CN111547046A - Parallel parking space pre-occupation type automatic parking method and device - Google Patents

Parallel parking space pre-occupation type automatic parking method and device Download PDF

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Publication number
CN111547046A
CN111547046A CN202010366060.0A CN202010366060A CN111547046A CN 111547046 A CN111547046 A CN 111547046A CN 202010366060 A CN202010366060 A CN 202010366060A CN 111547046 A CN111547046 A CN 111547046A
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vehicle
parking space
point
track
parking
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CN111547046B (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)
  • Traffic Control Systems (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The invention provides a parallel parking space pre-occupation type automatic parking method and a device, 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 continue to advance to a preset position; step 4, pre-occupying the parking space, wherein the pre-occupied parking space is planned and executed to turn left and move forward; and 5, backing up and warehousing, including planning and executing backing up and warehousing. The invention improves the success rate of automatic parking.

Description

Parallel parking space pre-occupation type automatic parking method and device
Technical Field
The invention relates to the technical field of automatic parking, in particular to a parallel parking space pre-occupation type 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 parallel parking space pre-occupation type automatic parking method and device, 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 a parallel parking space pre-occupation type automatic parking method on one hand, 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 continue to advance to a preset position;
step 4, pre-occupying the parking space, wherein the pre-occupied parking space is planned and executed to turn left and move forward;
and 5, backing up and warehousing, including planning and executing backing up and warehousing.
Specifically, the predetermined position is a position where the exterior mirror is aligned with the far-end left corner point Q2 of the currently pending parking space.
Specifically, the step 2 includes:
step 201, identifying a head left 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 suitable 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 left turn forward comprises:
step 41a, obtaining the initial coordinate of the first mark point C1;
step 41b, calculating a boundary constraint equation set of the left turning and advancing track of the vehicle;
step 41C, calculating a left-turning forward trajectory equation of the first marker point C1;
step 41d, determining a first steering pivot angle theta of the first marker point C1 driving to the track end point M1 in the left-turn forward direction according to the left-turn forward track equation and the boundary constraint equation set of the left-turn forward track1；
Step 41e, calculating a first driving yaw angle of the vehicle according to the driving speed v of the vehicle
Figure BDA0002476780850000022
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 first driving yaw angle
Figure BDA0002476780850000021
Whether or not equal to the first yaw angle theta1If yes, the left-hand steering advancing is judged to be completed, otherwise, the step 41f is returned.
Specifically, the boundary constraint equation set of the right steering trajectory is as follows:
Figure BDA0002476780850000031
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; x11 and y11 represent coordinate values of a left steering advancing track terminal point M1 of the first marking point C1; x2 represents the abscissa value of the 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 marker point C1 for the left-hand steering advance track end point M1.
Specifically, the step of planning and executing the reversing comprises:
step 51a, taking the left steering advancing track end point M1 of the first mark point C1 as the initial coordinate of the first mark point C1 in the backing stage;
51b, calculating a boundary constraint equation set of the backing track of the vehicle;
51C, calculating a reversing track equation of the first mark point C1;
step 51d, calculating a first distance l from the first marker point C1 to the track end point N1 in the process of backing the vehicle according to the backing track equation and the boundary constraint equation set of the backing track1；
Step 51e, calculating the first travel distance s of the vehicle according to the travel speed v of the vehicle1；
51f, 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 51 h;
step 51g, judging whether information for canceling the parking is received or not, if so, ending the parking, otherwise, returning to the step 51 f;
step 51h, determining the first travel distance s1Is equal to the first distance/1If yes, the reversing is judged to be completed, otherwise, the step 51f is returned.
Specifically, the boundary constraint equation set of the reversing trajectory is as follows:
Figure BDA0002476780850000041
wherein, theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; x12 and y12 represent coordinate values of the reversing track end point N1 of the first marking point C1; x22 and y22 represent coordinate values of the reversing track end point N2 of the second marker point C2; x3 and y3 represent coordinate values of a right corner point Q3 at the far end of the empty parking space; x4 and y4 represent coordinate values of a right corner point Q4 at the near end of the empty parking space; d1 represents the safe distance from the second mark point C2 to the right boundary line Q4Q3 of the parking space in the reversing track stage.
Specifically, the equation of the reversing trajectory is as follows:
(y11-y12)(x-x11)＝(x11-x12)(y-y11)
wherein x11 and y11 represent coordinate values of the first marking point C1 for the left-hand steering advance track end point M1; x12 and y12 represent coordinate values of the reverse track end point N1 of the first mark point C1.
