CN110435645A - Automatic parking control method, device, system and readable storage medium storing program for executing - Google Patents
Automatic parking control method, device, system and readable storage medium storing program for executing Download PDFInfo
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- CN110435645A CN110435645A CN201910804438.8A CN201910804438A CN110435645A CN 110435645 A CN110435645 A CN 110435645A CN 201910804438 A CN201910804438 A CN 201910804438A CN 110435645 A CN110435645 A CN 110435645A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of automatic parking control method, device, system and readable storage medium storing program for executing, this method comprises the following steps: to from vehicle leftward space or right side of the space be scanned, to obtain the first adjacent vehicle and the corresponding body gesture characteristic of second neighbour's vehicle, and established to obtain parking stall spatial model according to body gesture characteristic；Meet minimum parking stall demand when determining the parking stall space in the spatial model of parking stall, park starting point and terminal of parking then are determined according to parking stall spatial model, according to starting point is parked and endpoint calculation of parking obtains planning path of parking, planning path of parking includes parallel space planning path, vertical parking stall planning path and oblique parking stall planning path；Hard switching of parking is opened in control, and according to parking, planning path will moor in target parking stall from vehicle.Automatic parking control method proposed by the present invention improves efficiency of parking, it can be achieved that precisely park automatically.
Description
Technical field
The present invention relates to control technology field of parking, in particular to a kind of automatic parking control method, device, system and can
Read storage medium.
Background technique
With the continuous development of economy and being constantly progressive for society, automobile becomes more and more in people's daily life
It is common.Irreplaceable effect is played for the commercial affairs work of people.
Main means of transport of the automobile as modern society, just towards more comfortableization, intelligence and the side of automation
To development.In recent years, being gradually increased with urban population density, urban congestion problem become increasingly severe, the most prominent
Performance the problem of being parking position in short supply and parking difficulty.Especially under relatively limited parking stall space, to driver's
Driving is parked, and more stringent requirements are proposed for technology.
In the prior art, artificial mode is generallyd use to park, however artificial mode of parking, since subjectivity operates
Influence and there are significant limitation, inefficiency of parking, in addition will affect entire parking lot operation of parking normally push away
Into.
Summary of the invention
Based on this, the purpose of the present invention is to solve the modes in the prior art, generalling use artificial to park, so
And artificial mode of parking, due to the subjective influence operated there are significant limitation, inefficiency of parking, or even will affect
The problem of normal propulsion of the operation of parking in entire parking lot.
The present invention proposes a kind of automatic parking control method, wherein described method includes following steps:
To from vehicle leftward space or right side of the space be scanned, to obtain the first adjacent vehicle and the corresponding vehicle of the second adjacent vehicle
Figure state characteristic, and establish to obtain parking stall spatial model according to the body gesture characteristic, wherein the vehicle body appearance
State characteristic is from the body center point of vehicle to the described first adjacent vehicle or second neighbour's vehicle and described from vehicle including at least described in
The distance between headstock endpoint and tailstock endpoint of adjacent side and the long axis from vehicle and the first adjacent vehicle or
Angle between the long axis of described second adjacent vehicle；
Meet minimum parking stall demand when determining the parking stall space in the parking stall spatial model, then it is empty according to the parking stall
Between model determine and park starting point and terminal of parking, park starting point and the endpoint calculation of parking obtains rule of parking according to described
Path is drawn, the planning path of parking includes parallel space planning path, vertical parking stall planning path and the planning of oblique parking stall
Path；
Hard switching of parking is opened in control, is moored described in target parking stall from vehicle according to the planning path of parking.
