Automatic parking control method and apparatus, and device and storage medium

Abstract

An automatic parking control method is applied to a vehicle. The vehicle comprises a first electric motor, a second electric motor and a third electric motor, wherein the first electric motor is used for driving two wheels of a first axle, the second electric motor is used for driving a first wheel of a second axle, and the third electric motor is used for driving a second wheel of the second axle. The control method comprises: receiving a parking instruction, which is used for instructing a vehicle to start an automatic parking function; and in response to the parking instruction, controlling the vehicle to travel into a target parking space along a target trajectory, wherein the target trajectory at least comprises a first trajectory, and the first trajectory is a rotational trajectory for controlling the vehicle to rotate around a single wheel of a first axle. In addition, the present invention further relates to an electronic device, a vehicle, a computer-readable storage medium and a computer program product.

Description

Automatic parking control methods, devices, equipment and storage media

[0001] This application claims priority to Chinese patent application No. 202410947688.8, filed on July 15, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of vehicle control technology, and in particular to an automatic parking control method, device, equipment and storage medium. Background Technology

[0003] With the increasing prevalence of cars in daily life, the parking space provided by parking spaces has decreased. For example, parking spaces have become narrower, the driving lanes between opposite parking spaces have become narrower, and there are dead-end parking spaces. Summary of the Invention

[0004] This disclosure provides an automatic parking control method, apparatus, device, and storage medium, aiming to solve the problem of increased parking difficulty due to reduced parking space.

[0005] In a first aspect, an automatic parking control method is provided, applied to a vehicle including a first motor, a second motor, and a third motor. The first motor drives two wheels on a first axle, the second motor drives a first wheel on a second axle, and the third motor drives a second wheel on the second axle. The method includes: receiving a parking command to instruct the vehicle to activate an automatic parking function; and, in response to the parking command, controlling the vehicle to drive into a target parking space along a target trajectory, the target trajectory including at least a first trajectory, which is a rotational trajectory controlling the vehicle to rotate around a single wheel on the first axle.

[0006] The automatic parking control method provided in some embodiments of this disclosure addresses the issue that when parking space is limited, the wheels cannot be parked in the parking space in a normal manner. Therefore, some embodiments of this disclosure provide two motors for each of the two rear wheels in the vehicle, and drive the vehicle into the target parking space by controlling the vehicle to rotate around a single front wheel during the parking process. This eliminates the need to adjust the vehicle's orientation by repeatedly moving the vehicle forward and backward, reducing the space required for adjusting the vehicle's orientation and thus reducing the difficulty of parking in limited spaces.

[0007] In some embodiments, controlling the vehicle to drive into the target parking space along the target trajectory includes: controlling at least one of the first wheel or the second wheel to steer while controlling the vehicle to rotate along the first trajectory.

[0008] Some embodiments of this disclosure, based on controlling the rotation of the vehicle around a single front wheel, further control the steering of the rear wheels, improving steering convenience and reducing tire wear during vehicle rotation.

[0009] In some embodiments, as the vehicle rotates along the first trajectory, the steering direction of the first wheel is opposite to that of the second wheel; if the first wheel is the left wheel, the first wheel steers to the left and the second wheel steers to the right; or, if the first wheel is the right wheel, the first wheel steers to the right and the second wheel steers to the left.

[0010] In some embodiments of this disclosure, while the vehicle is rotating around a single front wheel, the two rear wheels of the vehicle are controlled to steer in an inverted V-shape toward the front of the vehicle, which can reduce tire wear during vehicle rotation.

[0011] In some embodiments, the steering angles of the first wheel and the second wheel are the maximum values ​​of the steering angles of the second axle.

[0012] Some embodiments of this disclosure control the rear wheel steering with the maximum steering angle, which facilitates vehicle rotation and further reduces tire wear during vehicle rotation.

[0013] In some embodiments, controlling the vehicle to drive into the target parking space along the target trajectory includes: locking a single wheel of the first axle while controlling the vehicle to rotate along the first trajectory; and unlocking a single wheel of the first axle after controlling the vehicle to rotate along the first trajectory.

[0014] Some embodiments of this disclosure improve the accuracy of vehicle rotation by locking the wheel to prevent it from rotating during rotation around the wheel.

[0015] In some embodiments, controlling the vehicle to drive into the target parking space along the target trajectory includes: during the process of controlling the vehicle to rotate along the first trajectory, controlling the motors of the wheels other than the single wheel of the two wheels of the first axle to output a first torque, controlling the wheels of the two wheels of the second axle opposite to the single wheel of the first axle to output a second torque, and controlling the wheels of the two wheels of the second axle on the same side as the single wheel of the first axle to output a third torque; the first torque and the second torque have the same torque direction, and the second torque and the third torque have opposite torque directions.

[0016] Some embodiments of this disclosure reduce the space required to adjust the vehicle's orientation by controlling the motors of the two rear wheels to output torque in different directions and the motors of the wheels on the same side to output torque in the same direction, thereby enabling the vehicle to rotate around a single front wheel.

[0017] In some embodiments, the first trajectory includes a rotation termination point; controlling the vehicle to drive into the target parking space along the target trajectory includes: during the process of controlling the vehicle to rotate along the first trajectory, determining a target rotation angle based on the current position of the first wheel, the current position of the second wheel, and the position of the rotation termination point, and controlling the motor output torque of the other wheels of the vehicle, excluding the single wheel of the first axle, to drive the vehicle to rotate around the single wheel of the first axle by the target rotation angle.

[0018] Here, the target rotation angle includes either counterclockwise or clockwise rotation angle.

[0019] Some embodiments of this disclosure determine the rotation angle of the vehicle so that the vehicle rotates at that angle, ensuring that the vehicle can rotate precisely to the end point of rotation.

[0020] In some embodiments, the first trajectory further includes a rotation start point, and the rotation start point and rotation end point are determined based on the current position of the vehicle, the vehicle's pose information, the position of the target parking space, and path constraint information; the path constraint information includes at least one of obstacle information or minimum turning radius information of the vehicle under rear wheel steering; the obstacle information is used to constrain the vehicle from colliding with obstacles during rotation around a single front wheel, and the minimum turning radius information refers to the minimum turning radius information during the process of the vehicle entering the target parking space after rotating along the first trajectory; under the minimum turning radius, the steering angle of the two wheels of the first axle of the vehicle is the maximum value of the first axle steering angle, the steering angle of the two wheels of the second axle of the vehicle is the maximum value of the second axle steering angle, and the steering direction of the two wheels of the first axle is opposite to the steering direction of the two wheels of the second axle.

[0021] Some embodiments of this disclosure can also consider whether a collision will occur during the vehicle rotation when determining the starting point and ending point of rotation, thereby improving parking safety; at the same time, it can also consider whether the turning radius of the vehicle entering the target parking space after rotation is minimized, so as to reduce the angle of vehicle rotation and avoid causing excessive wear to the vehicle tires.

[0022] In some embodiments, the automatic parking control method provided in some embodiments of this disclosure may further include: determining multiple candidate rotation start points and candidate rotation end points corresponding to each of the multiple candidate rotation start points from outside the target parking space; performing collision detection on the process of the vehicle rotating from the candidate rotation start point to the candidate rotation end point based on the current position of the vehicle, the vehicle's pose information, the position of the target parking space, and the minimum turning radius information of the vehicle under rear wheel steering; obtaining collision detection results; and determining the candidate rotation start points and corresponding candidate rotation end points that did not produce a collision as rotation start points and rotation end points.

