Parking method, storage medium, controller, vehicle, and program product

Abstract

A parking method, comprising: determining an initial parking position (A), intermediate parking position (B) and target parking position (C) of a vehicle (900) for a target parking space, and on the basis of the initial parking position (A), the intermediate parking position (B) and the target parking position (C), determining a target parking trajectory, of the vehicle, from the initial parking position (A) to the target parking position (C) (S11); and on the basis of the target parking trajectory, controlling the vehicle to move from the initial parking position (A) to the target parking position (C) (S12).

Description

Parking method, storage medium, controller, vehicle and program product

[0001] Cross-reference to related applications

[0002] The present disclosure claims priority to the Chinese patent application No. 202410890882.7, filed on July 4, 2024, and entitled "Parking method, storage medium, controller, vehicle and program product", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of vehicles, in particular, to a parking method, a storage medium, a controller, a vehicle and a program product. BACKGROUND

[0004] In the related art, in the face of complex parking lot environment, due to the limitations of vehicle driving form or parking space size, etc., the user needs to spend a lot of time and effort to correct the vehicle body posture. SUMMARY

[0005] The purpose of the present disclosure is to provide a parking method, a storage medium, a controller, a vehicle and a program product, which can realize fast parking.

[0006] In order to achieve the above-mentioned purpose, in a first aspect, the present disclosure provides a parking method, the method comprising:

[0007] determining an initial parking position, an intermediate parking position and a target parking position of a vehicle on a target parking space, and determining a target parking trajectory of the vehicle from the initial parking position to the target parking position according to the initial parking position, the intermediate parking position and the target parking position, the intermediate parking position being a position at which the vehicle body is rotated around a rotation point, the rotation point being a contact point between a target wheel to be locked during parking and the ground;

[0008] controlling the vehicle to move from the initial parking position to the target parking position according to the target parking trajectory, the vehicle driving the front wheels and the rear wheels of the vehicle independently by two driving motors or three driving motors, so that the vehicle can rotate around the rotation point during parking.

[0009] In a second aspect, the present disclosure provides a non-transitory computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement the method of the first aspect.

[0010] In a third aspect, the present disclosure provides a controller, comprising:

[0011] a memory having a computer program stored thereon;

[0012] a processor configured to execute the computer program in the memory to implement the method of the first aspect.

[0013] In a fourth aspect, the present disclosure provides a vehicle comprising the controller of the third aspect.

[0014] In a fifth aspect, the present disclosure provides a computer program product comprising computer program instructions configured to implement the method of the first aspect when executed by a processor.

[0015] According to the above technical solution, the present disclosure determines a target parking trajectory of a vehicle from an initial parking position to a target parking position according to an initial parking position, an intermediate parking position and the target parking position of the vehicle on a target parking space, and then controls the vehicle to move from the initial parking position to the target parking position according to the target parking trajectory. The vehicle is independently driven by two driving motors or three driving motors to drive the front wheels and the rear wheels, so that the power consumption requirement of the vehicle during parking can be reduced, and the power consumption during parking can be reduced. The present disclosure can be applied to vehicles with two motors or three motors independently driving the front wheels and the rear wheels, and the technology is put into practice, so that the parking time is shortened and the parking efficiency is improved.

[0016] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, and are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation of the present disclosure. In the drawings:

[0018] FIG. 1 is a flowchart of a parking method according to an exemplary embodiment of the present disclosure.

[0019] FIG. 2 is a schematic diagram of a parking path obtained by a conventional parking method.

[0020] FIG. 3 is a schematic diagram of a two-dimensional coordinate system according to an exemplary embodiment of the present disclosure.

[0021] FIGS. 4a and 4b are schematic diagrams of parking into a horizontal parking space when the target wheel is a rear wheel according to an exemplary embodiment of the present disclosure.

[0022] FIGS. 5a and 5b are schematic diagrams of parking into a horizontal parking space when the target wheel is a front wheel according to an exemplary embodiment of the present disclosure.

[0023] FIGS. 6a, 6b and 6c are schematic diagrams of parking into a vertical parking space when the target wheel is a rear wheel according to an exemplary embodiment of the present disclosure.

[0024] FIGS. 7a-7b are schematic diagrams of the torque of each wheel in a rotation process when the target wheel is a right rear wheel, according to an exemplary embodiment of the present disclosure.

