CN111547045A - Automatic parking method and device for vertical parking spaces - Google Patents

Automatic parking method and device for vertical parking spaces Download PDF

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Publication number
CN111547045A
CN111547045A CN202010366025.9A CN202010366025A CN111547045A CN 111547045 A CN111547045 A CN 111547045A CN 202010366025 A CN202010366025 A CN 202010366025A CN 111547045 A CN111547045 A CN 111547045A
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vehicle
point
parking
track
parking space
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CN111547045B (en
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蒋才科
林泽蓬
刘继平
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Huizhou Foryou General Electronics Co Ltd
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Huizhou Foryou General Electronics Co Ltd
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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
    • 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
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention provides a method and a device for automatic parking in a vertical parking space, wherein the method comprises the following steps: step 1, receiving a parking instruction, and controlling a vehicle to move forward at a preset vehicle speed; step 2, identifying a proper empty parking space; step 3, after a proper empty parking space is detected, controlling the vehicle to pre-occupy the parking space, wherein the pre-occupied parking space comprises planning and executing straight advancing and left steering advancing; and 4, backing up and warehousing, including planning and executing right steering, backing up and warehousing. The invention improves the success rate of automatic parking.

Description

Automatic parking method and device for vertical parking spaces
Technical Field
The invention relates to the technical field of automatic parking, in particular to a vertical parking space automatic parking method and device.
Background
With the development of the automatic parking sensor technology of the automobile and the improvement of the automatic parking software algorithm, the automatic parking technology is more and more mature. In the existing automatic parking technology, after a vehicle detects a garage, the vehicle needs to completely drive away from the detected parking space until the vehicle is parallel to the next parking space, and then automatic parking is performed. After the vehicle drives away from the detected parking space, the vehicle may be seized by the following vehicle, so that the target parking route is blocked by the following vehicle, and automatic parking cannot be performed.
Therefore, the prior art is in need of further improvement.
Disclosure of Invention
The invention provides a method and a device for automatic parking in a vertical parking space, aiming at overcoming the defects in the prior art and improving the success rate of automatic parking.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention provides an automatic parking method for vertical parking spaces, which comprises the following steps:
step 1, receiving a parking instruction, and controlling a vehicle to move forward at a preset vehicle speed;
step 2, identifying a proper empty parking space;
step 3, after a proper empty parking space is detected, controlling the vehicle to pre-occupy the parking space, wherein the pre-occupied parking space comprises planning and executing straight advancing and left steering advancing;
and 4, backing up and warehousing, including planning and executing right steering, backing up and warehousing.
Specifically, the step 2 includes:
step 201, identifying a head right angular point f of a vehicle in a parking space behind a current undetermined parking space;
step 202, identifying a near-end left corner point Q1 of the current undetermined parking space;
step 203, establishing a parking space plane coordinate system XOY by taking a near-end left corner point Q1 point of the currently undetermined parking space as an original point O;
step 204, detecting the size of the current undetermined parking space;
and step 205, judging whether the current undetermined parking space is a proper empty parking space.
Specifically, the step 205 includes:
step 2051, judging whether the difference between the length of the current undetermined parking space and the length of the vehicle is greater than a preset safety length, judging whether the difference between the width of the current undetermined parking space and the width of the vehicle is greater than a preset safety width, if so, entering the next step, and otherwise, judging that the current undetermined parking space is an improper parking space;
and step 2052, judging whether the obstacle exists in the current undetermined parking space, if so, judging that the current undetermined parking space is an unsuitable parking space, and otherwise, judging that the current undetermined parking space is a suitable empty parking space.
Specifically, the step of planning and executing a straight line progression comprises:
step 31a, acquiring the initial coordinate of the first mark point C1;
step 31b, calculating a straight-ahead track equation of the first marker point C1;
step 31C, determining a first distance l from the first marking point C1 to the track end point E1 when the first marking point C1 travels straight forward according to the straight forward track equation1；
Step 31d, calculating the first travel distance s of the vehicle according to the travel speed v of the vehicle1；
Step 31e, detecting whether an obstacle exists on the movement track of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing step 31 g;
step 31f, judging whether the information of canceling the parking is received or not, if so, ending the parking, otherwise, returning to the step 31 e;
step 31g, determining the first travel distance s1Is equal to the first distance/1If yes, the straight advance is judged to be completed, otherwise, the step 31e is returned.
Specifically, the equation of the straight-ahead trajectory is:
(y11-y10)(x-x10)＝(x11-x10)(y-y10)
wherein x11 and y11 are coordinate values of the first mark point C1 straight-ahead trajectory end point E1.
Specifically, the step of planning and executing a left turn forward comprises:
step 32a, taking the end point E1 of the straight-line advance track of the first marking point C1 as the initial coordinate of the first marking point C1 in the left-turning advance stage;
step 32b, calculating a boundary constraint equation set of the left turning and advancing track of the vehicle;
step 32C, calculating a left-turning forward track equation of the first marker point C1;
step 32d, according to the left-turning forward track equation and the left-turning forwardCalculating a first steering swing angle theta of the first marker point C1 driving to the left-turn forward to the track end point M1 by using a boundary constraint equation system of the track1；
Step 32e, calculating a first driving yaw angle of the vehicle according to the driving speed v of the vehicle
Figure BDA0002476773420000032
Step 32f, detecting whether an obstacle exists on the movement track of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing step 32 h;
step 32g, judging whether information for canceling the parking is received or not, if so, ending the parking, otherwise, returning to the step 32 f;
step 32h, judging the first driving yaw angle
Figure BDA0002476773420000033
Whether or not equal to the first yaw angle theta1If yes, the left-hand steering advancing is judged to be completed, otherwise, the step 32f is returned to.
Specifically, the boundary constraint equation set of the left-turn forward trajectory is as follows:
Figure BDA0002476773420000031
wherein K represents the width of the vehicle body; r1A turning circle radius indicating a left turning and advancing trajectory of the vehicle; xo (x)1、yo1The coordinate value of the circle center of the left turning forward track of the vehicle is represented; theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; d0 represents the vertical distance between the front boundary line of the parking space and the right side of the vehicle to the vehicle body; d4 represents the vertical distance between the left side of the vehicle and the vehicle body and the nearest obstacle; d1 represents the safe distance between the fourth marking point C4 and the left obstacle during the left steering and advancing process of the vehicle; x11 and y11 represent coordinate values of the first marking point C1 straight-ahead trajectory end point E1; x12 and y12 represent coordinate values of the first marking point C1 for the left-hand steering and advancing track end point M1; x22 represents the second marker point C2 turns leftThe abscissa value of the forward trajectory end point M2; y42 represents the ordinate value of the fourth marker point C4 left-hand steer forward trajectory end point M4; and x2 and y2 represent coordinate values of a left corner point Q2 at the far end of the empty space.