[0023] Some embodiments of this disclosure select candidate rotation start points and corresponding candidate rotation end points from multiple candidate rotation start points and multiple candidate rotation end points, combined with the minimum turning radius, to ensure that the vehicle will not collide during rotation, thereby improving parking safety.

[0024] In some embodiments, the target trajectory further includes a second trajectory; the second trajectory is a driving trajectory in which the two wheels of the vehicle start the second axle and turn in the same direction, and the second trajectory connects with the first trajectory at the rotation termination point.

[0025] In some embodiments of this disclosure, after the vehicle has rotated, it is also necessary to activate the rear wheel steering in the same direction to drive the vehicle into the target parking space and ensure successful parking.

[0026] In some embodiments, controlling the vehicle to drive into the target parking space along the target trajectory includes: during the process of controlling the vehicle to drive along the second trajectory, if the vehicle's body orientation is not parallel to the long side of the target parking space, or if one side of the vehicle's body is located outside the long side of the target parking space, adjusting the vehicle's position through the rear wheel steering function until the vehicle's body orientation is parallel to the long side of the target parking space and both sides of the vehicle's body are located inside the long side of the target parking space.

[0027] In some embodiments of this disclosure, after the vehicle has rotated, the rear wheel steering function can be activated to adjust the vehicle's position so that the vehicle can drive straight into the parking space, further reducing the difficulty of parking.

[0028] An automatic parking control device is provided, applied to a vehicle. The vehicle includes a first motor, a second motor, and a third motor. The first motor drives two wheels on a first axle, the second motor drives a first wheel on a second axle, and the third motor drives a second wheel on the second axle. The device includes a receiving unit and a control unit. The receiving unit is configured to receive a parking command instructing the vehicle to activate an automatic parking function. The control unit is configured to, in response to the parking command, control the vehicle to drive into a target parking space along a target trajectory. The target trajectory includes at least a first trajectory, which is a rotational trajectory controlling the vehicle to rotate around a single wheel on the first axle.

[0029] In some embodiments, the control unit is configured to control the steering of at least one of the first wheel or the second wheel during the process of controlling the vehicle to rotate along the first trajectory.

[0030] In some embodiments, during the rotation of the vehicle along the first trajectory, the steering direction of the first wheel is opposite to that of the second wheel; when the first wheel is the left wheel, the steering direction of the first wheel is to the left and the steering direction of the second wheel is to the right; or, when the first wheel is the right wheel, the steering direction of the first wheel is to the right and the steering direction of the second wheel is to the left.

[0031] In some embodiments, the steering angles of the first wheel and the second wheel are the maximum values ​​of the steering angles of the second axle.

[0032] In some embodiments, the control unit is configured to: lock a single wheel of the first axle while controlling the vehicle to rotate along the first trajectory; and unlock a single wheel of the first axle after controlling the vehicle to rotate along the first trajectory has ended.

[0033] In some embodiments, the control unit is configured to: during the process of controlling the vehicle to rotate along a first trajectory, control the motors of the wheels other than the single wheel of the two wheels of the first axle to output a first torque, control the wheels of the two wheels of the second axle opposite to the single wheel of the first axle to output a second torque, and control the wheels of the two wheels of the second axle on the same side as the single wheel of the first axle to output a third torque; the first torque and the second torque have the same torque direction, and the second torque and the third torque have opposite torque directions.

[0034] In some embodiments, the first trajectory includes a rotation termination point, and the control unit is configured to: determine a target rotation angle based on the current position of the first wheel, the current position of the second wheel, and the position of the rotation termination point during the process of controlling the vehicle to rotate along the first trajectory, and control the motor output torque of the other wheels of the vehicle, excluding the single wheel of the first axle, to drive the vehicle to rotate around the single wheel of the first axle by the target rotation angle.

[0035] In some embodiments, the first trajectory further includes a rotation start point, and the rotation start point and rotation end point are determined based on the current position of the vehicle, the vehicle's pose information, the position of the target parking space, and path constraint information; the path constraint information includes at least one of obstacle information or minimum turning radius information of the vehicle under rear wheel steering; the obstacle information is used to constrain the vehicle from colliding with obstacles during rotation around a single front wheel, and the minimum turning radius information refers to the minimum turning radius information during the process of the vehicle entering the target parking space after rotating along the first trajectory; under the minimum turning radius, the steering angle of the two wheels of the first axle of the vehicle is the maximum value of the first axle steering angle, the steering angle of the two wheels of the second axle of the vehicle is the maximum value of the second axle steering angle, and the steering direction of the two wheels of the first axle is opposite to the steering direction of the two wheels of the second axle.

[0036] In some embodiments, the above-mentioned automatic parking control device further includes: a determining unit and a processing unit; the determining unit is configured to determine a plurality of candidate rotation start points and candidate rotation end points corresponding to each of the plurality of candidate rotation start points from outside the target parking space; the processing unit is configured to perform collision detection on the process of the vehicle rotating from the candidate rotation start point to the candidate rotation end point based on the current position of the vehicle, the vehicle's pose information, the position of the target parking space, and the minimum turning radius information of the vehicle under rear wheel steering, and obtain a collision detection result; the determining unit is further configured to determine the candidate rotation start point and the corresponding candidate rotation end point that the collision detection result indicates did not cause a collision as the rotation start point and the rotation end point.

[0037] In some embodiments, the target trajectory further includes a second trajectory; the second trajectory is a driving trajectory in which the two wheels of the vehicle start the second axle and turn in the same direction, and the second trajectory connects with the first trajectory at the rotation termination point.

[0038] In some embodiments, the control unit is configured to: during the process of controlling the vehicle to travel along the second trajectory, if at least one of the following occurs: the vehicle body orientation is not parallel to the long side of the target parking space, or one side of the vehicle body is located outside the long side of the target parking space, adjust the vehicle body posture by means of the rear wheel steering function until the vehicle body orientation is parallel to the long side of the target parking space and both sides of the vehicle body are located inside the long side of the target parking space.

[0039] In a second aspect, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; the processor being configured to execute the instructions to implement the automatic parking control method described above.

[0040] Thirdly, a vehicle is provided, comprising: a first motor, a second motor and a third motor, and electronic equipment as described above; the first motor is used to drive two wheels of a first axle, the second motor is used to drive a first wheel of a second axle, and the third motor is used to drive a second wheel of the second axle.

[0041] Fourthly, a computer-readable storage medium is provided, which stores instructions that, when executed on a terminal, cause the terminal to perform the automatic parking control method described above.

[0042] Fifthly, a computer program product containing instructions is provided, which, when executed by a computer, causes the computer to perform the automatic parking control method described above.

[0043] Sixthly, a chip is provided, the chip including a processor and a communication interface, the communication interface and the processor being coupled, the processor being used to run computer programs or instructions to implement the automatic parking control method described above.

