CN110466505A - Automatic vertical is parked method, medium, equipment and device - Google Patents
Automatic vertical is parked method, medium, equipment and device Download PDFInfo
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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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Abstract
It parks method, medium, equipment and device the invention discloses a kind of automatic vertical, wherein method includes: the vehicle parameter obtained to parking vehicles, and calculates minimum parking bit width；According to the positional information calculation of barriers multiple in obstacle information parking bit width；Judge whether parking bit width is greater than minimum parking bit width；If it is, calculating to the relative position information between parking vehicles and parking stall, and the initial position message to parking vehicles is calculated according to parking bit width and vehicle parameter；The position for treating parking vehicles is adjusted, to meet demand of parking；The calculating of vertical track of parking is carried out according to parking bit width and vehicle parameter, and parking vehicles are waited for according to TRAJECTORY CONTROL of vertically parking, and will be moored automatically to parking vehicles into parking stall；It can be effectively reduced the requirement for parking stall size, and automatic vertical carried out according to the parameter of vehicle and the size on parking stall and is parked the adjustment of process, greatly improve automatic vertical and park the applicability of method.
Description
Technical field
The present invention relates to automatic parking technical field, in particular to a kind of automatic vertical parks method, a kind of computer can
Read storage medium, a kind of computer equipment and a kind of automatic vertical parking apparatus.
Background technique
With the continuous development of computer technology, vehicle parking also gradually automates.
In the related technology, higher for the size requirements of vertical parking stall if to carry out automating vertically parks, in parking stall
When smaller, it tends to be difficult to realize that automation is vertically parked；Also, automation vertically parks method mostly according to the progress of specific vehicle
Exploitation, applicability are lower.
Summary of the invention
The present invention is directed to solve one of the technical problem in above-mentioned technology at least to a certain extent.For this purpose, of the invention
One purpose is to propose that a kind of automatic vertical is parked method, can be effectively reduced during automatic vertical is parked for parking stall
The requirement of size, and automatic vertical is carried out according to the parameter of vehicle and the size on parking stall and is parked the adjustment of process, significantly
Automatic vertical is improved to park the applicability of method.
Second object of the present invention is to propose a kind of computer readable storage medium.
Third object of the present invention is to propose a kind of computer equipment.
Fourth object of the present invention is to propose a kind of automatic vertical parking apparatus.
In order to achieve the above objectives, first aspect present invention embodiment proposes a kind of automatic vertical and parks method, including with
Lower step: the vehicle parameter to parking vehicles is obtained, and required according to parking described in vehicle parameter calculating to parking vehicles
Minimum parking bit width；It obtains in the obstacle information to parking vehicles side, and according to more in the obstacle information
The positional information calculation parking bit width of a barrier；Judge whether the parking bit width is greater than minimum parking bit width；Such as
Parking bit width described in fruit is greater than minimum parking bit width, then calculates described to opposite between parking vehicles and the parking stall
Location information, and the initial position message to parking vehicles is calculated according to the parking bit width and the vehicle parameter；
The position that information and the initial vehicle location information treat parking vehicles depending on that relative position is adjusted, so that institute
It states and meets demand of parking to the position of parking vehicles；Rail of vertically parking is carried out according to the parking bit width and the vehicle parameter
The calculating of mark, and vertically being parked described in TRAJECTORY CONTROL according to described to parking vehicles, by it is described moor automatically to parking vehicles into
Parking stall.
Automatic vertical according to an embodiment of the present invention is parked method, firstly, the vehicle parameter for treating parking vehicles is obtained
It takes, to be carried out being able to carry out the minimum parking parked corresponding to the vehicle according to the vehicle parameter to parking vehicles got
The calculating of bit width；Then, it when carrying out automatic parking, obtains in the obstacle information to parking vehicles side, and according to
The location information of multiple barriers carries out the calculating of parking bit width in the obstacle information；Then, judged according to calculated result
Whether parking bit width is greater than minimum parking bit width, to judge whether there is the parking for meeting automatic parking demand under current environment
Position；Then, if parking bit width is greater than minimum parking bit width, then it is assumed that the parking stall meets automatic parking demand, calculates
Vehicle to be parked is calculated to the relative position information between parking vehicles and the parking stall, and according to parking bit width and vehicle parameter
Initial position message, which is to carry out the minimum of present position when automatic vertical is parked when parking vehicles
It is required that；Then, the position that information and initial vehicle location information treat parking vehicles depending on the relative position is adjusted, so that
Position to parking vehicles meets demand of parking；Then, track of vertically parking is carried out according to parking bit width and vehicle parameter
It calculates, and according to the TRAJECTORY CONTROL band parking vehicles that vertically park, will moor automatically to parking vehicles into parking stall；Have to realize
Effect reduces requirement for parking stall size during automatic vertical is parked, and according to the big of the parameter of vehicle and parking stall
The small automatic vertical that carries out is parked the adjustment of process, is greatly improved automatic vertical and is parked the applicability of method.
