CN113232662B - Road shoulder parking assisting method and device - Google Patents

Road shoulder parking assisting method and device Download PDF

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Publication number
CN113232662B
CN113232662B CN202110692873.3A CN202110692873A CN113232662B CN 113232662 B CN113232662 B CN 113232662B CN 202110692873 A CN202110692873 A CN 202110692873A CN 113232662 B CN113232662 B CN 113232662B
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shoulder
information
parking
road
vehicle
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CN113232662A (en
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刘月
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Neolithic Unmanned Vehicle Songyang Co ltd
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Neolix Technologies 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • 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
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C11/00—Details of pavings
    • E01C11/22—Gutters; Kerbs ; Surface drainage of streets, roads or like traffic areas
    • E01C11/221—Kerbs or like edging members, e.g. flush kerbs, shoulder retaining means ; Joint members, connecting or load-transfer means specially for kerbs
    • 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
    • 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)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention provides a road shoulder parking assisting method and device, wherein the road shoulder parking assisting method comprises the following steps: acquiring road shoulder information when determining that the road shoulder parking is required; determining the landing position of the shoulder parking assist device according to the acquired shoulder information and the length information of the shoulder parking assist device placed on the vehicle; adjusting the pose of the vehicle, and controlling the shoulder parking assist device to move downwards so that the lower part of the shoulder parking assist device is abutted with the ground at the grounding position; and pushing the upper part of the shoulder parking auxiliary device to fall towards the shoulder direction until the upper part of the shoulder parking auxiliary device is overlapped with the shoulder, so that the vehicle drives on the shoulder to park according to the shoulder parking auxiliary device overlapped on the shoulder and the ground. The road shoulder parking efficiency of unmanned driving, automatic driving and unmanned vehicles can be improved.

Description

Road shoulder parking assisting method and device
Technical Field
The invention relates to the technical field of vehicle driving, in particular to a road shoulder parking assisting method and device.
Background
When an abnormality occurs during driving of a vehicle, the vehicle needs to be parked close to the side so as not to affect normal running of other vehicles. At present, the way of parking by shoulders is generally adopted for parking by side, namely, a vehicle which is about to be abnormal is driven and parked on the shoulders which are higher than the road surface, because the shoulders are generally higher than the road surface more, if wheels directly go up to the shoulders from the road surface, the damage to the wheels and the damage to mechanical components on a vehicle chassis are easily caused, and if the heights of the shoulders are too high, the vehicle cannot run to the shoulders.
In order to avoid damage to mechanical components and wheels of the vehicle and the fact that the vehicle cannot run to a road shoulder, the vehicle can be provided with the road shoulder parking assisting device, when the road shoulder parking assisting device needs to be parked, a driver places the road shoulder parking assisting device according to the position of the vehicle, and then drives the vehicle to pass. However, in the method, the driver needs to take the road shoulder parking auxiliary device off the vehicle and place the road shoulder parking auxiliary device, so that the time required by parking the road shoulder is longer, and the parking efficiency is lower; further, in the case of an unmanned vehicle, the shoulder parking assist apparatus cannot be used directly because there is no driver.
Disclosure of Invention
In view of the above, the present invention provides a road shoulder parking assisting method and apparatus to improve the road shoulder parking efficiency.
