Parking control method, device, storage medium and vehicle

Abstract

The present application relates to a parking control method, a device, a storage medium and a vehicle. The method comprises: when a target vehicle is in a vertical parking space parking scenario, determining a planned trajectory on the basis of target position information of a target parking space and pose information of the target vehicle; on the basis of relative position information of a straight-line planned trajectory relative to the axis of the target parking space, adjusting a turning radius of an arc planned trajectory; and on the basis of the adjusted arc planned trajectory, controlling the target vehicle to travel, so as to complete parking.

Description

Parking control method, device, storage medium, and a vehicle

[0001] This application claims priority to Chinese Patent Application No. 2024109573318, filed on July 16, 2024, entitled "Parking Control Method, Apparatus, Storage Medium and a Vehicle", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to, but is not limited to, the field of vehicle control technology, and particularly to a parking control method, device, storage medium, and a vehicle. Background Technology

[0003] With the development of vehicle technology, more and more vehicles are also offering automatic parking functions.

[0004] Conventional automatic parking systems primarily use front-wheel steering, and the vehicle model is usually based on an Ackerman bicycle. In actual parking scenarios, it has been found that they often require a large amount of parking space. In some narrow parking scenarios, such as perpendicular parking spaces with obstacles on both sides, the parking effect is often not ideal, affecting the user experience. Technical solutions

[0005] This application provides a parking control method, device, storage medium, and vehicle, which improves the parking effect of the vehicle and at least partially solves the above-mentioned technical problems.

[0006] To achieve the above objectives, according to a first aspect of this application, a parking control method is provided, comprising:

[0007] When the target vehicle is in a perpendicular parking space, a planned trajectory is determined based on the target position information of the target parking space and the pose information of the target vehicle; the planned trajectory includes a circular arc planned trajectory and a straight line planned trajectory.

[0008] The turning radius of the circular arc planning trajectory is adjusted based on the relative position information of the straight-line planning trajectory with respect to the axis of the target parking space, wherein the axis of the target parking space is parallel to the wide side parking space line;

[0009] The target vehicle is controlled to move according to the adjusted circular arc trajectory in order to complete parking.

[0010] Optionally, adjusting the turning radius of the circular arc planning trajectory based on the relative position information of the straight-line planning trajectory with respect to the axis of the target parking space includes:

[0011] The distance of the straight-line planning trajectory relative to the axis of the target parking space is compared with a preset distance threshold;

[0012] When the distance exceeds a preset distance threshold, the turning radius of the circular arc planning trajectory is adjusted according to the orientation of the straight-line planning trajectory relative to the axis of the target parking space.

[0013] Optionally, adjusting the turning radius of the circular arc planning trajectory based on the orientation of the straight-line planning trajectory relative to the axis of the target parking space includes:

[0014] In response to the relative position of the straight-line planning trajectory and the target vehicle being located on the axis of the target parking space, the radius of the circular arc planning trajectory is reduced;

[0015] In response to the fact that the straight-line planned trajectory is in the same orientation as the target vehicle on the axis of the target parking space, the radius of the circular arc planned trajectory is increased.

[0016] Optionally, controlling the target vehicle's movement according to the adjusted circular arc trajectory to complete parking includes:

[0017] Based on the adjusted circular arc planning trajectory, determine the adjusted straight line planning trajectory;

[0018] If the relative position information of the adjusted straight-line planning trajectory with respect to the axis of the target parking space meets the preset planning conditions, then the target vehicle is controlled to move according to the adjusted circular arc planning trajectory and the adjusted straight-line planning trajectory to complete parking.

[0019] Optionally, after determining the adjusted straight-line planning trajectory based on the adjusted circular arc planning trajectory, the method further includes:

[0020] If the relative position information of the adjusted straight-line planning trajectory with respect to the axis of the target parking space does not meet the preset planning conditions, the target vehicle is controlled to move in order to adjust the pose information of the target vehicle.

[0021] The updated planned trajectory is determined based on the adjusted pose information of the target vehicle and the target position information of the target parking space.

[0022] The target vehicle is controlled to move according to the updated planned trajectory to complete parking.

[0023] Optionally, controlling the movement of the target vehicle to adjust its pose information includes:

[0024] Determine a first steering angle of a first wheel and a second steering angle of a second wheel in the target vehicle, wherein the first wheel and the second wheel have different steering directions;

[0025] The target vehicle is controlled to travel a preset distance based on the first steering angle and the second steering angle to adjust the position and posture information of the target vehicle.

[0026] Optionally, before determining the first steering angle of the first wheel and the second steering angle of the second wheel in the target vehicle, the method further includes:

[0027] The steering ratio of the first wheel and the second wheel is determined based on the azimuth distance of the straight-line planning trajectory relative to the axis of the target parking space, so as to determine the first steering angle of the first wheel and the second steering angle of the second wheel.

[0028] Optionally, controlling the movement of the target vehicle to adjust its pose information includes:

[0029] The first wheel of the target vehicle is controlled to move in an arc around the second wheel of the target vehicle, wherein the direction of the arc movement is related to the orientation of the straight-line planned trajectory relative to the axis of the target parking space.

[0030] Optionally, controlling the target vehicle's movement based on the adjusted circular arc trajectory includes:

[0031] In response to the radius of the adjusted circular arc planning trajectory being less than a preset radius threshold, the steering angles of the first and second wheels in the target vehicle are determined based on the target circular arc planning trajectory to control the movement of the target vehicle.

[0032] In response to the radius of the target circular arc planning trajectory being greater than a preset radius threshold, the steering angle of the second wheel in the target vehicle is determined based on the target circular arc planning trajectory in order to control the movement of the target vehicle.