In addition, the automatic vertical method of parking proposed according to that above embodiment of the present invention can also have following additional skill
Art feature:
Optionally, the initial vehicle location information includes initial X-axis value and initial Y-axis value, the relative position information
Including opposite X-axis value and opposite Y-axis value, wherein information and the initial vehicle location information are treated depending on that relative position
The position of parking vehicles is adjusted, so that the position to parking vehicles meets demand of parking, comprising: judge the phase
Whether the initial X-axis value is equal to X-axis value；If it is not, then being adjusted to the position to parking vehicles, so that institute
It states opposite X-axis value and is equal to the initial X-axis value；If it is, judging whether the opposite Y-axis value is more than or equal to the initial Y
Axis value；If it is not, then being adjusted to the position to parking vehicles, so that the opposite Y-axis value is equal to the initial Y
Axis value.
Optionally, the track of vertically parking includes directly parking track, wherein if the opposite Y-axis value greater than etc.
In the initial Y-axis value, then the corresponding collision to parking vehicles is carried out according to the initial Y-axis value and the vehicle parameter
The calculating of distance, and judge whether the opposite Y-axis value is greater than the initial Y-axis value and the collision distance and value, if
It is then to be moored automatically to parking vehicles into parking stall according to the track of directly parking by described.
Optionally, the track of vertically parking further includes straight track of parking, wherein if the opposite Y-axis value is greater than
Equal to the initial Y-axis value, and be less than the initial Y-axis value and the collision distance and value, then according to the vehicle parameter
The calculating of maximum parking bit width is carried out, and judges whether the parking bit width is more than or equal to maximum parking bit width, if
It is then to be moored automatically to parking vehicles into parking stall according to the track of directly parking by described；If it is not, then according to described direct
It parks track and the straight track of parking is moored described automatically to parking vehicles into parking stall.
Optionally, the initial X-axis value and the initial Y-axis value are calculated by the following formula:
Wherein, XminIndicate initial X-axis value, YminIndicate initial Y-axis value, R indicates described to rear shaft center, parking vehicles point
Turning radius, S indicate that parking bit width, W indicate described to parking vehicles' vehicle width.
Optionally, the collision distance is calculated by the following formula:
Wherein,Indicate that collision distance, R indicate described to rear shaft center, parking vehicles point turning radius, R4Indicate vehicle
Turning radius far from angle point behind the parking stall side, cos α5It indicates to straight line and vehicle to be parked where parking vehicles' rear axle
Turning the center of circle between line and the point of impingement and to parking vehicles turning the center of circle between line cosine value angle formed.
Optionally, the minimum parking bit width is calculated by the following formula:
Wherein, SminIndicate minimum parking bit width, R4Indicate turning of the vehicle far from angle point behind the parking stall side half
Diameter, W indicate vehicle vehicle width, and R indicates vehicle rear axle central point turning radius.
In order to achieve the above objectives, a kind of computer readable storage medium that second aspect of the present invention embodiment proposes, thereon
It is stored with automatic vertical to park program, which parks when program is executed by processor and realize that above-mentioned automatic vertical such as is moored
Vehicle method.
Computer readable storage medium according to an embodiment of the present invention is parked program by storing automatic vertical, so that
Automatic vertical program of parking is realized when being executed by processor as above-mentioned automatic vertical is parked method, is effectively reduced to realize
Requirement for parking stall size during automatic vertical is parked, and carried out according to the parameter of vehicle and the size on parking stall
Automatic vertical is parked the adjustment of process, is greatly improved automatic vertical and is parked the applicability of method.
In order to achieve the above objectives, a kind of computer equipment that third aspect present invention embodiment proposes, including memory, place
The computer program managing device and storage on a memory and can running on a processor, when the processor executes described program,
It realizes as above-mentioned automatic vertical is parked method.
Computer equipment according to an embodiment of the present invention stores computer program by memory, to handle
Device is realized as above-mentioned automatic vertical is parked method when executing the computer program, automatic vertical is effectively reduced to realize
For the requirement of parking stall size during parking, and automatic vertical is carried out according to the parameter of vehicle and the size on parking stall
The adjustment for process of parking greatly improves automatic vertical and parks the applicability of method.