In a first aspect, an embodiment of the present invention provides a road shoulder parking assistance method, including:
acquiring road shoulder information when determining that the road shoulder parking is required;
determining the landing position of the shoulder parking assist device according to the acquired shoulder information and the length information of the shoulder parking assist device placed on the vehicle;
adjusting the pose of the vehicle, and controlling the shoulder parking assist device to move downwards so that the lower part of the shoulder parking assist device is abutted with the ground at the grounding position;
and pushing the upper part of the shoulder parking auxiliary device to fall towards the shoulder direction until the upper part of the shoulder parking auxiliary device is overlapped with the shoulder, so that the vehicle drives on the shoulder to park according to the shoulder parking auxiliary device overlapped on the shoulder and the ground.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the determining, according to the acquired shoulder information and length information of a shoulder parking assist apparatus placed on a vehicle, a landing position of the shoulder parking assist apparatus includes:
judging whether the road shoulder width information in the road shoulder road information meets the vehicle parking width or not according to the road shoulder road information in the acquired road shoulder information;
if yes, judging whether the road shoulder pavement obstacle information in the road shoulder pavement information is suitable for parking of the vehicle;
and if the road shoulder height information is suitable, determining the landing position according to the acquired road shoulder height information in the road shoulder information and the length information of the road shoulder parking auxiliary device.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the determining the landing position according to the shoulder height information in the acquired shoulder information and the length information of the shoulder parking assist apparatus includes:
and determining the horizontal distance between the shoulder parking assisting device and the shoulder according to the height information of the shoulder and the length information of the shoulder parking assisting device, and taking the position which is away from the shoulder by the horizontal distance as the landing position.
With reference to the first aspect, the first possible implementation manner of the first aspect, or the second possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, where before determining a landing position of the shoulder parking assist apparatus after the obtaining of the shoulder information and the length information of the shoulder parking assist apparatus placed on the vehicle, the method further includes:
if the shoulder height information in the acquired shoulder information is less than or equal to a preset shoulder passing threshold, driving the vehicle to drive the shoulder to stop;
and if the shoulder height information in the acquired shoulder information is larger than a preset shoulder passing threshold, executing the step of determining the landing position of the shoulder parking assist device.
With reference to the first aspect and any one of the first to the second possible implementation manners of the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, where after the determining the landing position of the shoulder parking assist apparatus, before adjusting the pose of the vehicle, the method further includes:
and calculating a sine value according to the height information of the road shoulder and the length information of the road shoulder parking auxiliary device, acquiring a road shoulder parking slope according to the sine value, and executing the step of adjusting the pose of the vehicle if the road shoulder parking slope is less than or equal to the maximum climbing angle of the vehicle.
In a second aspect, an embodiment of the present invention further provides a road shoulder parking assist apparatus, including:
the road shoulder information acquisition module is used for acquiring road shoulder information when determining that the road shoulder parking is required;
the landing position determining module is used for determining the landing position of the shoulder parking assisting device according to the acquired shoulder information and the length information of the shoulder parking assisting device placed on the vehicle;
the downward moving module is used for adjusting the pose of the vehicle and controlling the road shoulder parking auxiliary device to move downward so that the lower part of the road shoulder parking auxiliary device is abutted with the ground at the landing position;
and the pushing module is used for pushing the upper part of the shoulder parking auxiliary device to fall towards the shoulder direction until the upper part of the shoulder parking auxiliary device is overlapped with the shoulder, so that the vehicle drives on the shoulder to park according to the shoulder parking auxiliary device overlapped on the shoulder and the ground.
In combination with the second aspect, the embodiment of the present invention provides a first possible implementation manner of the second aspect, wherein the shoulder parking assist apparatus includes a support plate, and a position where a bottom of the support plate abuts against the ground is provided with a resistance structure for increasing resistance of the shoulder parking assist apparatus abutting against the ground.
With reference to the second aspect or the first possible implementation manner of the second aspect, the embodiment of the present invention provides a second possible implementation manner of the second aspect, wherein the shoulder parking assist apparatus further includes a vertical thrust structure disposed at a rear portion of the vehicle, and the vertical thrust structure is connected to a top portion of the support plate and configured to apply a thrust force to the top portion of the support plate to move the support plate downward.
In a third aspect, an embodiment of the present application provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method when executing the computer program.
In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, performs the steps of the method described above.