Automatic parking control method proposed by the present invention, first to from vehicle leftward space or right side of the space be scanned,
The body gesture characteristic of adjacent vehicle is obtained, specifically, the body gesture characteristic includes the body center point from vehicle
To the described first adjacent vehicle or the second adjacent vehicle with it is described between the headstock endpoint and tailstock endpoint of the adjacent side of vehicle away from
From and angle between the long axis from vehicle and the first adjacent vehicle or the long axis of the second adjacent vehicle, obtaining
The distance between front and back endpoint from vehicle relative to adjacent vehicle, and between vehicle and the first adjacent vehicle and the second adjacent vehicle angle it
Afterwards, it according to above-mentioned distance and angle data, can establish to obtain parking stall spatial model, if the parking stall in the spatial model of parking stall is empty
Between meet minimum parking stall demand, then according to starting point is parked and terminal of parking carries out parking path planning, finally open park it is hard
Switch, automobile is moored in target parking stall.Automatic parking control method proposed by the present invention, the degree of automation it is higher, it can be achieved that
Automatic parking improves actual efficiency of parking, meets the application demand parked.
The automatic parking control method, wherein when the planning path of parking is the parallel space planning path,
The parallel space planning path includes sequentially connected target stop Po, the first track inflection point P1, the second track inflection point P2With
And the starting point P that parks3；
The first track inflection point P1Coordinate representation are as follows:
P1:(Rmin sin a,Rmin(1-cos a))
The second track inflection point P2Coordinate representation are as follows:
Wherein, w is the automobile vehicle width from vehicle, and a is the first track inflection point P1With the second track inflection point P2Line and water
The angle of flat axis forward direction, RminFor minimum turning radius,For the ultrasonic radar being arranged from vehicle and the second neighbour Che Zuo
The distance between rear-wheel.
The automatic parking control method, wherein the second track inflection point P2AbscissaExpression formula are as follows:
Wherein, R1For turning radius.
The automatic parking control method, wherein when the planning path of parking is the vertical parking stall planning path,
The vertical parking stall planning path includes sequentially connected target stop Po, the first track inflection point P1, the second track inflection point P2With
And the starting point P that parks3；
The first track inflection point P1Coordinate representation are as follows:
P1:(Δs,0)
The second track inflection point P2Coordinate representation are as follows:
P2:(Δs+Rmin,Rmin)
Wherein, Δ s is the first track inflection point P1With the second track inflection point P2Between horizontal distance it is poor, RminFor minimum turning
Radius.
The automatic parking control method, wherein when the planning path of parking is the oblique parking stall planning path,
The oblique parking stall planning path includes sequentially connected target stop Po, the first track inflection point P1, the second track inflection point P2With
And the starting point P that parks3；
When in target stop PoWhen the vehicle body angle from vehicle at place is greater than 90 °, the first track inflection point P1Seat
Mark indicates are as follows:
P1:(Δs,0)
The second track inflection point P2Coordinate representation are as follows:
P2:((Δs-Rmincos(a-π),Rmin(1-sin(a-π)))
Wherein, Δ s is the first track inflection point P1, the second track inflection point P2Horizontal distance between two o'clock is poor.
The automatic parking control method, wherein when the planning path of parking is the oblique parking stall planning path,
The oblique parking stall planning path includes sequentially connected target stop Po, the first track inflection point P1, the second track inflection point P2With
And the starting point P that parks3；
When in target stop PoWhen the vehicle body angle from vehicle at place is less than 90 °, the first track inflection point P1Seat
Mark indicates are as follows:
P1:(Δs,0)
The second track inflection point P2Coordinate representation are as follows:
P2:((Δs+Rmincos(π-a),Rmin(1-sin(π-a)))
The present invention also proposes a kind of automatic parking control device, wherein described device includes:
Data acquisition module, for from vehicle leftward space or right side of the space be scanned, with obtain the first adjacent vehicle with
And the second corresponding body gesture characteristic of adjacent vehicle, and establish to obtain parking stall spatial mode according to the body gesture characteristic
Type；
Path planning module meets minimum parking stall need for working as the parking stall space determined in the parking stall spatial model
It asks, then park starting point and terminal of parking is determined according to the parking stall spatial model, according to starting point and the pool of parking
Vehicle endpoint calculation obtains planning path of parking, and the planning path of parking includes parallel space planning path, the planning of vertical parking stall
Path and oblique parking stall planning path；
It parks control module, opens hard switching of parking for controlling, described will be moored from vehicle according to the planning path of parking
Enter in target parking stall.