[0044] The chip provided in some embodiments of this disclosure also includes a memory configured to store computer programs or instructions. Attached Figure Description

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

[0046] Figure 1 is an architecture diagram of an automatic parking control system in related technologies;

[0047] Figure 2 is a schematic diagram of a parking path according to some embodiments;

[0048] Figure 3 is a flowchart of an automatic parking control method according to some embodiments;

[0049] Figure 4 is a schematic diagram of another parking path according to some embodiments;

[0050] Figure 5 is a schematic diagram of another parking path according to some embodiments;

[0051] Figure 6 is a schematic diagram of another parking path according to some embodiments;

[0052] Figure 7 is a schematic diagram of another parking path according to some embodiments;

[0053] Figure 8 is a flowchart of another automatic parking control method according to some embodiments;

[0054] Figure 9 is a schematic diagram of another parking path according to some embodiments;

[0055] Figure 10 is a schematic diagram of another parking path according to some embodiments;

[0056] Figure 11 is a schematic diagram of another parking path according to some embodiments;

[0057] Figure 12 is a schematic diagram of another parking path according to some embodiments;

[0058] Figure 13 is a schematic diagram of another parking path according to some embodiments;

[0059] Figure 14 is a flowchart of another automatic parking control method according to some embodiments;

[0060] Figure 15 is a block diagram of an automatic parking control device according to some embodiments;

[0061] Figure 16 is a block diagram of an electronic device according to some embodiments. Detailed Implementation

[0062] The technical solutions of some embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0063] In the description of this disclosure, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or relative positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this disclosure and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this disclosure. Unless otherwise specified, the above-mentioned orientational descriptions can be flexibly set in practical applications, provided that the relative positional relationships shown in the accompanying drawings are satisfied.

[0064] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this disclosure, unless otherwise stated, "a plurality of" means two or more.

[0065] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "communication" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a direct connection or an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the meaning of the above terms in this disclosure based on the actual situation.

[0066] In some embodiments, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, article, or apparatus that includes that element.

[0067] In some embodiments, words such as "exemplarily" or "for example" are used to indicate that something is an example, illustration, or illustration. Any embodiment or design that is described as "exemplarily" or "for example" in some embodiments of this disclosure should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts by way of example.

[0068] In the description of this specification, features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0069] With the rapid popularization of cars, the utilization rate of parking lots is also increasing, and various challenging parking scenarios have become a major headache for users. Especially in prime business districts and tourist areas, scenarios with limited parking space (such as dead-end parking spaces and narrow aisle parking spaces) are becoming more and more common.

[0070] Currently, in scenarios with limited parking space, conventional parking routes require multiple maneuvers to first align the front of the vehicle with the opposite direction of entry, and then park the rear. When a vehicle is too large or has an excessively long axle, the difficulty of parking is further increased.

[0071] To address the problem of parking difficulties in scenarios with limited parking space, this disclosure provides an automatic parking control method, apparatus, device, and storage medium. The implementation methods of some embodiments of this disclosure are described in detail below with reference to the accompanying drawings.

[0072] Figure 1 is an architecture diagram of an automatic parking control system in the related art. As shown in Figure 1, the automatic parking control system 100 may include a parking controller 110, a power output controller 120, an entertainment display 130, a lateral control module 140, and a rear wheel steering module 150. Here, the parking controller 110 may include a perception module 111, a fusion module 112, a planning module 113, a planning decision module 114, a motion control module 115, a display control module 116, and a positioning module 117. The power output controller 120 may include a longitudinal control module 121 and a fixed wheel rotation module 122.

[0073] In some embodiments, the sensing module 111 is coupled to multiple ultrasonic radars and surround-view cameras, the display control module 116 is coupled to the entertainment display 130, and the motion control module 115 is coupled to the longitudinal control module 121, the fixed wheel rotation module 122, the lateral control module 140 and the rear wheel steering module 150, respectively.

[0074] In some embodiments, the perception module 111 can receive ultrasonic radar data and surround-view camera data to identify environmental, parking space, and obstacle information. The positioning module 117 can acquire the vehicle's own pose information. The fusion module 112 can fuse the ultrasonic radar data, surround-view camera data, and the vehicle's pose information. The planning module 113 can complete path planning based on the fused information. The planning decision module 114 can formulate behavioral strategies based on the path planning. The motion control module 115 can output control commands based on the behavioral strategies. The lateral control module 140, rear-wheel steering module 150, longitudinal control module 121, and fixed-wheel rotation module 122 can execute control commands; for example, the fixed-wheel rotation module 122 can control the locking of the front wheels and torque output.

[0075] In some embodiments, during the process of the vehicle traveling to the starting point of rotation, the lateral control module 140 and the longitudinal control module 121 control the vehicle's movement, and the display control module 116 controls the entertainment display 130 to display the driving route and vehicle speed information. During the process of the vehicle rotating from the starting point of rotation to the ending point of rotation, the front left wheel or the front right wheel is locked by the fixed wheel rotation module 122 in the controller 120, and the vehicle is controlled to rotate clockwise or counterclockwise around the front left wheel or the front right wheel, and the longitudinal control module 121 controls the vehicle to drive into the target parking space.

[0076] It should be noted that during the vehicle parking process, when the parking controller 110 calls any module in the automatic parking control system 100, it needs to successfully handshake with that module first, and after the call to that module is completed, it needs to disconnect the handshake with that module.

[0077] In some embodiments, the parking controller can be an automatic parking assist (APA) controller, the lateral control module can be an electronic power steering (EPS) system, the display control module can be a human machine interface (HMI) control module, and the entertainment display can be an in-vehicle tablet computer.

[0078] In this way, by controlling the vehicle to rotate around a certain front wheel through the fixed wheel rotation module, the vehicle can be adjusted to a position that can be parked in a parking space using only the longitudinal control module, without having to move the vehicle back and forth multiple times to adjust its position. This reduces the space required for parking and thus reduces the difficulty of parking in small spaces.

[0079] The automatic parking control method provided by some embodiments of the present disclosure is described below with reference to FIG1 and FIG2 to FIG14.

[0080] It is understood that, in some embodiments of this disclosure, the various devices or modules in the automatic parking control system may perform some or all of the steps in some embodiments of this disclosure. These steps or operations are merely examples, and some embodiments of this disclosure may also perform other operations or variations thereof. Furthermore, the various steps may be performed in different orders as presented in some embodiments of this disclosure, and it is not necessarily necessary to perform all the operations in some embodiments of this disclosure.

[0081] In some embodiments, the vehicle provided in some embodiments of this disclosure may include a first motor, a second motor, and a third motor. The first motor is used to drive two wheels on a first axle, the second motor is used to drive a first wheel on a second axle, and the third motor is used to drive a second wheel on a second axle.

[0082] Here, the first axle can be the front axle of the wheel, and the second axle can be the rear axle of the wheel.

[0083] In some embodiments, as shown in FIG2, taking a vehicle comprising four wheels (e.g., front wheel 1, front wheel 2, rear wheel 1, and rear wheel 2) as an example, a first motor can be controlled to drive the front wheel 1 and front wheel 2, a second motor can be controlled to drive the rear wheel 1, and a third motor can be controlled to drive the rear wheel 2.

[0084] Figure 3 is a flowchart of an automatic parking control method according to some embodiments. The subject executing the method can be a vehicle, or various devices or modules in the vehicle, such as integrated circuits or chips. This disclosure does not limit the subject to these limitations.

[0085] In some embodiments, as shown in FIG3, the automatic parking control method provided by some embodiments of this disclosure may include the following S301 and S302.

[0086] S301, Receive parking command.