Specifically, the step of planning and executing warehousing comprises:
step 52a, taking the reversing track end point N1 of the first mark point C1 as the initial coordinate of the first mark point C1 in the warehousing stage;
step 52b, calculating a boundary constraint equation set of the vehicle warehousing track;
step 52C, calculating a warehousing trajectory equation of the first mark point C1;
step 52d, calculating a second steering swing angle theta of the vehicle driving to the track end point P1 in the garage according to the garage entering track equation and the boundary constraint equation set of the garage entering track2
Step 52e of calculating the traveling speed v of the host vehicleSecond driving yaw angle of the vehicle
Figure BDA0002476780850000043
Step 52f, 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 51 h;
step 52g, judging whether information for canceling the parking is received or not, if so, ending the parking, otherwise, returning to the step 52 f;
step 52h, judging the second driving yaw angle
Figure BDA0002476780850000042
Whether or not equal to the second steering angle theta2If yes, the reversing is judged to be completed, otherwise, the step 51f is returned.
Specifically, the boundary constraint equation set of the warehousing trajectory is as follows:
Figure BDA0002476780850000051
wherein x12 and y12 represent coordinate values of the reversing track end point N1 of the first mark point C1; x13 and y13 represent coordinate values of a first marking point C1 warehousing track end point P1; x23 and y23 represent coordinate values of a second marking point C2 warehousing track end point P2; x33 and y33 represent coordinate values of a third marking point C3 warehousing track end point P3; x43 and y43 represent coordinate values of a fourth marking point C4 warehousing track end point P4; y1 represents the longitudinal coordinate value of the left corner point Q1 at the near end of the empty parking space; x2 and y2 represent coordinate values of a left corner point Q2 at the far end of the empty parking space; x4 and y4 represent coordinate values of a right corner point Q4 at the near end of the empty parking space; xo (x)2、yo2A coordinate value of a turning circle center representing a vehicle warehousing track; d2 represents the safety distance from the second mark point C2 to the back boundary line Q1Q4 when parking; d3 represents the safety distance from the second mark point C2 to the right boundary line Q3Q4 when parking; d4 represents the safety distance from the third mark point C3 to the back boundary line Q1Q4 when parking; d5 represents the safety distance from the fourth mark point C4 to the right boundary line Q3Q4 when parking; d6 represents the fourth mark point in the warehousing processThe safe distance from the point C4 to the point Q2 at the far-end left corner of the empty parking space; theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; theta2A second steering swing angle representing a vehicle warehousing trajectory; thetap1And a third steering angle representing a position of the vehicle relative to the initial starting point after the vehicle enters the garage.
Specifically, the warehousing trajectory equation is:
(x-xo2)2+(y-yo2)2＝(x13-xo2)2+(y13-yo2)2
wherein xo2、yo2A coordinate value of a turning circle center representing a vehicle warehousing track; x13 and y13 represent coordinate values of the first marking point C1 warehousing track end point P1.
Another aspect of the present invention provides a parallel parking space pre-occupied type automatic parking apparatus, 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.
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 parallel parking space pre-occupied type automatic parking device further comprises a display module which is connected with the processing module and 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: the invention identifies the proper empty parking space by receiving the parking instruction, controls the vehicle to continuously advance to the preset position after detecting the proper empty parking space, advances in a right direction and a left direction to pre-occupy the parking space, and backs up for storage, thereby realizing pre-occupying the parking space in advance and improving the success rate of automatic parking.
Drawings
FIG. 1 is a schematic flow chart of a parallel parking space pre-occupation type automatic parking method of 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 view of a predetermined stop position of the present invention;
FIG. 4 is a schematic illustration of the various marker points and target parking points of the present invention;
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 performing reverse;
FIG. 7 is a trace diagram of the execution binning of the present invention;
FIG. 8 is a schematic structural diagram of the parallel parking space pre-occupied 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 parallel parking space pre-occupied automatic parking, 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 angular point of the tail of the vehicle in the parking space in front of the current undetermined parking space, and the point f is the left angular point of the head of the vehicle in the parking space behind the current undetermined parking space; Q1Q2 is the boundary line on the left side of the carport, Q3Q4 is the boundary line on the right side of the carport, Q2Q3 is the boundary line on the front side of the carport, and Q1Q4 is the boundary line on the rear side of the carport.
In this embodiment, the step 2 includes:
step 201, identifying a head left angular point f of a vehicle in a parking space behind the current undetermined parking space.