Specifically, the left-hand steering advancing trajectory equation is:
(x-xo1)2+(y-yo1)2＝(x11-xo1)2+(y11-yo1)2
wherein xo1、yo1A steering circle center coordinate value representing a left steering advancing track of the vehicle; x11 and y11 represent coordinate values of the first marking point C1 straight-ahead trajectory end point E1.
Specifically, the step of planning and executing right steering and reversing comprises:
step 41a, taking the left steering advancing track end point M1 of the first mark point C1 as the initial coordinate of the right steering backing stage of the first mark point C1;
step 41b, determining a boundary constraint equation set of the right steering and backing track of the vehicle;
step 41C, calculating a right steering and reversing trajectory equation of the first mark point C1;
step 41d, determining a second steering pivot angle theta of the first mark point C1 from the right steering reversing track equation to the track end point N1 according to the right steering reversing track equation and the boundary constraint equation set of the right steering reversing track2；
Step 41e, calculating a second driving yaw angle of the vehicle according to the driving speed v of the vehicle
Figure BDA0002476773420000041
Step 41f, detecting whether an obstacle exists on the movement track of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing step 41 h;
step 41g, judging whether information for canceling the parking is received or not, if so, ending the parking, otherwise, returning to step 41 f;
step 41h, judging the second driving yaw angle
Figure BDA0002476773420000042
Whether or not equal to the second running yaw angle theta2If yes, the right steering and reversing are judged to be finished, otherwise, the step 41f is executed.
Specifically, the boundary constraint equation set of the right steering backing track is as follows:
Figure BDA0002476773420000051
wherein K represents the width of the vehicle body; r1A turning circle radius indicating a left turning and advancing trajectory of the vehicle; r2A steering circle radius representing a right steering and backing track of the vehicle; d2 shows the safe distance from the third mark point C3 to the empty parking space near-end left corner point Q1 in the process of turning the vehicle right and backing the vehicle; d3 represents the safe distance from the first mark point C1 to the empty parking space far-end left corner point Q2 in the process of turning the vehicle right and backing the vehicle; xo (x)1、yo1A steering circle center coordinate value representing a left steering advancing track of the vehicle; xo (x)2、yo2A steering circle center coordinate value representing a right steering and backing track of the vehicle; theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; theta2A second steering pivot angle representing a right steering and backing track of the vehicle; x12 and y12 represent coordinate values of the first marking point C1 for the left-hand steering and advancing track end point M1; x13 and y13 represent coordinate values of the first marking point C1 right steering reversing track end point N1; thetaN1A steering angle indicating a relative initial position of the host vehicle; x1 and y1 represent coordinate values of a left corner point Q1 at the near end of the empty parking space; x33 and y33 represent coordinate values of the third marking point C3 of the right steering and reversing track end point N3.
Specifically, the right steering and reversing trajectory equation is as follows:
(x-xo2)2+(y-yo2)2＝(x12-xo2)2+(y12-yo2)2
in the formula, xo2、yo2Steering circle center coordinate for representing right steering and backing track of vehicleThe value is obtained.
Specifically, the step of planning and executing warehousing comprises:
step 42a, taking the end point N1 of the right-turning backing track of the first marking point C1 as the initial coordinate of the first marking point C1 in the warehousing stage;
step 42b, determining a boundary constraint equation set of the vehicle warehousing track;
42C, calculating a warehousing track equation of the first mark point C1;
step 42d, determining a second distance l from the first marking point C1 to the track end point P1 during the warehousing driving according to the warehousing track equation and the boundary constraint equation set of the warehousing track2；
Step 42e, calculating a second driving distance s for the vehicle to enter the garage according to the driving speed v of the vehicle2；
Step 42f, detecting whether an obstacle exists on the motion trail of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing step 42 h;
step 42g, judging whether information for canceling the parking is received or not, if so, ending the parking, otherwise, returning to step 42 f;
step 42h, judging the second driving distance s2Is equal to the second distance/2If yes, the warehousing is judged to be completed, otherwise, the step 42f is returned.
Specifically, the boundary constraint equation set of the warehousing trajectory is as follows:
Figure BDA0002476773420000061
wherein x14 and y14 represent coordinate values of the first marking point C1 warehousing track end point P1; thetap1A steering angle indicating a relative initial position of the vehicle; y3 represents the longitudinal coordinate value of the right corner Q3 at the far end of the empty parking space; y24 represents the ordinate value of the second mark point C2 warehousing track end point P2; y34 represents the ordinate value of the third mark point C3 warehousing track end point P3; d4 represents the safety distance from the second mark point C2 to the rear boundary line Q3Q4 when parking is finished; d5 denotes time to stopAnd the safety distance from the point C3 to the rear boundary line Q3Q4 of the parking space.
Specifically, the warehousing trajectory equation is:
(y13-y14)(x-x13)＝(x13-x14)(y-y13)
wherein x13 and y13 represent coordinate values of a first marking point C1 right steering backing track end point N1; x14 and y14 represent coordinate values of the first marking point C1 warehousing track end point P1.
In another aspect, the present invention provides an automatic parking device for vertical parking spaces, comprising:
the system comprises a processing module, a lateral camera, a lateral long-distance radar, a front short-distance radar array, a rear short-distance radar array and a human-computer interaction module, wherein the lateral camera, the lateral long-distance radar, the front short-distance radar array, the rear short-distance radar array and the human-computer interaction module are connected with the processing module;
the lateral camera is used for acquiring an environment image around the vehicle body;
the lateral remote radar is used for detecting the depth of the parking space;
the front short-distance radar array and the rear short-distance radar array are used for acquiring barrier distance information;
the processing module is used for processing the data of the camera and the radar, carrying out parking space identification, obstacle identification, planning a parking route and executing parking control;
the human-computer interaction module is used for inputting an automatic parking instruction.