[0025] FIG. 8 is a block diagram of a controller, according to an exemplary embodiment of the present disclosure.

[0026] FIG. 9 is a block diagram of a vehicle, according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The specific embodiments of the present disclosure will be described below in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0028] It should be noted that all actions of obtaining signals, information or data in the present disclosure are performed in compliance with the corresponding data protection regulations and policies of the country where the device is located, and with the authorization of the owner of the corresponding device.

[0029] As mentioned in the background, with the increasing rate of automatic parking technology (APA) year by year, the automatic parking technology is now limited by the driving of the vehicle or the size of the parking space, and it takes a lot of time and effort to park automatically.

[0030] There are two parking methods at present, the first one is the traditional automatic parking method. The traditional automatic parking method mainly realizes the steering and movement of the vehicle through front-wheel drive and four-wheel same direction rotation. As shown in FIG. 2, this method is limited by the driving form of the vehicle, and when there are obstacles in front and back of the target parking space, it needs to adjust the vehicle posture many times, which takes a long time and may hinder the normal traffic of other vehicles on the driving lane.

[0031] The second one is the easy four-square parking method. It is mainly based on the vehicle with four-motor independent control of four-wheel torque to realize the steering in place. This method can only be used for vehicles with four-motor independent control of four-wheel torque, has high power consumption, requires high power supply for the vehicle, and cannot be used for automatic parking of vehicles with other driving modes, which is difficult to achieve technology transfer.

[0032] Therefore, the present disclosure provides a parking method, a storage medium, a controller, a vehicle and a program product, which can quickly and accurately park.

[0033] FIG. 1 is a parking method according to an exemplary embodiment of the present disclosure, as shown in FIG. 1, the parking method can include the following steps:

[0034] In step S11, an initial parking position, an intermediate parking position and a target parking position of the vehicle to the target parking space are determined, and a target parking trajectory of the vehicle from the initial parking position to the target parking position is determined according to the initial parking position, the intermediate parking position and the target parking position. The intermediate parking position is a position at which the vehicle body is rotated around a rotation point, and the rotation point is a contact point between the target wheel to be locked and the ground in the parking process.

[0035] It should be noted that the initial parking position represents the positions of the four corner points of the vehicle at the beginning of parking, the intermediate parking position represents the positions of the four corner points of the vehicle when the vehicle starts to rotate around the rotation point, and the target parking position represents the positions of the four corner points of the vehicle after the vehicle is safely parked in the target parking space.

[0036] It should be understood that the target parking space can be a horizontal parking space or a vertical parking space, and the present disclosure does not limit this. For a horizontal parking space, the rotation point is located in the target parking space, and for a vertical parking space, the rotation point can be located in or out of the target parking space.

[0037] In step S12, the vehicle is controlled to move from the initial parking position to the target parking position according to the target parking trajectory. The front wheels and the rear wheels of the vehicle are independently driven by two driving motors or three driving motors, so that the vehicle can rotate around the rotation point during parking.

[0038] It should be understood that the principle of independent driving of the two driving motors for the vehicle can be that the two front wheels of the vehicle share one driving motor, and the two rear wheels of the vehicle share one driving motor. The principle of independent driving of the three driving motors for the vehicle can be that the two front wheels of the vehicle share one driving motor, and the two rear wheels of the vehicle correspond to independent driving motors respectively, or the two front wheels of the vehicle correspond to independent driving motors respectively, and the two rear wheels of the vehicle share one driving motor.

[0039] In the embodiments of the present disclosure, the target parking trajectory of the vehicle from the initial parking position to the target parking position is determined according to the initial parking position, the intermediate parking position and the target parking position of the vehicle to the target parking space, and then the vehicle is controlled to move from the initial parking position to the target parking position according to the target parking trajectory. The front wheels and the rear wheels of the vehicle are independently driven by two driving motors or three driving motors, so that the power consumption requirement of the vehicle during parking can be reduced, and the power consumption during parking can be reduced. The vehicle with two motors or three motors independently driving the front wheels and the rear wheels can be widely applied to medium and low-end vehicles, and the technology can be put down, so that the parking time can be shortened, and the parking efficiency can be improved.

[0040] In order to facilitate those skilled in the art to better understand the parking method provided by the present disclosure, the steps of the method are described in detail below.

