CN111547048B - Automatic parking method and device for inclined parking spaces - Google Patents
Automatic parking method and device for inclined parking spaces Download PDFInfo
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- B60—VEHICLES IN GENERAL
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Abstract
The invention provides an automatic parking method and device for inclined parking spaces, 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
Technical Field
The invention relates to the technical field of automatic parking, in particular to an automatic parking method and device for an inclined parking space.
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 an automatic parking method and device for inclined parking spaces, 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 an inclined parking space, 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, calculating a first travel distance l from the first marking point C1 to the track end point E1 in the straight-ahead manner according to the straight-ahead 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 motion trail 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-line advance track 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-ahead track of the first marker point C1 as the initial coordinate of the first marker point C1 in the left-turn ahead 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 mark point C1 from left-turn forward driving to the track end point M1 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
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
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:
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 steering pivot angle representing a left steering advancing trajectory of the 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 from the fourth marking point C4 to the left obstacle during the left-turning forward process of the vehicle; x11 and y11 represent coordinate values of the first marker point C1 straight-ahead driving end point E1; x12 and y12 represent coordinate values of a left steering advancing track terminal point M1 of the first marking point C1; x22 represents the abscissa value of the second marker point C2, left turn forward trajectory end point M2; y42 represents the ordinate value of the fourth marker point C4 for the end point M4 of the left turn forward trajectory; and x2 and y2 represent coordinate values of a 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 straight-ahead trajectory end point E1.
Specifically, the step of planning and executing a left turn forward 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
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
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 and backing track is as follows:
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 left corner point Q1 of the near end of the empty parking space in the process of turning the vehicle right to reverse; d3 shows 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; theta1Showing the left side of the vehicleA first steering yaw angle to steer the forward trajectory; theta2A second steering pivot angle representing a right steering and backing track of the vehicle; x12 and y12 represent coordinate values of a left steering advancing track terminal point M1 of the first marker point C1; x13 and y13 represent coordinate values of a right steering reversing track terminal point N1 of the first marker point C1; thetaN1A steering angle indicating a relative initial position of the vehicle; x1 and y1 represent coordinate values of a left corner point Q1 at the near end of the empty parking space; and x33 and y33 represent coordinate values of the third marker point C3 for the right-turning reverse 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、yo2And a steering circle center coordinate value representing a right steering and backing track of the vehicle.
Specifically, the step of planning and executing warehousing comprises:
step 42a, taking a right-turning backing track end point N1 of the first mark point C1 as an initial coordinate of the first mark 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 driving distance l from the first marking point C1 to the track end point P1 during the warehouse-in driving according to the warehouse-in track equation and the boundary constraint equation set of the warehouse-in 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:
wherein, thetap1A steering angle indicating a relative initial position of the vehicle; x14 and y14 represent coordinate values of the warehousing track end point P1 of the first mark point C1; x24 and y24 represent coordinate values of the warehousing track end point P2 of the second mark point C2; x34 and y34 represent coordinate values of the third mark point C3 warehousing track end point P3; x3 and y3 represent coordinate values of a right corner point Q3 at the far end of the empty space; x4 and y4 represent coordinate values of a right corner point Q4 at the near end of the empty parking space; d4 represents the safety distance from the second mark point C2 to the rear boundary line Q3Q4 when parking is finished; d5 shows the safe distance from the third marker point C3 to the rear boundary line Q3Q4 when parking.
Specifically, the warehousing trajectory equation is:
(y13-y14)(x-x13)＝(x13-x14)(y-y13)
wherein x13 and y13 represent coordinate values of a right steering backing track end point N1 of the first mark point C1; x14 and y14 represent coordinate values of the warehousing track end point P1 of the first mark point C1.
In another aspect, the present invention provides an automatic parking device for an inclined parking space, 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, identifying parking spaces and obstacles, planning parking routes 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 inclined 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 between the two short-distance radars at the vehicle head; 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 an automatic parking method for inclined parking spaces 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 automatic parking device for inclined parking spaces according to 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 an automatic parking method in an inclined parking space, 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, 4 vertical angular points of the currently pending parking space are taken as 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. The parking space included angle between the left boundary line of the inclined parking space and the rear boundary line of the inclined parking space is alpha.