In order to achieve the above object, a kind of automatic vertical parking apparatus that fourth aspect present invention embodiment proposes, comprising:
Module is obtained, the module that obtains is used to obtain the vehicle parameter to parking vehicles, and according to vehicle parameter calculating
The minimum parking bit width for parking required to parking vehicles；Detection module, the detection module are in vehicle to be parked for obtaining
The obstacle information of side, and stopped bit width according to the positional information calculation of barriers multiple in the obstacle information；
Judgment module, the judgment module is for judging whether the parking bit width is greater than minimum parking bit width；Computing module, institute
Computing module is stated for when the parking bit width is greater than minimum parking bit width, calculating is described to stop to parking vehicles with described
Relative position information between parking stall, and it is described to parking vehicles according to the parking bit width and vehicle parameter calculating
Initial position message；Module is adjusted, the adjustment module is for information and the initial vehicle position depending on that relative position
The position that information treats parking vehicles is adjusted, so that the position to parking vehicles meets demand of parking；It parks mould
Block, the module of parking are used to carry out the calculating of vertical track of parking according to the parking bit width and the vehicle parameter, and
It is vertically parked described in TRAJECTORY CONTROL to parking vehicles according to described, is moored described automatically to parking vehicles into parking stall.
Automatic vertical parking apparatus according to an embodiment of the present invention, setting obtain the vehicle parameter that module treats parking vehicles
It is obtained, and carries out the calculating of the parking bit width of minimum needed for parking vehicles according to vehicle parameter, so that automatic vertical
During directly parking, the requirement for the bit width that stops is reduced, and setting detection module is in the obstacle to parking vehicles side
Object information is obtained, and according to the positional information calculation of barriers multiple in obstacle information parking bit width, to judge
Module judges whether parking bit width is greater than minimum parking bit width and judges whether parking stall meets in other words according to calculated result
The demand that minimum automatic vertical is parked；Computing module is set when parking stall meets the needs of minimum automatic vertical is parked, is treated
Relative position information between parking vehicles and parking stall is calculated, and is carried out according to parking bit width and vehicle parameter wait moor
The calculating of the initial position message of vehicle vehicle, the initial position message will carry out automatic vertical to parking vehicles and park Shi Yuting
Minimum relative position between parking stall requires, thus, adjustment module can be believed in information and initial vehicle position depending on the relative position
The position that breath treats parking vehicles is adjusted, so that the position to parking vehicles meets demand of parking；To parking vehicles
Position adjustment finish after, module of parking carries out the calculating of track of vertically parking according to parking bit width and vehicle parameter, and
Parking vehicles are treated according to track of vertically parking to be controlled, will be moored automatically into parking stall to parking vehicles, so that realizing has
Effect reduces requirement for parking stall size during automatic vertical is parked, and according to the big of the parameter of vehicle and parking stall
The small automatic vertical that carries out is parked the adjustment of process, is greatly improved automatic vertical and is parked the applicability of method.
Detailed description of the invention
Fig. 1 is the flow diagram of method of being parked according to the automatic vertical of the embodiment of the present invention；
Fig. 2 is according to the embodiment of the present invention to parking vehicles and parking stall relative position schematic diagram；
Fig. 3 is to adjust flow diagram according to the initial position of the embodiment of the present invention；
Fig. 4 is the flow diagram of method of being parked according to the automatic vertical of another embodiment of the present invention；
Fig. 5 is according to the calculating of the point of impingement of the embodiment of the present invention and trajectory calculation schematic diagram；
Fig. 6 is the trajectory calculation coordinate system according to the embodiment of the present invention；
Fig. 7 is the block diagram according to the automatic vertical parking apparatus of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In order to better understand the above technical scheme, the exemplary reality that the present invention will be described in more detail below with reference to accompanying drawings
Apply example.Although showing exemplary embodiment of the present invention in attached drawing, it being understood, however, that may be realized in various forms this hair
It is bright and should not be limited by the embodiments set forth herein.It is to be able to thoroughly understand this on the contrary, providing these embodiments
Invention, and the scope of the present invention can be fully disclosed to those skilled in the art.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
Technical solution is stated to be described in detail.
Referring to Fig. 1, Fig. 1 is the flow diagram of method of being parked according to the automatic vertical that the embodiment of the present invention proposes, such as
Shown in Fig. 1, the automatic vertical park method the following steps are included:
S101 obtains vehicle parameter to parking vehicles, and calculated according to vehicle parameter park to parking vehicles it is required
Minimum parking bit width.
That is, the vehicle parameter for treating parking vehicles is obtained, so as to according to the design parameter of vehicle into
Row carries out the calculating of required minimum parking bit width when automatic vertical is parked when parking vehicles.
Wherein, vehicle parameter may include a variety of.
As an example, vehicle parameter includes: vehicle wheelbase, rear overhang length, vehicle commander, vehicle width, steering wheel for vehicle maximum turn
Angle.
Wherein, required minimum when parking vehicles' progress automatic vertical is parked is carried out according to the design parameter of vehicle to stop
The mode of the calculating of parking stall width can there are many.
As an example, minimum parking bit width is calculated by the following formula:
Wherein, SminIndicate minimum parking bit width, R4Indicate turning radius of the vehicle far from angle point behind the side of parking stall, W
Indicate vehicle vehicle width, R indicates vehicle rear axle central point turning radius.