[0033] Optionally, before the step of determining the initial planned trajectory based on the target parking space's target location information and the target vehicle's pose information, the method further includes:

[0034] Obtain the distance information between the target vehicle and surrounding obstacles;

[0035] If the distance information is less than a preset distance threshold, the step of determining the initial planned trajectory based on the target location information of the target parking space and the pose information of the target vehicle is executed.

[0036] According to a second aspect of this application, a parking control device is provided, comprising:

[0037] A first processor is configured to determine an initial planned trajectory based on the target position information of the target parking space and the pose information of the target vehicle when the target vehicle is in a perpendicular parking space scenario; the initial planned trajectory includes an initial circular arc planned trajectory and an initial straight line planned trajectory.

[0038] The second processor is used to adjust the initial circular arc planning trajectory based on the azimuth distance of the initial straight line planning trajectory relative to the axis of the target parking space to obtain the target circular arc planning trajectory; wherein the target circular arc planning trajectory and the initial circular arc planning trajectory have different turning radii;

[0039] The first controller is used to control the movement of the target vehicle according to the target circular arc planned trajectory in order to complete parking.

[0040] According to a third aspect of this application, an electronic device is also provided, including a memory and a processor, wherein computer instructions are stored on the memory; the processor is configured to execute the computer instructions in the memory to implement the method described in any of the preceding claims.

[0041] According to a fourth aspect of this application, a computer storage medium is also provided, the computer storage medium storing instructions that, when executed by a computer, cause the computer to perform the method described in any of the preceding claims.

[0042] According to a fifth aspect of this application, a vehicle is also provided, including a vehicle controller, a processor, and a memory, the memory storing computer instructions; when the computer instructions are executed by the processor, the processor causes the processor to perform the method described in any one of the preceding claims.

[0043] The parking control method of this application embodiment, in a perpendicular parking scenario, first plans a trajectory including a circular arc trajectory and a straight line trajectory based on the target position information of the target parking space and the pose information of the target vehicle. Then, based on the relative position information of the straight line trajectory relative to the axis of the target parking space, the turning radius of the circular arc trajectory is adjusted to control the target vehicle's movement according to the adjusted circular arc trajectory, thereby completing the parking. The parking method provided by this application embodiment can adjust the turning radius of the vehicle in narrow scenarios, better completing the entire parking process and improving the user experience.

[0044] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0047] Figure 1 is a schematic diagram of the parking effect of the original planned path provided in the related technology;

[0048] Figure 2 is a flowchart illustrating the steps of a parking control method provided in an embodiment of this application.

[0049] Figure 3 is a flowchart illustrating the steps of adjusting the circular arc planning trajectory based on relative position information according to an embodiment of this application.

[0050] Figure 4 is a schematic flowchart of the steps for adjusting the turning radius of the circular arc planning trajectory based on orientation according to an embodiment of this application;

[0051] Figure 5a is a schematic diagram illustrating the effect of adjusting the radius of a circular arc planning trajectory according to an embodiment of this application;

[0052] Figure 5b is a schematic diagram illustrating the effect of adjusting the radius of a circular arc planning trajectory according to another embodiment of this application;

[0053] Figure 6 is a flowchart illustrating the steps of controlling the target vehicle's movement according to the adjusted circular arc planning trajectory provided in an embodiment of this application.

[0054] Figure 7 is a schematic flowchart of a step-by-step method for adjusting the vehicle's posture to replan the parking trajectory according to an embodiment of this application.

[0055] Figure 8 is a flowchart illustrating the steps for adjusting the pose information of a target vehicle according to an embodiment of this application.

[0056] Figure 9 is a schematic diagram of the effect of a circular arc planning trajectory provided in an embodiment of this application;

[0057] Figure 10 is a schematic diagram of the effect of controlling the wheel to rotate according to the embodiment of this application;

[0058] Figure 11 is a schematic diagram of a parking control device provided in an embodiment of this application;

[0059] Figure 12 is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0060] Implementation methods of this application

[0061] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0062] To facilitate understanding of the parking control method provided in this application embodiment, the application scenarios of the parking control method are first described. Specifically, the parking control method is typically applied to various parking scenarios, such as parallel parking or perpendicular parking. In the automatic parking methods provided by related technologies, the entire parking trajectory planning relies on an Ackerman bicycle model with front-wheel steering control. However, in practical applications, it has been found that due to the large turning radius of the vehicle, in some narrow parking scenarios, such as perpendicular parking with multiple obstacles on both sides, the vehicle cannot park according to the original planned path. For example, please refer to Figure 1, which is a schematic diagram of the effect of being unable to park based on the original planned path in related technologies. In the above scenario, due to control tracking errors or perception errors, the vehicle deviates significantly from the original planned trajectory, or new collision risks arise on the original trajectory, making it impossible for the vehicle to continue parking according to the original planned path. Therefore, a new trajectory needs to be planned to complete the parking. Conventional intelligent parking systems typically require multiple forward and backward movements to continue parking in this situation, affecting the user experience.

[0063] To address the aforementioned issues, this application provides a parking control method, particularly applicable to parking scenarios with perpendicular parking spaces surrounded by multiple obstacles. When a vehicle is unable to execute its original planned parking path, the method replans an initial planned trajectory that includes both circular and straight-line planned trajectories. It then determines whether parking is permitted based on the relative position of the straight-line planned trajectory with respect to the target parking space axis. Additionally, it appropriately adjusts the turning radius of the circular-line planned trajectory to control the target vehicle's movement according to the adjusted circular-line planned trajectory, thereby completing the parking process.

[0064] Specifically, please refer to Figure 2, which is a flowchart illustrating the steps of a parking control method provided in an embodiment of this application, specifically including steps S210 to S230:

[0065] S210, when the target vehicle is in a perpendicular parking space scenario, the planned trajectory is determined based on the target position information of the target parking space and the pose information of the target vehicle; the planned trajectory includes a circular arc planned trajectory and a straight line planned trajectory.