According to the method and the device for assisting the parking of the road shoulder, provided by the embodiment of the invention, the information of the road shoulder is obtained when the parking of the road shoulder is determined to be required; determining the landing position of the shoulder parking assist device according to the acquired shoulder information and the length information of the shoulder parking assist device placed on the vehicle; adjusting the pose of the vehicle, and controlling the shoulder parking assist device to move downwards so that the lower part of the shoulder parking assist device is abutted with the ground at the grounding position; and pushing the upper part of the shoulder parking auxiliary device to fall towards the shoulder direction until the upper part of the shoulder parking auxiliary device is overlapped with the shoulder, so that the vehicle drives on the shoulder to park according to the shoulder parking auxiliary device overlapped on the shoulder and the ground. Therefore, the landing position is determined according to the shoulder information and the length information of the shoulder parking assisting device, the shoulder parking assisting device is controlled to move downwards to the landing position to be in contact with the ground, and the shoulder parking assisting device is pushed to fall towards the shoulder direction to be in lap joint with the shoulder, so that the vehicle can drive to the shoulder to park through the automatically laid shoulder parking assisting device, and the shoulder parking efficiency can be effectively improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a road shoulder parking assistance method provided by an embodiment of the invention;
FIG. 2 is a schematic diagram illustrating a shoulder parking assist provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a road shoulder parking assisting device provided by the embodiment of the invention;
fig. 4 is a schematic structural diagram of a computer device 400 according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The existing road shoulder parking method needs a driver to take off a road shoulder parking auxiliary device from a vehicle, places the road shoulder parking auxiliary device according to the position of the vehicle, and then drives the vehicle to pass through, so that the road shoulder parking method is long in required time, low in parking efficiency and not suitable for unmanned vehicles. In the embodiment of the invention, the shoulder parking assisting device is arranged behind the vehicle, the shoulder parking assisting device is driven to move downwards from the vehicle after the vehicle parking position is determined according to the length of the shoulder parking assisting device and the height of the shoulder, and when the shoulder parking assisting device is close to or in contact with the ground, the thrust is applied from the upper part of the shoulder parking assisting device, so that the shoulder parking assisting device falls down towards the shoulder, the upper part of the shoulder parking assisting device is in lap joint with the shoulder to form a parking channel, and the vehicle drives onto the shoulder through the parking channel, so that a driver does not need to perform shoulder parking operation, the time required by shoulder parking is effectively shortened, and the shoulder parking efficiency is improved.
The embodiment of the invention provides a road shoulder parking assisting method and device, which are described by the embodiment below.
Fig. 1 shows a flow chart of a road shoulder parking assistance method provided by an embodiment of the invention. As shown in fig. 1, the method includes:
step 101, acquiring road shoulder information when determining that the road shoulder parking is required;
in the embodiment of the invention, for an unmanned vehicle or an automatic vehicle, if the vehicle is abnormal in the driving process, the vehicle can determine that the vehicle needs to be parked on the road shoulder, and the vehicle is triggered to acquire the information of the road shoulder so as to determine whether the vehicle can be parked; for a vehicle driven by a driver, if the driver determines that a rest is needed or determines that an abnormal condition occurs in the vehicle, the vehicle can be stopped on the road shoulder.
In the embodiment of the present invention, as an optional embodiment, the road shoulder information includes, but is not limited to: curb position information, curb height information and curb road surface information, acquire curb information, include:
and starting a road shoulder detector arranged at the front end of the vehicle to scan so as to acquire the road shoulder information.
In the embodiment of the present invention, as an optional embodiment, the road shoulder detector may be a radar, and the method of starting the road shoulder detector arranged at the front end of the vehicle to scan to obtain the road shoulder information includes:
a radar arranged at the front end of a vehicle is started to emit electric waves, reflected waves of the electric waves are received, and road shoulder position information, road shoulder height information and road shoulder road surface information are detected according to the electric waves and the reflected waves.
In the embodiment of the invention, the front end of the vehicle is provided with a radar, the radar emits electric waves, and the position information, the height information and the road shoulder road surface information of the road shoulder in front of the vehicle are determined through reflected wave detection of the electric waves. For example, the shoulder position information and the shoulder height information may be obtained according to the transmitted electric wave, the angle of the transmitted electric wave, the received reflected wave angle, and the delay time. Among these, radars include, but are not limited to: laser radar, millimeter wave radar, ultrasonic radar.
