Parking method, medium, and vehicle

Abstract

A parking method, a medium, and a vehicle, relating to the technical field of vehicles. The parking method comprises: determining a travelable region corresponding to a target parking space, wherein the travelable region represents a region that is around the target parking space and does not comprise an obstacle; and on the basis of a target reference point, controlling a vehicle to park into the target parking space from the travelable region, wherein the vehicle can turn around the target reference point by means of four-wheel independent drive, and the turning radius of the vehicle when turning around the target reference point is smaller than the turning radius of the vehicle when turning at the maximum turning angle of front wheels.

Description

Parking methods, media and vehicles

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202311222836.1, filed with the China Patent Office on September 20, 2023, entitled “Parking Method, Medium and Vehicle,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the field of vehicle technology, and in particular, to a parking method, a medium, and a vehicle. Background Art

[0004] In related technologies, automated parking typically uses acceleration and steering wheel angle control to maneuver a vehicle along a planned trajectory into a designated parking space. However, the vehicle's turning radius is large, requiring extensive maneuvering to adjust the vehicle's posture when parking in a narrow space, resulting in low automated parking efficiency.

[0005] Summary of the Invention

[0006] To overcome the problems existing in the related art, the present disclosure provides a parking method, a medium and a vehicle.

[0007] According to a first aspect of an embodiment of the present disclosure, there is provided a parking method, comprising:

[0008] Determine a drivable area corresponding to a target parking space, where the drivable area represents an area around the target parking space that does not include obstacles;

[0009] According to the target reference point, the vehicle is controlled to park from the drivable area into the target parking space, wherein the vehicle is capable of turning around the target reference point through four-wheel independent drive, and the turning radius of the vehicle when turning around the target reference point is smaller than the turning radius of the vehicle when turning at the maximum turning angle of the front wheels.

[0010] Optionally, the target reference point includes a geometric center point or a center of mass point, and when the vehicle turns around the target reference point, the vehicle body rotates around the geometric center point or the center of mass point;

[0011] Alternatively, the target reference point includes a wheel axis point, and when the vehicle turns around the target reference point, the vehicle body rotates around the wheel axis point;

[0012] Alternatively, the target reference point includes the center point of the front axle or the center point of the rear axle, and when the vehicle turns around the target reference point, the vehicle body rotates around the center point of the front axle or the center point of the rear axle;

[0013] Alternatively, the target reference point is located on a target horizontal axis, which is an axis at which the geometric center of the vehicle is located and is horizontally perpendicular to the direction of travel of the vehicle. When the vehicle turns around the target reference point, the vehicle body rotates around the point on the target horizontal axis.

[0014] Optionally, before controlling the vehicle to park in the target parking space from the drivable area according to the target reference point, the method further includes:

[0015] The target reference point is determined according to the type of the target parking space and the road width in the drivable area.

[0016] Optionally, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0017] When the target parking space is a parallel parking space, both long sides of the target parking space are connected to the drivable area, and the road width in the drivable area meets the width condition, the target reference point is determined to include the geometric center point or the center of mass point of the vehicle, wherein the width condition indicates that the road widths on both sides of the target parking space are greater than or equal to a first threshold.

[0018] Optionally, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0019] When the target parking space is a parallel parking space, at least one long side 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, the target reference point is determined to include the wheel axis point of the vehicle.

[0020] Optionally, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0021] When the target parking space is a non-parallel parking space, any short side 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, the target reference point is determined to include the front axle center point or the rear axle center point of the vehicle.

[0022] Optionally, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0023] When the target parking space is a non-parallel parking space, any short side 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, it is determined that the target reference point is located on a target horizontal axis, wherein the target horizontal axis is an axis at which the geometric center of the vehicle is located and is horizontally perpendicular to the driving direction of the vehicle.

[0024] Optionally, controlling the vehicle to park in the target parking space from the drivable area according to the target reference point includes:

[0025] According to the target reference point, the wheel speed, torque and rotation angle of each wheel of the vehicle are controlled so that the vehicle is parked from the drivable area into the target parking space.

[0026] Optionally, determining a drivable area corresponding to the target parking space includes:

[0027] Acquiring perception information of the vehicle;

[0028] Determining obstacle information and a target parking space around the vehicle based on the perception information;

[0029] The drivable area is determined according to the target parking space and the obstacle information.

[0030] Optionally, controlling the vehicle to park in the target parking space from the drivable area according to the target reference point includes:

[0031] Performing parking trajectory planning based on the drivable area and the target reference point to obtain a target parking trajectory;

[0032] According to the function of the vehicle turning around the target reference point, the vehicle is controlled to park from the drivable area into the target parking space along the target parking trajectory.

[0033] According to a second aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the parking method provided by the first aspect of the embodiment of the present disclosure is implemented.

[0034] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising:

[0035] a storage device storing a computer program;

[0036] A control device is used to execute the computer program to implement the parking method provided by the first aspect of the embodiment of the present disclosure.

[0037] Optionally, the vehicle includes four motors, each of which drives a corresponding wheel.

[0038] The technical solutions provided by the embodiments of the present disclosure may have the following beneficial effects:

[0039] In this disclosed embodiment, the vehicle's steering function around a target reference point is used to control the vehicle from the drivable area into the target parking space. When the vehicle steers around the target reference point, the four-wheel independent drive system reduces the turning radius compared to when the vehicle is turning at the maximum front wheel angle, allowing the vehicle to achieve a wider rotation angle within a limited space. This makes it easier for the vehicle to adjust its posture in a narrow drivable area, enhancing the efficiency of automated parking.

[0040] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0042] FIG1 is a schematic diagram showing the principle of conventional vehicle steering in the related art.

[0043] FIG2 is a schematic diagram of a scene in which a conventional vehicle is parked in a narrow space in the related art.

[0044] FIG3 is a flowchart showing a parking method according to an exemplary embodiment.

[0045] FIG4 is a schematic structural diagram of a four-wheel independent drive vehicle according to an exemplary embodiment.

[0046] FIG5 is a schematic diagram showing a function of steering a vehicle around a geometric center point or a center of mass point according to an exemplary embodiment.

[0047] Fig. 6 is a schematic diagram showing a scenario in which a vehicle turns around a geometric center point or a center of mass point according to an exemplary embodiment.

[0048] FIG7 is a schematic diagram showing a function of steering a vehicle around a wheel axis according to an exemplary embodiment.

[0049] Fig. 8 is a schematic diagram showing a scenario in which a vehicle turns around a wheel axis according to an exemplary embodiment.

[0050] FIG9 is a schematic diagram showing a function of steering a vehicle around a front axle center point or a rear axle center point according to an exemplary embodiment.