Specifically, the processing module comprises a parking space identification unit, a track calculation unit, an obstacle detection unit, a track judgment unit and a parking cancellation unit; the parking space identification unit, the track calculation unit and the track judgment unit are sequentially connected, and the obstacle detection unit is also connected with the track judgment unit and the parking cancellation unit;
the parking space identification unit is used for finishing parking space identification detection according to data sent by the lateral camera and the lateral remote radar;
the track calculation unit is used for calculating a boundary constraint equation set and a track equation of each stage of automatic parking;
the obstacle detection unit is used for detecting whether an obstacle exists on the movement track of the vehicle;
the track judging unit is used for flatly judging whether the current motion track is finished or not;
the parking canceling unit is used for canceling the current automatic parking.
Furthermore, the vertical parking space automatic parking device also comprises a display module which is connected with the processing module and is used for displaying a parking route and a human-computer interaction interface.
Specifically, the lateral camera is a left camera or/and a right camera; the lateral long-distance radar is a left front long-distance radar or/and a right front long-distance radar; the lateral camera is arranged at the vehicle body part on one side of the vehicle close to the driving position or the copilot position; and the lateral long-distance radar is arranged at the joint part of the vehicle head and the left or right lateral vehicle body of the vehicle.
Specifically, the front short-range radar array is mounted at the following positions: respectively installing a short-distance radar at a joint part of the vehicle head and the left lateral vehicle body of the vehicle and a joint part of the vehicle head and the right lateral vehicle body of the vehicle, and installing two short-distance radars at equal intervals on the vehicle head between the two short-distance radars; the rear short-distance radar array is arranged at the following positions: a short-distance radar is installed at the combination part of the vehicle tail and the left side lateral vehicle body of the vehicle and the combination part of the vehicle tail and the right side lateral vehicle body of the vehicle, and two short-distance radars are installed at the vehicle tail between the two short-distance radars at equal intervals.
The invention has the beneficial effects that: according to the invention, the parking instruction is received, the appropriate empty parking space is identified, and when the appropriate empty parking space is detected, the parking space is pre-occupied, and then the vehicle is backed up for storage, so that the parking space is pre-occupied in advance, and the success rate of automatic parking is improved.
Drawings
FIG. 1 is a schematic flow chart of a vertical parking space automatic parking method according to the present invention;
FIG. 2 is a schematic view of a parking space and a parking space plane coordinate system according to the present invention;
FIG. 3 is a schematic illustration of the various marker points and target parking points of the present invention;
FIG. 4 is a trajectory diagram of the present invention for performing straight-ahead;
FIG. 5 is a trace plot of the present invention performing a left turn forward;
FIG. 6 is a trace diagram of the present invention for performing right turn reversing;
FIG. 7 is a trace diagram of the execution binning of the present invention;
FIG. 8 is a schematic structural diagram of the vertical parking space automatic parking device of the present invention;
FIG. 9 is a schematic diagram of the structure of a processing module of the present invention;
fig. 10 is a schematic view showing the installation positions of the cameras and the radar of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail with reference to the accompanying drawings, which are for reference and illustrative purposes only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the present embodiment provides a vertical parking space automatic parking method, including:
step 1, receiving a parking instruction and controlling the vehicle to move forward at a preset vehicle speed.
The preset vehicle speed is lower than 20 km/h.
And 2, identifying a proper empty parking space.
As shown in fig. 2, let 4 vertical angular points of the currently pending parking space be a near-end left angular point Q1, a far-end left angular point Q2, a far-end right angular point Q3, and a near-end right angular point Q4; the point e is the left corner point of the head of the vehicle in the parking space in front of the current undetermined parking space, and the point f is the right corner point of the head of the vehicle in the parking space behind the current undetermined parking space; Q1Q2 is the front boundary line of the parking space, Q3Q4 is the rear boundary line of the parking space, Q2Q3 is the right boundary line of the parking space, and Q1Q4 is the left boundary line of the parking space.
In this embodiment, the step 2 includes:
step 201, identifying a head right angular point f of a vehicle in a parking space behind the current undetermined parking space.
In this embodiment, the head right corner point f of the vehicle in the parking space behind the currently pending parking space may be detected and identified in a radar or image identification manner, which is not limited in the present invention.
And 202, identifying a near-end left corner point Q1 of the current parking space to be determined.
In this embodiment, the near-end left corner point Q1 of the currently pending parking space is detected and identified in an image identification manner.
And step 203, establishing a parking space plane coordinate system XOY by taking the point Q1 of the near-end left corner of the currently undetermined parking space as an origin O.
The points Q1, Q2, Q3, Q4, e and f in the parking space plane coordinate system XOY are respectively represented as: q1(x1, y1), Q4(x4, y4), Q3(x3, y3), Q2(x2, y2), e (x5, y5), f (x6, y 6).
And 204, detecting the size of the current undetermined parking space.
In this embodiment, the step 204 includes:
if the near-end left angular point Q1, the far-end left angular point Q2, the far-end right angular point Q3 and the near-end right angular point Q4 are identified, and the abscissa x5 of the left angular point e of the tail of the vehicle in the parking space in front of the currently undetermined parking space is greater than the abscissa x2 of the far-end left angular point Q2, the length of the currently undetermined parking space is the difference between the abscissa x2 of the far-end left angular point Q2 and the abscissa x1 of the near-end left angular point Q1, and the width of the currently undetermined parking space is the difference y3 between the ordinate y2 of the longitudinal axis of the far-end left angular point Q2;
if a near-end left angular point Q1, a far-end left angular point Q2, a near-end right angular point Q4 and a head left angular point e of a vehicle in a parking space in front of the current undetermined parking space are identified, an abscissa x5 of the head left angular point e of the vehicle in the parking space in front of the current undetermined parking space is smaller than an abscissa x2 of the far-end left angular point Q2, an abscissa x6 of a head right angular point f of the vehicle in a parking space behind the current undetermined parking space is negative, the length of the current undetermined parking space is a difference x1 between an abscissa x5 of the head left angular point e of the vehicle in the parking space in front of the current undetermined parking space and an abscissa of a near-end left angular point Q1, and the width of the parking space is a difference y4 between a longitudinal coordinate y;
if a near-end left angular point Q1, a far-end left angular point Q2 and a far-end right angular point Q3 are identified, an abscissa x5 of a head left angular point e of a vehicle in a parking space in front of the current undetermined parking space is larger than an abscissa x2 of a far-end left angular point Q2, and an abscissa x6 of a head right angular point f of the vehicle in a parking space behind the current undetermined parking space is positive, the length of the current undetermined parking space is the difference between an abscissa x2 of the far-end left angular point Q2 and an abscissa x6 of the head right angular point f of the vehicle in the parking space behind the current undetermined parking space, and the width of the parking space is the difference between a y2 of a longitudinal coordinate y of the far-end left;
if a near-end left angular point Q1, a far-end left angular point Q2 and a vehicle head left angular point e of a vehicle in a parking space in front of the current undetermined parking space are identified, an abscissa x5 of the vehicle head left angular point e of the vehicle in the parking space in front of the current undetermined parking space is smaller than an abscissa x2 of the far-end left angular point Q2, and an abscissa x6 of a vehicle head right angular point f of the vehicle in a parking space behind the current undetermined parking space is positive, the parking space length is the difference between an abscissa x5 of the vehicle head left angular point e of the vehicle in the parking space in front of the current undetermined parking space and an abscissa x6 of the vehicle head right angular point f of the; the vertical distance D0 between the parking space vertical depth D3, the parking space left boundary line Q1Q2 and the vehicle body on the right side of the vehicle is detected, and the parking space width is the difference between the parking space vertical depth D3 and the vertical distance D0.