[0041] In an implementable embodiment, in step S11, determining the initial parking position, the intermediate parking position and the target parking position of the vehicle to the target parking space can comprise:

[0042] acquiring environment information around the vehicle, constructing a two-dimensional coordinate system according to the environment information, the horizontal coordinate axis of the two-dimensional coordinate system being along the length direction of the vehicle and the vertical coordinate axis being along the width direction of the vehicle, the origin of the two-dimensional coordinate system being the rear axle center point of the vehicle;

[0043] determining the initial parking position of the vehicle to the target parking space according to the coordinate information of the vehicle in the two-dimensional coordinate system;

[0044] determining the target parking position of the vehicle to the target parking space according to the coordinate information of the vehicle in the two-dimensional coordinate system and the coordinate information of the target parking space in the two-dimensional coordinate system;

[0045] determining the intermediate parking position according to the target parking position.

[0046] It is worth noting that the environment information can include the real-time position of the vehicle itself, the parking space information, the obstacle information and the lane information around the vehicle, etc. Among them, the real-time position of the vehicle itself can be calculated by the IMU (Inertial Measurement Unit) according to the wheel speed, wheel pulse, steering wheel angle information and the lateral and longitudinal acceleration of the vehicle, and the parking space information, obstacle information and lane information around the vehicle can be collected by the sensing device on the vehicle body, which can be ultrasonic radar, fisheye camera, laser radar, etc.

[0047] As shown in FIG. 2, the rear axle center point of the vehicle is determined as the origin O of the two-dimensional coordinate system, the length direction of the vehicle is the x-axis of the two-dimensional coordinate system, and the width direction of the vehicle is the y-axis of the two-dimensional coordinate system. The initial parking position A of the vehicle to the target parking space is the coordinate information (A11, A12, A21, A22) of the vehicle in the two-dimensional coordinate system, the coordinate information of the four corner points of the target parking space in the two-dimensional coordinate system is (P11, P12, P21, P22), the coordinate information (C11, C12, C21, C22) of the target parking position C of the vehicle in the two-dimensional coordinate system is obtained according to the length and width of the vehicle and the coordinate information (P11, P12, P21, P22), the target wheel to be locked during parking is determined, so as to determine the rotation point, and the coordinate information (B11, B12, B21, B22) of the intermediate parking position B of the vehicle in the two-dimensional coordinate system is determined in combination with the coordinate information (C11, C12, C21, C22) of the target parking position C.

[0048] In the embodiment of the present disclosure, a two-dimensional coordinate system is constructed, and initial parking positions of four corner points of the current vehicle in the two-dimensional coordinate system and coordinate information of four corner points of the target parking space in the two-dimensional coordinate system are determined, and then the target parking position of the vehicle in the target parking space in the parking process and the intermediate parking position of the vehicle when starting to rotate around the rotation point are determined according to the initial parking position and the coordinate information of the target parking space. The entire calculation process involves the coordinate values of the four corner points of the vehicle in the two-dimensional coordinate system and the coordinate values of the four corner points of the target parking space in the two-dimensional coordinate system, and the restriction conditions such as obstacles around the vehicle, and the amount of data involved is less, so that the initial parking position, the intermediate parking position and the target parking position of the vehicle can be quickly and accurately obtained, and the calculation result is reliable.

[0049] In a possible implementation, determining the intermediate parking position according to the target parking position can include:

[0050] Determining the rotation point of the vehicle in the parking process according to the target parking position;

[0051] Determining the intermediate parking position according to the rotation point and the target parking position.

[0052] It should be understood that the coordinate value of the rotation point does not change when the vehicle is in the target parking position and the intermediate parking position, so the intermediate parking position can be determined according to the target parking position and the rotation point.

[0053] In a possible implementation, determining the rotation point of the vehicle in the parking process according to the target parking position can include:

[0054] Determining the target wheel of the vehicle that needs to be locked in the parking process according to the relative position information of the vehicle and the target parking space;

[0055] Taking the contact point between the target wheel of the vehicle in the target parking position and the ground as the rotation point, and the second largest distance between the rotation point and the four corner points of the target parking space is greater than the diagonal length of the vehicle body.

[0056] It should be understood that the relative position information of the vehicle and the target parking space can include that the vehicle is located at the right rear of the target parking space, the vehicle is located at the left rear of the target parking space, the vehicle is located at the left front of the target parking space, and the vehicle is located at the right front of the target parking space as shown in FIG. 3, and the target wheel of the vehicle that needs to be locked in the parking process is different in different cases.