[0066] In this embodiment, the scenario of the target vehicle being parked in a perpendicular parking space refers to the need to park the target vehicle in a perpendicular parking space located to the rear of the vehicle and facing perpendicular to the road direction. In this case, based on the conventional front-wheel-drive Ackerman model, using the target position information of the parking space and the pose information of the target vehicle, a planned trajectory for entering the perpendicular parking space with the minimum turning radius of the Ackerman model can be obtained. This planned trajectory includes a circular arc planned trajectory before entering the parking space and a straight line planned trajectory after entering the parking space.

[0067] Furthermore, the distance information between the target vehicle and surrounding obstacles can be obtained, and if the distance information is less than a preset distance threshold, the target vehicle can be considered to be in a narrow perpendicular parking space scenario, thereby executing the parking control method provided in the embodiments of this application.

[0068] S220, the turning radius of the circular arc planning trajectory is adjusted according to the relative position information of the straight line planning trajectory with respect to the axis of the target parking space.

[0069] In this embodiment, to ensure a vehicle can safely park in the target parking space, after determining the planned trajectory, the relative position information of the straight-line planned trajectory with respect to the axis of the target parking space is used to determine whether there is a risk of collision with obstacles. This allows for further adjustment of the turning radius of the circular-arc planned trajectory. The axis of the target parking space is the axis parallel to the wide-side parking space in the vertical direction, i.e., the direction in which the parking space faces. Specifically, as a feasible implementation, the axis of the target parking space can be the center axis, which is the axis equidistant from the two wide-side parking space lines.

[0070] Specifically, adjusting the turning radius of the circular arc planning trajectory based on the relative position information of the straight-line planning trajectory relative to the target parking space axis usually refers to comparing the distance of the straight-line planning trajectory relative to the target parking space axis with a preset safety distance threshold. Specifically, please refer to Figure 3, which is a flowchart illustrating the steps for adjusting the circular arc planning trajectory based on relative position information according to an embodiment of this application, specifically including steps S310 to S320:

[0071] S310, compare the distance of the straight-line planning trajectory relative to the axis of the target parking space with a preset distance threshold.

[0072] In this embodiment, it is understood that the smaller the distance between the straight-line planned trajectory and the axis of the target parking space, the closer the vehicle is to the center of the parking space during parking, thus resulting in a higher safety factor. Conversely, the larger the distance between the straight-line planned trajectory and the axis of the target parking space, the closer the vehicle is to the edge of the parking space during parking, making it more likely to collide with obstacles on both sides. Therefore, the distance between the straight-line planned trajectory and the axis of the target parking space can be compared with a preset distance threshold to determine whether it meets the safe parking requirements.

[0073] S320, if the distance is greater than a preset distance threshold, adjust the turning radius of the circular arc planning trajectory according to the orientation of the straight line planning trajectory relative to the axis of the target parking space.

[0074] In this embodiment, when the distance is greater than a preset distance threshold, it can be assumed that the vehicle is prone to colliding with obstacles on both sides during the parking process. Therefore, the turning radius of the circular arc planning trajectory can be further adjusted based on the orientation of the straight-line planning trajectory relative to the axis of the target parking space. Considering that the straight-line planning trajectory has different orientations relative to the axis of the target parking space, the turning radius of the circular arc planning trajectory will vary accordingly, as will be explained in detail below. Specifically, please refer to Figure 4, a flowchart illustrating the steps for adjusting the turning radius of the circular arc planning trajectory based on orientation provided in this embodiment, specifically including steps S410 to S420:

[0075] S410, when the planned trajectory and the target vehicle are located in the relative position of the axis of the target parking space, the radius of the circular arc planned trajectory is reduced.

[0076] In this embodiment, it can be understood that when the planned straight trajectory is positioned relative to the target vehicle on the axis of the target parking space, it indicates that the turning radius of the planned straight trajectory is too large and deviates from the axis. In this case, the radius of the planned circular trajectory can be appropriately reduced. Of course, since the radius of the current planned circular trajectory is already the minimum allowable radius calculated based on the Ackerman model, in order to adjust the radius of the planned circular trajectory, this embodiment further reduces the radius of the planned circular trajectory by using coordinated front and rear wheel steering.

[0077] Furthermore, it should be noted that during the adjustment of the radius of the circular arc trajectory, the central angle corresponding to the circular arc trajectory will also be adjusted simultaneously. This means the distance the vehicle travels along the circular arc trajectory needs to be re-determined. Specifically, the central angle corresponding to the circular arc trajectory can be calculated by adding the steering angle during rear-wheel coordinated steering to the vehicle's heading angle. Please refer to the relevant explanation in Figure 5a below for details.

[0078] S420, when the initial planned trajectory is located in the same orientation as the target vehicle on the axis of the target parking space, increase the radius of the circular arc planned trajectory.

[0079] In this embodiment of the application, in contrast to the foregoing, when the straight-line planned trajectory and the target vehicle are located in the same orientation as the axis of the target parking space, it indicates that the turning radius of the planned straight-line planned trajectory is too small and deviates from the axis. In this case, the radius of the circular arc planned trajectory can be appropriately increased to control the target vehicle to travel along the axis of the target parking space. Specifically, to facilitate understanding of the above parking application scenario, please refer to Figures 5a and 5b, which are schematic diagrams illustrating the effects of adjusting the radius of the circular arc planned trajectory based on different orientations of the initial planned trajectory according to the embodiments of this application, as detailed below.