And step 205, judging whether the current undetermined parking space is a proper empty parking space.
In this embodiment, the step 205 includes:
step 2051, judging whether the difference between the length of the current undetermined parking space and the length of the vehicle is greater than a preset safety length, judging whether the difference between the width of the current undetermined parking space and the width of the vehicle is greater than a preset safety width, if so, entering the next step, and otherwise, judging that the current undetermined parking space is an improper parking space;
and step 2052, judging whether the obstacle exists in the current undetermined parking space, if so, judging that the current undetermined parking space is an unsuitable parking space, and otherwise, judging that the current undetermined parking space is a suitable empty parking space.
And 3, after a proper empty parking space is detected, controlling the vehicle to pre-occupy the parking space, wherein the pre-occupied parking space comprises planning and executing straight advancing and left steering advancing.
As shown in fig. 3, the first marked point C1 is a projection point of the center point of the rear right wheel of the vehicle on the XOY coordinate system, and is denoted as C1(x10, y 10); the second mark point C2 is a projection point of the most protruding point of the joint part of the tail of the vehicle and the right side of the vehicle to the vehicle body on an XOY coordinate system, and is represented as C2(x20, y 20); the third mark point C3 is a projection point of the most protruding point of the joint part of the tail of the vehicle and the left side of the vehicle to the vehicle body on an XOY coordinate system, and is represented as C3(x30, y 30); the fourth marking point C4 is a projection point of the most protruding point of the joint of the head of the vehicle and the left side of the vehicle to the vehicle body on an XOY coordinate system, and is represented as C4(x40, y 40); p1 represents a target parking point of the first marker point C1, denoted as P1(x14, y 14); p2 represents a target parking point of the second marker point C2, denoted as P2(x24, y 24); p3 represents a target parking point of the third marker point C3, denoted as P3(x34, y 34); p4 represents the target parking point of the fourth marker point C4, denoted as P4(x44, y 44).
Since the first marker point C1, the second marker point C2, the third marker point C3 and the fourth marker point C4 are all fixed points on the vehicle body, the second marker point C2, the third marker point C3 and the fourth marker point C4 can use functions F (x, y, θ), G (x, y, θ), H (x, y, θ) containing parameters of the first marker point C1 to represent the relationship therebetween. Similarly, the target parking point P2 of the second marker point C2, the target parking point P3 of the third marker point C3, and the target parking point P4 of the fourth marker point C4 may be represented by functions F (x, y, θ), G (x, y, θ), H (x, y, θ) of the target parking point P1 parameter of the first marker point C1, namely:
the second marker point C2 is represented by the following coordinates:
Figure BDA0002476773420000114
wherein, thetac1A steering angle indicating an initial starting point position of the vehicle.
The coordinate of the third marker point C3 is expressed as:
Figure BDA0002476773420000115
wherein, thetac1A steering angle indicating an initial starting point position of the vehicle.
The fourth marker point C4 is represented by the following coordinates:
Figure BDA0002476773420000111
wherein, thetac1A steering angle indicating an initial starting point position of the vehicle.
The target parking point P2 coordinate of the second marker point C2 is represented as:
Figure BDA0002476773420000112
wherein, thetap1The steering swing angle of the final parking position of the vehicle relative to the initial starting position is shown.
The target parking point P3 coordinate of the third marker point C3 is expressed as:
Figure BDA0002476773420000113
wherein, thetap1The steering swing angle of the final parking position of the vehicle relative to the initial starting position is shown.
The target parking point P4 coordinate of the fourth marker point C4 is expressed as:
Figure BDA0002476773420000121
wherein, thetap1The steering swing angle of the final parking position of the vehicle relative to the initial starting position is shown.
Fig. 4 is a diagram showing a trajectory in which the host vehicle performs straight-ahead travel, in which E1 indicates the straight-ahead trajectory end point of the first marker point C1.
In this embodiment, the step of planning and executing the straight line advance includes:
and 31a, acquiring the initial coordinates of the first mark point C1.
In the present embodiment, the abscissa x10 of the first marker point C1 satisfies the following relationship:
x 1-x 10 < x1, wherein is the horizontal distance from the right exterior mirror of the host vehicle to the first marked point C1.
And step 31b, calculating a straight-ahead track equation of the first marker point C1.
In this embodiment, the equation of the straight-ahead trajectory is:
(y11-y10)(x-x10)＝(x11-x10)(y-y10)
wherein x11 and y11 are coordinate values of the first mark point C1 straight-ahead trajectory end point E1.
Step 31C, determining a first distance l from the first marking point C1 to the track end point E1 when the first marking point C1 travels straight forward according to the straight forward track equation1。
In this embodiment, the first distance
Figure BDA0002476773420000122
Step 31d, calculating the first travel distance s of the vehicle according to the travel speed v of the vehicle1。
In the present embodiment, the first travel distance
Figure BDA0002476773420000123
Wherein, t1Is the first travel time of the host vehicle.
And 31e, detecting whether an obstacle exists on the motion trail of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing the step 31 g.
And 31f, judging whether the information of canceling the parking is received or not, if so, ending the parking, and otherwise, returning to the step 31 e.
Step 31g, determining the first travel distance s1Is equal to the first distance/1If yes, the straight advance is judged to be completed, otherwise, the step 31e is returned.
Fig. 5 shows a trajectory diagram of the host vehicle performing left-hand steering advance, in which M1, M2, M3 and M4 respectively represent the left-hand steering advance trajectory end points of the first marker point C1, the second marker point C2, the third marker point C3 and the fourth marker point C4.
In this embodiment, the step of planning and executing a left turn forward includes:
and 32a, taking the first marking point C1 straight-ahead track end point E1 as the initial coordinate of the first marking point C1 in the left steering and advancing stage.