[0057] It is worth mentioning that, as shown in FIG. 3, the second largest distance between the rotation point and the four corner points P11, P12, P21 and P22 of the target parking space is the distance between the rotation point and the corner point P21 of the target parking space, which needs to be greater than the diagonal length of the vehicle body or the sum of the diagonal length of the vehicle body and a preset length is less than the distance. In all embodiments of the present disclosure, the preset length is 10 cm, so the diagonal length L of the vehicle body + 10 cm < distance D. Assuming that the coordinate value of the corner point B11 is (x1, y1) and the coordinate value of the corner point B22 is (x2, y2), the diagonal length L of the vehicle body = |B11B22|.

[0058] In the embodiments of the present disclosure, by limiting the distance between the rotation point and the corner point P21 of the target parking space, it is ensured that the vehicle body of the vehicle does not exceed the parking space boundary formed by the corner points P21 and P22 of the target parking space during the process of rotating the vehicle around the rotation point from the intermediate parking position to the target parking position, so as to avoid collision between the vehicle body of the vehicle and the obstacle outside the target parking space during the process of parking the vehicle into the horizontal parking space.

[0059] In a possible embodiment, when the target parking space is a horizontal parking space, determining the target wheel of the vehicle to be locked during the parking process according to the relative position information of the vehicle and the target parking space can include:

[0060] When the relative position information indicates that the tail of the vehicle is close to the target parking space, the rear wheel on the side of the vehicle body away from the target parking space is taken as the target wheel.

[0061] When the relative position information indicates that the head of the vehicle is close to the target parking space, the front wheel on the side of the vehicle body close to the target parking space is taken as the target wheel.

[0062] For example, when the target parking space is a horizontal parking space and the tail of the vehicle is close to the target parking space, as shown in FIG. 4a, the target parking space is located on the left side of the vehicle, at this time the left side of the vehicle body is close to the target parking space, and the right rear wheel of the vehicle is taken as the target wheel. As shown in FIG. 4b, the target parking space is located on the right side of the vehicle, at this time the right side of the vehicle body is close to the target parking space, and the left rear wheel of the vehicle is taken as the target wheel.

[0063] For example, when the target parking space is a horizontal parking space and the head of the vehicle is close to the target parking space, as shown in FIG. 5a, the target parking space is located on the left side of the vehicle, at this time the left side of the vehicle body is close to the target parking space, and the left front wheel of the vehicle is taken as the target wheel. As shown in FIG. 5b, the target parking space is located on the right side of the vehicle, at this time the right side of the vehicle body is close to the target parking space, and the right front wheel of the vehicle is taken as the target wheel.

[0064] In a possible embodiment, when the target parking space is a vertical parking space, determining the target wheel of the vehicle to be locked during the parking process according to the relative position information of the vehicle and the target parking space can include:

[0065] In the case that the relative position information represents that the rear of the vehicle is close to the target parking space, the rear wheel on the side of the vehicle body close to the target parking space is selected as the target wheel;

[0066] In the case that the relative position information represents that the front of the vehicle is close to the target parking space, the front wheel on the side of the vehicle body close to the target parking space is selected as the target wheel.

[0067] For example, in the case that the target parking space is a vertical parking space and the rear of the vehicle is close to the target parking space, as shown in FIGS. 6a and 6b, the target parking space is on the left side of the vehicle, and at this time, the left side of the vehicle body is close to the target parking space, the left rear wheel of the vehicle is selected as the target wheel; as shown in FIG. 6c, the target parking space is on the right side of the vehicle, and at this time, the right side of the vehicle body is close to the target parking space, the right rear wheel of the vehicle is selected as the target wheel.

[0068] For example, in the case that the target parking space is a vertical parking space and the front of the vehicle is close to the target parking space, the target parking space is on the right side of the vehicle, and at this time, the right side of the vehicle body is close to the target parking space, the right front wheel of the vehicle is selected as the target wheel; the target parking space is on the left side of the vehicle, and at this time, the left side of the vehicle body is close to the target parking space, the left front wheel of the vehicle is selected as the target wheel.