In this embodiment of the present invention, as another optional embodiment, the road shoulder detector may be a stereo camera, and the method of starting the road shoulder detector arranged at the front end of the vehicle to scan to obtain the road shoulder information includes:
and starting a three-dimensional camera arranged at the front end of the vehicle to pick up the image, analyzing the image pick-up and acquiring the position information of the road shoulder, the height information of the road shoulder and the road surface information of the road shoulder.
In the embodiment of the invention, after the stereo camera is used for shooting, the road shoulder information is determined by extracting the characteristics in the shooting and matching with the road shoulder characteristics.
In the embodiment of the invention, the road shoulder position information can be absolute position information of the road shoulder or position information of the road shoulder relative to the vehicle. In the case where the road shoulder position information is position information of a road shoulder relative to the vehicle, the position and the angle of the vehicle relative to the road shoulder may be identified by acquiring a road shoulder image corresponding to the driving position from a preset navigation map according to the current driving position, and comparing the road shoulder image with the image shot by the stereo camera.
In the embodiment of the present invention, as an optional embodiment, the road shoulder road surface information includes, but is not limited to: shoulder width information, shoulder road surface obstacle information, and the like. The road shoulder road surface obstacle information includes but is not limited to: road surface irregularity information, obstacle information, and the like that affect the parking of the vehicle.
102, determining the landing position of the shoulder parking assisting device according to the acquired shoulder information and the length information of the shoulder parking assisting device placed on the vehicle;
in an embodiment of the present invention, as an optional embodiment, determining a landing position of a shoulder parking assist apparatus according to the acquired shoulder information and length information of the shoulder parking assist apparatus placed on a vehicle includes:
judging whether the road shoulder width information in the road shoulder road information meets the vehicle parking width or not according to the road shoulder road information in the acquired road shoulder information;
if yes, judging whether the road shoulder pavement obstacle information in the road shoulder pavement information is suitable for parking of the vehicle;
and if the road shoulder height information is suitable, determining the landing position according to the acquired road shoulder height information in the road shoulder information and the length information of the road shoulder parking auxiliary device.
In the embodiment of the invention, the width of the road shoulder is required to be larger than the vehicle width of the vehicle, and no obstacle capable of influencing the parking of the vehicle exists on the road surface of the road shoulder, so that the road shoulder can be used for parking. For example, if the road surface of the shoulder has ice, soil and stone heaps, and a large amount of broken stones, and the road surface has a severe concave-convex change, so that the vehicle cannot be parked, or even if the vehicle can be parked, the safety hazard is large, and the shoulder is determined to be unsuitable as a parking spot.
In an embodiment of the present invention, as an optional embodiment, determining the landing position according to the shoulder height information in the acquired shoulder information and the length information of the shoulder parking assist apparatus includes:
and determining the horizontal distance between the shoulder parking assisting device and the shoulder according to the height information of the shoulder and the length information of the shoulder parking assisting device, and taking the position which is away from the shoulder by the horizontal distance as the landing position.
In the embodiment of the invention, the shoulder parking assisting device, the shoulder and the ground form a right triangle, wherein the height of the shoulder is the vertical side of the right triangle, and the length of the shoulder parking assisting device is the hypotenuse of the right triangle, so that the horizontal side of the right triangle can be determined according to the hypotenuse and the vertical side, and the length of the horizontal side is the horizontal distance.
In the embodiment of the invention, if the road shoulder width information does not meet the vehicle parking width, determining that the road shoulder at the position can not be used as a parking point, controlling the vehicle to continuously move forward and acquiring the road shoulder information for judgment until the acquired road shoulder width information meets the vehicle parking width; and if the information of the road shoulder obstacles is not suitable for the vehicle to stop, controlling the vehicle to continue to move forward and acquiring the information of the road shoulder for judgment. The step of judging whether the shoulder width information in the shoulder road information meets the vehicle parking width is not performed in the process of judging the shoulder width information and the shoulder road obstacle information, and the step of judging whether the shoulder road obstacle information in the shoulder road information is suitable for vehicle parking can be performed after the step of judging whether the shoulder road obstacle information in the shoulder road information is suitable for vehicle parking or not, and the embodiment of the invention does not limit the steps.
