memory, used to store computer programs; A processor, configured to implement the steps of the parking method according to any one of claims 1 to 11 when executing the computer program stored in the memory.

18. A non-volatile readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the steps of the parking method according to any one of claims 1 to 11 are implemented.

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