[0069] It should be noted that, for the vertical parking space, when the width of the lane in front of the target parking space is greater than the diagonal length of the vehicle body, the rotation point can be located inside or outside the target parking space; when the width of the lane in front of the target parking space is less than or equal to the diagonal length of the vehicle body, the rotation point can only be located inside the target parking space, so as to avoid collision between the vehicle body and the obstacle outside the target parking space during the process of parking the vehicle into the vertical parking space.

[0070] It should be understood that, in the actual parking process, the selection of the target wheel is not fixed, and can be selected by the driver or determined according to the obstacles around the vehicle.

[0071] In an available embodiment, in step S12, the control of the vehicle to move from the initial parking position to the target parking position according to the target parking trajectory can include:

[0072] driving the vehicle to move along the target parking trajectory;

[0073] locking the target wheel when the vehicle moves to the intermediate parking position, and controlling the vehicle to rotate around the rotation point, so as to move the vehicle from the initial parking position to the target parking position.

[0074] It is worth mentioning that by applying a braking force to the target wheel, the target wheel is locked, so that the target wheel and the ground are in sliding friction instead of rolling friction during the rotation of the vehicle around the rotation point, and thus the position of the target wheel does not change. Before the vehicle rotates, the electronic brake force distribution (EBD) system on the vehicle can be used to apply a braking force to the target wheel, so as to achieve the purpose of locking the target wheel.

[0075] In an embodiment, the control of the vehicle to rotate around the rotation point can include:

[0076] controlling the front wheels and the rear wheels of the vehicle to have opposite torques so as to rotate the vehicle around the rotation point;

[0077] controlling the vehicle to stop rotating when the angle of rotation of the vehicle reaches a rotation angle, the rotation angle being an angle formed by the center axis of the vehicle between the target parking position and the intermediate parking position.

[0078] It should be understood that the control of the front wheels and the rear wheels of the vehicle to have opposite torques can make the vehicle body not have a large movement during the rotation. At the same time, the rotation speed of the outer wheels of the vehicle can be controlled to be greater than the rotation speed of the inner wheels of the vehicle, so as to make the vehicle rotate in the direction of the inner side of the vehicle. Specifically, the differential on the vehicle can be used to distribute the rotation speed of the outer wheels of the vehicle and the rotation speed of the inner wheels of the vehicle.

[0079] It is worth mentioning that the outer side of the vehicle and the inner side of the vehicle can be determined according to the steering direction of the vehicle. For example, for a horizontal parking space, as shown in FIGS. 4a and 5a, when the vehicle rotates to the left, the outer side of the vehicle is the right side of the vehicle, and the inner side of the vehicle is the left side of the vehicle; as shown in FIGS. 4b and 5b, when the vehicle rotates to the right, the outer side of the vehicle is the left side of the vehicle, and the inner side of the vehicle is the right side of the vehicle. For a vertical parking space, as shown in FIG. 6a, when the vehicle rotates to the right, the outer side of the vehicle is the left side of the vehicle, and the inner side of the vehicle is the right side of the vehicle; as shown in FIG. 6c, when the vehicle rotates to the left, the outer side of the vehicle is the right side of the vehicle, and the inner side of the vehicle is the left side of the vehicle.

[0080] It is worth mentioning that by controlling the torque direction of the other wheel coaxial with the target wheel, the vehicle body can be stabilized so that the vehicle body does not have a large movement during the rotation, and the experience of the people in the vehicle is improved while the vehicle rotates.

[0081] In an embodiment, the control of the front wheels and the rear wheels of the vehicle to have opposite torques can include:

[0082] when the target wheel is the left rear wheel, controlling the left rear wheel to be locked, the torque of the front wheel of the vehicle to be input in a forward direction, and the torque of the right rear wheel of the vehicle to be input in a reverse direction;

[0083] When the target wheel is the right rear wheel, the right rear wheel is locked, the front wheels of the vehicle are controlled to input torque in the forward direction, and the right rear wheel of the vehicle is controlled to input torque in the reverse direction.

[0084] For example, as shown in FIG. 7a, assuming that the left front wheel is FL, the right front wheel is FR, the left rear wheel is RL, and the right rear wheel is RR, when the target wheel is RR, a braking force is applied to RR to lock RR, the torque T_FL of FL and the torque T_FR of FR are both controlled to input torque in the forward direction, and the torque T_RL of RL is controlled to input torque in the reverse direction, and the rotational speed of FR is greater than the rotational speed of FL through differential distribution, so that the vehicle rotates to the left with the contact point of RR and the ground as the rotation point.