[0080] Please refer to Figure 5a. Figure 5a is a schematic diagram illustrating the effect of adjusting the radius of a circular arc planning trajectory according to an embodiment of this application. Specifically, in this embodiment, the planned path of the vehicle using the Ackerman model is t1, that is, the planned path of the target vehicle traveling according to the minimum turning radius of the Ackerman model is t1. It can be seen that the planned path t1 is located to the right of the parking space axis, while the target vehicle is located to the left front of the target parking space, that is, in a relative position to the target vehicle on the target parking space axis. At this time, the distance Δd1 between the planned path t1 and the parking space axis is greater than a preset threshold d. lat When adjusting the radius of the circular arc trajectory, it is necessary to appropriately reduce the turning radius. This requires controlling the rear wheels to maintain a certain steering angle to decrease the turning radius. Specifically, assuming the minimum turning center calculated by the Ackerman model for the target vehicle is O2, and the minimum turning center calculated when the target vehicle achieves the maximum rear wheel steering angle during rear wheel coordinated steering is O1, points can be sampled on line segment O1O2 to control the reduction of the circular arc trajectory radius and calculate the corresponding rear wheel steering angle. Simultaneously, the vehicle can be controlled to travel a specific distance along the circular arc trajectory. For example, when the center of the adjusted circular arc trajectory is determined to be O, after determining the rear wheel steering angle, the central angle corresponding to the final circular arc trajectory P0P1 is the corresponding rear wheel steering angle plus the heading angle when the vehicle is at point P0. The final straight-line trajectory into the parking space shifts to the left, for example, following the adjusted trajectory t. At this point, the distance Δd between the adjusted trajectory t and the parking space axis is less than a preset threshold d. lat This ensures that the requirements for safe parking are met.

[0081] Please refer to Figure 5b, which is a schematic diagram of the effect of adjusting the radius of the circular arc planning trajectory provided by another embodiment of this application. It can be seen that, similar to Figure 5a, when the distance Δd1 between the planned path t1 planned by the Ackerman model and the parking space axis is greater than the preset threshold d, latSimilarly, the turning radius of the target vehicle is still required. However, since the planned path t1 calculated by the Ackerman model is located to the left of the parking space axis, i.e., in the same position as the target vehicle on the target parking space axis, the turning radius of the target vehicle needs to be appropriately increased. For example, the minimum turning radius calculated by the Ackerman model can be increased to control the vehicle to drive into the parking space along the planned trajectory t and complete the parking. Of course, it should be noted that in this process, because the turning radius of the target vehicle needs to be increased, rear wheel steering coordination is not required to achieve parking.

[0082] S230, control the target vehicle to move according to the adjusted circular arc planning trajectory to complete parking.

[0083] After adjusting the radius of the circular arc planning trajectory based on the relative position information of the straight-line planning trajectory with respect to the axis of the target parking space, the movement of the target vehicle can be controlled based on the adjusted circular arc planning trajectory, thereby reducing the risk of collision and achieving parking.

[0084] Of course, it should be noted that since the straight-line planning trajectory is the trajectory of the vehicle perpendicularly entering the parking space after completing the alignment through the arc planning trajectory, after adjusting the arc planning trajectory, the straight-line planning trajectory also needs to be adjusted, and the adjusted straight-line planning trajectory needs to be judged again to determine whether the replanned planning trajectory meets the requirements. Specifically, please refer to Figure 6, which is a schematic flowchart of the steps for controlling the target vehicle's movement according to the adjusted arc planning trajectory provided in the embodiment of this application, specifically including steps S610 to S620:

[0085] S610, based on the adjusted circular arc planning trajectory, determine the adjusted straight line planning trajectory.

[0086] In this embodiment of the application, after adjusting the radius of the circular arc planning trajectory, the travel endpoint of the circular arc planning trajectory will obviously also be adjusted accordingly. At this time, the straight line planning trajectory can be adjusted based on the travel endpoint. Obviously, after making appropriate adjustments to the circular arc planning trajectory, the adjusted straight line planning trajectory can be made to be more biased towards the target parking space axis, that is, to reduce the distance between it and the target parking space axis.

[0087] S620, if the relative position information of the adjusted straight-line planning trajectory with respect to the axis of the target parking space meets the preset planning conditions, then the target vehicle is controlled to move according to the adjusted circular arc planning trajectory and the adjusted straight-line planning trajectory to complete parking.

[0088] In this embodiment of the application, specifically, when the relative position information of the adjusted straight-line planning trajectory relative to the axis of the target parking space meets the preset planning conditions, such as being less than the aforementioned preset distance threshold, and also meets other parking conditions, such as confirming through collision detection that there will be no collision with other obstacles in the trajectory, the target vehicle can be controlled to move according to the adjusted circular arc planning trajectory and the adjusted straight-line planning trajectory. For example, taking the scenario diagram shown in Figure 5a above as an example, parking can be completed according to the adjusted planning trajectory t.

[0089] Of course, it should be noted that during the replanning process, due to limitations imposed by other factors, the relative position information of the adjusted straight-line planning trajectory with respect to the target parking space axis may still not meet the preset planning conditions. For example, taking the scenario diagram shown in Figure 5a above as an example, if the adjusted planning trajectory is t2, and the distance Δd2 between t2 and the parking space centerline is also greater than the preset threshold d... lat When it is clear that the parking requirements are not met, and parking still cannot be achieved after repeated attempts, as another feasible embodiment of this application, another implementation scheme for adjusting the starting position of the vehicle to replan the parking route is also provided.

[0090] Specifically, please refer to Figure 7, which is a flowchart illustrating the steps of adjusting vehicle pose to replan parking trajectory according to an embodiment of this application. Specifically, it includes steps S710 to S730:

[0091] S710, if the relative position information of the adjusted straight-line planning trajectory with respect to the axis of the target parking space does not meet the preset planning conditions, then control the target vehicle to move in order to adjust the position information of the target vehicle.

[0092] In this embodiment, after multiple adjustments to the turning radius of the circular arc planning trajectory due to the influence of surrounding obstacles or the vehicle's own parameters, the relative position information of the corresponding straight line planning trajectory relative to the target parking space axis still does not meet the preset planning conditions, such as the distance between it and the target parking space axis exceeding a preset threshold. In this case, the target vehicle's movement can be controlled to appropriately adjust the target vehicle's pose information to adjust the planning trajectory.