And step 32b, calculating a boundary constraint equation set of the left-turning forward track of the vehicle.
In this embodiment, the boundary constraint equation set of the left-hand steering trajectory is:
Figure BDA0002476773420000131
wherein K represents the width of the vehicle body; r1A turning circle radius indicating a left turning and advancing trajectory of the vehicle; xo (x)1、yo1The coordinate value of the circle center of the left turning forward track of the vehicle is represented; theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; d0 represents the vertical distance between the front boundary line of the parking space and the right side of the vehicle to the vehicle body; d4 represents the vertical distance between the left side of the vehicle and the vehicle body and the nearest obstacle; d1 represents the safe distance between the fourth marking point C4 and the left obstacle during the left steering and advancing process of the vehicle; x11 and y11 represent coordinate values of the first marking point C1 straight-ahead trajectory end point E1; x12 and y12 represent coordinate values of the first marking point C1 for the left-hand steering and advancing track end point M1; x22 represents the abscissa value of the second marker point C2 left-hand steer forward trajectory end point M2; y42 represents the ordinate value of the fourth marker point C4 left-hand steer forward trajectory end point M4; and x2 and y2 represent coordinate values of a left corner point Q2 at the far end of the empty space.
And step 32C, calculating a left-turning forward track equation of the first marker point C1.
In this embodiment, the left-hand steering trajectory equation is:
(x-xo1)2+(y-yo1)2＝(x11-xo1)2+(y11-yo1)2
wherein xo1、yo1A steering circle center coordinate value representing a left steering advancing track of the vehicle; x11 and y11 represent coordinate values of the first marking point C1 straight-ahead trajectory end point E1.
Step 32d, calculating a first steering pivot angle theta of the first marker point C1 driving to the track end point M1 in the left-turn forward mode according to the left-turn forward track equation and the boundary constraint equation set of the left-turn forward track1。
Step 32e, calculating a first driving yaw angle of the vehicle according to the driving speed v of the vehicle
Figure BDA0002476773420000141
In the present embodiment, the first yaw rate of travel
Figure BDA0002476773420000142
Wherein, t2Is the second travel time of the host vehicle.
And step 32f, detecting whether an obstacle exists on the motion trail of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing step 32 h.
And step 32g, judging whether the information of canceling the parking is received or not, if so, ending the parking, otherwise, returning to the step 32 f.
Step 32h, judging the first driving yaw angle
Figure BDA0002476773420000143
Whether or not equal to the first yaw angle theta1If yes, the left-hand steering advancing is judged to be completed, otherwise, the step 32f is returned to.
And 4, backing up and warehousing, including planning and executing right steering, backing up and warehousing.
Fig. 6 shows a trajectory diagram of the host vehicle performing right-turn backing, in which N1, N2, N3 and N4 respectively represent right-turn backing trajectory end points of a first marker point C1, a second marker point C2, a third marker point C3 and a fourth marker point C4.
In this embodiment, the step of planning and executing right steering and reversing includes:
and 41a, taking the left steering forward track end point M1 of the first mark point C1 as the initial coordinate of the right steering reverse stage of the first mark point C1.
And step 41b, determining a boundary constraint equation set of the right steering and backing track of the vehicle.
In this embodiment, the boundary constraint equation set of the right steering backing track is:
Figure BDA0002476773420000151
wherein K represents the width of the vehicle body; r1A turning circle radius indicating a left turning and advancing trajectory of the vehicle; r2A steering circle radius representing a right steering and backing track of the vehicle; d2 shows the safe distance from the third mark point C3 to the empty parking space near-end left corner point Q1 in the process of turning the vehicle right and backing the vehicle; d3 represents the safe distance from the first mark point C1 to the empty parking space far-end left corner point Q2 in the process of turning the vehicle right and backing the vehicle; xo (x)1、yo1A steering circle center coordinate value representing a left steering advancing track of the vehicle; xo (x)2、yo2A steering circle center coordinate value representing a right steering and backing track of the vehicle; theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; theta2A second steering pivot angle representing a right steering and backing track of the vehicle; x12 and y12 represent coordinate values of the first marking point C1 for the left-hand steering and advancing track end point M1; x13 and y13 represent coordinate values of the first marking point C1 right steering reversing track end point N1; thetaN1A steering angle indicating a relative initial position of the host vehicle; x1 and y1 represent coordinate values of a left corner point Q1 at the near end of the empty parking space; x33 and y33 represent coordinate values of the third marking point C3 of the right steering and reversing track end point N3.
And 41C, calculating a right steering and reversing track equation of the first marker C1.
In this embodiment, the right steering and backing trajectory equation is:
(x-xo2)2+(y-yo2)2＝(x12-xo2)2+(y12-yo2)2
in the formula, xo2、yo2And a steering circle center coordinate value representing a right steering and backing track of the vehicle.
Step 41d, determining a second steering pivot angle theta of the first mark point C1 from the right steering reversing track equation to the track end point N1 according to the right steering reversing track equation and the boundary constraint equation set of the right steering reversing track2。
Step 41e, calculating a second driving yaw angle of the vehicle according to the driving speed v of the vehicle
Figure BDA0002476773420000152
In the present embodiment, the second running yaw angle
Figure BDA0002476773420000153
Wherein, t3The third travel time of the host vehicle.
And 41f, detecting whether an obstacle exists on the motion trail of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing the step 41 h.
And step 41g, judging whether the information of canceling the parking is received or not, if so, ending the parking, otherwise, returning to the step 41 f.
Step 41h, judging the second driving yaw angle
Figure BDA0002476773420000161
Whether or not equal to the second running yaw angle theta2If yes, the right steering and reversing are judged to be finished, otherwise, the step 41f is executed.
Fig. 7 shows a trajectory diagram of the vehicle entering the garage, in which P1, P2, P3 and P4 respectively represent the end points of the parking trajectory of the first mark point C1, the second mark point C2, the third mark point C3 and the fourth mark point C4.
In this embodiment, the step of planning and executing warehousing includes:
and 42a, taking the end point N1 of the right steering and reversing track of the first mark point C1 as the initial coordinate of the first mark point C1 in the warehousing stage.
And 42b, determining a boundary constraint equation set of the vehicle warehousing track.