[0085] In an available embodiment, the control of the opposite torques of the front wheels and the rear wheels of the vehicle comprises:

[0086] When the target wheel is the left front wheel, the left front wheel is locked, the rear wheels of the vehicle are controlled to input torque in the forward direction, and the right front wheel of the vehicle is controlled to input torque in the reverse direction.

[0087] When the target wheel is the right front wheel, the right front wheel is locked, the rear wheels of the vehicle are controlled to input torque in the forward direction, and the left front wheel of the vehicle is controlled to input torque in the reverse direction.

[0088] For example, as shown in FIG. 7b, assuming that the left front wheel is FL, the right front wheel is FR, the left rear wheel is RL, and the right rear wheel is RR, when the target wheel is RR, a braking force is applied to RR to lock RR, the torque T_FL of FL and the torque T_FR of FR are both controlled to input torque in the forward direction, and the torque T_RL of RL is controlled to input torque in the reverse direction, and the rotational speed of FL is greater than the rotational speed of FR through differential distribution, so that the vehicle rotates to the right with the contact point of RR and the ground as the rotation point.

[0089] The parking method provided in the embodiments of the present disclosure can be applied to vehicle models with two or more motors, and during parking at the front or rear of the vehicle, the electric control system of the vehicle can control a single wheel to be locked, the driving forces of the front and rear wheels to be opposite, so that the vehicle can rotate around a single wheel to adjust the position of the vehicle, thereby improving the parking efficiency. The parking path planning is simple and the requirement for computing power is low. During the parking process, the opposite torques of the front and rear wheels of the vehicle can reduce the turning radius of the vehicle when the vehicle is turning at low speed, thereby improving the maneuverability of turning in a narrow space and the agility of parking, and the requirement for the space of the target parking space and the surrounding environment is low.

[0090] Based on the same inventive concept, the present disclosure further provides a controller, as shown in FIG. 8, which can comprise:

[0091] a memory 801 having a computer program stored thereon;

[0092] The processor 802 is configured to execute a computer program stored in the memory to implement the parking method described above.

[0093] In the embodiments of the present disclosure, the initial parking position, the intermediate parking position and the target parking position of the vehicle to the target parking space are determined to determine a target parking trajectory of the vehicle from the initial parking position to the target parking position, and then the vehicle is controlled to move from the initial parking position to the target parking position according to the target parking trajectory. The vehicle is driven by two driving motors or three driving motors to independently drive the front wheels and the rear wheels, so that the power consumption requirement of the vehicle in the parking process can be reduced, and the power consumption in the parking process can be reduced. It can be applied to vehicles with two motors and three motors independently driving the front wheels and the rear wheels, and can be widely applied to medium and low-end vehicles to realize technology transfer. Thus, the parking time is shortened, and the parking efficiency is improved.

[0094] Based on the same inventive concept, the present disclosure also provides a vehicle comprising the controller described above.

[0095] In the embodiments of the present disclosure, the initial parking position, the intermediate parking position and the target parking position of the vehicle to the target parking space are determined to determine a target parking trajectory of the vehicle from the initial parking position to the target parking position, and then the vehicle is controlled to move from the initial parking position to the target parking position according to the target parking trajectory. The vehicle is driven by two driving motors or three driving motors to independently drive the front wheels and the rear wheels, so that the power consumption requirement of the vehicle in the parking process can be reduced, and the power consumption in the parking process can be reduced. It can be applied to vehicles with two motors and three motors independently driving the front wheels and the rear wheels, and can be widely applied to medium and low-end vehicles to realize technology transfer. Thus, the parking time is shortened, and the parking efficiency is improved.

[0096] In a possible implementation, the vehicle includes two motors, wherein the two front wheels of the vehicle are driven by the same motor, and the two rear wheels of the vehicle are driven by the same motor.

[0097] In a possible implementation, the vehicle includes three motors, wherein the two front wheels of the vehicle are driven by the same motor, and the two rear wheels of the vehicle are driven by independent motors, or the two front wheels of the vehicle are driven by independent motors, and the two rear wheels of the vehicle are driven by the same motor.