[0093] Specifically, adjusting the target vehicle's pose information can involve adjusting its position or orientation. The adjustment strategy varies depending on the specific situation requiring adjustment of the turning radius of the circular trajectory, to ensure the successful adjustment of the turning radius. Further explanation is available below.

[0094] Specifically, please refer to Figure 8, which is a flowchart illustrating the steps for adjusting the pose information of a target vehicle according to an embodiment of this application, including steps S810 to S820:

[0095] S810, determine the first steering angle of the first wheel and the second steering angle of the second wheel in the target vehicle.

[0096] S820, the target vehicle is controlled to travel a preset distance based on the first steering angle and the second steering angle to adjust the position and posture information of the target vehicle.

[0097] In this embodiment, the first steering angle of the first wheel and the second steering angle of the second wheel in the target vehicle have corresponding steering directions, meaning the first wheel and the second wheel have different steering directions. Controlling the target vehicle's movement based on the first and second steering angles can also adjust the circular trajectory. Here, the first wheel and the second wheel are typically the front and rear wheels of the target vehicle; for example, the first wheel can be the rear wheel, and the second wheel can be the front wheel.

[0098] Specifically, for easier understanding of the above process, please refer to Figure 9, which is a schematic diagram of the effect of a circular arc planning trajectory provided by an embodiment of this application. It can be seen that when the first steering angle of the first wheel and the second steering angle of the second wheel are determined, and the vehicle is controlled to travel a distance around the center O, for example from p0 to p... m In this way, the target vehicle can be parked with a suitable turning radius and a straight trajectory t that meets the requirements. That is, as an implementation scheme of this application, the line segment OP′ perpendicular to the longitudinal normal of the parking space can be determined first, and points can be sampled on the curve segment P0P′. The sampled point Pm is used as an assumed replanning starting point, and the aforementioned path planning method is called again to determine the planned path to complete the parking.

[0099] Of course, in real-world scenarios, the steering ratio of the first wheel and the second wheel can also be determined based on the azimuth distance between the target straight-line planning trajectory and the centerline of the target parking space. That is, the greater the distance between the target straight-line planning trajectory and the centerline of the target parking space, the greater the adjustment range of the radius of the circular planning trajectory needs to be. In this case, the steering ratio of the first wheel and the second wheel needs to be higher.

[0100] Of course, the above is an example of increasing the turning radius of the circular arc planning trajectory. When it is necessary to reduce the turning radius of the circular arc planning trajectory, the first steering angle of the first wheel and the second steering angle of the second wheel can be opposite to the angle shown in Figure 9, so that the vehicle travels around the center located on the right side of the vehicle (i.e., opposite to the center O). The embodiments of this application will not be described in detail here.

[0101] Of course, in addition to adjusting the position and posture information of the target vehicle by controlling the first steering angle of the first wheel and the second steering angle of the second wheel, as mentioned above, the position and posture information of the target vehicle can also be adjusted by fixing the front wheels and causing the rear wheels to rotate around the front wheels. This means controlling the movement of the target vehicle to adjust its position and posture information, including:

[0102] Control the first wheel of the target vehicle to move in an arc around the second wheel of the target vehicle.

[0103] It should be noted that, based on the different orientations of the target straight-line planned trajectory relative to the axis of the target parking space, the direction of the circular motion of the first wheel around the second wheel also differs. Specifically, please refer to Figure 10, which is a schematic diagram illustrating the effect of controlling the wheel to rotate according to an embodiment of this application. Details are as follows.

[0104] As can be seen, taking the planned path t1 from the vehicle's starting point p′ as an example, when the first wheel is controlled to move in an arc around the second wheel of the target vehicle, the vehicle travels from the starting point p′ to p1. m At this time, the corresponding planned path is adjusted to t. Therefore, while determining the turning radius of the adjusted circular arc planning trajectory based on the orientation of the target straight line planning trajectory relative to the axis of the target parking space, the initial point can also be adjusted based on the rotation and movement of the rear wheels, and the planning can be redone.

[0105] S720, based on the adjusted pose information of the target vehicle and the target position information of the target parking space, determine the updated planned trajectory.

[0106] In this embodiment, based on the aforementioned adjusted pose information and the target position information of the parking space, replanning can be performed according to the Ackerman model based on the updated pose information to determine the updated planning trajectory. Of course, when determining the updated planning trajectory, it is also necessary to readjust the turning radius of the circular planning trajectory based on the relative position information of the straight trajectory with respect to the axis of the target parking space until the safe parking requirements are met.

[0107] S730 controls the target vehicle to move according to the updated planned trajectory and completes parking.

[0108] In this embodiment of the application, it can be understood that during the parking control process, the adjustment of the turning radius of the circular arc planning trajectory and the relative position of the straight line planning trajectory are judged in real time. After each adjustment of the initial position information of the vehicle, the route needs to be replanned until the final parking is completed.

[0109] Furthermore, it's important to note that the Ackerman model based on front-wheel steering typically has a minimum turning radius. Therefore, when the radius of the adjusted circular trajectory is smaller than this minimum turning radius, controlling the target vehicle's movement requires determining the steering angles of the first and second wheels based on the adjusted circular trajectory. For example, the steering ratio of the first and second wheels can be determined based on the turning radius of the adjusted circular trajectory to determine their steering angles. Conversely, when the radius of the adjusted circular trajectory is larger than this minimum turning radius, vehicle control can be achieved using the front-wheel steering Ackerman model. This means the steering angle of the second wheel (the front wheel) can be determined based on the adjusted circular trajectory to control the target vehicle's movement.