In an embodiment of the present invention, for a situation where the height of the shoulder is small, the vehicle may directly drive on the shoulder without using a shoulder parking assist device, and therefore, as an optional embodiment, after determining the landing position of the shoulder parking assist device according to the acquired shoulder information and the length information of the shoulder parking assist device placed on the vehicle, the method further includes:
if the shoulder height information in the acquired shoulder information is less than or equal to a preset shoulder passing threshold, driving the vehicle to drive the shoulder to stop;
and if the shoulder height information in the acquired shoulder information is larger than a preset shoulder passing threshold, executing the step of determining the landing position of the shoulder parking assist device.
In the embodiment of the invention, for a common passenger vehicle, if the height of the road shoulder is less than or equal to 30 mm, the vehicle can directly drive on the road shoulder to stop. In practical application, the road shoulder passing threshold value can be set according to actual vehicle types respectively.
103, adjusting the pose of the vehicle, and controlling the shoulder parking assist device to move downwards so that the lower part of the shoulder parking assist device is abutted with the ground at the grounding position;
in the embodiment of the present invention, as an optional embodiment, the pose of the vehicle is adjusted according to the position information of the road shoulder and the horizontal distance, so that the distance between the ground contacting position where the parking assist apparatus moves down to the ground and the road shoulder is the horizontal distance.
In the embodiment of the invention, as an optional embodiment, the shoulder parking assisting device comprises the supporting plate, and the cross section of the supporting plate is of a hollow structure, such as a honeycomb hollow structure, so that the weight of the shoulder parking assisting device can be reduced on the premise of ensuring the bearing strength, and the shoulder parking assisting device is convenient to carry.
In the embodiment of the invention, as an optional embodiment, the support surface of the support plate is provided with anti-skid patterns or anti-skid grooves or anti-skid blocks, so that when a vehicle runs on the road shoulder parking auxiliary device, the adhesive force of the vehicle can be effectively increased. As another alternative embodiment, the position where the bottom of the supporting plate is abutted to the ground is provided with a resistance structure for increasing the abutting resistance of the shoulder parking assist device to the ground, so that the abutting resistance when the supporting plate is in contact with the ground is increased, and the placing stability of the shoulder parking assist device is improved.
In an embodiment of the invention, as another optional embodiment, the shoulder parking assist apparatus further includes a vertical thrust structure disposed at the tail of the vehicle, and the vertical thrust structure is connected to the top of the support plate and is configured to apply a thrust to the top of the support plate to move the support plate downward. As an alternative embodiment, the vertical thrust structure includes, but is not limited to, a push rod, and the push rod may be a mechanical push rod or a hydraulic push rod, which is not limited in this embodiment of the present invention.
In an embodiment of the present invention, since the shoulder forms a certain slope with the ground and the climbing capability of the vehicle is limited, as an optional embodiment, after determining the landing position of the shoulder parking assist apparatus, the pose of the vehicle is adjusted, and before controlling the shoulder parking assist apparatus to move down, the method further includes:
and calculating a sine value according to the height information of the road shoulder and the length information of the road shoulder parking auxiliary device, acquiring a road shoulder parking slope according to the sine value, and if the road shoulder parking slope is smaller than or equal to the maximum climbing angle of the vehicle, executing the steps of adjusting the pose of the vehicle and controlling the road shoulder parking auxiliary device to move downwards.