In this embodiment, the boundary constraint equation set of the warehousing trajectory is:
Figure BDA0002476773420000162
wherein x14 and y14 represent coordinate values of the first marking point C1 warehousing track end point P1; thetap1A steering angle indicating a relative initial position of the vehicle; y3 represents the longitudinal coordinate value of the right corner Q3 at the far end of the empty parking space; y24 represents the ordinate value of the second mark point C2 warehousing track end point P2; y34 represents the ordinate value of the third mark point C3 warehousing track end point P3; d4 represents the safety distance from the second mark point C2 to the rear boundary line Q3Q4 when parking is finished; d5 shows the safety distance from the third mark point C3 to the rear boundary line Q3Q4 when parking.
And 42C, calculating a warehousing trajectory equation of the first marker point C1.
In this embodiment, the warehousing trajectory equation is:
(y13-y14)(x-x13)＝(x13-x14)(y-y13)
wherein x13 and y13 represent coordinate values of a first marking point C1 right steering backing track end point N1; x14 and y14 represent coordinate values of the first marking point C1 warehousing track end point P1.
Step 42d, determining a second distance l from the first marking point C1 to the track end point P1 during the warehousing driving according to the warehousing track equation and the boundary constraint equation set of the warehousing track2。
In this embodiment, the second distance
Figure BDA0002476773420000171
Step 42e, calculating a second driving distance s for the vehicle to enter the garage according to the driving speed v of the vehicle2。
In this embodiment, the secondDistance traveled
Figure BDA0002476773420000172
Wherein, t4The third travel time of the host vehicle.
And 42f, detecting whether the obstacle exists on the motion trail of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing the step 42 h.
And 42g, judging whether the information of canceling the parking is received or not, if so, ending the parking, and otherwise, returning to the step 42 f.
Step 42h, judging the second driving distance s2Is equal to the second distance/2If yes, the warehousing is judged to be completed, otherwise, the step 42f is returned.
Example 2
As shown in fig. 8, the present embodiment provides an automatic parking device for vertical parking spaces, including:
the system comprises a processing module, a lateral camera, a lateral long-distance radar, a front short-distance radar array, a rear short-distance radar array and a human-computer interaction module, wherein the lateral camera, the lateral long-distance radar, the front short-distance radar array, the rear short-distance radar array and the human-computer interaction module are connected with the processing module;
the lateral camera is used for acquiring an environment image around the vehicle body;
the lateral remote radar is used for detecting the depth of the parking space;
the front short-distance radar array and the rear short-distance radar array are used for acquiring barrier distance information;
the processing module is used for processing the data of the camera and the radar, carrying out parking space identification, obstacle identification, planning a parking route and executing parking control;
the human-computer interaction module is used for inputting an automatic parking instruction.
As shown in fig. 9, the processing module includes a parking space recognition unit, a trajectory calculation unit, an obstacle detection unit, a trajectory determination unit, and a parking cancellation unit; the parking space identification unit, the track calculation unit and the track judgment unit are sequentially connected, and the obstacle detection unit is also connected with the track judgment unit and the parking cancellation unit;
the parking space identification unit is used for finishing parking space identification detection according to data sent by the lateral camera and the lateral remote radar;
the track calculation unit is used for calculating a boundary constraint equation set and a track equation of each stage of automatic parking;
the obstacle detection unit is used for detecting whether an obstacle exists on the movement track of the vehicle;
the track judging unit is used for flatly judging whether the current motion track is finished or not;
the parking canceling unit is used for canceling the current automatic parking.
In another embodiment of the invention, the parking system further comprises a display module connected with the processing module and used for displaying the parking route and the human-computer interaction interface.
The lateral camera is a left camera or/and a right camera; the lateral long-distance radar is a left front long-distance radar or/and a right front long-distance radar.
It is easy to understand that when the lateral camera is a left camera, the lateral long-range radar matched with the lateral camera is a left front long-range radar; when the lateral camera is the right camera, the lateral long-distance radar matched with the lateral camera is a front right long-distance radar. Of course, in order to monitor the parking spaces on the left and right sides of the lane, a left camera, a right camera, and a left front remote radar and a right front remote radar matched with the left camera and the right camera can be installed at the same time.
Fig. 10 shows the installation positions of the cameras and the radar of the present invention.
In this embodiment, the coverage distance of the side camera that can be identified pixels is at least 10 m.
The number and specific installation position of the side cameras need to be determined according to 4 angular points of the parking space which can be covered by the horizontal FOV (Field of view) of the cameras.
In this embodiment, the side camera is a panoramic camera. The horizontal FOV of the panoramic camera is larger than or equal to 180 degrees, and the images shot by the lateral camera can cover 4 corner points of the parking space in the parking process.
The side cameras are mounted on the body part (such as left and right outer rearview mirrors) of the vehicle on the side close to the driving seat or the passenger seat.
In this embodiment, the horizontal FOV formed by the front and rear short-range radar arrays is greater than 120 °.
The number of the short-distance radars can be determined according to the horizontal FOV of the radars and the areas of the vehicle head and the vehicle tail which need to be covered actually.
In the present embodiment, the front and rear short-range radar arrays are each composed of 4 short-range radars.
The front short-distance radar array is arranged at the following positions: the short-distance radar is respectively arranged at the joint part of the vehicle head and the left side lateral vehicle body of the vehicle and the joint part of the vehicle head and the right side lateral vehicle body of the vehicle, and the two short-distance radars are arranged at the same interval on the vehicle head between the two short-distance radars.
The rear short-distance radar array is arranged at the following positions: a short-distance radar is installed at the combination part of the vehicle tail and the left side lateral vehicle body of the vehicle and the combination part of the vehicle tail and the right side lateral vehicle body of the vehicle, and two short-distance radars are installed at the vehicle tail between the two short-distance radars at equal intervals.
In the present embodiment, the horizontal FOV of the lateral remote radar is not lower than 30 °.
In the embodiment, the lateral long-distance radar is arranged at the joint part of the vehicle head and the left or right lateral vehicle body of the vehicle.
The working process of the device is as described above for the automatic parking method, and is not described herein again.
The above disclosure is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention.

Claims (19)

1. A vertical parking space automatic parking method is characterized by comprising the following steps:
step 1, receiving a parking instruction, and controlling a vehicle to move forward at a preset vehicle speed;
step 2, identifying a proper empty parking space;
step 3, after a proper empty parking space is detected, controlling the vehicle to pre-occupy the parking space, wherein the pre-occupied parking space comprises planning and executing straight advancing and left steering advancing;
and 4, backing up and warehousing, including planning and executing right steering, backing up and warehousing.