[0051] FIG10 is a schematic diagram showing a scenario in which a vehicle turns around the center of the front axle according to an exemplary embodiment.

[0052] FIG11 is a schematic diagram showing a scenario in which a vehicle turns around the center of a rear axle according to an exemplary embodiment.

[0053] FIG12 is a schematic diagram illustrating a function of steering a vehicle around a target transverse axis point according to an exemplary embodiment.

[0054] FIG13 is a schematic diagram showing a scenario in which a vehicle turns around a point on a target transverse axis according to an exemplary embodiment.

[0055] FIG14 is a flowchart showing another parking method according to an exemplary embodiment.

[0056] Fig. 15 is a block diagram of a parking device according to an exemplary embodiment.

[0057] FIG16 is a block diagram of a vehicle according to an exemplary embodiment.

[0058] FIG17 is a schematic diagram of another scenario showing a vehicle turning around a geometric center point or a center of mass point according to an exemplary embodiment.

[0059] FIG18 is a schematic diagram showing another scenario in which a vehicle turns around the center point of the front axle or the center point of the rear axle according to an exemplary embodiment.

[0060] FIG19 is a schematic diagram showing another scenario in which a vehicle turns around the axis of a front axle wheel according to an exemplary embodiment.

[0061] FIG20 is another schematic diagram showing a scenario in which a vehicle turns around the axis of a front axle wheel according to an exemplary embodiment.

[0062] FIG21 is a schematic diagram showing a scenario in which a vehicle turns around a corner point of the vehicle according to an exemplary embodiment.

[0063] FIG22 is a schematic diagram showing a scenario in which a vehicle reverses in a straight line outside a parking space according to an exemplary embodiment.

[0064] FIG23 is a schematic diagram showing a scenario of a vehicle reversing in an arc according to an exemplary embodiment.

[0065] FIG24 is a schematic diagram showing a scenario in which a vehicle front end makes an arc turn when parking into a parking space according to an exemplary embodiment.

[0066] FIG25 is a schematic diagram showing a parking process when a vehicle is parked transversely into a parking space according to an exemplary embodiment. DETAILED DESCRIPTION

[0067] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0068] With the rapid development of intelligent driving technology worldwide, automated parking technology is also maturing. Automatic Parking Assist (APA) systems utilize onboard sensors embedded within the vehicle and its surroundings to measure the relative distance, speed, and angle between the vehicle and surrounding objects. For example, parking radar systems automatically identify available parking spaces. Utilizing image information from 360-degree panoramic cameras, combined with ultrasonic radar sensors, these systems perceive and identify parking spaces and the surrounding environment. The onboard processor / onboard computing platform or cloud computing platform then calculates the operational process to control the vehicle's automated parking. APA automated parking requires no human intervention. Using onboard sensors, processors, and control systems, APA can automatically identify parking spaces and complete automated parking in and out of most parking scenarios, significantly simplifying parking operations. However, in reality, some parking spaces with narrow aisles and short parking spaces are nearly impossible to complete manually or with APA. Drivers often give up after repeated attempts.

[0069] Traditional vehicles don't slip during automated parking and can only navigate conventional paths, such as straight lines, circular arcs, combinations of straight lines and circular arcs, and high-order continuous smooth curves. These paths require a large space. Figure 1 shows a schematic diagram of the steering principle of a traditional vehicle. The front wheel angle between the front wheels and the vehicle's direction of travel determines the position of the center of rotation O on the extended axis of the vehicle's rear wheels. The distance from the axis of the vehicle's left front wheel to the center of rotation O is the vehicle's turning radius. When parking space is limited, multiple maneuvers and repeated maneuvers are required to park in a narrow parking space. Referring to Figure 2, the solid-line box represents the vehicle's starting point for parking, the dashed-line box represents the vehicle's position after two maneuvers along the dashed line, and the arc-shaped dashed line represents the vehicle's trajectory during the parking process. In a narrow space, the vehicle moves sequentially along the arrows of the curved curve to park in the space, requiring multiple maneuvers to adjust the vehicle's posture. This results in low parking efficiency, and the frequent starting, stopping, and shifting required during repeated maneuvers results in a poor driver experience. When the road width in the parking scenario is further reduced, such as in a small side parking space with obstacles in front and behind, the parking maneuver cannot be completed even after repeated attempts due to the limited space, resulting in automatic parking failure. These shortcomings greatly limit the use cases of the automatic parking system and affect the driver experience.

[0070] 3 , which is a flow chart illustrating a parking method according to an exemplary embodiment, as shown in FIG3 , the parking method includes the following steps.

[0071] S301: Determine a drivable area corresponding to a target parking space, where the drivable area represents an area around the target parking space that does not include obstacles.

[0072] S302. Control the vehicle from the drivable area to park in the target parking space according to the vehicle's function of turning around the target reference point, wherein when the vehicle turns around the target reference point, the four wheels are independently driven so that the turning radius is smaller than the turning radius when the vehicle turns at the maximum front wheel turning angle.

[0073] For example, the drivable area is the area within which a vehicle can drivably move during parking. The drivable area must be connected to at least one boundary of the target parking space for the vehicle to enter the target parking space. The target reference point can be located within or outside the area defined by the line connecting the axis points of the four wheels. However, when the vehicle turns around the target reference point, the four wheels are independently driven, allowing the turning radius to be smaller than the turning radius when the vehicle is turning at the maximum front wheel angle. The turning radius when the vehicle is turning at the maximum front wheel angle is the turning radius when the vehicle is steering solely with the front wheels at their maximum angle. This turning radius is also referred to as the minimum turning radius. The minimum turning radius is the radius of the circle that the center of the outer steering wheel rolls on the support plane when the steering wheel is turned to the extreme position and the vehicle is turning at the lowest stable speed. Therefore, it is related to the vehicle's front wheel angle, wheelbase, and track width. As shown in Figure 1, when the vehicle is turning right at the maximum front wheel angle θ, the corresponding minimum turning radius can be the line connecting the steering center O and the axis of the vehicle's left front wheel. The minimum turning radius can be used to characterize a vehicle's ability to navigate narrow, curved areas or around insurmountable obstacles. Therefore, the turning radius of a vehicle turning around a target reference point using four-wheel independent drive is smaller than the turning radius when turning at the maximum front wheel angle. The greater the vehicle's ability to navigate narrow, curved areas or around insurmountable obstacles, the greater the angle the vehicle can achieve within a confined space. Combined with the vehicle's ability to turn around a target reference point using four-wheel independent drive, controlling the vehicle from a drivable area into a target parking space effectively enhances the vehicle's steering capabilities during parking, increasing the number of scenarios in which the vehicle's automated parking function can be used.