The present invention also proposes a kind of automatic parking control system, wherein the system comprises one park controller, with it is described
It parks and controller and ultrasonic radar and looks around camera electric connection, the controller of parking passes through CAN bus and power
Module is electrically connected, and for controlling automobile chassis, the control system of parking executes a kind of automatic the power plant module
It parks control method, which includes the following steps:
To from vehicle leftward space or right side of the space be scanned, to obtain the first adjacent vehicle and the corresponding vehicle of the second adjacent vehicle
Figure state characteristic, and establish to obtain parking stall spatial model according to the body gesture characteristic, wherein the vehicle body appearance
State characteristic is from the body center point of vehicle to the described first adjacent vehicle or second neighbour's vehicle and described from vehicle including at least described in
The distance between headstock endpoint and tailstock endpoint of adjacent side and the long axis from vehicle and the first adjacent vehicle or
Angle between the long axis of described second adjacent vehicle；
Meet minimum parking stall demand when determining the parking stall space in the parking stall spatial model, then it is empty according to the parking stall
Between model determine and park starting point and terminal of parking, park starting point and the endpoint calculation of parking obtains rule of parking according to described
Path is drawn, the planning path of parking includes parallel space planning path, vertical parking stall planning path and the planning of oblique parking stall
Path；
Hard switching of parking is opened in control, is moored described in target parking stall from vehicle according to the planning path of parking.
The automatic parking control system, wherein the quantity for looking around camera is 4, the number of the ultrasonic radar
Amount is 12.
The present invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, wherein described program is processed
Device realizes automatic parking control method described above when executing.
Additional aspect and advantage of the invention will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Fig. 1 is the flow chart for the automatic parking control method that first embodiment of the invention proposes；
Fig. 2 is the flow chart for the automatic parking control method that second embodiment of the invention proposes；
Fig. 3 is the schematic diagram of parallel path planning in the automatic parking control method of second embodiment of the invention proposition；
Fig. 4 is the schematic diagram of vertical-path planning in the automatic parking control method of second embodiment of the invention proposition；
From vehicle body corner in oblique path planning in the automatic parking control method that Fig. 5 proposes for second embodiment of the invention
Schematic diagram in the case where spending less than 90 °；
From vehicle body corner in oblique path planning in the automatic parking control method that Fig. 6 proposes for second embodiment of the invention
Degree is greater than the schematic diagram in the case where 90 °；
Fig. 7 is the structural schematic diagram for the automatic parking control system that second embodiment of the invention proposes；
Fig. 8 is the structural schematic diagram for the automatic parking control device that third embodiment of the invention proposes.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give preferred embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is make it is more thorough and comprehensive to the disclosure.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
In the prior art, artificial mode is generallyd use to park, however artificial mode of parking, since subjectivity operates
Influence and there are significant limitation, inefficiency of parking, in addition will affect entire parking lot operation of parking normally push away
Into.
Embodiment one
In order to solve this technical problem, the present invention proposes a kind of automatic parking control method, referring to Fig. 1, for this
The automatic parking control method that invention first embodiment proposes, this method comprises the following steps:
S101, to from vehicle leftward space or right side of the space be scanned, to obtain the first adjacent vehicle and the second adjacent vehicle pair
The body gesture characteristic answered, and establish to obtain parking stall spatial model according to the body gesture characteristic.
In the present embodiment, automobile is equipped with ultrasonic radar sensor and visual sensor from vehicle, by above-mentioned
Sensor be scanned to being located at from the position of the adjacent vehicle of vehicle left or right side, obtain the first adjacent vehicle and the second adjacent vehicle pair
The body gesture characteristic answered, and establish to obtain parking stall spatial model according to above-mentioned body gesture characteristic.
Specifically, above-mentioned body gesture characteristic includes described from the body center point of vehicle to the first adjacent vehicle or second
Adjacent vehicle and the headstock endpoint and the distance between tailstock endpoint from the adjacent side of vehicle, and from the long axis of vehicle and the first adjacent vehicle
Or second adjacent vehicle long axis between angle.