2. The vertical-parking automatic parking method according to claim 1, wherein the step 2 comprises:
step 201, identifying a head right angular point f of a vehicle in a parking space behind a current undetermined parking space;
step 202, identifying a near-end left corner point Q1 of the current undetermined parking space;
step 203, establishing a parking space plane coordinate system XOY by taking a near-end left corner point Q1 point of the currently undetermined parking space as an original point O;
step 204, detecting the size of the current undetermined parking space;
and step 205, judging whether the current undetermined parking space is a proper empty parking space.
3. The method for vertical-slot automated parking according to claim 2, wherein step 205 comprises:
step 2051, judging whether the difference between the length of the current undetermined parking space and the length of the vehicle is greater than a preset safety length, judging whether the difference between the width of the current undetermined parking space and the width of the vehicle is greater than a preset safety width, if so, entering the next step, and otherwise, judging that the current undetermined parking space is an improper parking space;
and step 2052, judging whether the obstacle exists in the current undetermined parking space, if so, judging that the current undetermined parking space is an unsuitable parking space, and otherwise, judging that the current undetermined parking space is a suitable empty parking space.
4. The vertical-slot automated parking method of claim 1 wherein said step of planning and executing a straight-line progression comprises:
step 31a, acquiring the initial coordinate of the first mark point C1;
step 31b, calculating a straight-ahead track equation of the first marker point C1;
step 31C, determining a first distance l from the first marking point C1 to the track end point E1 when the first marking point C1 travels straight forward according to the straight forward track equation1；
Step 31d, calculating the first travel distance s of the vehicle according to the travel speed v of the vehicle1；
Step 31e, detecting whether an obstacle exists on the movement track of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing step 31 g;
step 31f, judging whether the information of canceling the parking is received or not, if so, ending the parking, otherwise, returning to the step 31 e;
step 31g, determining the first travel distance s1Is equal to the first distance/1If yes, the straight advance is judged to be completed, otherwise, the step 31e is returned.
5. The vertical-parking automatic parking method according to claim 4, wherein the linear forward trajectory equation is as follows:
(y11-y10)(x-x10)＝(x11-x10)(y-y10)
wherein x11 and y11 are coordinate values of the first mark point C1 straight-ahead trajectory end point E1.
6. The method of claim 5, wherein the step of planning and executing a left turn forward comprises:
step 32a, taking the end point E1 of the straight-line advance track of the first marking point C1 as the initial coordinate of the first marking point C1 in the left-turning advance stage;
step 32b, calculating a boundary constraint equation set of the left turning and advancing track of the vehicle;
step 32C, calculating a left-turning forward track equation of the first marker point C1;
step 32d, calculating a first steering pivot angle theta of the first marker point C1 driving to the track end point M1 in the left-turn forward mode according to the left-turn forward track equation and the boundary constraint equation set of the left-turn forward track1；
Step 32e, calculating a first driving yaw angle of the vehicle according to the driving speed v of the vehicle
Figure FDA0002476773410000021
Step 32f, detecting whether an obstacle exists on the movement track of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing step 32 h;
step 32g, judging whether information for canceling the parking is received or not, if so, ending the parking, otherwise, returning to the step 32 f;
step 32h, judging the first driving yaw angle
Figure FDA0002476773410000032
Whether or not equal to the first yaw angle theta1If yes, the left-hand steering advancing is judged to be completed, otherwise, the step 32f is returned to.
7. The vertical carport automatic parking method according to claim 6, wherein the boundary constraint equation of the left-turn forward trajectory is:
Figure FDA0002476773410000031
wherein K represents the width of the vehicle body; r1A turning circle radius indicating a left turning and advancing trajectory of the vehicle; xo (x)1、yo1The coordinate value of the circle center of the left turning forward track of the vehicle is represented; theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; d0 represents the vertical distance between the front boundary line of the parking space and the right side of the vehicle to the vehicle body; d4 represents the vertical distance between the left side of the vehicle and the vehicle body and the nearest obstacle; d1 shows the vehicle turning left to go throughThe safe distance from the fourth marking point C4 to the left obstacle in the process; x11 and y11 represent coordinate values of the first marking point C1 straight-ahead trajectory end point E1; x12 and y12 represent coordinate values of the first marking point C1 for the left-hand steering and advancing track end point M1; x22 represents the abscissa value of the second marker point C2 left-hand steer forward trajectory end point M2; y42 represents the ordinate value of the fourth marker point C4 left-hand steer forward trajectory end point M4; and x2 and y2 represent coordinate values of a left corner point Q2 at the far end of the empty space.
8. The vertical carport automatic parking method according to claim 7, wherein the left-turn trajectory equation is:
(x-xo1)2+(y-yo1)2＝(x11-xo1)2+(y11-yo1)2
wherein xo1、yo1A steering circle center coordinate value representing a left steering advancing track of the vehicle; x11 and y11 represent coordinate values of the first marking point C1 straight-ahead trajectory end point E1.
9. The method of claim 8, wherein the step of planning and executing right-turn parking comprises:
step 41a, taking the left steering forward track end point M1 of the first mark point C1 as the initial coordinate of the right steering reverse stage of the first mark point C1:
step 41b, determining a boundary constraint equation set of the right steering and backing track of the vehicle;
step 41C, calculating a right steering and reversing trajectory equation of the first mark point C1;
step 41d, determining a second steering pivot angle theta of the first mark point C1 from the right steering reversing track equation to the track end point N1 according to the right steering reversing track equation and the boundary constraint equation set of the right steering reversing track2；
Step 41e, calculating a second driving yaw angle of the vehicle according to the driving speed v of the vehicle
Figure FDA0002476773410000042
Step 41f, detecting whether an obstacle exists on the movement track of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing step 41 h;
step 41g, judging whether information for canceling the parking is received or not, if so, ending the parking, otherwise, returning to step 41 f;
step 41h, judging the second driving yaw angle
Figure FDA0002476773410000043
Whether or not equal to the second running yaw angle theta2If yes, the right steering and reversing are judged to be finished, otherwise, the step 41f is executed.