To carry out minimum parking bit width required for automatic vertical is parked to current vehicle according to vehicle parameter and carry out
It calculates, can effectively reduce automatic vertical and park requirement of the process for parking stall size, improve automatic vertical and park the suitable of method
The property used.
S102 is obtained in the obstacle information to parking vehicles side, and according to barriers multiple in obstacle information
Positional information calculation stop bit width.
That is, obtaining the information in the barrier to parking vehicles' lateral location, and according to the obstacle got
The location information of multiple barriers carries out the calculating of parking bit width in object information.
Wherein, obtain in parking vehicles side obstacle information mode can there are many.
As an example, it is detected by the barrier that ultrasonic sensor treats parking vehicles side, to pass through
The position of the barrier of ultrasonic sensor opposite side is obtained, thus, the location information for getting multiple barriers it
Afterwards, the calculating of parking bit width can be carried out according to the location information of multiple barriers.
As another example, clapped by pattern recognition device in the obstructions chart picture to parking vehicles side
It takes the photograph, to carry out image recognition to the obstructions chart picture got by pattern recognition device, and is according to recognition result calculating
The location information of barrier to parking vehicles side, to carry out parking bit width according to the location information of multiple barriers
It calculates.
S103, judges whether parking bit width is greater than minimum parking bit width.
S104 is calculated if parking bit width is greater than minimum parking bit width between parking vehicles and parking stall
Relative position information, and the initial position message according to parking bit width and vehicle parameter calculating to parking vehicles.
That is, if parking bit width is greater than minimum parking bit width, then it is assumed that the parking stall is effective parking stall,
It can carry out automatic vertical to park, and calculate and stop to the relative position information between parking vehicles and parking stall, and according to this
The width of parking stall and the calculating that the initial position message to parking vehicles is carried out to the vehicle parameter of parking vehicles, the initial position
Information refers to can satisfy will moor the locality condition to parking vehicles into the parking stall to parking vehicles' automatic vertical.
As an example, as shown in Fig. 2, ZOKQ is to indicate that parking bit width is greater than the symbol of minimum parking bit width in figure
The parking stall of conjunction condition, wherein point Z is the left front angle point on the parking stall, and point O is angle point before the right side on the parking stall, firstly, by point
Z carries out the foundation of rectangular coordinate system as origin, then, using point E (to rear shaft center, parking vehicles point) as to parking vehicles
The basic point of position, thus, the situation in situation known to obstacle position information, i.e. known to the location information of point Z and point O
Under, the calculating of the coordinate (X, Y) of point E can be carried out according to the location information, and the coordinate of point E (X, Y) is used as vehicle to be parked
Relative position information between parking stall.
Wherein, being calculated according to parking bit width and vehicle parameter can have to the mode of the initial position message of parking vehicles
It is a variety of.
As an example, initial position message includes initial X-axis value and initial Y-axis value, wherein initial X-axis value is available
XminIt indicates, initial Y-axis value can use YminIt indicates, then initial X-axis value and the initial Y-axis value are calculated by the following formula:
Wherein, XminIndicate initial X-axis value, YminIndicate initial Y-axis value, R indicates described to rear shaft center, parking vehicles point
Turning radius, S indicate that parking bit width, W indicate described to parking vehicles' vehicle width.
It is completed with this for carry out waiting for that parking vehicles need to expire when automatic vertical is parked in current parking stall when parking vehicles
The calculating of the initial position condition of foot.
S105, the position that information and initial vehicle location information treat parking vehicles depending on the relative position are adjusted, with
So that the position to parking vehicles meets demand of parking.
That is, believing depending on the relative position after initial vehicle location information and relative position information are calculated
The position that breath and initial vehicle location information treat parking vehicles is adjusted, so that full to parking vehicles position adjusted
Foot carries out automatic vertical in current parking stall and parks.
S106 carries out the calculating of vertical track of parking according to parking bit width and vehicle parameter, and according to rail of vertically parking
Mark is controlled to parking vehicles, will be moored automatically to parking vehicles into parking stall.
Wherein, the position that information and initial vehicle location information treat parking vehicles depending on the relative position is adjusted, with
Position to parking vehicles is met there are many modes for demand of parking.
As an example, directly information and initial vehicle location information travel to parking vehicles depending on the relative position
The calculating of track, will be moved on initial vehicle position to parking vehicles according to wheelpath.
In some embodiments, initial vehicle location information includes initial X-axis value and initial Y-axis value, relative position information
Including opposite X-axis value and opposite Y-axis value, in order to improve for the regulated efficiency to parking vehicles' initial vehicle position, such as Fig. 3 institute
Showing, the position that information and the initial vehicle location information treat parking vehicles depending on that relative position is adjusted, so that
It obtains the position to parking vehicles and meets demand of parking, comprising:
S201, judges whether opposite X-axis value is equal to initial X-axis value；If not, S202 is thened follow the steps, if it is, holding
Row step S203.