In this embodiment, the head left 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, the abscissa x5 of the tail left angular point e of the vehicle in the parking space in front of the current undetermined parking space is larger than the abscissa x2 of the far-end left angular point Q2, the abscissa x6 of the head left angular point f of the vehicle in the parking space behind the current undetermined parking space is negative, the length of the current 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 current undetermined parking space is the difference y3 between the ordinate y2 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 tail 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 tail 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 left 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 tail left angular point e of the vehicle in front of the current parking space and a near-end left angular point Q1, and the width of the parking space is a difference y4 between a longitudinal coordinate y1 of the near-end left angular point Q;
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 tail 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 left 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 the abscissa x6 of the abscissa x2 of the far-end left angular point Q2 and the head left 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 the ordinate y2 of the far-end left angular point Q2;
if a near-end left angular point Q1, a far-end left angular point Q2 and a tail left angular point e of the vehicle in the parking space in front of the current undetermined parking space are identified, an abscissa x5 of the tail 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 head left angular point f of the vehicle in the parking space behind the current undetermined parking space is positive, the parking space length is the difference between the abscissa x5 of the tail left angular point e of the vehicle in the parking space in front of the current undetermined parking space and the abscissa x6 of the head left angular point f of the vehicle in the parking space behind the current; and detecting the vertical distance D0 between the vertical depth D3 of the parking space, the left boundary Q1Q2 of the parking space and the vehicle body at the right side of the vehicle, wherein the width of the parking space is the difference between the vertical depth D3 of the parking space and the vertical distance D0.
And step 205, judging whether the current undetermined parking space is a suitable 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, controlling the vehicle to continuously advance to a preset position after a proper empty parking space is detected.
In this embodiment, the predetermined position is a position where the exterior mirror is aligned with the far-end left corner point Q2 of the currently pending parking space.
As shown in fig. 3, the vehicle is recognized in advance by the lateral radar and the lateral camera, and after a proper parking space is recognized, the vehicle continues to move to a predetermined position, then stops moving forward, and starts an automatic parking process.
And 4, pre-occupying the parking space, wherein the pre-occupied parking space is planned and executed to turn left to advance.
As shown in fig. 4, 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 projected point of the joint 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 mark point C4 is a projection point of the most projected point of the joint of the vehicle head and the right side vehicle body of the vehicle 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(x13, y 13); p2 represents a target parking point of the second marker point C2, denoted as P2(x23, y 23); p3 represents a target parking point of the third marker point C3, denoted as P3(x33, y 33); p4 represents the target parking point of the fourth marker point C4, denoted as P4(x43, y 43).
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 coordinate of the second marking point C2 is expressed as
Figure BDA0002476780850000101
Wherein, thetac1A steering angle indicating an initial starting point position of the vehicle.
The coordinate of the third marking point C3 is expressed as
Figure BDA0002476780850000102
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 BDA0002476780850000103
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 BDA0002476780850000111
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 BDA0002476780850000112
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 BDA0002476780850000113
wherein, thetap1The steering swing angle of the final parking position of the vehicle relative to the initial starting position is shown.
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 41a, acquiring the initial coordinate of the first mark point C1.
And step 41b, calculating a boundary constraint equation set of the left turning forward track of the vehicle.
In this embodiment, the system of boundary constraint equations for the right-turning trajectory is:
Figure BDA0002476780850000114
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; x11 and y11 represent coordinate values of a left steering advancing track terminal point M1 of the first marking point C1; x2 represents the abscissa value of the left corner point Q2 at the far end of the empty space.
And 41C, 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、yo1Show bookThe coordinate value of the turning circle center of the left turning advancing track of the vehicle; x11 and y11 represent coordinate values of the first marker point C1 for the left-hand steering advance track end point M1.
Step 41d, determining a first steering pivot angle theta of the first marker point C1 driving to the track end point M1 in the left-turn forward direction according to the left-turn forward track equation and the boundary constraint equation set of the left-turn forward track1。
Step 41e, calculating a first driving yaw angle of the vehicle according to the driving speed v of the vehicle
Figure BDA0002476780850000121
In the present embodiment, the first yaw rate of travel
Figure BDA0002476780850000122
Wherein, t1Is the first 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 first driving yaw angle
Figure BDA0002476780850000123
Whether or not equal to the first yaw angle theta1If yes, the left-hand steering advancing is judged to be completed, otherwise, the step 41f is returned.