[0074] As shown in Figure 4, the arrows indicate the vehicle's normal direction of travel. Four-wheel independent drive means each wheel has its own motor controlling its rotational direction, speed, and torque. The four wheels work together to achieve more flexible and accurate steering, providing powerful steering capabilities, enabling on-the-spot turns and U-turns in tight spaces. Even in spaces that don't meet the minimum turning radius required for traditional vehicle turning scenarios, the vehicle can still change direction, enter specific areas, or avoid obstacles, demonstrating its flexible steering capabilities.

[0075] In this disclosed embodiment, the vehicle's steering function around a target reference point is used to control the vehicle from a drivable area into a target parking space. When steering around the target reference point, the vehicle's four wheels are independently driven, resulting in a turning radius that is smaller than when the vehicle is turning at its maximum front wheel angle. This allows the vehicle to achieve a wider rotation angle within a confined space. This makes it easier for the vehicle to adjust its posture in a narrow drivable area, enhancing the efficiency of automated parking.

[0076] As an optional embodiment, the target reference point includes a geometric center point or a center of mass point, and the function of the vehicle turning around the target reference point includes the vehicle body rotating around the geometric center point or the center of mass point;

[0077] Alternatively, the target reference point includes a wheel axis point, and the function of steering the vehicle around the target reference point includes rotating the vehicle body around the wheel axis point;

[0078] Alternatively, the target reference point includes a front axle center point or a rear axle center point, and the function of steering the vehicle around the target reference point includes rotating the vehicle body around the front axle center point or the rear axle center point;

[0079] Alternatively, the target reference point is located on the target horizontal axis, which is the axis where the geometric center of the vehicle is located and is horizontally perpendicular to the direction of vehicle travel. The function of the vehicle turning around the target reference point includes the vehicle body rotating around the point on the target horizontal axis as the center.

[0080] For example, based on the flexible steering capability of the above-mentioned four-wheel independent drive, the inventors propose that the vehicle can be parked by selecting the function of steering around different reference points for different parking scenarios, so as to determine the turning radius suitable for different parking scenarios. Referring to Figures 5-13 and 17-21, the vehicle can achieve different flexible steering functions through four-wheel independent drive technology, that is, the four motors can independently control the wheel-side motors to output torques of different sizes and directions, thereby improving the dynamic performance of the vehicle and the ability to adjust the body posture. Specifically, it is possible to achieve steering with the vehicle's geometric center point or center of mass, the wheel axis point, the front axle center point or the rear axle center point, or any point on the target horizontal axis as the center. In addition, it is also possible to achieve steering around the vehicle's corner points, which will be explained below in conjunction with specific parking scenarios.

[0081] For example, a vehicle has the ability to steer around its own geometric center or center of mass. Referring to Figure 5 , the vehicle's center of rotation is the vehicle's geometric center or center of mass, and M represents clockwise rotation. Using four-wheel independent drive technology, the motors on the left and right wheels output equal and opposite torques, resulting in a net force of zero on the vehicle's geometric center or center of mass. After controlling the wheel angles, the vehicle experiences net torques in the same direction. Consequently, the vehicle body does not translate, but instead pivots around its geometric center or center of mass, thereby achieving the function of pivoting around the vehicle's geometric center or center of mass. Ideally, the turning radius of a vehicle pivoting around its own geometric center or center of mass is zero, allowing it to perform pivoting and U-turns in tight spaces. As shown in Figures 6 and 17 , for a parallel parking space with lanes on both sides, a vehicle can be parked in a single step by tilting into the space. Once the vehicle's center of mass is at the center of the space, it can pivot around its center of mass.

[0082] For example, a vehicle has the ability to rotate about the center point of the front axle or the center point of the rear axle. As shown in Figure 9, taking the center point of the vehicle's rear axle as the rotation center and the direction of rotation as clockwise, the vehicle's turning radius is the distance between the center point of the vehicle's rear axle and the center point of the vehicle's left front wheel. If the vehicle's direction of rotation is counterclockwise, the vehicle's turning radius is the distance between the center point of the vehicle's rear axle and the center point of the vehicle's right front wheel. Specifically, this can be combined with four-wheel independent drive technology and EPB (Electrical Park Brake) technology. For example, EPB control can lock the rear axle wheels and rotate the front axle wheels in the opposite direction, allowing the vehicle to rotate about the center point of the rear axle. For another example, EPB control can lock the front axle wheels and rotate the rear axle wheels in the opposite direction, allowing the vehicle to rotate about the center point of the front axle. As shown in Figure 18, after traveling a certain distance from posture A, the vehicle rotates for the first time around the center of mass point O1 to posture B. After traveling a certain distance, the vehicle tilts into the parking space and changes to posture C. In posture C, the vehicle rotates around the center point of the front axle or the center point of the rear axle O2 to straighten the vehicle and park it in the parking space.

[0083] For example, a vehicle has the ability to steer around its wheel pivots, with the vehicle's center of rotation being one of the wheel pivots. As shown in Figure 7, where M represents clockwise rotation, and with the right rear wheel pivot as the center of rotation, the vehicle rotates clockwise around the right rear wheel pivot, with a turning radius equal to the distance between the right rear wheel pivot and the left front wheel pivot. By combining four-wheel independent drive technology with EPB technology, the four-wheel independent drive motor applies a different torque to each wheel, and EPB technology is used to control the wheel's direction, enabling the vehicle to rotate around a single wheel pivot. 19 and 20 , the sequence numbers shown in the figures are the steps for parking a vehicle in a parking space. In FIG19 , after the vehicle drives to a position horizontally aligned with the side horizontal parking space, in the first step, the vehicle rotates a certain angle around the axis of the right rear wheel so that the head of the vehicle can be tilted to park in the parking space. In the second step, the vehicle rotates a certain angle around the axis of the left front wheel so that the tail of the vehicle is straightened to park in the parking space. When the length of the parking space is short, the rotation angle is small each time, and this process is repeated until the vehicle is completely parked in the parking space, achieving a parking effect similar to lateral translation. In FIG20 , in a side horizontal parking space located at a corner, when the vehicle drives to the rear of the parking space, in the first step, the vehicle rotates about the center of mass until it is tilted, with the head of the vehicle facing the parking space to be parked. In the second step, the vehicle enters the parking space after driving forward for a distance. In the third step, the vehicle rotates a certain angle around the axis of the left front wheel until the vehicle is completely parked in the parking space and straightened.