[0098] FIG. 9 is a block diagram of a vehicle 900 according to an example embodiment. The vehicle 900 can be a hybrid vehicle, or a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or another type of vehicle. The vehicle 900 can be an autonomous vehicle or a semi-autonomous vehicle.

[0099] Referring to FIG. 9, the vehicle 900 can include various subsystems, such as an infotainment system 910, a perception system 920, a decision control system 930, a drive system 940, and a computing platform 950. Among others, the vehicle 900 can also include more or fewer subsystems, and each subsystem can include multiple components. In addition, each subsystem of the vehicle 900 and each component can be interconnected through wired or wireless means.

[0100] In some embodiments, the infotainment system 910 can include a communication system, an entertainment system, a navigation system, and the like.

[0101] The perception system 920 can include several sensors for sensing information of the environment around the vehicle 900. For example, the perception system 920 can include a global positioning system (which can be a GPS system, a Beidou system, or other positioning system), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0102] The decision control system 930 can include a computing system, a vehicle controller, a steering system, a throttle, a braking system, and the above-mentioned controllers.

[0103] The drive system 940 can include components that provide power motion for the vehicle 900. In one embodiment, the drive system 940 can include an engine, an energy source, a transmission system, and wheels. The engine can be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine can convert energy provided by the energy source into mechanical energy.

[0104] Part or all of the functions of the vehicle 900 are controlled by the computing platform 950. The computing platform 950 can include at least one second processor 951 and a second memory 952, and the second processor 951 can execute instructions 953 stored in the second memory 952.

[0105] The second processor 951 can be any conventional processor, such as commercially available CPUs. The processor can also include a graphic process unit (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0106] The second memory 952 can be implemented by any type of volatile or nonvolatile storage devices 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 storage, flash memory, magnetic disk or optical disk.

[0107] In addition to the instructions 953, the second memory 952 can also store data, such as road map, route information, vehicle position, direction, speed, etc. The data stored by the second memory 952 can be used by the computing platform 950.

[0108] In the embodiments of the present disclosure, the second processor 951 can execute the instructions 953 to complete all or part of the steps of the parking trajectory planning method described above, or complete all or part of the steps of the parking trajectory planning method described above by a controller in the decision control system 930.

[0109] In another exemplary embodiment, a computer readable storage medium including program instructions that, when executed by a processor, implement the steps of the parking method described above is also provided. For example, the computer readable storage medium can be the second memory 952 described above including program instructions, and the program instructions described above can be executed by the second processor 951 of the vehicle 900 to complete the parking method described above.

[0110] In another exemplary embodiment, a computer program product is also provided, which contains a computer program capable of being executed by a programmable device, and the computer program has a code portion for executing the parking method described above when executed by the programmable device.

[0111] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details in the above-described embodiments. Within the technical concept range of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection range of the present disclosure.

[0112] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again by the present disclosure.

[0113] In addition, any combination of various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, it should also be considered as disclosed by the present disclosure.

Claims

1. A parking method characterized by, The method comprises: determining an initial parking position, an intermediate parking position and a target parking position of a vehicle to a target parking space, and determining a target parking track of the vehicle from the initial parking position to the target parking position according to the initial parking position, the intermediate parking position and the target parking position, the intermediate parking position being a position at which the vehicle rotates a vehicle body around a rotation point, the rotation point being a contact point between a target wheel to be locked during parking and the ground; controlling the vehicle to move from the initial parking position to the target parking position according to the target parking track, the vehicle independently driving front wheels and rear wheels of the vehicle through two driving motors or three driving motors, so that the vehicle can rotate around the rotation point during parking.

2. The parking method according to claim 1, characterized by, The controlling the vehicle to move from the initial parking position to the target parking position according to the target parking track comprises: driving the vehicle to move along the target parking track; locking the target wheel when the vehicle moves to the intermediate parking position, and controlling the vehicle to rotate around the rotation point, so that the vehicle moves from the initial parking position to the target parking position.

3. The parking method according to claim 2, characterized by, The controlling the vehicle to rotate around the rotation point comprises: controlling the front wheels and the rear wheels of the vehicle to have opposite torques, so that the vehicle rotates around the rotation point; controlling the vehicle to stop rotating when an angle of rotation of the vehicle reaches a rotation angle, the rotation angle being an included angle between a central axis of the vehicle at the target parking position and the intermediate parking position.