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 corner point Q1, the far end left corner point Q2, the far end right corner point Q3, the near end right corner point Q4 and the tail left corner point e of the vehicle in the parking space in front of the currently undetermined parking space are identified, and y6 is more than tan alpha (x6-x1) + y1 and y5 is more than tan alpha (x5-x2) + y2, the width of the currently undetermined parking space is (x2-x1) sin alpha, and the length of the parking space is (y2-y3) sin alpha;
if the near end left corner point Q1, the far end left corner point Q2, the near end right corner point Q4 and the tail left corner point e of the vehicle in the parking space in front of the currently undetermined parking space are identified, and y6 is more than tan alpha (x6-x1) + y1, y5 is more than tan alpha (x5-x2) + y2, the width of the currently undetermined parking space is (x5-x1) sin alpha, and the length of the parking space is (y1-y4) sin alpha;
if the near-end left corner point Q1, the far-end left corner point Q2, the far-end right corner point Q3 and the tail left corner point e of the vehicle in the parking space in front of the currently undetermined parking space are identified, and y6 is less than tan alpha (x6-x1) + y1, y5 is less than tan alpha (x5-x2) + y2, the width of the currently undetermined parking space is (x2-x6) × sin alpha, and the length of the parking space is (y2-y3) × sin alpha;
if the near end left corner point Q1, the far end left corner point Q2 and the tail left corner point e of the vehicle in the parking space in front of the currently undetermined parking space are identified, and y6 is less than tan alpha (x6-x1) + y1, and y5 is more than tan alpha (x5-x2) + y2, the width of the currently undetermined parking space is (x5-x6) × sin alpha; and detecting 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, wherein 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 the XOY coordinate system, and is represented as C2(x20, y 20); a 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); a fourth marked point C4 is a projection point of the most protruding point of the joint part of the vehicle head and the vehicle body on the left side 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(x14, y 14); p2 represents a target parking point for the second marker point C2, denoted as P2(x24, y 24); p3 represents the target parking point of the third marker point C3, denoted as P3(x34, y 34); p4 represents the target parking point at 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 and unchangeable 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 parameters of the target parking point P1 of the first marker point C1, that is:
the second marker point C2 is represented by the following coordinates:
wherein, thetac1A steering angle indicating an initial starting point position of the vehicle.
The coordinate of the third marker point C3 is expressed as:
wherein, thetac1A steering angle indicating an initial starting point position of the vehicle.
The fourth marking point C4 is represented by coordinates
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 expressed as
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
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
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-line travel, and in the diagram, E1 represents the end point of the straight-line travel trajectory 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-delta ≦ x10 < x1, where delta is the horizontal distance from the host vehicle's right exterior mirror 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-line advance track end point E1.
Step 31C, calculating a first travel distance l from the first marker point C1 to the track end point E1 in the straight-ahead manner according to the straight-ahead track equation1。
In this embodiment, the first distance
Step 31d, calculating the first travel distance s of the vehicle according to the travel speed v of the vehicle1。
In this embodiment, the first travel distance
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 line is judgedThe advance is completed, otherwise return to step 31 e.
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 end point E1 of the straight-ahead track of the first marker point C1 as the initial coordinate of the first marker point C1 in the left-turn forward 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:
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 steering pivot angle representing a left steering advancing trajectory of the 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 from the fourth marking point C4 to the left obstacle during the left-turning forward process of the vehicle; x11 and y11 represent coordinate values of the first marker point C1 straight-ahead driving end point E1; x12 and y12 represent coordinate values of a left steering advancing track terminal point M1 of the first marking point C1; x22 represents the abscissa value of the second marker point C2 for the left steering advance trajectory end point M2; y42 represents the ordinate value of the fourth marker point C4 for the end point M4 of the left turn forward trajectory; and x2 and y2 represent coordinate values of a 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 marker point C1 straight-ahead trajectory end point E1.
Step 32d, calculating a first steering pivot angle theta of the first mark point C1 from left-turn forward driving to the track end point M1 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
In the present embodiment, the first yaw rate of travel
Wherein, t2Is the second travel time of the host vehicle.