It in the present embodiment, can will be from the body center point of vehicle be connect with the first adjacent vehicle headstock endpoint and tailstock endpoint
Come, and the body center point of vehicle and the second adjacent vehicle headstock endpoint and tailstock endpoint are connected, forms a dotted line and hand over
The space of remittance, the space to cross are the gross space of parking stall spatial model.It is above-mentioned from the long axis of vehicle and the first adjacent vehicle or
Angle between the long axis of second adjacent vehicle is calculated for subsequent trajectory planning of parking.
S102 meets minimum parking stall demand when determining the parking stall space in the parking stall spatial model, then according to
Parking stall spatial model determines and parks starting point and terminal of parking, and parks starting point and the endpoint calculation of parking obtains according to described
It parks planning path, the planning path of parking includes parallel space planning path, vertical parking stall planning path and oblique vehicle
Position planning path.
After establishing corresponding parking stall spatial model, judge whether the parking stall space in the parking stall spatial model meets
Minimum parking stall demand.It should be understood that only can just carry out operation of parking when the minimum parking stall demand of parking stall space satisfaction.In
This is pointed out that in the present embodiment minimum parking stall demand space is usually set to the profile space * 1.2 from vehicle, as
Minimum parking stall demand.After minimum parking stall demand has been calculated, which is crossed in above-mentioned dotted line
The placement that any position is carried out in space, if the rectangular space block can be accommodated, then it represents that parking stall spatial model is effective, Neng Goujin
The trajectory calculation of capable operation of parking in next step.
Park starting point and pool are determined in conjunction with car's current position referring to the above-mentioned parking stall spatial model having built up
Vehicle terminal, and corresponding planning path of parking is calculated.In the present embodiment, planning path of parking includes parallel space planning
Path, vertical parking stall planning path and oblique parking stall planning path.
S103, control are opened hard switching of parking, are moored described in target parking stall from vehicle according to the planning path of parking.
As described in above-mentioned steps S102, after completing path planning, hard switching of parking is opened, is had been calculated according to above-mentioned
At planning path of parking, automobile is moored into target parking stall.
Automatic parking control method proposed by the present invention, first to from vehicle leftward space or right side of the space be scanned,
The body gesture characteristic of adjacent vehicle is obtained, then establishes to obtain parking stall spatial model according to the body gesture characteristic, if
Parking stall space in the spatial model of parking stall meets minimum parking stall demand, then according to parking starting point and terminal of parking carries out road of parking
Diameter planning, finally opens hard switching of parking, automobile is moored in target parking stall.Automatic parking control method proposed by the present invention,
The degree of automation is higher, it can be achieved that automatic parking, improves actual efficiency of parking, meet the application demand parked.
Embodiment two
A specific embodiment of the invention is discussed in detail with a specific embodiment below.Fig. 2 is please referred to figure
6, for the automatic parking control method that second embodiment of the invention proposes, specifically comprise the following steps:
S201 starts parking assisting system.
S202, to from vehicle leftward space or right side of the space be scanned, obtain the first adjacent vehicle and the second adjacent vehicle be corresponding
Body gesture characteristic, and establish to obtain parking stall spatial model according to the body gesture characteristic.
In the present embodiment, automobile is equipped with ultrasonic radar sensor and visual sensor from vehicle, by above-mentioned
Sensor be scanned to being located at from the position of the adjacent vehicle of vehicle left or right side, obtain the first adjacent vehicle and the second adjacent vehicle pair
The body gesture characteristic answered, and establish to obtain parking stall spatial model according to above-mentioned body gesture characteristic.
Whether S203, the parking stall space in the spatial model of parking stall meet minimum parking stall demand.
As described above, minimum parking stall demand space is usually set to the profile space * 1.2 from vehicle, as minimum parking stall is needed
It asks.After minimum parking stall demand has been calculated, which blurs into a rectangular space
The rectangular space block is carried out the placement of any position, if it is rectangular to accommodate this by block in the space that above-mentioned dotted line crosses
Space block, then it represents that parking stall spatial model is effective, is able to carry out the trajectory calculation of operation of parking in next step.It should be understood that
Only when the minimum parking stall demand of parking stall space satisfaction, operation of parking can be just carried out.