[0084] For example, the vehicle also has the ability to steer around a corner. Referring to Figure 21, where the front of the vehicle is facing downward, for a narrow, horizontal side parking space, the vehicle can tilt and reverse into the space, then rotate around its left rear corner until the vehicle aligns with the space, enabling single-step parking.

[0085] As an optional embodiment, before controlling the vehicle to park from the drivable area into the target parking space based on the function of the vehicle turning around the target reference point, the method further includes:

[0086] Determine the target reference point based on the type of target parking space and the road width in the drivable area.

[0087] Specifically, the target reference point may be further determined based on information such as the type and location of the target parking space, the relationship between the target parking space and the drivable area, and the width of the road in the drivable area.

[0088] As an optional embodiment, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0089] When the target parking space is a parallel parking space, both long sides of the target parking space are connected to the drivable area, and the road width in the drivable area meets the width condition, the target reference point is determined to include the geometric center point or center of mass point of the vehicle, wherein the width condition indicates that the road widths on both sides of the target parking space are greater than or equal to a first threshold.

[0090] For example, outside the target parking space, the vehicle can drive to any position that meets the requirements for turning in place, and adjust its posture in place to park. In this way, the vehicle can adjust its posture in place to complete parking in the target parking space. When the target parking space is a parallel parking space, and the width direction of the parallel parking space is limited, but the drivable area is sufficient for the vehicle to rotate in place, the best entry solution for the vehicle is to insert it diagonally into the parking space, and then rotate around its own geometric center to park in the parking space. Referring to the scene diagram of Figure 6, the direction indicated by the arrow is the driving direction of the vehicle, P is the posture of the vehicle in the initial parking state, A is the posture of the vehicle after the vehicle is inserted diagonally into the target parking space, and B is the posture of the vehicle after the vehicle is rotated in the target parking space. After the vehicle is inserted diagonally into the target parking space, it can quickly adjust the posture of the vehicle body to park in the target parking space by rotating in place around the geometric center point or center of mass of the vehicle, thereby eliminating the need for multiple maneuvers in the parking space and improving the efficiency of automatic parking. In this scenario, according to Figures 5 and 6, the road width on both sides of the target parking space meets the width condition of being greater than the first threshold, where the first threshold can be greater than or equal to the difference between half of the vehicle body length and half of the width of the target parking space.

[0091] As 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 the front axle axis or the rear axle axis of the vehicle. Specifically, depending on the type and location of the target parking space, there are two situations as follows.

[0092] As one of the cases, a target reference point is determined based on the type of the target parking space and the road width in the drivable area, including:

[0093] When the target parking space is a parallel parking space, at least one long side 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, the target reference point is determined to include the wheel axis point of the vehicle.

[0094] For example, the vehicle's ability to steer around its wheel pivots allows it to adjust its posture over a wide range of angles within confined spaces. Furthermore, by independently controlling the torque, wheel speed, and rotational direction of the wheels, ideally, when the vehicle rotates slightly in opposite directions around the pivot points of its front and rear wheels on a given side, it possesses strong lateral mobility. This functionality also makes the vehicle more flexible and significantly enhances its automated parking capabilities. Specifically, referring to the scenario diagram shown in FIG8 , the vehicle reaches a suitable position and adjusts its posture from posture A to posture B by performing a clockwise single-pivot swing around the pivot point of the left front wheel, wheel 1. It then adjusts its posture to posture C by performing a counterclockwise single-pivot swing around the pivot point of the left rear wheel, wheel 4. This single-pivot swing achieves lateral movement and allows the vehicle to park in a parallel parking space. The changes in vehicle posture are shown on the right side of FIG8 . The combination of front and rear single-pivot swings enables both lateral movement and posture adjustment, significantly expanding the vehicle's mobility and flexibility. The road width in the drivable area is greater than a second threshold value, wherein the second threshold value may be greater than or equal to the vehicle body width size, so that the vehicle can enter the drivable area.

[0095] For example, during the process of controlling vehicle movement, based on the positional relationship between the target parking space and the vehicle, a target point among the wheel axis points around which the vehicle is controlled can be determined as the rotation center. The target point can be one of the wheel axis points. For example, if the target parking space is on the left side of the vehicle's travel direction, the vehicle's posture can be adjusted using the vehicle's left front wheel axis point or the left rear wheel axis point as the rotation center. Alternatively, if the target parking space is on the right side of the vehicle's travel direction, the vehicle's posture can be adjusted using the vehicle's right front wheel axis point or the right rear wheel axis point as the rotation center. The target point can also be a wheel axis point on the same side of the vehicle. For example, referring to FIG8 , if the target parking space is on the left side of the vehicle's travel direction, the vehicle's posture can be adjusted using the axis points of the left front wheel wheel1 and the left rear wheel wheel4 in turn as the rotation centers. If the target parking space is on the right side of the vehicle's travel direction, the vehicle's posture can be adjusted using the axis points of the right front wheel wheel2 and the right rear wheel wheel3 in turn as the rotation centers.

[0096] In another case, the target reference point is determined according to the type of the target parking space and the road width in the drivable area, including:

[0097] When the target parking space is a non-parallel parking space, any short side 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, the target reference point is determined to include the front axle center point or the rear axle center point of the vehicle.

[0098] For example, non-parallel parking spaces include vertical parking spaces, diagonal parking spaces, or irregular parking spaces. The vehicle can independently control the torque of the wheels to allow the vehicle to partially swing around a single pivot point, such as the front axle center or the rear axle center. This is similar to the ability to rotate around the wheel axis, expanding the vehicle's swing adjustment capabilities and making it suitable for parking in narrow vertical or diagonal parking spaces. Referring to the scenario diagram shown in FIG10 , P is the vehicle's initial parking posture, A is the posture when not turning, and after the vehicle rotates around the front axle center, the vehicle's posture is adjusted from posture A to posture B. C is the posture after the vehicle is parked in the target parking space. Referring to the scenario diagram shown in FIG11 , F is the vehicle's initial parking posture, A is the vehicle's posture when avoiding obstacles, and B is the vehicle's posture after driving to the front of the target parking space. After the vehicle rotates around the rear axle center, the vehicle's posture is adjusted from posture B to posture C. After parking in the target parking space from posture C, the vehicle is adjusted from posture C to posture D. The vehicle can be parked directly into a parking space by driving to an appropriate position and adjusting its posture through a large angle through a single rotation around the center of the front or rear axle. The road width in the drivable area is greater than or equal to a third threshold. The third threshold should be determined based on the vehicle's turning radius, turning angle, and body size, or set based on experience, and is not limited here.