[0110] The parking control method of this application embodiment, in a perpendicular parking scenario, first plans a trajectory including a circular arc trajectory and a straight line trajectory based on the target position information of the target parking space and the pose information of the target vehicle. Then, based on the relative position information of the straight line trajectory relative to the axis of the target parking space, the turning radius of the circular arc trajectory is adjusted to control the target vehicle's movement according to the adjusted circular arc trajectory, thereby completing the parking. The parking method provided by this application embodiment can adjust the turning radius of the vehicle in narrow scenarios, better completing the entire parking process and improving the user experience.

[0111] To further understand the parking control method provided in the embodiments of this application, this application also provides a parking control device. Specifically, please refer to Figure 11, which is a structural schematic diagram of a parking control device provided in an embodiment of this application, specifically including:

[0112] The first processor 1110 is used to determine an initial planned trajectory based on the target position information of the target parking space and the pose information of the target vehicle when the target vehicle is in a perpendicular parking space scenario; the initial planned trajectory includes an initial circular arc planned trajectory and an initial straight line planned trajectory.

[0113] The second processor 1120 is used to adjust the turning radius of the circular arc planning trajectory according to the relative position information of the straight line planning trajectory with respect to the target parking space axis, wherein the target parking space axis is parallel to the wide side parking space line;

[0114] The first controller 1130 is used to control the target vehicle to move according to the adjusted circular arc planning trajectory in order to complete parking.

[0115] Optionally, the second processor is further configured to compare the distance of the straight-line planning trajectory relative to the axis of the target parking space with a preset distance threshold;

[0116] If the distance is greater than a preset distance threshold, the turning radius of the circular arc planning trajectory is adjusted according to the orientation of the straight line planning trajectory relative to the axis of the target parking space.

[0117] Optionally, the second processor is further configured to reduce the radius of the circular arc planning trajectory when the straight-line planning trajectory is located relative to the target vehicle on the axis of the target parking space;

[0118] When the straight-line planned trajectory is located in the same direction as the target vehicle on the axis of the target parking space, the radius of the circular arc planned trajectory is increased.

[0119] Optionally, the first controller is further configured to determine, based on the adjusted circular arc planning trajectory, the adjusted straight line planning trajectory;

[0120] If the relative position information of the adjusted straight-line planning trajectory with respect to the axis of the target parking space meets the preset planning conditions, then the target vehicle is controlled to move according to the adjusted circular arc planning trajectory and the adjusted straight-line planning trajectory to complete parking.

[0121] Optionally, the first controller is further configured to control the target vehicle to move to adjust the pose information of the target vehicle if the relative position information of the adjusted straight-line planning trajectory with respect to the axis of the target parking space does not meet the preset planning conditions.

[0122] The updated planned trajectory is determined based on the adjusted pose information of the target vehicle and the target position information of the target parking space.

[0123] The target vehicle is controlled to move according to the updated planned trajectory to complete parking.

[0124] Optionally, the first controller is further configured to determine a first steering angle of a first wheel and a second steering angle of a second wheel in the target vehicle, wherein the first wheel and the second wheel have different steering directions;

[0125] The target vehicle is controlled to travel a preset distance based on the first steering angle and the second steering angle to adjust the position and posture information of the target vehicle.

[0126] Optionally, the first controller is further configured to determine the steering ratio of the first wheel and the second wheel based on the azimuth distance of the straight-line planning trajectory relative to the axis of the target parking space, so as to determine the first steering angle of the first wheel and the second steering angle of the second wheel.

[0127] Optionally, the first controller is further configured to control the first wheel of the target vehicle to perform an arc motion around the second wheel of the target vehicle, wherein the direction of the arc motion is associated with the orientation of the target straight-line planned trajectory relative to the axis of the target parking space.

[0128] Optionally, the first controller is further configured to determine the steering angle of the first wheel and the second wheel in the target vehicle based on the adjusted circular arc planning trajectory if the radius of the adjusted circular arc planning trajectory is less than a preset radius threshold, so as to control the movement of the target vehicle.

[0129] If the radius of the target circular arc planning trajectory is greater than a preset radius threshold, the steering angle of the second wheel in the target vehicle is determined according to the adjusted circular arc planning trajectory in order to control the movement of the target vehicle.

[0130] Optionally, the first processor is further configured to acquire distance information between the target vehicle and surrounding obstacles;

[0131] If the distance information is less than a preset distance threshold, then the step of determining the initial planned trajectory based on the target location information of the target parking space and the pose information of the target vehicle is executed.

[0132] The parking control device of this application, when the target vehicle is parked in a perpendicular parking space, first plans a trajectory including a circular arc trajectory and a straight line trajectory based on the target position information of the target parking space and the pose information of the target vehicle. Then, based on the relative position information of the straight line trajectory with respect to the axis of the target parking space, the turning radius of the circular arc trajectory is adjusted to control the movement of the target vehicle according to the adjusted circular arc trajectory, thereby completing the parking. The parking method provided by this application embodiment can adjust the turning radius of the vehicle in narrow scenarios, better completing the entire parking process and thus improving the user experience.

[0133] As another embodiment of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is used to execute the computer program in the memory to implement the parking control method provided above.

[0134] Specifically, please refer to Figure 12, which is a block diagram illustrating an electronic device 1200 according to an exemplary embodiment. As shown in Figure 12, the electronic device 1200 may include a processor 1201 and a memory 1202. The electronic device 1200 may also include one or more of a multimedia component 1203, an input / output (I / O) component 1204, and a communication component 1205. In this embodiment, the electronic device 1200 may be a device integrated into a vehicle to interact with the aforementioned parking control device and thus implement the parking control method provided in this embodiment. It should be understood that the electronic device 1200 may also include some of the components in the aforementioned parking control device. For example, the first processor, the second processor, the first controller, etc., may be partially or fully integrated into the electronic device 1200.