4. The parking method according to claim 3, characterized by, The controlling the front wheels and the rear wheels of the vehicle to have opposite torques comprises: controlling the left rear wheel to be locked, the front wheels of the vehicle to have positive torque input, and the right rear wheel of the vehicle to have negative torque input when the target wheel is the left rear wheel; controlling the right rear wheel to be locked, the front wheels of the vehicle to have positive torque input, and the right rear wheel of the vehicle to have negative torque input when the target wheel is the right rear wheel.

5. The parking method according to claim 3, characterized by, The controlling the front wheels and the rear wheels of the vehicle to have opposite torques comprises: controlling the left front wheel to be locked, the rear wheels of the vehicle to have positive torque input, and the right front wheel of the vehicle to have negative torque input when the target wheel is the left front wheel; controlling the right front wheel to be locked, the rear wheels of the vehicle to have positive torque input, and the left front wheel of the vehicle to have negative torque input when the target wheel is the right front wheel.

6. The parking method according to any one of claims 1 to 5, characterized in that, The determining the initial parking position, the intermediate parking position and the target parking position of the vehicle to the target parking space comprises: obtaining environmental information around the vehicle, and constructing a two-dimensional coordinate system according to the environmental information, a horizontal coordinate axis of the two-dimensional coordinate system being along a length direction of the vehicle and a vertical coordinate axis being along a width direction of the vehicle, an origin of the two-dimensional coordinate system being a center point of a rear axle of the vehicle; determining the initial parking position of the vehicle to the target parking space according to coordinate information of the vehicle in the two-dimensional coordinate system; determining the target parking position of the vehicle to the target parking space according to the coordinate information of the vehicle in the two-dimensional coordinate system and coordinate information of the target parking space in the two-dimensional coordinate system; The intermediate parking position is determined according to the target parking position.

7. The parking method according to claim 6, characterized by, The intermediate parking position is determined according to the target parking position, including: A rotation point in the parking process of the vehicle is determined according to the target parking position; The intermediate parking position is determined according to the rotation point and the target parking position.

8. The parking method according to claim 7, characterized by, The rotation point in the parking process of the vehicle is determined according to the target parking position, including: A target wheel to be locked in the parking process of the vehicle is determined according to the relative position information between the vehicle and the target parking space; A contact point between the target wheel and the ground when the vehicle is at the target parking position in the parking process is taken as the rotation point, and a second largest distance between the rotation point and four corner points of the target parking space is greater than a diagonal length of the vehicle.

9. The parking method according to claim 8, characterized by, The target parking space is a horizontal parking space, and the target wheel to be locked in the parking process of the vehicle is determined according to the relative position information between the vehicle and the target parking space, including: In a case where the relative position information indicates that a tail of the vehicle is close to the target parking space, a rear wheel on a side of the vehicle away from the target parking space is taken as the target wheel; In a case where the relative position information indicates that a head of the vehicle is close to the target parking space, a front wheel on a side of the vehicle close to the target parking space is taken as the target wheel.

10. The parking method according to claim 8, characterized by, The target parking space is a vertical parking space, and the target wheel to be locked in the parking process of the vehicle is determined according to the relative position information between the vehicle and the target parking space, including: In a case where the relative position information indicates that a tail of the vehicle is close to the target parking space, a rear wheel on a side of the vehicle close to the target parking space is taken as the target wheel; In a case where the relative position information indicates that a head of the vehicle is close to the target parking space, a front wheel on a side of the vehicle close to the target parking space is taken as the target wheel.

11. A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the method in any one of claims 1-10.

12. A controller characterized by comprising: The computer program is executed by a processor to implement the method in any one of claims 1-10. The computer program is executed by a processor to implement the method in any one of claims 1-10. The vehicle includes two motors, wherein two front wheels of the vehicle are driven by the same motor, and two rear wheels of the vehicle are driven by the same motor.

13. A vehicle characterized by comprising: The vehicle includes three motors, wherein two front wheels of the vehicle are driven by the same motor, two rear wheels of the vehicle are driven by independent motors, or two front wheels of the vehicle are driven by independent motors, and two rear wheels of the vehicle are driven by the same motor.

14. The vehicle of claim 13, wherein, The computer program is executed by a processor to implement the method in any one of claims 1-10.

15. The vehicle of claim 13, wherein, ​ 16. A computer program product comprising computer program instructions, characterised in that, ​

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