10. The vertical carport automatic parking method according to claim 9, wherein the boundary constraint equation set of the right-turn parking trajectory is as follows:
Figure FDA0002476773410000041
wherein K represents the width of the vehicle body; r1A turning circle radius indicating a left turning and advancing trajectory of the vehicle; r2A steering circle radius representing a right steering and backing track of the vehicle; d2 shows the safe distance from the third mark point C3 to the empty parking space near-end left corner point Q1 in the process of turning the vehicle right and backing the vehicle; d3 represents the safe distance from the first mark point C1 to the empty parking space far-end left corner point Q2 in the process of turning the vehicle right and backing the vehicle; xo (x)1、yo1A steering circle center coordinate value representing a left steering advancing track of the vehicle; xo (x)2、yo2A steering circle center coordinate value representing a right steering and backing track of the vehicle; theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; theta2A second steering pivot angle representing a right steering and backing track of the vehicle; x12 and y12 represent coordinate values of the first marking point C1 for the left-hand steering and advancing track end point M1; x13 and y13 represent the first marking point C1 for turning right and reversingCoordinate value of the trajectory end point N1; thetaN1A steering angle indicating a relative initial position of the host vehicle; x1 and y1 represent coordinate values of a left corner point Q1 at the near end of the empty parking space; x33 and y33 represent coordinate values of the third marking point C3 of the right steering and reversing track end point N3.
11. The vertical carport automatic parking method according to claim 10, wherein the right-turn parking trajectory equation is as follows:
(x-xo2)2+(y-yo2)2＝(x12-xo2)2+(y12-yo2)2
in the formula, xo2、yo2And a steering circle center coordinate value representing a right steering and backing track of the vehicle.
12. The vertical-parking automatic parking method according to claim 11, wherein the step of planning and executing the garage comprises:
step 42a, taking the end point N1 of the right-turning backing track of the first marking point C1 as the initial coordinate of the first marking point C1 in the warehousing stage;
step 42b, determining a boundary constraint equation set of the vehicle warehousing track;
42C, calculating a warehousing track equation of the first mark point C1;
step 42d, determining a second distance l from the first marking point C1 to the track end point P1 during the warehousing driving according to the warehousing track equation and the boundary constraint equation set of the warehousing track2；
Step 42e, calculating a second driving distance s for the vehicle to enter the garage according to the driving speed v of the vehicle2；
Step 42f, detecting whether an obstacle exists on the motion trail of the vehicle, if so, controlling the vehicle to stop running, and entering the next step, otherwise, executing step 42 h;
step 42g, judging whether information for canceling the parking is received or not, if so, ending the parking, otherwise, returning to step 42 f;
step 42h, judgmentInterrupting the second driving distance s2Is equal to the second distance/2If yes, the warehousing is judged to be completed, otherwise, the step 42f is returned.
13. The vertical-parking space automatic parking method according to claim 12, wherein the boundary constraint equation set of the warehousing trajectory is as follows:
Figure FDA0002476773410000061
wherein x14 and y14 represent coordinate values of the first marking point C1 warehousing track end point P1; thetap1A steering angle indicating a relative initial position of the vehicle; y3 represents the longitudinal coordinate value of the right corner Q3 at the far end of the empty parking space; y24 represents the ordinate value of the second mark point C2 warehousing track end point P2; y34 represents the ordinate value of the third mark point C3 warehousing track end point P3; d4 represents the safety distance from the second mark point C2 to the rear boundary line Q3Q4 when parking is finished; d5 shows the safety distance from the third mark point C3 to the rear boundary line Q3Q4 when parking.
14. The vertical carport automatic parking method according to claim 13, wherein the warehousing trajectory equation is as follows:
(y13-y14)(x-x13)＝(x13-x14)(y-y13)
wherein x13 and y13 represent coordinate values of a first marking point C1 right steering backing track end point N1; x14 and y14 represent coordinate values of the first marking point C1 warehousing track end point P1.
15. An automatic parking device for vertical parking spaces, comprising:
the system comprises a processing module, a lateral camera, a lateral long-distance radar, a front short-distance radar array, a rear short-distance radar array and a human-computer interaction module, wherein the lateral camera, the lateral long-distance radar, the front short-distance radar array, the rear short-distance radar array and the human-computer interaction module are connected with the processing module;
the lateral camera is used for acquiring an environment image around the vehicle body;
the lateral remote radar is used for detecting the depth of the parking space;
the front short-distance radar array and the rear short-distance radar array are used for acquiring barrier distance information;
the processing module is used for processing the data of the camera and the radar, carrying out parking space identification, obstacle identification, planning a parking route and executing parking control;
the human-computer interaction module is used for inputting an automatic parking instruction.
16. The vertical-parking automatic parking device according to claim 15, wherein the processing module comprises a parking space recognition unit, a trajectory calculation unit, an obstacle detection unit, a trajectory determination unit, and a parking cancellation unit; the parking space identification unit, the track calculation unit and the track judgment unit are sequentially connected, and the obstacle detection unit is also connected with the track judgment unit and the parking cancellation unit;
the parking space identification unit is used for finishing parking space identification detection according to data sent by the lateral camera and the lateral remote radar;
the track calculation unit is used for calculating a boundary constraint equation set and a track equation of each stage of automatic parking;
the obstacle detection unit is used for detecting whether an obstacle exists on the movement track of the vehicle;
the track judging unit is used for flatly judging whether the current motion track is finished or not;
the parking canceling unit is used for canceling the current automatic parking.
17. The vertical carport automatic parking device according to claim 15, further comprising a display module connected to the processing module for displaying a parking route and a human-machine interface.
18. The vertical carport automatic parking device according to claim 15, wherein the lateral cameras are left cameras or/and right cameras; the lateral long-distance radar is a left front long-distance radar or/and a right front long-distance radar; the lateral camera is arranged at the vehicle body part on one side of the vehicle close to the driving position or the copilot position; and the lateral long-distance radar is arranged at the joint part of the vehicle head and the left or right lateral vehicle body of the vehicle.
19. The vertical parking space automatic parking device according to claim 15 wherein the front short-range radar array is mounted at a position: respectively installing a short-distance radar at a joint part of the vehicle head and the left lateral vehicle body of the vehicle and a joint part of the vehicle head and the right lateral vehicle body of the vehicle, and installing two short-distance radars at equal intervals on the vehicle head between the two short-distance radars; the rear short-distance radar array is arranged at the following positions: a short-distance radar is installed at the combination part of the vehicle tail and the left side lateral vehicle body of the vehicle and the combination part of the vehicle tail and the right side lateral vehicle body of the vehicle, and two short-distance radars are installed at the vehicle tail between the two short-distance radars at equal intervals.
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CN112339747A (en) * 2020-10-30 2021-02-09 上海欧菲智能车联科技有限公司 Automatic parking track generation method and device, electronic equipment and storage medium
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CN115482668B (en) * 2022-09-22 2023-09-19 安徽江淮汽车集团股份有限公司 Visual parking space management method and system

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