And 5, backing up and warehousing, including planning and executing backing up and warehousing.
Fig. 6 shows a trajectory diagram of the host vehicle executing the reverse driving, in which N1, N2, N3 and N4 respectively represent the end points of the reverse driving trajectory 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 reverse includes:
and step 51a, taking the left steering advancing track end point M1 of the first mark point C1 as the initial coordinates of the first mark point C1 in the reversing stage.
And 51b, calculating a boundary constraint equation set of the vehicle backing track.
In this embodiment, the boundary constraint equation set of the reverse trajectory is:
Figure BDA0002476780850000131
wherein, theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; x12 and y12 represent coordinate values of the reversing track end point N1 of the first marking point C1; x22 and y22 represent coordinate values of the reversing track end point N2 of the second marker point C2; x3 and y3 represent coordinate values of a right corner point Q3 at the far end of the empty parking space; x4 and y4 represent coordinate values of a right corner point Q4 at the near end of the empty parking space; d1 represents the safe distance from the second mark point C2 to the right boundary line Q4Q3 of the parking space in the reversing track stage.
And step 51C, calculating a reverse track equation of the first marker point C1.
In this embodiment, the equation of the reverse trajectory is:
(y11-y12)(x-x11)＝(x11-x12)(y-y11)
wherein x11 and y11 represent coordinate values of the first marking point C1 for the left-hand steering advance track end point M1; x12 and y12 represent coordinate values of the reverse track end point N1 of the first mark point C1.
Step 51d, calculating a first distance l from the first marker point C1 to the track end point N1 in the process of backing the vehicle according to the backing track equation and the boundary constraint equation set of the backing track1。
In this embodiment, the first distance
Figure BDA0002476780850000132
Step 51e, 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 BDA0002476780850000133
Wherein, t2Is the second travel time of the host vehicle.
And step 51f, 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 51 h.
And 51g, judging whether the information of canceling the parking is received or not, if so, ending the parking, and otherwise, returning to the step 51 f.
Step 51h, determining the first travel distance s1Is equal to the first distance/1If yes, the reversing is judged to be completed, otherwise, the step 51f is returned.
Fig. 7 shows a track diagram of the vehicle entering the garage, wherein P1, P2, P3 and P4 respectively represent the reversing track end points 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 52a, taking the reversing track end point N1 of the first mark point C1 as the initial coordinates of the first mark point C1 in the warehousing stage.
And step 52b, calculating a boundary constraint equation set of the vehicle warehousing track.
In this embodiment, the boundary constraint equation set of the warehousing trajectory is:
Figure BDA0002476780850000141
wherein x12 and y12 represent coordinate values of the reversing track end point N1 of the first mark point C1; x13 and y13 represent coordinate values of a first marking point C1 warehousing track end point P1; x23 and y23 represent coordinate values of a second marking point C2 warehousing track end point P2; x33 and y33 represent coordinate values of a third marking point C3 warehousing track end point P3; x43 and y43 represent coordinate values of a fourth marking point C4 warehousing track end point P4; y1 represents the longitudinal coordinate value of the left corner point Q1 at the near end of the empty parking space; x2 and y2 represent coordinate values of a left corner point Q2 at the far end of the empty parking space; x4 and y4 representA coordinate value of a right corner point Q4 at the near end of the empty parking space; xo (x)2、yo2A coordinate value of a turning circle center representing a vehicle warehousing track; d2 represents the safety distance from the second mark point C2 to the back boundary line Q1Q4 when parking; d3 represents the safety distance from the second mark point C2 to the right boundary line Q3Q4 when parking; d4 represents the safety distance from the third mark point C3 to the back boundary line Q1Q4 when parking; d5 represents the safety distance from the fourth mark point C4 to the right boundary line Q3Q4 when parking; d6 represents the safe distance from the fourth mark point C4 to the remote left corner point Q2 of the empty parking space in the process of warehousing; theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; theta2A second steering swing angle representing a vehicle warehousing trajectory; thetap1And a third steering angle representing a position of the vehicle relative to the initial starting point after the vehicle enters the garage.
And step 52C, calculating a warehousing trajectory equation of the first marker point C1.
In this embodiment, the warehousing trajectory equation is:
(x-xo2)2+(y-yo2)2＝(x13-xo2)2+(y13-yo2)2
wherein xo2、yo2A coordinate value of a turning circle center representing a vehicle warehousing track; x13 and y13 represent coordinate values of the first marking point C1 warehousing track end point P1.