And 32f, 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 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
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 steering and reversing, in which N1, N2, N3 and N4 respectively represent right steering and reversing 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:
step 41a, taking the left steering advancing track end point M1 of the first marker point C1 as the initial coordinate of the right steering backing stage of the first marker 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:
wherein K represents the width of the vehicle body; r1A turning circle radius representing a left turning advancing trajectory of the vehicle; r2The turning circle radius represents the right turning and backing track of the vehicle; d2 shows the safe distance from the third mark point C3 to the left corner point Q1 of the near end of the empty parking space in the process of turning the vehicle right to reverse; d3 shows 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 a left steering advancing track terminal point M1 of the first marking point C1; x13 and y13 represent coordinate values of a right steering reversing track terminal point N1 of the first marker point C1; thetaN1A steering angle indicating a relative initial position of the vehicle; x1 and y1 represent coordinate values of a left corner point Q1 at the near end of the empty parking space; and x33 and y33 represent coordinate values of the third marker point C3 for the right-turning reverse 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
In the present embodiment, the second running yaw angle
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
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 entering 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-turning backing 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:
wherein, thetap1A steering angle indicating a relative initial position of the vehicle; x14 and y14 represent coordinate values of a first mark point C1 warehousing track end point P1; x24 and y24 represent coordinate values of the warehousing track end point P2 of the second mark point C2; x34 and y34 represent coordinate values of the third mark point C3 warehousing track end point P3; x3 and y3 represent coordinate values of a right corner point Q3 at the far end of the empty space; x4 and y4 represent coordinate values of a right corner point Q4 at the near end of the empty parking space; d4 represents the safety distance from the second mark point C2 to the rear boundary line Q3Q4 when parking is finished; d5 shows the safe distance from the third marker 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 right steering backing track end point N1 of the first mark point C1; x14 and y14 represent coordinate values of the warehousing track end point P1 of the first mark point C1.
Step 42d, determining a second driving distance l from the first marking point C1 to the track end point P1 during the warehouse-in driving according to the warehouse-in track equation and the boundary constraint equation set of the warehouse-in track2。
In this embodimentOf the second distance
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 the present embodiment, the second travel distance
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, determining 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 an inclined parking space, 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, identifying parking spaces and obstacles, planning parking routes 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 (13)
1. An automatic parking method for inclined parking spaces 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;
step 4, backing and warehousing, including planning and executing right steering backing and warehousing;
the step of planning and executing a straight line progression comprises:
31a, acquiring an initial coordinate of a first mark point C1, wherein the first mark point C1 is a projection point of the center point of the rear right wheel of the vehicle on a parking space plane coordinate system;
step 31b, calculating a straight-ahead track equation of the first marker point C1;
step 31C, calculating a first distance l from the first marking point C1 to the track end point E1 in the straight-ahead driving according to the straight-ahead 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 l1If yes, the straight advance is judged to be completed, otherwise, the step 31e is returned.
2. The automated parking method for a skewed parking space according to claim 1, wherein said 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 automated parking method for a skewed parking space according to claim 2, wherein said 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 automatic parking method for inclined parking spaces according to claim 1, wherein the equation of the straight forward trajectory is as follows:
(y11-y10)(x-x10)＝(x11-x10)(y-y10)
wherein x10 and y10 are coordinate values of the first mark point C1, and x11 and y11 are coordinate values of the first mark point C1 straight-ahead trajectory end point E1.
5. The automated parking method for skewed slots of claim 4 wherein said step of planning and executing a left turn maneuver comprises:
step 32a, taking the end point E1 of the straight-ahead track of the first marker point C1 as the initial coordinate of the first marker point C1 in the left-turn ahead 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 mark point C1 from left-turn forward driving to the track end point M1 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
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
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.