[0135] The processor 1201 controls the overall operation of the electronic device 1200 to complete all or part of the steps in the parking control method described above. The memory 1202 stores various types of data to support the operation of the electronic device 1200. This data may include, for example, instructions for any application or method operating on the electronic device 1200, and application-related data such as contact data, sent and received messages, pictures, audio, video, etc. The memory 1202 can be implemented by any type of volatile or non-volatile storage 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 storage, flash memory, magnetic disk, or optical disk. Multimedia component 1203 may include a screen and an audio component. The screen may be, for example, a touchscreen, and the audio component is used to output and / or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signals may be further stored in memory 1202 or transmitted via communication component 1205. The audio component also includes at least one speaker for outputting audio signals. I / O component 1204 provides an interface between processor 1201 and other interface components, such as a keyboard, mouse, buttons, etc. These buttons may be virtual or physical buttons. Communication component 1205 is used for wired or wireless communication between the electronic device 1200 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IoT, eMTC, or other 5G technologies, or combinations thereof, is not limited herein. Therefore, the corresponding communication component 1205 may include Wi-Fi, Bluetooth, NFC, etc.

[0136] In an exemplary embodiment, the electronic device 1200 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the parking control method described above.

[0137] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the parking control method described above. For example, the computer-readable storage medium may be the memory 1202 including program instructions described above, which may be executed by the processor 1201 of the electronic device 1200 to complete the following steps:

[0138] When the target vehicle is parked in a perpendicular parking space, the planned trajectory is determined based on the target position information of the target parking space and the pose information of the target vehicle; the planned trajectory includes a circular arc planned trajectory and a straight line planned trajectory.

[0139] The turning radius of the circular arc planning trajectory is adjusted based on the relative position information of the straight-line planning trajectory with respect to the axis of the target parking space, wherein the axis of the target parking space is parallel to the wide side parking space;

[0140] The target vehicle is controlled to move according to the adjusted circular arc trajectory in order to complete parking.

[0141] This application also provides a vehicle, including a vehicle controller, a processor, and a memory, wherein the memory stores a computer program; when the computer program is executed by the processor, the processor performs the parking control method described in any of the preceding claims.

[0142] In one embodiment, the vehicle can be configured for fully or partially autonomous driving. For example, the vehicle can control itself while in autonomous driving mode, and can determine the current state of the vehicle and its surrounding environment through human intervention, determine the possible behaviors of at least one other vehicle in the surrounding environment, and determine the confidence level corresponding to the probability of that other vehicle performing a possible behavior, and control the vehicle based on the determined information. When the vehicle is in autonomous driving mode, it can be configured to operate without human interaction.

[0143] The vehicle may also include various subsystems, such as a driving system, sensor system control system, one or more peripheral devices, as well as power supply, computer system, and user interface. Optionally, the vehicle may include more or fewer subsystems, and each subsystem may include multiple components, such as multiple ECUs (electronic control units, i.e., vehicle computers) per subsystem.

[0144] In addition, each subsystem and component of the vehicle can be interconnected via wired or wireless means.

[0145] A propulsion system may include components that provide powered motion to the vehicle. In one embodiment, the propulsion system may include an engine, an energy source, a transmission, and wheels / tires. The engine may be an internal combustion engine, an electric motor, an air-compressed engine, or a combination of other types of engines, such as a hybrid engine consisting of a gasoline engine and an electric motor, or a hybrid engine consisting of an internal combustion engine and an air-compressed engine. The engine converts energy into mechanical energy.

[0146] Examples of energy sources include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. Energy sources can also power other systems in the vehicle.

[0147] A transmission system can transmit mechanical power from an engine to the wheels. The transmission system may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission system may also include other components, such as a clutch. The drive shaft may include one or more axles that can be coupled to one or more wheels.

[0148] A sensor system may include several sensors that sense information about the vehicle's surrounding environment. For example, a sensor system may include a positioning system (which could be GPS, BeiDou, or another positioning system), an inertial measurement unit (IMU), radar, a laser rangefinder, and cameras. The sensor system may also include sensors from the vehicle's internal systems being monitored (e.g., an in-vehicle air quality monitor, fuel gauge, oil temperature gauge, etc.). Sensor data from one or more of these sensors can be used to detect objects and their corresponding characteristics (position, shape, orientation, speed, etc.). This detection and identification is a critical function for the safe operation of autonomous vehicles.

[0149] A positioning system can be used to estimate a vehicle's geographical location. An IMU is used to sense changes in the vehicle's position and orientation based on inertial acceleration. In one embodiment, the IMU can be a combination of an accelerometer and a gyroscope.

[0150] Radar can use radio signals to sense objects in the vehicle's surrounding environment. In some embodiments, in addition to sensing objects, radar can also be used to sense the speed and / or direction of travel of objects.

[0151] A laser rangefinder can use lasers to sense objects in the environment in which a vehicle is located. In some embodiments, a laser rangefinder may include one or more laser sources, a laser scanner, and one or more processors, as well as other system components.

[0152] The camera can be used to capture multiple images of the vehicle's surroundings. The camera can be a still camera or a video camera.

[0153] A control system controls the operation of a vehicle and its components. Control systems can include various elements, including steering systems, throttles, braking units, computer vision systems, route control systems, and obstacle avoidance systems.

[0154] The steering system is operable to adjust the vehicle's direction of travel. For example, in one embodiment, it can be a steering wheel system.

[0155] The throttle is used to control the engine's operating speed and, consequently, the vehicle's speed.

[0156] The braking unit is used to control the deceleration of the vehicle. The braking unit uses friction to slow down the wheels.

[0157] In other embodiments, the braking unit can convert the kinetic energy of the wheels into electrical current. The braking unit may also take other forms to slow down the wheel rotation speed, thereby controlling the vehicle speed.