Step 52d, calculating a second steering swing angle theta of the vehicle driving to the track end point P1 in the garage according to the garage entering track equation and the boundary constraint equation set of the garage entering track2
Step 52e, calculating a second driving yaw angle of the vehicle according to the driving speed v of the vehicle
Figure BDA0002476780850000151
In the present embodiment, the second running yaw angle
Figure BDA0002476780850000152
Wherein, t3The third travel time of the host vehicle.
And step 52f, 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 51 h.
And step 52g, judging whether the information of canceling the parking is received or not, if so, ending the parking, otherwise, returning to the step 52 f.
Step 52h, judging the second driving yaw angle
Figure BDA0002476780850000153
Whether or not equal to the second steering angle theta2If yes, the reversing is judged to be completed, otherwise, the step 51f is returned.
Example 2
As shown in fig. 8, the present embodiment provides a parallel parking space pre-occupied automatic parking device, 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 (18)

1. A parallel parking space pre-occupation type 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 continue to advance to a preset position;
step 4, pre-occupying the parking space, wherein the pre-occupied parking space is planned and executed to turn left and move forward;
and 5, backing up and warehousing, including planning and executing backing up and warehousing.
2. The parallel carport pre-occupied type automatic parking method according to claim 1, wherein the predetermined position is a position where a local outside rear view mirror is aligned with a far-end left corner point Q2 of the currently pending carport.
3. The parallel parking space pre-occupied automatic parking method according to claim 2, wherein the step 2 comprises:
step 201, identifying a head left 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 suitable empty parking space.
4. The parallel parking space pre-occupied automatic parking method according to claim 3, wherein the 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.
5. The method of claim 2, wherein the step of planning and executing a left turn forward comprises:
step 41a, obtaining the initial coordinate of the first mark point C1;
step 41b, calculating a boundary constraint equation set of the left turning and advancing track of the vehicle;
step 41C, calculating a left-turning forward trajectory equation of the first marker point C1;
step 41d, determining a first steering pivot angle theta of the first marker point C1 driving to the track end point M1 in the left-turn forward direction according to the left-turn forward track equation and the boundary constraint equation set of the left-turn forward track1；
Step 41e, calculating a first driving yaw angle of the vehicle according to the driving speed v of the vehicle
Figure FDA0002476780840000022
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 first driving yaw angle
Figure FDA0002476780840000023
Whether or not equal to the first yaw angle theta1If yes, the left-hand steering advancing is judged to be completed, otherwise, the step 41f is returned.
6. The parallel parking space pre-occupation type automatic parking method according to claim 5, wherein the boundary constraint equation set of the left steering trajectory is as follows:
Figure FDA0002476780840000021
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; x11 and y11 represent coordinate values of a left steering advancing track terminal point M1 of the first marking point C1; x2 represents the abscissa value of the left corner point Q2 at the far end of the empty space.
7. The parallel parking space pre-occupation type automatic parking method according to claim 6, wherein the left-turning forward trajectory equation is as follows:
(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 marker point C1 for the left-hand steering advance track end point M1.
8. The parallel parking space pre-occupied automatic parking method according to claim 7, wherein the step of planning and executing the reverse comprises:
step 51a, taking the left steering advancing track end point M1 of the first mark point C1 as the initial coordinate of the first mark point C1 in the backing stage;
51b, calculating a boundary constraint equation set of the backing track of the vehicle;
51C, calculating a reversing track equation of the first mark point C1;
step 51d, calculating a first distance l from the first marker point C1 to the track end point N1 in the process of backing the vehicle according to the backing track equation and the boundary constraint equation set of the backing track1；
Step 51e, calculating the first travel distance s of the vehicle according to the travel speed v of the vehicle1；
51f, 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 51 h;
step 51g, judging whether information for canceling the parking is received or not, if so, ending the parking, otherwise, returning to the step 51 f;
step 51h, determining the first travel distance s1Is equal to the first distance/1If yes, the reversing is judged to be completed, otherwise, the step 51f is returned.
9. The parallel parking space pre-occupation type automatic parking method according to claim 8, wherein the boundary constraint equation set of the reversing track is as follows:
Figure FDA0002476780840000031
wherein, theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; x12 and y12 represent coordinate values of the reversing track end point N1 of the first marking point C1; x22 and y22 represent coordinate values of the reversing track end point N2 of the second marker point C2; x3 and y3 represent coordinate values of a right corner point Q3 at the far end of the empty parking space; x4 and y4 represent coordinate values of a right corner point Q4 at the near end of the empty parking space; d1 represents the safe distance from the second mark point C2 to the right boundary line Q4Q3 of the parking space in the reversing track stage.