[0087] Here, the parking command is used to instruct the wheels to activate the automatic parking function.

[0088] In some embodiments, a parking instruction can be generated by the parking controller in response to the user's click operation after the user clicks the parking control displayed on the vehicle display and then clicks the target parking space control.

[0089] In some embodiments, after the user clicks the parking control, it can also detect whether the doors and hoods are closed, and whether the sensors and systems are functioning properly. If the doors and hoods are closed and the sensors and systems are functioning properly, the subsequent parking operation can be performed.

[0090] S302, in response to a parking instruction, controls the vehicle to drive into the target parking space along the target trajectory.

[0091] In some embodiments, the target parking space can be selected by the user on the vehicle screen or automatically determined by the automatic parking control system.

[0092] In some embodiments, the target trajectory includes at least a first trajectory, which is a rotational trajectory that controls the rotation of a single wheel of the two wheels of the vehicle about a first axle.

[0093] In some embodiments, a single front wheel may be the front wheel of the vehicle on the side closest to the target parking space.

[0094] In some embodiments, referring to FIG2, a single front wheel can be the front wheel 1 closest to the parking space 1, the first wheel can be the rear wheel 1, and the second wheel can be the rear wheel 2.

[0095] In some embodiments, during the process of controlling the vehicle to rotate along a first trajectory, at least one of the first wheel or the second wheel can be steered.

[0096] In some embodiments, the first wheel can be either the left rear wheel or the right rear wheel. If the first wheel is the left rear wheel, the second wheel is the right rear wheel; if the first wheel is the right rear wheel, the second wheel is the left rear wheel.

[0097] In some embodiments, as the vehicle rotates along the first trajectory, the steering direction of the first wheel is opposite to that of the second wheel.

[0098] In some embodiments, when the first wheel is the left rear wheel, the steering direction of the first wheel is to the left and the steering direction of the second wheel is to the right; when the first wheel is the right rear wheel, the steering direction of the first wheel is to the right and the steering direction of the second wheel is to the left.

[0099] In this way, while the vehicle is rotating around a single front wheel, controlling the two rear wheels to steer in an inverted V-shape toward the front of the vehicle can reduce tire wear during rotation.

[0100] In some embodiments, the steering angle of the first wheel and the second wheel is the maximum value of the steering angle of the second axle.

[0101] Here, the maximum steering angle of the second axle refers to the maximum angle at which the two wheels of the second axle are allowed to turn. For example, the maximum steering angle of the second axle can be 20° or 30°.

[0102] In this way, controlling the rear wheel steering with the maximum steering angle facilitates vehicle rotation and further reduces tire wear during vehicle rotation.

[0103] In some embodiments, during the process of controlling the vehicle to rotate along the first trajectory, the individual wheels of the first axle are locked, and after the control of the vehicle to rotate along the first trajectory ends, the individual wheels of the first axle are unlocked.

[0104] In one implementation, a single wheel can be locked or unlocked by controlling the locking device of the individual wheel to close or open.

[0105] In some embodiments, the locking device described above may be a brake pedal for a single wheel or a caliper for a single wheel.

[0106] In some embodiments, the locking of a single wheel can be controlled by switching the open / closed state of the brake pedal on a single wheel.

[0107] In some embodiments, when the brake pedal of a single wheel is closed, the single wheel does not respond to the torque output by the motor of the single wheel and the single wheel is locked; when the brake pedal of a single wheel is open, the single wheel responds to the torque output by the motor of the single wheel and the single wheel is unlocked.

[0108] In other embodiments, the on / off state of the caliper of a single wheel can be controlled to control whether a single wheel is locked.

[0109] In some embodiments, when the caliper of a single wheel is in the closed state, the single wheel is locked without responding to the torque output by the motor of the single wheel; when the caliper of a single wheel is in the open state, the single wheel is unlocked in response to the torque output by the motor of the single wheel.

[0110] In another implementation, the first motor can be controlled to not output torque to a single wheel on the first axle by decoupling the wheel ends, thereby locking or unlocking a single wheel.

[0111] Thus, some embodiments of this disclosure lock the wheel to prevent it from rotating during rotation around the wheel, thus affecting the accuracy of the vehicle's rotation.

[0112] In some embodiments, the motor output torque of each unlocked wheel can be controlled to drive the vehicle to rotate around the locked wheel.

[0113] In some embodiments, during the process of controlling the vehicle to rotate along the first trajectory, the motors of the wheels other than the single wheel of the two wheels of the first axle can be controlled to output a first torque, the wheels of the two wheels of the second axle opposite to the single wheel of the first axle can be controlled to output a second torque, and the wheels of the two wheels of the second axle on the same side as the single wheel of the first axle can be controlled to output a third torque.

[0114] Here, the first torque and the second torque have opposite torque directions, while the second torque and the third torque have the same torque direction.

[0115] In some embodiments, referring to Figure 2 and as shown in Figure 4, taking parking space 1 in a reverse parking scenario as an example, with the rear left side of the vehicle close to parking space 1, the front wheels 1 can be locked, and motor 1 (e.g., the first motor) can output reverse torque (e.g., the third torque) to make the front wheels 2 rotate in the opposite direction. Motor 2 (e.g., the second motor) can output forward torque to make the rear wheels 1 rotate in the forward direction (e.g., the second torque), and motor 3 can output reverse torque (e.g., the first torque) to make the rear wheels 2 rotate in the opposite direction, thereby driving the vehicle to rotate around the front wheels 1.

[0116] In some embodiments, as shown in Figure 5, taking the target parking space as an example of a side parking scenario, with the right side of the vehicle's front end close to the target parking space, the front wheel 1 can be locked, the motor 1 can be controlled to output a reverse torque (such as a third torque) to make the front wheel 2 rotate forward, the motor 2 can be controlled to output a reverse torque to make the rear wheel 1 rotate in the reverse direction (such as a second torque), and the motor 3 can be controlled to output a forward torque (such as a first torque) to make the rear wheel 2 rotate forward, thereby driving the vehicle to rotate around the front wheel 1.

[0117] Thus, some embodiments of this disclosure control the motors of the two rear wheels to output torque in different directions, and the motors of the wheels on the same side to output torque in the same direction, so that the vehicle can rotate around the second wheel, reducing the space required to adjust the vehicle body direction.

[0118] In some embodiments, the target trajectory may further include a second trajectory, which is a driving trajectory in which the two wheels of the vehicle start the second axle and turn in the same direction, and the second trajectory connects with the first trajectory at the rotation termination point.

[0119] In some embodiments, after the vehicle has rotated along the first trajectory, the relative position of the vehicle's body orientation and the target parking space can be determined first, and then the vehicle can be controlled to drive into the target parking space along the second trajectory.

[0120] In one implementation, if the vehicle's body orientation is not parallel to the long side of the target parking space, or if one side of the vehicle's body is located outside the long side of the target parking space, during the process of controlling the vehicle to drive into the target parking space along the second trajectory, the vehicle's posture is adjusted by the steering function of the two wheels of the second axle until the vehicle's body orientation is parallel to the long side of the target parking space, and both sides of the vehicle's body are located inside the long side of the target parking space.