[0099] As another optional embodiment, determining the target reference point according to the type of the target parking space and the road width in the drivable area includes:

[0100] When the target parking space is a non-parallel parking space, any short side of the target parking space is connected to the drivable area, and the road width in the drivable area is less than the fourth threshold, the target reference point is determined to be located on the target horizontal axis, wherein the target horizontal axis is the axis at which the geometric center of the vehicle is located and is horizontally perpendicular to the vehicle's driving direction.

[0101] For example, the vehicle has the ability to rotate around a point on the vehicle's target transverse axis. Referring to Figure 12, the vehicle's center of rotation is located on the vehicle's transverse axis, and the vehicle's turning radius is the distance between the rotation center point and the wheel axis point on the other side of the vehicle opposite to the rotation center point. It can be understood that since the vehicle here is a four-wheel independently driven vehicle, its turning radius is less than or equal to the minimum turning radius when the vehicle turns at the maximum front wheel angle.

[0102] For example, a vehicle can rotate and swing around a point on the target transverse axis by independently controlling the torque of its wheels. As shown in Figure 13, F represents the vehicle's initial parking posture, A represents the vehicle's posture during obstacle avoidance, and B represents the vehicle's posture after reaching the front of the target parking space. After rotating around the point on the target transverse axis, the vehicle's posture is adjusted from posture B to posture C. After parking into the target parking space from posture C, the vehicle's posture is adjusted from posture C to posture D. In the case of parking into a perpendicular parking space where the road width is less than a fourth threshold, the ability to rotate around the point on the target transverse axis allows the vehicle to park into the target parking space, effectively utilizing the available space and enhancing the vehicle's automatic parking capabilities. The fourth threshold can be the same as the third threshold, or it can also be the vehicle's length.

[0103] As an optional embodiment, based on the function of the vehicle turning around the target reference point, controlling the vehicle to park in the target parking space from the drivable area includes:

[0104] Based on the target reference point, the wheel speed, torque and turning angle of each wheel of the vehicle are controlled to park the vehicle from the drivable area into the target parking space.

[0105] For example, the speed during parking is generally low, and a high vehicle speed may cause slippage, which reduces the accuracy of the estimated turning radius. Therefore, at low speeds, the wheel speed, torque, and turning angle of each wheel of the vehicle can be controlled according to the determined target reference point, so that the vehicle can be parked in the target parking space according to the drivable area. Specifically, at low speeds, the vehicle speed can be less than 30 km / h. The wheel speed, torque, and turning angle of each wheel of the vehicle can be specifically calculated and determined based on the target reference point. In the different scenarios shown in Figures 5-13, the wheel speed, torque, and turning angle of each vehicle are not shown. It can be understood that the specific control of the wheel speed, torque, and turning angle of each wheel is different according to different target reference points.

[0106] For example, at low speed, the vehicle's motion satisfies the following constraints:

[0107] Among them, v R is the composite speed of the right wheel, that is, the composite speed of the right front wheel and the right rear wheel; v L is the composite speed of the left wheels, i.e. the composite speed of the left front wheel and the left rear wheel; L is the wheelbase of the vehicle; r is the turning radius of the vehicle; v is the composite speed of the vehicle wheels, the linear velocity vectors of each wheel are combined to form the linear velocity vector of the entire wheel system; ω is the angular velocity of the vehicle when turning. At low speed, the speed difference of the left side wheels (v R -v L ), right side wheel speed difference (v R +v L), which is not limited to the vehicle's differential control, so that the vehicle's turning radius r≤r min , r min The minimum turning radius of the vehicle when the front wheel turns at the maximum angle. Therefore, the vehicle can achieve a turning radius less than or equal to the theoretical minimum turning radius r through four-wheel independent drive. min The ability to rotate around a target reference point.

[0108] As an optional embodiment, based on the function of the vehicle turning around the target reference point, controlling the vehicle to park in the target parking space from the drivable area includes:

[0109] When the parking scenario corresponding to the drivable area and the target parking space is a preset scenario, the vehicle is controlled to park from the drivable area into the target parking space based on the vehicle's function of turning around the target reference point, wherein the preset scenario indicates that the target parking space is a dead-end parking space.

[0110] For example, referring to Figure 2 , the target parking space is a dead-end space, preventing the vehicle from using a lane for parking. Conventional parking methods include multiple maneuvers to adjust the vehicle's posture, as shown in Figure 2 . The road width in the drivable area is smaller than the vehicle's length, making the space narrow and precluding wide-angle steering. This also requires multiple maneuvers to adjust the vehicle's posture. Therefore, if the parking scenario corresponding to the drivable area and the target parking space is a preset scenario, the vehicle can be controlled to park in the target space using the vehicle's steering function around the target reference point. In non-preset scenarios, the vehicle can be controlled to park in the target space using the same parking methods as traditional vehicles without four-wheel independent drive. For example, a single-step or multi-step parking path can be generated using methods such as arcs and straight lines, RS curves, Dubins curves, clothoid curves, and hybrid A* algorithms. A step threshold can also be set. When the number of steps in the generated multi-step parking path exceeds the step threshold, the vehicle can be controlled to park from the drivable area into the target space using the vehicle's steering function around the target reference point, thereby improving parking efficiency.

[0111] As an optional embodiment, determining the drivable area corresponding to the target parking space includes:

[0112] Obtain vehicle perception information;

[0113] Determine the obstacle information and target parking space around the vehicle based on the perception information;

[0114] Determine the drivable area based on the target parking space and obstacle information.

[0115] For example, a vehicle uses visual sensors and ultrasonic sensors to perceive its surroundings, acquire sensory information, identify surrounding obstacles, and convert them into point obstacles, linear obstacles, and polygonal obstacles. The visual sensor calculates and analyzes the sensory information it receives to obtain information about parking spaces around the vehicle, including their status, and determine available parking spaces. If multiple parking spaces are available, these can be displayed on the vehicle interface, and the driver can select any parking space as the target space, or they can select a parking space that is less than a distance threshold from the vehicle as the target space. For the target space, the parking boundary can be extracted based on boundary information such as surrounding walls and pillars, and the drivable area can be further determined by combining the obstacle information with the target space.

[0116] As an optional embodiment, based on the function of the vehicle turning around the target reference point, controlling the vehicle to park in the target parking space from the drivable area includes:

[0117] According to the drivable area and the target reference point, the parking trajectory is planned to obtain the target parking trajectory;

[0118] Based on the vehicle's steering function around the target reference point, the vehicle is controlled to park from the drivable area into the target parking space along the target parking trajectory.