10. The parallel parking space pre-occupation type automatic parking method according to claim 9, wherein the reverse trajectory equation is as follows:
(y11-y12)(x-x11)＝(x11-x12)(y-y11)
wherein x11 and y11 represent coordinate values of the first marking point C1 for the left-hand steering advance track end point M1; x12 and y12 represent coordinate values of the reverse track end point N1 of the first mark point C1.
11. The parallel carport pre-occupied type automatic parking method according to claim 10, wherein the step of planning and executing a garage comprises:
step 52a, taking the reversing track end point N1 of the first mark point C1 as the initial coordinate of the first mark point C1 in the warehousing stage;
step 52b, calculating a boundary constraint equation set of the vehicle warehousing track;
step 52C, calculating a warehousing trajectory equation of the first mark point C1;
step 52d, calculating a second steering swing angle theta of the vehicle driving to the track end point P1 in the garage according to the garage entering track equation and the boundary constraint equation set of the garage entering track2
Step 52e, calculating a second driving yaw angle of the vehicle according to the driving speed v of the vehicle
Figure FDA0002476780840000041
Step 52f, 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 51 h;
step 52g, judging whether information for canceling the parking is received or not, if so, ending the parking, otherwise, returning to the step 52 f;
step 52h, judging the second driving yaw angle
Figure FDA0002476780840000042
Whether or not equal to the second steering angle theta2If yes, the reversing is judged to be completed, otherwise, the step 51f is returned.
12. The parallel parking space pre-occupation type automatic parking method according to claim 11, wherein the boundary constraint equation set of the parking-in track is as follows:
Figure FDA0002476780840000051
wherein x12 and y12 represent coordinate values of the reversing track end point N1 of the first mark point C1; tables of x13 and y13A coordinate value indicating a warehousing track end point P1 of the first mark point C1; x23 and y23 represent coordinate values of a second marking point C2 warehousing track end point P2; x33 and y33 represent coordinate values of a third marking point C3 warehousing track end point P3; x43 and y43 represent coordinate values of a fourth marking point C4 warehousing track end point P4; y1 represents the longitudinal coordinate value of the left corner point Q1 at the near end of the empty parking space; x2 and y2 represent coordinate values of a left corner point Q2 at the far end of the empty parking space; x4 and y4 represent coordinate values of a right corner point Q4 at the near end of the empty parking space; xo (x)2、yo2A coordinate value of a turning circle center representing a vehicle warehousing track; d2 represents the safety distance from the second mark point C2 to the back boundary line Q1Q4 when parking; d3 represents the safety distance from the second mark point C2 to the right boundary line Q3Q4 when parking; d4 represents the safety distance from the third mark point C3 to the back boundary line Q1Q4 when parking; d5 represents the safety distance from the fourth mark point C4 to the right boundary line Q3Q4 when parking; d6 represents the safe distance from the fourth mark point C4 to the remote left corner point Q2 of the empty parking space in the process of warehousing; theta1A first steering angle representing a left-steering advancing trajectory of the host vehicle; theta2A second steering swing angle representing a vehicle warehousing trajectory; thetap1And a third steering angle representing a position of the vehicle relative to the initial starting point after the vehicle enters the garage.
13. The parallel carport pre-occupied type automatic parking method according to claim 12, wherein the garage entering trajectory equation is as follows:
(x-xo2)2+(y-yo2)2＝(x13-xo2)2+(y13-yo2)2
wherein xo2、yo2A coordinate value of a turning circle center representing a vehicle warehousing track; x13 and y13 represent coordinate values of the first marking point C1 warehousing track end point P1.
14. The utility model provides a parallel parking stall occupies automatic device of parking of formula which characterized in that includes:
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.
15. The parallel parking space pre-occupied type automatic parking device according to claim 14, wherein the processing module comprises a parking space recognition 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.
16. The parallel parking space pre-occupied automatic parking device according to claim 14, further comprising a display module connected to the processing module and used for displaying a parking route and a human-computer interaction interface.
17. The parallel parking space pre-occupied type automatic parking device according to claim 14, wherein 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.
18. The parallel parking space pre-occupied automatic parking device according to claim 14, wherein the front short-distance radar array is installed at a position that: 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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CN113353064B (en) * 2021-04-30 2024-03-29 惠州华阳通用电子有限公司 Automatic parking driving control method

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