S204 determines park starting point and terminal of parking.
Corresponding starting point and the terminal of parking of parking is determined according to parking stall spatial model.
Whether S205, planning path of parking plan success.
In the present embodiment, planning path of parking includes three kinds, specifically:
(1) referring to Fig. 3, parallel space planning path includes when planning path of parking is parallel space planning path
Sequentially connected target stop Po, the first track inflection point P1, the second track inflection point P2And the starting point P that parks3；
First track inflection point P1Coordinate representation are as follows:
P1:(Rmin sin a,Rmin(1-cosa))
Second track inflection point P2Coordinate representation are as follows:
Wherein, w is the automobile vehicle width from vehicle, and a is the first track inflection point P1With the second track inflection point P2Line and trunnion axis
Positive angle, RminFor minimum turning radius,Between the ultrasonic radar being arranged from vehicle and the second adjacent vehicle left rear wheel
Distance.
Wherein, above-mentioned second track inflection point P2AbscissaExpression formula are as follows:
Wherein, R1For turning radius.
(2) referring to Fig. 4, vertical parking stall planning path includes when planning path of parking is vertical parking stall planning path
Sequentially connected target stop Po, the first track inflection point P1, the second track inflection point P2And the starting point P that parks3；
First track inflection point P1Coordinate representation are as follows:
P1:(Δs,0)
Second track inflection point P2Coordinate representation are as follows:
P2:(Δs+Rmin,Rmin)
Wherein, Δ s is the first track inflection point P1With the second track inflection point P2Between horizontal distance it is poor, RminFor minimum turning
Radius.
(3) when planning path of parking is oblique parking stall planning path, oblique parking stall planning path includes sequentially connected
Target stop Po, the first track inflection point P1, the second track inflection point P2And the starting point P that parks3。
Wherein, oblique parking stall planning path includes two kinds of situations, i.e., when in target stop PoThe body corner from vehicle at place
When degree is greater than 90 °, the first track inflection point P1Coordinate representation are as follows:
P1:(Δs,0)
Second track inflection point P2Coordinate representation are as follows:
P2:((Δs-Rmincos(a-π),Rmin(1-sin(a-π)))
Wherein, Δ s is the first track inflection point P1, the second track inflection point P2Horizontal distance between two o'clock is poor.
When planning path of parking is oblique parking stall planning path, oblique parking stall planning path includes sequentially connected target
Stop Po, the first track inflection point P1, the second track inflection point P2And the starting point P that parks3；
When in target stop PoWhen the vehicle body angle from vehicle at place is less than 90 °, the first track inflection point P1Coordinate representation
Are as follows:
P1:(Δs,0)
Second track inflection point P2Coordinate representation are as follows:
P2:((Δs+Rmincos(π-a),Rmin(1-sin(π-a)))
S206, if open automatic parking hard switching.
As described in above-mentioned steps S205, after completing path planning, confirmation carries out operation of parking, and opens at this time automatic
It parks hard switching.
S207 carries out tracing control to track of vehicle.
When park operation, need to carry out tracing control to track of vehicle.
S208, with the presence or absence of larger barrier during parking.
You need to add is that, if in parking process, detect in planning path that there are biggish barriers herein, then from
It is dynamic to exit automatic parking.
S209 completes automatic parking.
If barrier is not present in planning path, automatic parking is completed.
S210 is exited and is closed system.
Referring to Fig. 7, for the automatic parking control system that third embodiment of the invention proposes, which parks including one
Controller controller and ultrasonic radar and is looked around camera and is electrically connected with described park, and the controller of parking passes through
CAN bus and power plant module are electrically connected, and the power plant module is for controlling automobile chassis, the control system of parking
A kind of automatic parking control method is executed, which includes the following steps:
To from vehicle leftward space or right side of the space be scanned, to obtain the first adjacent vehicle and the corresponding vehicle of the second adjacent vehicle
Figure state characteristic, and establish to obtain parking stall spatial model according to the body gesture characteristic；
Meet minimum parking stall demand when determining the parking stall space in the parking stall spatial model, then it is empty according to the parking stall
Between model determine and park starting point and terminal of parking, park starting point and the endpoint calculation of parking obtains rule of parking according to described
Path is drawn, the planning path of parking includes parallel space planning path, vertical parking stall planning path and the planning of oblique parking stall
Path；
Hard switching of parking is opened in control, is moored described in target parking stall from vehicle according to the planning path of parking.