[0119] For example, after obtaining the target parking trajectory, the vehicle's automatic parking function is used to execute the automatic parking maneuver. Sensors are also used to detect surrounding obstacles in real time, and collision risks are calculated for dynamic obstacles that appear during the parking process, enabling obstacle avoidance. Furthermore, the success of the automatic parking maneuver can be determined based on whether the target parking trajectory has been successfully solved and whether the desired target parking space has been reached.

[0120] For example, a vehicle can perform circular reverse maneuvers. As shown in Figures 22 and 23, while driving on a road, the vehicle can utilize its four-wheel independent drive system to steer around a target reference point for parking. For example, based on the detected parking space width, road width, and vehicle dimensions, the system can determine whether to utilize the four-wheel independent drive system to steer the vehicle around the target reference point for parking. The system then determines the wheel twist angle and distance traveled, minimizing the steering angle while ensuring single-step parking to minimize tire wear.

[0121] For example, when the parking system determines that the passage is narrow or the vehicle is close to an obstacle vehicle, the four-wheel independently driven vehicle's function of rotating around a target reference point can be used to reduce the turning radius. As shown in Figures 22 and 23, taking the vehicle turning around the wheel axis and parking the rear end of the vehicle in a parking space as an example, the vehicle drives forward on the road. After selecting a parking space, the vehicle starts parking. When the vehicle reaches the target position in front of the parking space, it starts to reverse in an arc. The starting position of the arc reversing can be determined by the user's driving position. For example, when the vehicle is close to an obstacle vehicle, the arc reversing can be started when the distance to the target parking space is close, or the vehicle can start to reverse in an arc when the distance to the obstacle vehicle is far away. Specifically, the vehicle establishes the coordinates of the surrounding environment of the target parking space through the parking system and determines the starting position of reversing. During the reversing process, the distance between the vehicle and the obstacle should be greater than or equal to the safe distance, for example, 20 cm. After driving straight and then backing up in the parking space to reach the rotation position, the vehicle can be rotated around the target reference point until it is aligned in the parking space. The target reference point of the vehicle is the right rear corner of the vehicle or the center point of the rear axle of the vehicle. In this way, the rotation angle can be smaller to reduce tire wear.

[0122] For example, depending on actual circumstances, the target reference point during rotation can be any of the vehicle's geometric center or center of mass, wheel axle centers, front or rear axle centers, points on the target transverse axis, or vehicle corners. It will be appreciated that in the case of single-step parking, when the vehicle enters the target parking space but has not yet rotated, the target reference point for rotation remains at the final position upon completion of parking, i.e., the position of the target reference point remains unchanged before and after the rotation.

[0123] For example, similar to the rear-end parking process described above, a vehicle can park head-on into a parking space, as shown in Figures 24 and 25. The vehicle can first perform a circular turn on the road using the vehicle's rotation around a target reference point function, then begin driving straight for a distance and enter the parking space head-on. When the right front wheel reaches the parking completion endpoint, the vehicle can rotate around the right front wheel a certain angle to straighten the vehicle and complete parking. Lateral parking can be used to park in a narrow sideways parking space. Due to the narrowness of the lane, the distance between the vehicle and the parking space line is small before parking, making it difficult to turn. In this case, as shown in Figure 25, the vehicle can be driven until it is horizontally aligned with the sideways parking space, then rotate a small angle around the left front wheel axis to bring the left rear wheel into the parking space line, then rotate a larger angle around the left rear wheel axis to bring the front of the vehicle into the parking space line, and then rotate a small angle around the right front wheel axis to bring the rear of the vehicle into the parking space line, and finally straighten the vehicle and complete parking. By performing multiple rotations around a single wheel axis in this way, the vehicle can be moved into the parking space in multiple steps, achieving a parking effect similar to a lateral translation. If the vehicle's parking starting position is far from the parking space, additional single wheel rotations can be added to complete the vehicle's lateral parking.

[0124] In the disclosed embodiments, the four-wheel independent drive system allows a vehicle to park into a space that is impassable using conventional APA parking or requires multiple maneuvers. Furthermore, while conventional vehicles can only park from the rear, the above solution allows the vehicle to park from the front and even allows for lateral parking. This makes it easier for the vehicle to adjust its posture in narrow drivable areas, increasing its parking capabilities and the number of possible parking scenarios, improving parking efficiency and maximizing the variety of parking options.

[0125] Referring to Figure 14, Figure 14 is a flow chart of another parking method according to an exemplary embodiment. As shown in Figure 14, the parking method includes:

[0126] S1400: After the driver turns on the automatic parking function on the vehicle computer, he / she checks whether the vehicle doors are closed, the chassis response status, and whether the sensors are working properly. After the tests are passed, the automatic parking function is determined to be turned on.

[0127] S1401, Environmental Perception and Mapping and Positioning. The system uses visual sensors and ultrasonic sensors to perceive the surrounding environment, identify surrounding obstacles, and convert them into point obstacles, linear obstacles, and polygonal obstacles. The resulting perception and obstacle information is used to build a map, and the positioning module determines the vehicle's position and state.

[0128] S1402: The visual sensor analyzes the acquired perception information to obtain information about available parking spaces in the surrounding area and the status of parking spaces, and identifies available parking spaces and determines the target parking space to be entered.

[0129] S1403: For the target parking space, the available parking boundary is extracted based on the boundary information of surrounding walls, pillars, and other features. The available parking area is then further determined by combining the obstacle information with the target parking space. A determination is then made as to whether the 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 executed; otherwise, step S1404 is executed.

[0130] S1404: Use conventional automatic parking methods to perform path planning.

[0131] S1405: Determine whether the parking space is a vertical parking space or a diagonal parking space. If so, execute step S1407; otherwise, execute step S1406.

[0132] If the target parking space is perpendicular to the driving direction or tilted at a certain angle, the path planning is performed according to the perpendicular parking method; otherwise, the path planning is performed according to the parallel parking method.

[0133] S1406. For parallel parking spaces with limited space, use the parallel parking method.

[0134] In the first case, the target parking space is limited, but the drivable area is large enough for the vehicle to rotate around itself.

[0135] As shown in Figure 6, the front and rear spaces of the target parking space are limited, but the drivable space is sufficient for the vehicle to rotate around itself. At this time, the best entry plan for the vehicle is to insert obliquely into the parking space and adjust from posture P to posture A, and then rotate around its own geometric center, adjusting from posture A to posture B, and then park in the target parking space.

[0136] In the second case, the target parking space is limited and the drivable area does not allow the vehicle to rotate around itself.