S202, the position for treating parking vehicles are adjusted, so that opposite X-axis value is equal to initial X-axis value；And in position
Adjustment executes step S203 after completing.
S203, judges whether opposite Y-axis value is more than or equal to initial Y-axis value；If not, S204 is thened follow the steps,
S204, the position for treating parking vehicles are adjusted, so that opposite Y-axis value is equal to initial Y-axis value.
It as an example, is (X, Y) to the current location information of parking vehicles, according to the vehicle parameter to parking vehicles
Calculating the resulting initial position message to parking vehicles with parking stall width is (Xmin, Ymin), first, it is determined that the value of X whether
Equal to Xmin, if it is not, then the position for treating parking vehicles is adjusted, the position to parking vehicles is adjusted to (Xmin,
Y), further, judge whether the value of Y is more than or equal to Ymin, if it is not, then the position for treating parking vehicles is adjusted, it will
Position to parking vehicles is adjusted to (Xmin, Ymin), if it is, indicating that the current location to parking vehicles meets initial position
Demand, without adjustment, complete to make the adjustment to parking vehicles' initial position it to meet the need that automatic vertical is parked with this
It asks.
In some embodiments, track of vertically parking includes directly parking track and straight track of parking, in order to improve
The automatic vertical that inventive embodiments propose parks method for carrying out the efficiency that automatic vertical is parked to parking vehicles, reduces automatic
For the adjustment number to parking vehicles during vertically parking, as shown in figure 4, the automatic vertical method of parking includes following step
It is rapid:
S301 obtains vehicle parameter to parking vehicles, and calculated according to vehicle parameter park to parking vehicles it is required
Minimum parking bit width.
S302 is obtained in the obstacle information to parking vehicles side, and according to barriers multiple in obstacle information
Positional information calculation stop bit width.
S303, judges whether parking bit width is greater than minimum parking bit width；If so, S304 is thened follow the steps, if
It is no, then exit automatic parking.
S304 is calculated to the relative position information between parking vehicles and parking stall, and according to parking bit width and vehicle
Parameter calculates the initial position message to parking vehicles.
Above step S301- step S304 is consistent about the automatic vertical associated description of method of parking with Fig. 1, herein not
It repeats.
S305, judges whether opposite X-axis value is equal to initial X-axis value, if so, S307 is thened follow the steps, if it is not, then holding
Row step S306.
S306, the position for treating parking vehicles are adjusted, so that opposite X-axis value is equal to initial X-axis value；And in position
Adjustment executes step S307 after completing.
S307, judges whether opposite Y-axis value is more than or equal to initial Y-axis value, if so, S309 is thened follow the steps, if not,
Then follow the steps S308.
S308, the position for treating parking vehicles are adjusted, so that opposite Y-axis value is equal to initial Y-axis value, and in position
Adjustment executes step S312 after completing.
That is, being unsatisfactory for initial position condition if opposite Y-axis value is less than initial Y-axis value, then needing to treat pool
The current location of vehicle vehicle is adjusted.
S309 is corresponded to the calculating of the collision distance to parking vehicles according to initial Y-axis value and vehicle parameter.
That is, if opposite Y-axis value is more than or equal to initial Y-axis value, further treat the collisions of parking vehicles away from
From calculating calculated.
As an example, as shown in figure 5, point E is rear shaft center's point to parking vehicles, point B1It is vehicle far from parking
The rear angle point of position side, point B2For vehicle according to directly park the track parking stall Bo Ru when, after vehicle is far from parking stall side
The point of impingement that angle point and parking stall collide, thus, by point of impingement B2The conduct of the distance between the left front angle point in parking stall
Collision distance, the collision distance can be calculated by the following formula:
Wherein,Indicate that collision distance, R indicate described to rear shaft center, parking vehicles point turning radius, R4Indicate vehicle
Turning radius far from angle point behind the parking stall side, cos α5It indicates to straight line and vehicle to be parked where parking vehicles' rear axle
Turning the center of circle between line and the point of impingement and to parking vehicles turning the center of circle between line cosine value angle formed.
S310 judges whether opposite Y-axis value is greater than initial Y-axis value and collision distance and value, if so, thening follow the steps
S311, if not, thening follow the steps S312.
S311, according to directly parking, track will be moored automatically to parking vehicles into parking stall.
That is, if opposite Y-axis value is greater than initial Y-axis value and collision distance and value, indicates vehicle according to direct
Track of parking park and will not collide with parking stall, then will be moored automatically to parking vehicles according to track of directly parking into stopping
Parking stall, to reduce the adjustment number during vehicle automatic vertical is parked.
S312 carries out the calculating of maximum parking bit width according to vehicle parameter.
S313, judges whether parking bit width is more than or equal to maximum parking bit width, if so, S314 is thened follow the steps,
If not, thening follow the steps S315.
S314, according to directly parking, track will be moored automatically to parking vehicles into parking stall.