[0121] In some embodiments, referring to Figure 4 and Figure 6, taking the right rear of the vehicle near parking space 1 as an example, the vehicle's body orientation is not parallel to the long side of parking space 1, and the right side of the vehicle's body is located outside the long side of parking space 1. At this time, it is necessary to control the rear wheels 1 and 2 to turn right, and simultaneously control the front wheels 1 and 2 to turn left. Then, control the motors of the front wheels 1, 2, 1, and 2 to output reverse torque respectively, so as to adjust the vehicle's body orientation to be parallel to the long side of parking space 1, with both sides of the vehicle's body located inside the long side of parking space 1, and then drive the vehicle into parking space 1.

[0122] Thus, some embodiments of this disclosure can also invoke the rear wheel steering function to adjust the vehicle's position so that the vehicle can drive straight into the parking space, further reducing the difficulty of parking.

[0123] In another implementation, with the vehicle's body orientation parallel to the long side of the target parking space and the sides of the vehicle's body located inside the long side of the target parking space, the motors of the respective wheels of the vehicle are controlled to output torque to drive the vehicle into the target parking space.

[0124] In some embodiments, referring to Figure 4 and as shown in Figure 7, taking the rear of the vehicle close to parking space 1 as an example, the vehicle body is parallel to the long side of parking space 1, and the two sides of the vehicle body are located inside the long side of parking space 1. At this time, the motors of the front wheel 1, front wheel 2, rear wheel 1, and rear wheel 2 are directly controlled to output reverse torque to drive the vehicle into parking space 1.

[0125] In the automatic parking control method provided in some embodiments of this disclosure, since the wheels cannot be parked in the parking space in a normal manner when the parking space is small, some embodiments of this disclosure provide two motors for the two rear wheels in the vehicle and drive the vehicle into the target parking space by controlling the vehicle to rotate around a single front wheel during the parking process, without having to adjust the vehicle's orientation by moving the vehicle back and forth multiple times. This reduces the space required to adjust the vehicle's orientation and thus reduces the difficulty of parking in small parking spaces.

[0126] In some embodiments, the first trajectory may include a rotation start point and a rotation end point. The rotation start point and rotation end point are determined based on the vehicle's current position, the vehicle's pose information, the position of the target parking space, and path constraint information, which includes at least one of obstacle information or the vehicle's minimum turning radius under rear-wheel steering.

[0127] Here, obstacle information is used to constrain the vehicle from colliding with obstacles as it rotates around a single front wheel.

[0128] Minimum turning radius information refers to the minimum turning radius information during the process of the vehicle entering the target parking space after rotating along the first trajectory. Under the minimum turning radius, the steering angle of the two wheels of the first axle of the vehicle is the maximum value of the steering angle of the first axle, the steering angle of the two wheels of the second axle of the vehicle is the maximum value of the steering angle of the second axle, and the steering direction of the two wheels of the first axle is opposite to the steering direction of the two wheels of the second axle.

[0129] In some embodiments, the vehicle's pose information may include the position information of each wheel of the vehicle and the vehicle's body outline information.

[0130] In some embodiments, obstacle information can be the location information of obstacles around the target parking space. For example, the location information of surrounding vehicles, the location information of surrounding people, and the distance information between the target parking space and the opposite parking space.

[0131] In some embodiments, obstacle information can be obtained through sensors.

[0132] In some embodiments, the positions of vehicles and people around the target parking space and the driving width between opposite parking spaces can be obtained by ultrasonic radar and surround view cameras.

[0133] In some embodiments, as shown in FIG8, before controlling the wheels to rotate along the first trajectory, the automatic parking control method provided in some embodiments of this disclosure may further include the following S801 to S803.

[0134] S801. Determine multiple candidate rotation start points from outside the target parking space, and the corresponding candidate rotation end points for each of the multiple candidate rotation start points.

[0135] In some embodiments, the starting point and ending point of rotation can be determined by randomly scattering points outside the target parking space.

[0136] Here, the multiple candidate rotation start points are points randomly selected outside the target parking space, and the candidate rotation end points corresponding to the multiple candidate rotation start points are points obtained by rotating the vehicle by a random angle based on the multiple candidate rotation start points.

[0137] S802. Based on the vehicle's current position, the vehicle's pose information, the position of the target parking space, and the vehicle's minimum turning radius information under rear wheel steering, perform collision detection on the process of the vehicle rotating from the candidate rotation start point to the candidate rotation end point, and obtain the collision detection result.

[0138] In some embodiments, a trajectory planning algorithm can be used to determine the rotation start point and rotation end point by combining the vehicle's rear wheel steering function, the vehicle's current position, the vehicle's pose information, the position of the target parking space, the vehicle's minimum turning radius under rear wheel steering, and obstacle information.

[0139] In some embodiments, the trajectory planning algorithm may include geometric algorithms, Reeds-Shepp (RS) curve algorithms, hybrid A* algorithms, etc.

[0140] In some embodiments, the trajectory planning algorithm includes a geometric algorithm as an example. The vehicle's wheelbase, track width, front wheel steering angle, and rear wheel steering angle can be input into the geometric algorithm to obtain the minimum turning radius of the vehicle based on the rear wheel steering. Then, based on this minimum turning radius, and combined with the vehicle positions, pedestrian positions, and driving width between opposite parking spaces around the target parking space, the starting and ending points of rotation that will not collide with obstacles during the rotation around the front wheels are planned.

[0141] S803. The candidate rotation start point and the corresponding candidate rotation end point indicated by the collision detection results are determined as the rotation start point and rotation end point.

[0142] In some embodiments, taking three candidate rotation start points (points A, B, and C) as an example, after points A, B, and C are each rotated by a random angle, corresponding candidate rotation end points (A1, A2, A3; B1, B2, B3; C1, C2, C3) can be determined. Then, collision detection results can be detected when the vehicle rotates from point A to points A1, A2, and A3, when the vehicle rotates from point B to points B1, B2, and B3, and when the vehicle rotates from point C to points C1, C2, and C3. For example, if it is determined that the collision detection result when the vehicle rotates from point B to point B2 indicates that no collision occurred, then point B is determined as the rotation start point, and point B2 is determined as the rotation end point.

[0143] In some embodiments, when the collision detection results indicate that there are multiple candidate rotation termination points corresponding to the candidate rotation start point where no collision has occurred, the candidate rotation termination point with the smallest rotation angle from the candidate rotation start point to each corresponding candidate rotation termination point is taken as the rotation termination point.

[0144] In some embodiments, the candidate rotation termination points corresponding to the candidate rotation start points indicating that no collision occurred include three candidate rotation termination points (B1, B2, B3). If it is determined that the rotation angle of the vehicle from point B to point B1 is 40°, the rotation angle of the vehicle from point B to point B2 is 30°, and the rotation angle of the vehicle from point B to point B3 is 45°, then point B2 is taken as the rotation termination point.

[0145] Thus, some embodiments of this disclosure, taking into account that the vehicle will not collide during rotation, select the candidate rotation start point and the corresponding candidate rotation end point with the smallest rotation angle, so as to minimize the wear on the tires during vehicle rotation.

[0146] In some embodiments, after responding to a parking command, it may also be determined whether the wheels are at the starting point of rotation to determine whether to control the vehicle to rotate along the first trajectory.

[0147] In one implementation, upon responding to a parking command, if it is determined that the vehicle is at the starting point of rotation, the motors of the other wheels of the vehicle, excluding the single wheel on the first axle, are controlled to output torque to drive the vehicle to rotate around the single wheel on the first axle.