[0158] Computer vision systems can be operated to process and analyze images captured by cameras to identify objects and / or features in the environment surrounding a vehicle. These objects and / or features may include traffic signals, road boundaries, and obstacles. Computer vision systems may use object recognition algorithms, structure from motion (SFM) algorithms, video tracking, and other computer vision techniques. In some embodiments, computer vision systems may be used to map the environment, track objects, estimate object velocities, and so on.

[0159] A route control system is used to determine the driving route of a vehicle. In some embodiments, the route control system may combine data from GPS and one or more predetermined maps to determine the driving route for the vehicle.

[0160] Obstacle avoidance systems are used to identify, assess, and avoid or otherwise traverse potential obstacles in the environment in which a vehicle is located.

[0161] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0162] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0163] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0164] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Although the descriptions of each embodiment in this application have different focuses, and parts not described in detail in a certain embodiment can be referred to the relevant embodiments in other embodiments, any brief modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A parking control method, wherein, The method comprises: determining a planning trajectory according to target position information of a target parking space and pose information of a target vehicle when the target vehicle is in a vertical parking space scenario; the planning trajectory comprises a circular arc planning trajectory and a straight line planning trajectory; adjusting a turning radius of the circular arc planning trajectory according to relative position information of the straight line planning trajectory relative to a target parking space axis, wherein the target parking space axis is parallel to a wide-side parking space line; and controlling the target vehicle to travel according to the adjusted circular arc planning trajectory to complete parking. The adjusting of the turning radius of the circular arc planning trajectory according to the relative position information of the straight line planning trajectory relative to the target parking space axis comprises:

2. The method of claim 1, wherein, comparing a distance of the straight line planning trajectory relative to the target parking space axis with a preset distance threshold; and in response to the distance being greater than the preset distance threshold, adjusting the turning radius of the circular arc planning trajectory according to an orientation of the straight line planning trajectory relative to the target parking space axis. The adjusting of the turning radius of the circular arc planning trajectory according to the orientation of the straight line planning trajectory relative to the target parking space axis comprises:

3. The method of claim 2, wherein, in response to the straight line planning trajectory and the target vehicle being located at opposite orientations of the target parking space axis, reducing the radius of the circular arc planning trajectory; or in response to the straight line planning trajectory and the target vehicle being located at the same orientation of the target parking space axis, increasing the radius of the circular arc planning trajectory. The controlling of the target vehicle to travel according to the adjusted circular arc planning trajectory to complete parking comprises:

4. The method according to any one of claims 1 to 3, wherein, determining adjustment of the straight line planning trajectory according to the adjusted circular arc planning trajectory; and in response to relative position information of the adjusted straight line planning trajectory relative to the target parking space axis satisfying a preset planning condition, controlling the target vehicle to travel according to the adjusted circular arc planning trajectory and the adjusted straight line planning trajectory to complete parking. After the determination of the adjustment of the straight line planning trajectory according to the adjusted circular arc planning trajectory, the method further comprises:

5. The method of claim 4, wherein, in response to the relative position information of the adjusted straight line planning trajectory relative to the target parking space axis not satisfying the preset planning condition, controlling the target vehicle to travel to adjust the pose information of the target vehicle; determining an updated planning trajectory based on the adjusted pose information of the target vehicle and the target position information of the target parking space; and controlling the target vehicle to travel according to the updated planning trajectory to complete parking. The controlling of the target vehicle to travel to adjust the pose information of the target vehicle comprises:

6. The method of claim 5, wherein, determining a first turning angle of a first wheel and a second turning angle of a second wheel in the target vehicle, wherein the first wheel and the second wheel have different turning directions; and controlling the target vehicle to travel a preset distance according to the first turning angle and the second turning angle to adjust the pose information of the target vehicle. ​ 7. The method of claim 6, wherein before the determining the first steering angle of the first wheel and the second steering angle of the second wheel in the target vehicle, further comprising: determining a steering ratio of the first wheel and the second wheel according to the orientation distance of the straight-line planning trajectory relative to the axis of the target parking space, to determine the first steering angle of the first wheel and the second steering angle of the second wheel.

8. The method of claim 5, wherein, The controlling the target vehicle to travel to adjust the pose information of the target vehicle comprises: controlling the first wheel of the target vehicle to perform a circular arc motion around the second wheel of the target vehicle, wherein the motion direction of the circular arc motion is associated with the orientation of the straight-line planning trajectory relative to the axis of the target parking space.

9. The method according to any one of claims 1 to 8, wherein, The controlling the target vehicle to travel according to the adjusted circular arc planning trajectory comprises: in response to the radius of the adjusted circular arc planning trajectory being less than a preset radius threshold, determining the steering angles of the first wheel and the second wheel in the target vehicle according to the adjusted circular arc planning trajectory to control the target vehicle to travel; and in response to the radius of the target circular arc planning trajectory being greater than the preset radius threshold, determining the steering angle of the second wheel in the target vehicle according to the adjusted circular arc planning trajectory to control the target vehicle to travel.

10. The method according to any one of claims 1 to 9, wherein, Before the step of determining the initial planning trajectory according to the target position information of the target parking space and the pose information of the target vehicle, the method further comprises: obtaining distance information between the target vehicle and surrounding obstacles; in response to the distance information being less than a preset distance threshold, performing the step of determining the initial planning trajectory according to the target position information of the target parking space and the pose information of the target vehicle.

11. An electronic device, comprising: A computer device comprising a memory and a processor, the memory having stored thereon computer instructions; the processor configured to execute the computer instructions in the memory to implement the method of any one of claims 1 to 10.

12. A computer storage medium, wherein, A computer storage medium having stored thereon instructions, which when executed by a computer, cause the computer to implement the method of any one of claims 1 to 10.

13. A vehicle, wherein, A vehicle controller comprising a processor and a memory, the memory having stored thereon computer instructions; the computer instructions, when executed by the processor, cause the processor to implement the method of any one of claims 1 to 10.

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