S315, according to directly parking track and straight track of parking will moor automatically to parking vehicles into parking stall.
In other words, if opposite Y-axis value is more than or equal to initial Y-axis value, and opposite Y-axis value is less than or equal to initial Y-axis value and touches
Hit distance and value, then the calculating of maximum parking bit width is further carried out according to vehicle parameter, if parking bit width is greater than
Equal to maximum parking bit width, then it represents that being parked to parking vehicles according to track progress automatic vertical of directly parking will not be with parking
Position collides, then will be moored automatically to parking vehicles into parking stall according to track of directly parking；If the bit width that stops is less than most
Big parking bit width, then according to directly parking track and straight track of parking will moor automatically to parking vehicles into parking stall.
As an example, maximum parking bit width can be calculate by the following formula:
Smax=2R4-2R
Wherein, SmaxIndicate maximum parking bit width, R4Indicate turning of the vehicle far from angle point behind the parking stall side half
Diameter, R indicate vehicle rear axle central point turning radius.
When the parking bit width of current parking stall is S, if Smin< S < Smax, then park track pair according to straight line
After being parked to parking vehicles, further, it is adjusted according to the position that parking vehicles are treated in straight track of parking, with
Treated after parking vehicles are adjusted, will be directly being moored to parking vehicles into parking stall by straight track of parking, complete to
The automatic vertical of parking vehicles is parked process.
Wherein, the calculation of straight track of parking can there are many.
As an example, as shown in Figure 5 and Figure 6, after according to the calculating such as the above-mentioned point of impingement, it is known that the point of impingement
B2Coordinate beThen, according to point of impingement B2Coordinate, initial X-axis value, vehicle is far from angle point behind the side of parking stall
Turning radius, current parking stall width S3, to the long L of parking vehicles' rear overhang1, to parking vehicles width W, vehicle rear axle central point
Turning radius R carries out angle a respectively1、a2、a3、a4Calculating and the straight track transit point E that parks3、E4、E5Coordinate meter
It calculates, it is thus possible to straight track of parking be determined according to calculated result, to treat the position of parking vehicles according to straight track of parking
Set and be adjusted so that adjustment after to the vehicle centre-line of parking vehicles and the centerline on parking stall in same straight line
On.
Automatic vertical according to an embodiment of the present invention is parked method, firstly, the vehicle parameter for treating parking vehicles is obtained
It takes, to be carried out being able to carry out the minimum parking parked corresponding to the vehicle according to the vehicle parameter to parking vehicles got
The calculating of bit width；Then, it when carrying out automatic parking, obtains in the obstacle information to parking vehicles side, and according to
The location information of multiple barriers carries out the calculating of parking bit width in the obstacle information；Then, judged according to calculated result
Whether parking bit width is greater than minimum parking bit width, to judge whether there is the parking for meeting automatic parking demand under current environment
Position；Then, if parking bit width is greater than minimum parking bit width, then it is assumed that the parking stall meets automatic parking demand, calculates
Vehicle to be parked is calculated to the relative position information between parking vehicles and the parking stall, and according to parking bit width and vehicle parameter
Initial position message, which is to carry out the minimum of present position when automatic vertical is parked when parking vehicles
It is required that；Then, the position that information and initial vehicle location information treat parking vehicles depending on the relative position is adjusted, so that
Position to parking vehicles meets demand of parking；Then, track of vertically parking is carried out according to parking bit width and vehicle parameter
It calculates, and according to the TRAJECTORY CONTROL band parking vehicles that vertically park, will moor automatically to parking vehicles into parking stall；Have to realize
Effect reduces requirement for parking stall size during automatic vertical is parked, and according to the big of the parameter of vehicle and parking stall
The small automatic vertical that carries out is parked the adjustment of process, is greatly improved automatic vertical and is parked the applicability of method.
In order to realize that above-described embodiment, a kind of computer readable storage medium that the embodiment of the present invention proposes store thereon
There is automatic vertical to park program, which parks when program is executed by processor and realize such as the above-mentioned automatic vertical side of parking
Method.
Computer readable storage medium according to an embodiment of the present invention is parked program by storing automatic vertical, so that
Automatic vertical program of parking is realized when being executed by processor as above-mentioned automatic vertical is parked method, is effectively reduced to realize
Requirement for parking stall size during automatic vertical is parked, and carried out according to the parameter of vehicle and the size on parking stall
Automatic vertical is parked the adjustment of process, is greatly improved automatic vertical and is parked the applicability of method.
In order to realize above-described embodiment, a kind of computer equipment that the embodiment of the present invention proposes, including memory, processor
And the computer program that can be run on a memory and on a processor is stored, when the processor executes described program, realize
As above-mentioned automatic vertical is parked method.