[0148] In some embodiments, during the process of controlling the vehicle to rotate along the first trajectory, the target rotation angle can be determined based on the current position of the first wheel, the current position of the second wheel, and the position of the rotation termination point, and the motor output torque of the other wheels of the vehicle, excluding the single wheel of the first axle, can be controlled to drive the vehicle to rotate around the single wheel of the first axle by the target rotation angle.

[0149] Here, the target rotation angle is less than 180°.

[0150] In some embodiments, the angle difference of less than 180° between the line connecting the rear wheel and the second wheel and the line connecting the rotation termination point and the second wheel can be used as the target rotation angle.

[0151] In some embodiments, the angle difference between the line connecting the second wheel and the rear wheel on the same side before the vehicle rotates and the line connecting the second wheel and the rear wheel on the same side after the vehicle rotates is taken as the target rotation angle.

[0152] In some embodiments, the target rotation angle includes a counterclockwise rotation angle or a clockwise rotation angle.

[0153] In some embodiments, as shown in Figures 4 and 9, taking the front of the vehicle as an example, the rear wheel 1 after the vehicle rotates is located to the left of the rear wheel 1 before the vehicle rotates. Since the target rotation angle is less than 180°, the angle difference between the line connecting the rear wheel 1 and the front wheel 1 and the line connecting the rear wheel 1 and the front wheel 1 after the vehicle rotates is the angle of clockwise rotation around the front wheel 1.

[0154] In some embodiments, as shown in Figure 10, taking the front of the vehicle as an example, the rear wheel 1 after the vehicle rotates is located to the right of the rear wheel 1 before the vehicle rotates. Since the target rotation angle is less than 180°, the angle difference between the line connecting the rear wheel 1 and the front wheel 1 and the line connecting the rear wheel 1 and the front wheel 1 after the vehicle rotates is the angle of counterclockwise rotation around the front wheel 1.

[0155] In some embodiments, after determining the target rotation angle, the motor output torque of the first wheel can be controlled to drive the vehicle to rotate around the second wheel by the target rotation angle so that the rear wheel of the vehicle is at the end point of rotation.

[0156] In some embodiments, when the target rotation angle is a counterclockwise rotation angle, the motor output torque of the first wheel is controlled to drive the vehicle to rotate counterclockwise around the second wheel by that angle, so that the rear wheel of the vehicle is at the end point of rotation.

[0157] In other embodiments, when the target rotation angle is a clockwise rotation angle, the motor output torque of the first wheel is controlled to drive the vehicle to rotate clockwise around the second wheel by that angle so that the rear wheel of the vehicle is at the end of the rotation.

[0158] Thus, some embodiments of this disclosure can determine the angle by which the rear wheel of a vehicle needs to rotate around the second wheel when rotating from the starting point of rotation to the ending point of rotation, so as to ensure that the rear wheel of the vehicle can be accurately located at the ending point of rotation.

[0159] In another implementation, after responding to a parking command, if the vehicle is not at the starting point of rotation, it is necessary to drive the vehicle until it is at the starting point of rotation, and then control the motor output torque of the other wheels of the vehicle, except for the single wheel of the first axle, to drive the vehicle to rotate around the single wheel of the first axle.

[0160] In some embodiments, after reaching the rotation start point, a third trajectory can be determined based on the vehicle's initial starting position and the rotation start point.

[0161] In one implementation, the third trajectory can be the driving trajectory of the two wheels that control the vehicle to start the first axle to turn in the same direction, and the third trajectory and the first trajectory are connected at the starting point of rotation.

[0162] In some embodiments, as shown in Figure 11, taking the target parking space as an example of reversing into a parking space, with the rotation starting point located to the right front of the vehicle's initial starting position, the vehicle's front wheels can be controlled to turn right, and the vehicle's motors can be controlled to output positive torque to drive the vehicle to travel according to the parking path until the second wheel is located at the rotation starting point.

[0163] In another implementation, the third trajectory can be a driving trajectory that controls the vehicle to simultaneously initiate the same-direction steering of the two wheels on the first axle and the same-direction steering of the two wheels on the second axle.

[0164] In some embodiments, as shown in Figure 12, taking the target parking space as an example of a reverse parking scenario, with the rotation starting point located to the right front of the vehicle's initial starting position, the vehicle's front and rear wheels can be controlled to turn to the right, and the vehicle's motors can be controlled to output positive torque to drive the vehicle to travel according to the parking path until the second wheel is located at the rotation starting point.

[0165] In some embodiments, as shown in Figure 13, taking the target parking space as an example of a parallel parking scenario, with the rotation starting point located to the right front of the vehicle's initial starting position, the vehicle's front and rear wheels can be controlled to turn to the right, and the vehicle's motors can be controlled to output positive torque to drive the vehicle to travel according to the parking path until the second wheel is located at the rotation starting point.

[0166] Thus, in some embodiments of this disclosure, before the driving wheels begin to rotate, the vehicle is driven to the starting point of rotation by combining the rear wheel steering function, so that the vehicle can be located at the starting point of rotation at a more precise angle.

[0167] In some embodiments, if human intervention is detected in response to a parking instruction, the automatic parking function is deactivated.

[0168] In some embodiments, human operation may include manually controlling the steering wheel, manually pressing the accelerator pedal, manually pressing the brake pedal, etc.

[0169] Thus, some embodiments of this disclosure improve parking safety by detecting whether there is human intervention and disconnecting the automatic parking process.

[0170] The following provides an exemplary description of the complete flow of an automatic parking control method provided in some embodiments of this disclosure.

[0171] In some embodiments, as shown in FIG14, the complete flow of the automatic parking control method provided in some embodiments of this disclosure may include the following S1401 to S1413.

[0172] S1401: Receive user clicks on the automatic parking interface.

[0173] S1402. In response to the click operation, check whether the doors and front and rear hoods are closed, and whether the sensors and systems are functioning properly. If yes, proceed to S1403; otherwise, proceed to S1413.

[0174] S1403. Obtain information about the surrounding environment of the target parking space and the vehicle's position and orientation through sensors.

[0175] S1404. Based on the surrounding environment information of the target parking space, the vehicle's pose information, and the path constraint information, determine the rotation start point and rotation end point.

[0176] S1405. Determine whether the vehicle's second wheel is at the starting point of rotation. If yes, proceed to S1408; otherwise, proceed to S1406.

[0177] S1406. Based on the current position of the vehicle and the position of the rotation starting point, determine the third trajectory.

[0178] S1407. Drive the vehicle along the third trajectory until the vehicle is at the starting point of rotation.

[0179] S1408. Based on the current position of the first wheel, the current position of the second wheel, and the position of the rotation termination point, determine the target rotation angle so that the rear wheel of the vehicle is located at the rotation termination point.

[0180] S1409. Control the motor output torque of the wheels of the vehicle other than the single wheel of the first axle to drive the vehicle to rotate around the single wheel of the first axle by a target rotation angle so that the vehicle is at the rotation termination point.

[0181] S1410. Determine if the vehicle meets the entry conditions. If yes, proceed to S1411; otherwise, proceed to S1412.

[0182] In some embodiments, the parking conditions include at least one of the following: the vehicle body is parallel to the long side of the target parking space, and the two sides of the vehicle body are located inside the long side of the target parking space.