[0137] As shown in Figure 8, the space in front of, behind, and to the left of the target parking space is limited, making it impossible to rotate within the space. In this case, the vehicle's ability to rotate around the wheel axis can be used for parking. First, the vehicle moves to the upper right corner of the target parking space, at which point the vehicle's posture is posture A. Next, the vehicle rotates clockwise around the left front wheel, wheel 1, adjusting from posture A to posture B. Then, the vehicle rotates counterclockwise around the left rear wheel, wheel 2, adjusting from posture B to posture C. The changes in vehicle posture are shown in Figure 8. In any parallel parking scenario where the road is wide enough for the vehicle to enter, this method can be used to park in the parallel parking space.

[0138] S1407. Method for vertical parking spaces or diagonal parking spaces.

[0139] In the first case, as shown in Figure 10, for the end parking space, you can choose to rotate around the center of the front axle to park in the parking space. A single rotation can achieve a large-angle adjustment of the vehicle's posture and quickly park in the parking space.

[0140] The second situation, as shown in Figure 11, is to park in a perpendicular parking space in front of the target parking space. The vehicle can rotate around the center of the rear axle to achieve a large angle adjustment of the vehicle posture with a single rotation, and quickly park in the parking space.

[0141] The third scenario, shown in Figure 13, involves parking in a perpendicular space with an extremely narrow road width. The vehicle can utilize its ability to rotate about a point on the target horizontal axis to park. F represents the vehicle's initial parking position, A represents its obstacle avoidance position, and B represents its position after reaching the target parking space. After rotating about the target horizontal axis, the vehicle adjusts its position from position B to position C. After parking in the target space from position C, it adjusts from position C to position D to complete parking. This parking method utilizes the parking space more efficiently, resolving the problem of traditional vehicles being unable to park in extreme scenarios.

[0142] S1408: Determine whether the parking trajectory is successfully solved. If so, execute step S1409; otherwise, execute step S1410.

[0143] S1409: Execute automatic parking based on the calculated trajectory. Simultaneously, use sensors to detect surrounding obstacles in real time, and perform collision risk detection and screening for dynamic obstacles that appear during parking, thereby achieving obstacle avoidance.

[0144] S1410: Parking completes. Whether the automatic parking is successful is determined based on whether the parking trajectory is successfully solved and whether the desired location is reached. For example, if the parking trajectory is successfully solved and the vehicle is parked in the target parking space, the automatic parking is successful; if the parking trajectory is unsuccessful, or if the parking trajectory is successfully solved but the vehicle is not parked in the target parking space, the automatic parking is unsuccessful.

[0145] The disclosed embodiments improve the success rate and efficiency of the automatic parking system, thereby reducing the difficulty and time of parking. At the same time, it expands the applicable scenarios of the automatic parking function and can be used in environments with limited drivable space, such as narrow roads and complex surrounding obstacles, thereby improving the driver's experience.

[0146] Referring to Figure 15, Figure 15 is a block diagram of a parking device according to an exemplary embodiment. As shown in Figure 15, the parking device includes:

[0147] The first determining module 1510 is configured to determine a drivable area corresponding to the target parking space, where the drivable area represents an area around the target parking space that does not include obstacles;

[0148] The control module 1520 is configured to control the vehicle to park in the target parking space from the drivable area based on the vehicle's function of turning around the target reference point, wherein when the vehicle turns around the target reference point, the four-wheel independent drive is used to make the turning radius smaller than the turning radius when the vehicle turns at the maximum turning angle of the front wheels.

[0149] As an optional embodiment, the target reference point includes a geometric center point or a center of mass point, and the function of the vehicle turning around the target reference point includes the vehicle body rotating around the geometric center point or the center of mass point;

[0150] Alternatively, the target reference point includes a wheel axis point, and the function of steering the vehicle around the target reference point includes rotating the vehicle body around the wheel axis point;

[0151] Alternatively, the target reference point includes a front axle center point or a rear axle center point, and the function of steering the vehicle around the target reference point includes rotating the vehicle body around the front axle center point or the rear axle center point;

[0152] Alternatively, the target reference point is located on the target horizontal axis, which is the axis where the geometric center of the vehicle is located and is horizontally perpendicular to the direction of vehicle travel. The function of the vehicle turning around the target reference point includes the vehicle body rotating around the point on the target horizontal axis as the center.

[0153] As an optional embodiment, the parking device further includes:

[0154] The second determining module is configured to determine a target reference point according to the type of the target parking space and the width of the road in the drivable area.

[0155] As an optional embodiment, the second determining module includes:

[0156] The first determination submodule is configured to determine that the target reference point includes the geometric center point or the center of mass point of the vehicle when the target parking space is a parallel parking space, the two long sides of the target parking space are connected to the drivable area, and the road width in the drivable area meets the width condition, wherein the width condition indicates that the road widths on both sides of the target parking space are greater than or equal to a first threshold.

[0157] As an optional embodiment, the second determining module includes:

[0158] The second determination submodule is configured to determine that the target reference point includes the wheel axis point of the vehicle when the target parking space is a parallel parking space, at least one long side 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.

[0159] As an optional embodiment, the second determining module includes:

[0160] The third determination submodule is configured to determine that the target reference point includes the front axle center point or the rear axle center point of the vehicle when the target parking space is a non-parallel parking space, any short side 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.

[0161] As an optional embodiment, the second determining module includes:

[0162] The fourth determination submodule is configured to determine that the target reference point is located on the target horizontal axis when the target parking space is a non-parallel parking space, any short side 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, wherein the target horizontal axis is the axis where the geometric center of the vehicle is located and is horizontally perpendicular to the vehicle's driving direction.

[0163] As an optional embodiment, the control module 1520 is specifically configured to:

[0164] Based on the target reference point, the wheel speed, torque and turning angle of each wheel of the vehicle are controlled to park the vehicle from the drivable area into the target parking space.

[0165] As an optional embodiment, the first determining module 1510 includes:

[0166] an acquisition module, configured to acquire perception information of the vehicle;

[0167] a third determination module, configured to determine obstacle information around the vehicle and a target parking space based on the perception information;

[0168] The fourth determining module is configured to determine a drivable area according to the target parking space and obstacle information.

[0169] As an optional embodiment, the control module 1520 is specifically configured to:

[0170] According to the drivable area and the target reference point, the parking trajectory is planned to obtain the target parking trajectory;

[0171] Based on the vehicle's steering function around the target reference point, the vehicle is controlled to park from the drivable area into the target parking space along the target parking trajectory.

[0172] In this disclosed embodiment, the vehicle's steering function around a target reference point is used to control the vehicle from a drivable area into a target parking space. When steering around the target reference point, the vehicle's four wheels are independently driven, resulting in a turning radius that is smaller than when the vehicle is turning at its maximum front wheel angle. This allows the vehicle to achieve a wider rotation angle within a confined space. This makes it easier for the vehicle to adjust its posture in a narrow drivable area, enhancing the efficiency of automated parking.