It can be seen from figure 7 that the above-mentioned quantity for looking around camera is 4, the quantity of ultrasonic radar is 12.
Referring to Fig. 8, the device includes successively connecting for the automatic parking control device that fourth embodiment of the invention proposes
Data acquisition module 11, path planning module 12 and the control module 13 of parking connect；
Wherein the data acquisition module 11 is specifically used for:
To from vehicle leftward space or right side of the space be scanned, to obtain the first adjacent vehicle and the corresponding vehicle of the second adjacent vehicle
Figure state characteristic, and establish to obtain parking stall spatial model according to the body gesture characteristic；
The path planning module 12 is specifically used for:
Meet minimum parking stall demand when determining the parking stall space in the parking stall spatial model, then it is empty according to the parking stall
Between model determine and park starting point and terminal of parking, park starting point and the endpoint calculation of parking obtains rule of parking according to described
Path is drawn, the planning path of parking includes parallel space planning path, vertical parking stall planning path and the planning of oblique parking stall
Path；
The control module of parking is parked hard switching for controlling to open, according to it is described park planning path will it is described from
Vehicle is moored in target parking stall.
The present invention also proposes a kind of readable storage medium storing program for executing, is stored thereon with computer program, wherein described program is processed
Device realizes automatic parking control method described above when executing.
Those of ordinary skill in the art will appreciate that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program.The program can be stored in a computer readable storage medium.
The program when being executed, includes the steps that described in the above method.The storage medium, comprising: ROM/RAM, magnetic disk, CD
Deng.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
Limitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the invention
Protect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of automatic parking control method, which is characterized in that described method includes following steps:
To from vehicle leftward space or right side of the space be scanned, to obtain the first adjacent vehicle and the corresponding vehicle body appearance of the second adjacent vehicle
State characteristic, and establish to obtain parking stall spatial model according to the body gesture characteristic, wherein the body gesture is special
Levy data include at least the body center point from vehicle to the described first adjacent vehicle or the second adjacent vehicle with it is described adjacent from vehicle
The distance between headstock endpoint and tailstock endpoint of side and the long axis from vehicle and the described first adjacent vehicle are described
Angle between the long axis of second adjacent vehicle；
Meet minimum parking stall demand when determining the parking stall space in the parking stall spatial model, then according to the parking stall spatial mode
Type determines and parks starting point and terminal of parking, and parks starting point and the endpoint calculation of parking obtains parking and plans road according to described
Diameter, the planning path of parking include parallel space planning path, vertical parking stall planning path and oblique parking stall planning path；
Hard switching of parking is opened in control, is moored described in target parking stall from vehicle according to the planning path of parking.
2. automatic parking control method according to claim 1, which is characterized in that when the planning path of parking is described
When parallel space planning path, the parallel space planning path includes sequentially connected target stop Po, the first track turns
Point P1, the second track inflection point P2And the starting point P that parks3；
The first track inflection point P1Coordinate representation are as follows:
P1:(Rmin sin a,Rmin(1-cos a))
The second track inflection point P2Coordinate representation are as follows:
P2:
Wherein, w is the automobile vehicle width from vehicle, and a is the first track inflection point P1With the second track inflection point P2Line and trunnion axis
Positive angle, RminFor minimum turning radius,For the ultrasonic radar being arranged from vehicle and the second adjacent vehicle left rear wheel
The distance between.
3. automatic parking control method according to claim 2, which is characterized in that the second track inflection point P2Abscissa
Expression formula are as follows:
Wherein, R1For turning radius.