[0183] S1411. Control the output torque of the motors of each wheel of the vehicle to drive the vehicle into the target parking space.

[0184] S1412. During the process of driving the vehicle into the target parking space, the vehicle body position is adjusted by the rear wheel steering function until the vehicle body orientation is parallel to the long side of the target parking space, and the two sides of the vehicle body are located inside the long side of the target parking space.

[0185] S1413, End.

[0186] Thus, some embodiments of this disclosure park a vehicle in a parking space by controlling the output torque of the motors of the other wheels of the vehicle to drive the vehicle to rotate around the locked wheels, without having to adjust the vehicle's orientation by moving the vehicle back and forth multiple times, thereby reducing the space required for parking and reducing the difficulty of parking in small parking spaces.

[0187] The foregoing primarily describes the solutions provided by some embodiments of this disclosure from a methodological perspective. To achieve the above functions, the automatic parking control device or electronic device includes corresponding hardware structures and / or software modules for performing each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this disclosure can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0188] In some embodiments of this disclosure, the automatic parking control device or electronic device can be divided into functional modules according to the above method. For example, the automatic parking control device or electronic device may include functional modules corresponding to each functional division, or two or more functions may be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in some embodiments of this disclosure is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.

[0189] Figure 15 is a block diagram of an automatic parking control device according to some embodiments. The automatic parking control device is applied to a vehicle, which includes a first motor, a second motor, and a third motor. The first motor drives two wheels on a first axle, the second motor drives a first wheel on a second axle, and the third motor drives a second wheel on a second axle. The automatic parking control device 1500 includes a receiving unit 1501 and a control unit 1502.

[0190] The receiving unit 1501 is configured to receive a parking command, which instructs the wheels to activate the automatic parking function. The control unit 1502 is configured to, in response to the parking command, control the vehicle to drive into a target parking space along a target trajectory, the target trajectory including at least a first trajectory, which is a rotational trajectory controlling the rotation of a single wheel of the vehicle around a first axle.

[0191] In some embodiments, the control unit 1502 is configured to control the steering of at least one of the first wheel or the second wheel while controlling the vehicle to rotate along the first trajectory.

[0192] In some embodiments, during the rotation of the vehicle along the first trajectory, the steering direction of the first wheel is opposite to that of the second wheel; when the first wheel is the left wheel, the steering direction of the first wheel is to the left and the steering direction of the second wheel is to the right; or, when the first wheel is the right wheel, the steering direction of the first wheel is to the right and the steering direction of the second wheel is to the left.

[0193] In some embodiments, the steering angles of the first wheel and the second wheel are the maximum values ​​of the steering angles of the second axle.

[0194] In some embodiments, the control unit 1502 is configured to: lock a single wheel of the first axle during the process of controlling the vehicle to rotate along the first trajectory; and unlock a single wheel of the first axle after the control of the vehicle to rotate along the first trajectory has ended.

[0195] In some embodiments, the control unit 1502 is configured to: control the motors of the wheels other than the single wheel of the first axle to output a first torque during the process of controlling the vehicle to rotate along a first trajectory; control the wheels opposite to the single wheel of the first axle to output a second torque during the process of controlling the vehicle to rotate along a first trajectory; and control the wheels on the same side of the single wheel of the first axle to output a third torque during the process of controlling the vehicle to rotate along a first trajectory. Here, the first torque and the second torque have the same torque direction, and the second torque and the third torque have opposite torque directions.

[0196] In some embodiments, the first trajectory includes a rotation termination point, and the control unit 1502 is configured to: determine a target rotation angle based on the current position of the first wheel, the current position of the second wheel, and the position of the rotation termination point during the process of controlling the vehicle to rotate along the first trajectory, and control the motor output torque of the other wheels of the vehicle except for the single wheel of the first axle to drive the vehicle to rotate around the single wheel of the first axle by the target rotation angle.

[0197] In some embodiments, the first trajectory further includes a rotation start point, and the rotation start point and rotation end point are determined based on the current position of the vehicle, the vehicle's pose information, the position of the target parking space, and path constraint information; the path constraint information includes at least one of obstacle information or minimum turning radius information of the vehicle under rear wheel steering; the obstacle information is used to constrain the vehicle from colliding with obstacles during rotation around a single front wheel, and the minimum turning radius information refers to the minimum turning radius information during the process of the vehicle entering the target parking space after rotating along the first trajectory; under the minimum turning radius, the steering angle of the two wheels of the first axle of the vehicle is the maximum value of the first axle steering angle, the steering angle of the two wheels of the second axle of the vehicle is the maximum value of the second axle steering angle, and the steering direction of the two wheels of the first axle is opposite to the steering direction of the two wheels of the second axle.

[0198] In some embodiments, the automatic parking control device 1500 further includes a determining unit and a processing unit. The determining unit is configured to determine a plurality of candidate rotation start points and candidate rotation end points corresponding to each of the plurality of candidate rotation start points from outside the target parking space. The processing unit is configured to perform collision detection on the process of the vehicle rotating from the candidate rotation start point to the candidate rotation end point based on the current position of the vehicle, the vehicle's pose information, the position of the target parking space, and the minimum turning radius information of the vehicle under rear wheel steering, and obtain a collision detection result. The determining unit is further configured to determine the candidate rotation start points and the corresponding candidate rotation end points that indicate no collision has occurred as rotation start points and rotation end points, respectively.

[0199] In some embodiments, the target trajectory further includes a second trajectory; the second trajectory is a driving trajectory in which the two wheels of the vehicle start the second axle and turn in the same direction, and the second trajectory connects with the first trajectory at the rotation termination point.

[0200] In some embodiments, the control unit 1502 is configured to, during the process of controlling the vehicle to travel along the second trajectory, adjust the vehicle's position via the rear wheel steering function until the vehicle's body orientation is parallel to the long side of the target parking space, and both sides of the vehicle's body are located inside the long side of the target parking space, in at least one of the following situations: the vehicle's body orientation is not parallel to the long side of the target parking space, or one side of the vehicle's body is located outside the long side of the target parking space.

[0201] In the automatic parking control device provided in some embodiments of this disclosure, since the wheels cannot be parked in the parking space in a normal manner when the parking space is small, some embodiments of this disclosure provide two motors for the two rear wheels in the vehicle, and drive the vehicle into the target parking space by controlling the vehicle to rotate around a single front wheel during the parking process, without having to adjust the vehicle's orientation by moving the vehicle back and forth multiple times, thus reducing the space required to adjust the vehicle's orientation and reducing the difficulty of parking in small parking spaces.

[0202] Regarding the apparatus in the above embodiments, example methods of how each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0203] Figure 16 is a block diagram of an electronic device according to some embodiments. As shown in Figure 16, the electronic device 1600 includes, but is not limited to, a processor 1601 and a memory 1602.

[0204] The aforementioned memory 1602 is configured to store executable instructions of the aforementioned processor 1601. It is understood that the aforementioned processor 1601 is configured to execute instructions to implement the automatic parking control method in the above embodiments.

[0205] It should be noted that those skilled in the art will understand that the electronic device structure shown in FIG16 does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in FIG16, or combine certain components, or have different component arrangements.

[0206] Processor 1601 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 1602, and by calling data stored in memory 1602, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. Processor 1601 may include one or more processing units. In some embodiments, processor 1601 may integrate an application processor and a modem processor. Here, the application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the modem processor may not be integrated into processor 1601.