Computer equipment according to an embodiment of the present invention stores computer program by memory, to handle
Device is realized as above-mentioned automatic vertical is parked method when executing the computer program, automatic vertical is effectively reduced to realize
For the requirement of parking stall size during parking, and automatic vertical is carried out according to the parameter of vehicle and the size on parking stall
The adjustment for process of parking greatly improves automatic vertical and parks the applicability of method.
In order to realize above-described embodiment, as shown in fig. 7, a kind of automatic vertical parking apparatus that the embodiment of the present invention proposes,
It include: to obtain module 10, detection module 20, judgment module 30, computing module 40, adjustment module 50 and module 60 of parking.
Wherein, it obtains module 10 to be used to obtain the vehicle parameter to parking vehicles, and is calculated according to vehicle parameter wait park
The parking bit width of minimum needed for vehicle parking；
Detection module 20 is used to obtain the obstacle information in parking vehicles side, and according to more in obstacle information
The positional information calculation parking bit width of a barrier；
Judgment module 30 is for judging whether parking bit width is greater than minimum parking bit width；
Computing module 40 is used to calculate when the bit width that stops is greater than minimum parking bit width to parking vehicles and parking stall
Between relative position information, and initial position message to parking vehicles is calculated according to parking bit width and vehicle parameter；
Adjustment module 50 for information and initial vehicle location information depending on the relative position treat the positions of parking vehicles into
Row adjustment, so that the position to parking vehicles meets demand of parking；
Module of parking 60 is used to carry out the calculating of vertical track of parking according to parking bit width and vehicle parameter, and according to vertical
TRAJECTORY CONTROL of directly parking waits for parking vehicles, will moor automatically to parking vehicles into parking stall.
It should be noted that above-mentioned be equally applicable to the automatic vertical such as the description as described in method of parking of automatic vertical in Fig. 1
Parking apparatus, this will not be repeated here.
In conclusion automatic vertical parking apparatus according to an embodiment of the present invention, setting obtains module and treats parking vehicles
Vehicle parameter obtained, and according to vehicle parameter carry out minimum needed for parking vehicles parking bit width calculating, with
So that the requirement for the bit width that stops reduces, and setting detection module is in parking vehicles during automatic vertical is parked
The obstacle information of side is obtained, and according to the positional information calculation of barriers multiple in obstacle information parking bit wide
Degree, so that judgment module judges whether parking bit width is greater than minimum parking bit width and judges to stop in other words according to calculated result
Whether position meets minimum automatic vertical the needs of parking；Computing module is set and meets the need that minimum automatic vertical is parked on parking stall
When asking, the relative position information treated between parking vehicles and parking stall is calculated, and is joined according to parking bit width and vehicle
Number carries out the calculating of the initial position message to parking vehicles, which will carry out automatic vertical to parking vehicles
Minimum relative position when parking between parking stall requires, thus, adjustment module can information and initial depending on the relative position
The position that vehicle position information treats parking vehicles is adjusted, so that the position to parking vehicles meets demand of parking；In
After position adjustment to parking vehicles finishes, module of parking carries out track of vertically parking according to parking bit width and vehicle parameter
Calculating, and treat parking vehicles according to track of vertically parking and controlled, will be moored automatically to parking vehicles into parking stall, from
And realize the requirement being effectively reduced during automatic vertical is parked for parking stall size, and according to the parameter of vehicle and stop
The size of parking stall carries out automatic vertical and parks the adjustment of process, greatly improves automatic vertical and parks the applicability of method.
It should be understood by those skilled in the art that, the embodiment of the present invention can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the present invention, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
It should be noted that in the claims, any reference symbol between parentheses should not be configured to power
The limitation that benefit requires.Word "comprising" does not exclude the presence of component or step not listed in the claims.Before component
Word "a" or "an" does not exclude the presence of multiple such components.The present invention can be by means of including several different components
It hardware and is realized by means of properly programmed computer.In the unit claims listing several devices, these are filled
Several in setting, which can be, to be embodied by the same item of hardware.The use of word first, second, and third is not
Indicate any sequence.These words can be construed to title.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indication or suggestion relative importance or implicitly indicates the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include one or more of the features.In the description of the present invention,
The meaning of " plurality " is two or more, unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It is interpreted as that identical embodiment or example must be directed to.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
- A kind of method 1. automatic vertical is parked, which comprises the following steps:Obtain vehicle parameter to parking vehicles, and according to the vehicle parameter calculate it is described to parking vehicles park it is required most Small parking bit width；It obtains in the obstacle information to parking vehicles side, and according to the position of barriers multiple in the obstacle information Information calculates parking bit width；Judge whether the parking bit width is greater than minimum parking bit width；If the parking bit width is greater than minimum parking bit width, calculate described between parking vehicles and the parking stall Relative position information, and the initial position to parking vehicles is calculated according to the parking bit width and the vehicle parameter Information；The position that information and the initial vehicle location information treat parking vehicles depending on that relative position is adjusted, so that It obtains the position to parking vehicles and meets demand of parking；The calculating of vertical track of parking is carried out according to the parking bit width and the vehicle parameter, and is vertically parked according to described To parking vehicles described in TRAJECTORY CONTROL, moored described automatically to parking vehicles into parking stall.