4. automatic parking control method according to claim 1, which is characterized in that when the planning path of parking is described
When vertical parking stall planning path, the vertical parking stall planning path includes sequentially connected target stop Po, the first track turns
Point P1, the second track inflection point P2And the starting point P that parks3；
The first track inflection point P1Coordinate representation are as follows:
P1:(Δs,0)
The second track inflection point P2Coordinate representation are as follows:
P2:(Δs+Rmin,Rmin)
Wherein, Δ s is the first track inflection point P1With the second track inflection point P2Between horizontal distance it is poor, RminFor minimum turning half
Diameter.
5. automatic parking control method according to claim 1, which is characterized in that when the planning path of parking is described
When oblique parking stall planning path, the oblique parking stall planning path includes sequentially connected target stop Po, the first track turns
Point P1, the second track inflection point P2And the starting point P that parks3；
When in target stop PoWhen the vehicle body angle from vehicle at place is greater than 90 °, the first track inflection point P1Coordinates table
It is shown as:
P1:(Δs,0)
The second track inflection point P2Coordinate representation are as follows:
P2:((Δs-Rmincos(a-π),Rmin(1-sin(a-π)))
Wherein, Δ s is the first track inflection point P1, the second track inflection point P2Horizontal distance between two o'clock is poor.
6. automatic parking control method according to claim 5, which is characterized in that when the planning path of parking is described
When oblique parking stall planning path, the oblique parking stall planning path includes sequentially connected target stop Po, the first track turns
Point P1, the second track inflection point P2And the starting point P that parks3；
When in target stop PoWhen the vehicle body angle from vehicle at place is less than 90 °, the first track inflection point P1Coordinates table
It is shown as:
P1:(Δs,0)
The second track inflection point P2Coordinate representation are as follows:
P2:((Δs+Rmincos(π-a),Rmin(1-sin(π-a)))。
7. a kind of automatic parking control device, which is characterized in that described device includes:
Data acquisition module, for from vehicle leftward space or right side of the space be scanned, to obtain the first adjacent vehicle and the
The corresponding body gesture characteristic of two neighbour's vehicles, and establish to obtain parking stall spatial model according to the body gesture characteristic,
Wherein the body gesture characteristic includes at least the body center point from vehicle to the described first adjacent vehicle or described second
The distance between adjacent vehicle and the headstock endpoint from the adjacent side of vehicle and tailstock endpoint and the long axis from vehicle with
Angle between the long axis of described first adjacent vehicle or the second adjacent vehicle；
Path planning module meets minimum parking stall demand for working as the parking stall space determined in the parking stall spatial model, then
Park starting point and terminal of parking are determined according to the parking stall spatial model, according to starting point and the terminal of parking of parking
Be calculated planning path of parking, the planning path of parking include parallel space planning path, vertical parking stall planning path with
And oblique parking stall planning path；
It parks control module, opens hard switching of parking for controlling, moored from vehicle into mesh according to the planning path of parking by described
It marks in parking stall.
8. a kind of automatic parking control system, which is characterized in that the system comprises one park controller, with the control of parking
Device and ultrasonic radar and camera electric connection is looked around, the controller of parking is electrical by CAN bus and power plant module
Connection, for the power plant module for controlling automobile chassis, the control system of parking executes a kind of automatic parking control
Method, the control method include the following steps:
To from vehicle leftward space or right side of the space be scanned, to obtain the first adjacent vehicle and the corresponding vehicle body appearance of the second adjacent vehicle
State characteristic, and establish to obtain parking stall spatial model according to the body gesture characteristic；
Meet minimum parking stall demand when determining the parking stall space in the parking stall spatial model, then according to the parking stall spatial mode
Type determines and parks starting point and terminal of parking, and parks starting point and the endpoint calculation of parking obtains parking and plans road according to described
Diameter, the planning path of parking include parallel space planning path, vertical parking stall planning path and oblique parking stall planning path；
Hard switching of parking is opened in control, is moored described in target parking stall from vehicle according to the planning path of parking.
9. automatic parking control system according to claim 8, which is characterized in that the quantity for looking around camera is 4,
The quantity of the ultrasonic radar is 12.
10. a kind of readable storage medium storing program for executing, is stored thereon with computer program, which is characterized in that described program is executed by processor
Automatic parking control method described in 1 to 6 any one of Shi Shixian the claims.
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