[0173] Regarding the parking device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the parking method and will not be elaborated here.

[0174] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon. When the program instructions are executed by a processor, the parking method of the present disclosure is implemented.

[0175] The present disclosure further provides a vehicle, comprising:

[0176] a storage device, wherein the storage device stores a computer program;

[0177] The control device is used to execute a computer program to implement the parking method disclosed herein.

[0178] As an optional embodiment, the vehicle includes four motors, each motor driving a corresponding wheel.

[0179] FIG16 is a block diagram of a vehicle 1600 according to an exemplary embodiment. For example, vehicle 1600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or another type of vehicle. Vehicle 1600 may be an autonomous vehicle or a semi-autonomous vehicle.

[0180] 16 , vehicle 1600 may include various subsystems, such as an infotainment system 1610, a perception system 1620, a decision control system 1630, a drive system 1640, and a computing platform 1650. Vehicle 1600 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of vehicle 1600 may be interconnected via wired or wireless means.

[0181] In some embodiments, the infotainment system 1610 may include a communication system, an entertainment system, a navigation system, and the like.

[0182] The perception system 1620 may include several sensors for sensing information about the environment surrounding the vehicle 1600. For example, the perception system 1620 may include a global positioning system (which may be a GPS system, a BeiDou system, or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera.

[0183] The decision control system 1630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0184] Drive system 1640 may include components that provide powered motion for vehicle 1600. In one embodiment, drive system 1640 may include an engine, a power source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination thereof. The engine is capable of converting energy provided by the power source into mechanical energy.

[0185] Some or all functions of the vehicle 1600 are controlled by a computing platform 1650. The computing platform 1650 may include at least one processor 1651 and a memory 1652. The processor 1651 may execute instructions 1653 stored in the memory 1652.

[0186] Processor 1651 can be any conventional processor, such as a commercially available CPU. The processor can also include a graphics processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0187] Memory 1652 can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0188] In addition to instructions 1653 , memory 1652 may also store data, such as road maps, route information, and vehicle location, direction, speed, etc. The data stored in memory 1652 may be used by computing platform 1650 .

[0189] In the embodiment of the present disclosure, the processor 1651 may execute the instruction 1653 to complete all or part of the steps of the above-mentioned parking method.

[0190] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device, and has code portions for performing the above-mentioned parking method when executed by the programmable device.

[0191] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0192] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A parking method, characterized in that: include: Determine a drivable area corresponding to the target parking space, where the drivable area represents an area around the target parking space that does not include obstacles; According to the target reference point, the vehicle is controlled to park from the drivable area into the target parking space, wherein the vehicle can turn around the target reference point through four-wheel independent drive, and the turning radius of the vehicle when turning around the target reference point is smaller than the turning radius of the vehicle when turning with the maximum turning angle of the front wheels.

2. The parking method according to claim 1, characterized in that: The target reference point includes a geometric center point or a center of mass point, and when the vehicle turns around the target reference point, the vehicle body rotates around the geometric center point or the center of mass point; Alternatively, the target reference point includes a wheel axis point, and when the vehicle turns around the target reference point, the vehicle body rotates around the wheel axis point as the center; Alternatively, the target reference point includes the center point of the front axle or the center point of the rear axle, and when the vehicle turns around the target reference point, the vehicle body rotates around the center point of the front axle or the center point of the rear axle; Alternatively, the target reference point is located on a target horizontal axis, which is an axis at which the geometric center of the vehicle is located and which is horizontally perpendicular to the direction of travel of the vehicle. When the vehicle turns around the target reference point, the vehicle body rotates around the point on the target horizontal axis.

3. The parking method according to claim 1 or 2, characterized in that: Before controlling the vehicle to park in the target parking space from the drivable area according to the target reference point, the method further includes: The target reference point is determined according to the type of the target parking space and the road width in the drivable area.

4. The parking method according to claim 3, characterized in that: Determining the target reference point according to the type of the target parking space and the road width in the drivable area includes: When the target parking space is a parallel parking space, two long sides of the target parking space are connected to the drivable area, and the road width in the drivable area meets the width condition, the target reference point is determined to include the geometric center point or the center of mass point of the vehicle, wherein the width condition represents that the road widths on both sides of the target parking space are greater than or equal to a first threshold.

5. The parking method according to claim 3 or 4, characterized in that: Determining the target reference point according to the type of the target parking space and the road width in the drivable area includes: When the target parking space is a parallel parking space, at least one long side 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, it is determined that the target reference point includes the wheel axis point of the vehicle.

6. The parking method according to any one of claims 3 to 5, characterized in that: Determining the target reference point according to the type of the target parking space and the road width in the drivable area includes: When the target parking space is a non-parallel parking space, any short side 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, it is determined that the target reference point includes the front axle center point or the rear axle center point of the vehicle.

7. The parking method according to any one of claims 3 to 6, characterized in that: Determining the target reference point according to the type of the target parking space and the road width in the drivable area includes: When the target parking space is a non-parallel parking space, any short side 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, it is determined that the target reference point is located on a target horizontal axis, wherein the target horizontal axis is an axis at which the geometric center of the vehicle is located and which is horizontally perpendicular to the driving direction of the vehicle.

8. The parking method according to any one of claims 1 to 7, characterized in that: According to the target reference point, controlling the vehicle to park in the target parking space from the drivable area includes: According to the target reference point, the wheel speed, torque and rotation angle of each wheel of the vehicle are controlled so that the vehicle is parked from the drivable area into the target parking space.

9. The parking method according to any one of claims 1 to 8, characterized in that: Determine the drivable area corresponding to the target parking space, including: Acquiring perception information of the vehicle; Determining obstacle information and a target parking space around the vehicle based on the perception information; The drivable area is determined according to the target parking space and the obstacle information.

10. The parking method according to any one of claims 1 to 9, characterized in that: According to the target reference point, controlling the vehicle to park in the target parking space from the drivable area includes: Performing parking trajectory planning according to the drivable area and the target reference point to obtain a target parking trajectory; According to the function of the vehicle turning around the target reference point, the vehicle is controlled to park from the drivable area into the target parking space along the target parking trajectory.

11. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the parking method described in any one of claims 1-10 is implemented.

12. A vehicle, characterized in that: The vehicle comprises: a storage device, wherein the storage device stores a computer program; A control device, wherein the control device is used to execute the computer program to implement the parking method described in any one of claims 1-10.

13. The vehicle according to claim 12, characterized in that The vehicle includes four motors, each of which drives a corresponding wheel.

Images