- The method 2. automatic vertical as described in claim 1 is parked, which is characterized in that the initial vehicle location information includes just Beginning X-axis value and initial Y-axis value, the relative position information include opposite X-axis value and opposite Y-axis value, wherein according to described opposite The position that location information and the initial vehicle location information treat parking vehicles is adjusted, so that described to parking vehicles Position meet and park demand, comprising:Judge whether the opposite X-axis value is equal to the initial X-axis value；If it is not, then being adjusted to the position to parking vehicles, so that the opposite X-axis value is equal to the initial X Axis value；If it is, judging whether the opposite Y-axis value is more than or equal to the initial Y-axis value；If it is not, then being adjusted to the position to parking vehicles, so that the opposite Y-axis value is equal to the initial Y Axis value.
- The method 3. automatic vertical as claimed in claim 2 is parked, which is characterized in that the track of vertically parking includes directly mooring Wheel paths, wherein if the opposite Y-axis value is more than or equal to the initial Y-axis value, according to the initial Y-axis value and described Vehicle parameter carries out the calculating of the corresponding collision distance to parking vehicles, and judges whether the opposite Y-axis value is greater than institute State initial Y-axis value and the collision distance and value, if it is, directly being parked described in the general of track according to described to parking vehicles Automatically it moors into parking stall.
- The method 4. automatic vertical as claimed in claim 3 is parked, which is characterized in that the track of vertically parking further includes straight It parks track, wherein if the opposite Y-axis value is more than or equal to the initial Y-axis value, and be less than the initial Y-axis value and institute State collision distance and value, then the calculating of maximum parking bit width is carried out according to the vehicle parameter, and judge the parking stall Whether width is more than or equal to maximum parking bit width, if it is, will be described to parking vehicles according to the track of directly parking Automatically it moors into parking stall；If it is not, then according to track and the straight track of parking of directly parking by the vehicle to be parked It moors automatically into parking stall.
- The method 5. automatic vertical as claimed in claim 2 is parked, which is characterized in that the initial X-axis value and the initial Y-axis Value is calculated by the following formula:Wherein, XminIndicate initial X-axis value, YminIndicate initial Y-axis value, R indicates described and turns to rear shaft center, parking vehicles point Radius, S indicate that parking bit width, W indicate described to parking vehicles' vehicle width.
- The method 6. automatic vertical as claimed in claim 3 is parked, which is characterized in that the collision distance passes through following formula meter It calculates:Wherein,Indicate that collision distance, R indicate described to rear shaft center, parking vehicles point turning radius, R4Indicate that vehicle is separate The turning radius of angle point, cos α behind the parking stall side5It indicates to turn to straight line where parking vehicles' rear axle and to parking vehicles Between the curved center of circle line and the point of impingement and to parking vehicles turning the center of circle between line cosine value angle formed.
- The method 7. such as automatic vertical of any of claims 1-6 is parked, which is characterized in that the minimum parking bit wide Degree is calculated by the following formula:Wherein, SminIndicate minimum parking bit width, R4Indicate turning radius of the vehicle far from angle point behind the parking stall side, W Indicate vehicle vehicle width, R indicates vehicle rear axle central point turning radius.
- 8. a kind of computer readable storage medium, which is characterized in that it is stored thereon with automatic vertical and parks program, the automatic vertical It is realized when program of parking is executed by processor as automatic vertical of any of claims 1-7 is parked method.
- 9. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor Calculation machine program, which is characterized in that when the processor executes described program, realize as of any of claims 1-4 Automatic vertical is parked method.
- 10. a kind of automatic vertical parking apparatus characterized by comprisingModule is obtained, the module that obtains is used to obtain the vehicle parameter to parking vehicles, and calculates according to the vehicle parameter The required minimum parking bit width of parking to parking vehicles；Detection module, the detection module are used to obtain the obstacle information in parking vehicles side, and according to the barrier Hinder the positional information calculation parking bit width of multiple barriers in object information；Judgment module, the judgment module is for judging whether the parking bit width is greater than minimum parking bit width；Computing module, the computing module are used for when the parking bit width is greater than minimum parking bit width, calculate described in Relative position information between parking vehicles and the parking stall, and calculated according to the parking bit width and the vehicle parameter The initial position message to parking vehicles；Module is adjusted, the adjustment module is for information and the initial vehicle location information to treat pool depending on that relative position The position of vehicle vehicle is adjusted, so that the position to parking vehicles meets demand of parking；It parks module, the module of parking is for carrying out vertical track of parking according to the parking bit width and the vehicle parameter Calculating, and vertically parked described in TRAJECTORY CONTROL according to described to parking vehicles, moored described automatically to parking vehicles into stopping Parking stall.
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