[0207] The memory 1602 can be used to store software programs and various data. The memory 1602 may primarily include a program storage area and a data storage area. Here, the program storage area may store the operating system, application programs required by at least one functional module (such as a determination unit, processing unit, etc.), etc. Furthermore, the memory 1602 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0208] In some embodiments of this disclosure, a computer-readable storage medium including instructions is also provided, such as a memory 1602 including instructions, which can be executed by a processor 1601 of an electronic device 1600 to implement the automatic parking control method in the above embodiments.

[0209] In actual implementation, the steps performed by the receiving unit 1501 and the control unit 1502 in Figure 15 can all be implemented by the processor 1601 in Figure 16 calling the computer program stored in the memory 1602. The execution process can be referred to the description in the method section of the above embodiment, and will not be repeated here.

[0210] In some embodiments, the computer-readable storage medium may be a non-transitory computer-readable storage medium, such as a read-only memory (ROM), random access memory (RAM), compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device.

[0211] Some embodiments of this disclosure also provide a computer program product including one or more instructions that can be executed by a processor 1601 of an electronic device to perform the automatic parking control method in the above embodiments.

[0212] It should be noted that when one or more instructions in the computer-readable storage medium or computer program product are executed by the processor of an electronic device, they implement the various processes of the above method embodiments and achieve the same technical effect as the above method. To avoid repetition, they will not be described again here.

[0213] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0214] In the several embodiments provided in this disclosure, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0215] The units described as separate components may or may not be physically separate. A component shown as a unit can be one or more physical units; that is, it can be located in one place or distributed in multiple different locations. Some or all of the classified units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0216] Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0217] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solutions of some embodiments of this disclosure, essentially or in other words, the parts that contribute to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0218] The above are merely specific embodiments of this application, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. An automatic parking control method applied to a vehicle, The vehicle comprises: a first motor configured to drive two wheels of a first axle; a second motor configured to drive a first wheel of a second axle; and a third motor configured to drive a second wheel of the second axle; The method comprises: receiving a parking instruction for instructing the vehicle to start an automatic parking function; in response to the parking instruction, controlling the vehicle to drive into a target parking space along a target trajectory, the target trajectory comprising at least a first trajectory; wherein the first trajectory is a rotation trajectory for controlling the vehicle to rotate around a single wheel of the two wheels of the first axle. The controlling the vehicle to drive into the target parking space along the target trajectory comprises:

2. The method of claim 1, wherein, controlling at least one of the first wheel or the second wheel to steer during the controlling of the vehicle to rotate along the first trajectory. The steering direction of the first wheel is opposite to the steering direction of the second wheel during the controlling of the vehicle to rotate along the first trajectory; 3. The method of claim 2, wherein, wherein, in the case that the first wheel is a left-side wheel, the steering direction of the first wheel is left steering and the steering direction of the second wheel is right steering; or, in the case that the first wheel is a right-side wheel, the steering direction of the first wheel is right steering and the steering direction of the second wheel is left steering. The steering angle of each of the first wheel and the second wheel is a second axle steering angle maximum value.

4. The method of claim 2 or 3, wherein, The controlling the vehicle to drive into the target parking space along the target trajectory comprises:

5. The method of claim 1, wherein, controlling the single wheel of the first axle to be locked during the controlling of the vehicle to rotate along the first trajectory; controlling the single wheel of the first axle to be unlocked after the controlling of the vehicle to rotate along the first trajectory ends. The controlling the vehicle to drive into the target parking space along the target trajectory comprises:

6. The method of claim 1, wherein, controlling a motor of a wheel other than the single wheel of the first axle to output a first torque, controlling a motor of a wheel opposite to the single wheel of the first axle of the second axle to output a second torque, and controlling a motor of a wheel same as the single wheel of the first axle of the second axle to output a third torque during the controlling of the vehicle to rotate along the first trajectory; wherein the torque directions of the first torque and the second torque are the same, and the torque directions of the second torque and the third torque are opposite. The first trajectory comprises a rotation termination point; 7. The method of claim 1, wherein, The controlling the vehicle to drive into the target parking space along the target trajectory comprises: determining a target rotation angle based on a current position of the first wheel, a current position of the second wheel, and a position of the rotation termination point during the controlling of the vehicle to rotate along the first trajectory; controlling a motor of a wheel other than the single wheel of the first axle to output a torque for driving the vehicle to rotate around the single wheel of the first axle by the target rotation angle. ​ 8. The method of claim 7, wherein, The first trajectory further comprises a rotation start point and a rotation end point, wherein the rotation start point and the rotation end point are determined according to a current position of the vehicle, pose information of the vehicle, a position of the target parking space, and path constraint information; The path constraint information comprises at least one of obstacle information or minimum turning radius information of the vehicle under rear wheel steering, wherein the obstacle information is used to constrain the vehicle from colliding with an obstacle during rotation around the single front wheel, and the minimum turning radius information refers to minimum turning radius information of the vehicle during a process of entering the target parking space after the rotation along the first trajectory ends; under the minimum turning radius, a steering angle of two wheels of a first axle of the vehicle is a first axle steering angle maximum value, a steering angle of two wheels of a second axle of the vehicle is a second axle steering angle maximum value, and a steering direction of the two wheels of the first axle is opposite to a steering direction of the two wheels of the second axle.

9. The method of claim 8, further comprising: determining a plurality of candidate rotation start points outside the target parking space, and a candidate rotation end point corresponding to each of the plurality of candidate rotation start points; performing collision detection on a process of the vehicle rotating from the candidate rotation start point to the candidate rotation end point according to the current position of the vehicle, the pose information of the vehicle, the position of the target parking space, and the minimum turning radius information of the vehicle under rear wheel steering, to obtain a collision detection result; determining, as the rotation start point and the rotation end point, the candidate rotation start point and the corresponding candidate rotation end point indicated by the collision detection result as not colliding.

10. The method of claim 7, wherein the target trajectory further comprises a second trajectory; the second trajectory is a driving trajectory for controlling the vehicle to start steering the two wheels of the second axle in the same direction, and the second trajectory is connected to the first trajectory at the rotation end point.

11. The method of claim 10, wherein, The control of the vehicle entering the target parking space along the target trajectory comprises: during the process of controlling the vehicle to drive along the second trajectory, when at least one of a vehicle body of the vehicle is not parallel to a long side of the target parking space, or a side of the vehicle body is located outside the long side of the target parking space, adjusting the vehicle body pose by the steering function of the two wheels of the second axle until the vehicle body is parallel to the long side of the target parking space, and both sides of the vehicle body are located inside the long side of the target parking space.

12. An electronic device comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method of any one of claims 1 to 11.

13. A vehicle comprising: a first motor, a second motor, and a third motor, and the electronic device described in claim 12; wherein the first motor is used to drive the two wheels of the first axle, the second motor is used to drive the first wheel of the second axle, and the third motor is used to drive the second wheel of the second axle.

14. A computer-readable storage medium having stored therein instructions, wherein, When a computer executes the instructions, the computer performs the method according to any of the preceding claims 1 to 11.

15. A computer program product comprising instructions which, when executed on a computer, cause the computer to perform the method according to any of the preceding claims 1 to 11.

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