6. The oblique-parking space automatic parking method according to claim 5, wherein the boundary constraint equation set of the left-turning forward trajectory is as follows:
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 steering pivot angle representing a left steering advancing trajectory of the 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 from the fourth marking point C4 to the left obstacle in the process of left-turning forward of the vehicle; x11 and y11 represent coordinate values of the first marker point C1 straight-ahead driving end point E1; x12 and y12 represent coordinate values of a left steering advancing track terminal point M1 of the first marking point C1; x22 represents the abscissa value of the second marker point C2 for the left turn forward trajectory end point M2; y42 represents the ordinate value of the fourth marker point C4 for the left turn forward trajectory end point M4; x2 and y2 represent coordinate values of a Q2 point at the far end of the empty parking space; the second mark point C2 is a projection point of the most projecting point of the joint part of the tail of the vehicle and the right side of the vehicle to the vehicle body on a parking space plane coordinate system, and the fourth mark point C4 is a projection point of the most projecting point of the joint part of the head of the vehicle and the left side of the vehicle to the vehicle body on the parking space plane coordinate system.
7. The oblique-parking space 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 straight-ahead trajectory end point E1.
8. The automated parking method for skewed slots of claim 7 wherein said step of planning and executing right-turn parking 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
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
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.
9. The method for automatically parking at an inclined parking space according to claim 8, wherein the boundary constraint equation set of the right-turn parking track is as follows:
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 process of turning right and backing up the vehicleThe safe distance from a third mark point C3 to a left corner point Q1 at the near end of the empty parking space; d3 shows 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 yaw angle representing a left-turn 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 a left steering advancing track terminal point M1 of the first marking point C1; x13 and y13 represent coordinate values of a right steering reversing track terminal point N1 of the first marker point C1; thetaN1A steering angle indicating a relative initial position of the 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 a right steering reversing track terminal point N3 of the third marker point C3; the third mark point C3 is a projection point of the most prominent point of the combination part of the tail of the vehicle and the left side of the vehicle to the vehicle body on a parking space plane coordinate system.
10. The method for automatically parking at an inclined parking space according to claim 9, wherein the right-steering and reverse-driving 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.
11. The automated parking method for skewed slots according to claim 10, wherein said step of planning and executing a garage comprises:
step 42a, taking the end point N1 of the right-turning backing track of the first mark point C1 as the initial coordinate of the first mark 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 driving distance l from the first marking point C1 to the track end point P1 during the warehouse-in driving according to the warehouse-in track equation and the boundary constraint equation set of the warehouse-in 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 the step 42 f;
step 42h, judging the second driving distance s2Whether or not it is equal to the second distance l2If yes, the warehousing is judged to be completed, otherwise, the step 42f is returned.
12. The oblique-parking space automatic parking method according to claim 11, wherein the boundary constraint equation set of the parking track is as follows:
wherein, thetap1A steering angle indicating a relative initial position of the vehicle; x14 and y14 represent coordinate values of the warehousing track end point P1 of the first mark point C1; x24 and y24 represent coordinate values of the warehousing track end point P2 of the second mark point C2; x34 and y34 represent coordinate values of the third mark point C3 warehousing track end point P3; x3 and y3 represent coordinate values of a right corner point Q3 at the far end of the empty space; x4 and y4 represent coordinate values of a right corner point Q4 at the near end of the empty parking space; d4 represents the safety distance from the second mark point C2 to the rear boundary line Q3Q4 when parking is finished; d5 shows the safe distance from the third marker point C3 to the rear boundary line Q3Q4 when parking.
13. The oblique-parking space automatic parking method according to claim 12, wherein the parking trajectory equation is as follows:
(y13-y14)(x-x13)＝(x13-x14)(y-y13)
wherein x13 and y13 represent coordinate values of a right steering backing track end point N1 of the first mark point C1; x14 and y14 represent coordinate values of the warehousing track end point P1 of the first mark point C1.
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| DE102011007016A1 (en) * | 2011-04-08 | 2012-10-11 | Robert Bosch Gmbh | Roll direction-based parking assistance system |
| CN105857306B (en) * | 2016-04-14 | 2018-07-10 | 中国科学院合肥物质科学研究院 | A kind of vehicle autonomous parking paths planning method for a variety of scenes of parking |
| CN107776570B (en) * | 2017-09-19 | 2020-09-01 | 广州汽车集团股份有限公司 | Full-automatic parking method and full-automatic parking system |
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