In the embodiment of the invention, as for a common passenger vehicle, the maximum climbing angle of the vehicle is generally 25 degrees, so that as for the height of the road shoulder, if the height of the road shoulder is less than or equal to 30 millimeters, the vehicle can directly drive on the road shoulder to park; for the condition that the height of the road shoulder is greater than 30 millimeters, if the sine value of the height of the road shoulder and the length of the road shoulder parking auxiliary device is smaller than or equal to the sine value of the maximum climbing angle, the vehicle can be controlled to continuously move forward and obtain the information of the road shoulder if the sine value of the height of the road shoulder and the length of the road shoulder parking auxiliary device is greater than the sine value of the maximum climbing angle, and the parking position is determined according to the obtained information of the road shoulder. For example, when the maximum climbing angle is 25 degrees and the length of the support plate of the shoulder parking assist device is 1 m, the maximum shoulder height of the shoulder parking assist device for getting on the shoulder is sin25 degrees, if the shoulder height is greater than 30 mm and less than or equal to sin25 degrees, the shoulder parking assist device is laid on the shoulder and the road surface, so that the vehicle can get on the shoulder by the shoulder parking assist device, and if the shoulder height is greater than sin25 degrees, the vehicle is prohibited from getting on the shoulder by the shoulder parking assist device, so as to avoid damage to the vehicle, and the vehicle is driven to go forward to find the parking shoulder.
And 104, pushing the upper part of the shoulder parking assisting device to fall towards the shoulder direction until the upper part of the shoulder parking assisting device is overlapped with the shoulder, so that the vehicle drives on the shoulder to park according to the shoulder parking assisting device overlapped on the shoulder and the ground.
In an embodiment of the invention, as an optional embodiment, the shoulder parking assist apparatus further includes a horizontal thrust structure disposed at a rear portion of the vehicle, the horizontal thrust structure is connected to an upper portion of the support plate, and after a lower portion of the shoulder parking assist apparatus is in contact with the ground at a landing position, a horizontal thrust is applied to the upper portion of the support plate to cause the upper portion of the support plate to fall toward the shoulder so as to overlap the shoulder, thereby forming a vehicle parking passage.
In the embodiment of the invention, as a further optional embodiment, a stress buffering structure is arranged at the overlapping position of the upper part of the supporting plate and the road shoulder, so that the impact force of the upper part of the road shoulder parking auxiliary device falling to the direction of the road shoulder is effectively relieved.
Fig. 2 shows a schematic diagram of a road shoulder parking assistance provided by the embodiment of the invention. As shown in fig. 2, when the vehicle determines that the road shoulder parking is required, the position and height of the road shoulder are identified, the landing position where the road shoulder parking assist apparatus is placed is calculated based on the position and height, then, the vehicle body pose is adjusted, and step 1 in fig. 2 is executed: the shoulder parking assist apparatus moves down to contact or approach the ground, and finally, step 2 in fig. 2 is performed: thrust is exerted on the upper portion of the road shoulder parking assisting device, the road shoulder parking assisting device falls down in the direction of the road shoulder, the upper portion of the road shoulder parking assisting device is in lap joint with the road shoulder, vehicle passing conditions are met, and therefore vehicles can pass through the road shoulder.
According to the road shoulder parking assisting method, when the fact that the road shoulder needs to be parked is determined, road shoulder information is obtained; determining the landing position of the shoulder parking assist device according to the acquired shoulder information and the length information of the shoulder parking assist device placed on the vehicle; adjusting the pose of the vehicle, and controlling the shoulder parking assist device to move downwards so that the lower part of the shoulder parking assist device is abutted with the ground at the grounding position; and pushing the upper part of the road shoulder parking assisting device to fall towards the direction of the road shoulder until the upper part of the road shoulder parking assisting device is lapped with the road shoulder, so that the vehicle drives onto the road shoulder to park according to the road shoulder parking assisting device lapped on the road shoulder and the ground. Therefore, after the position is determined according to the road shoulder information and the length information of the road shoulder parking auxiliary device, the road shoulder parking auxiliary device is automatically controlled to move downwards to the grounding position to be in contact with the ground, and the road shoulder parking auxiliary device is pushed to fall towards the road shoulder direction to be in lap joint with the road shoulder, so that the road shoulder parking auxiliary device is laid automatically, the vehicle drives the road shoulder through the automatically laid road shoulder parking auxiliary device to park, the time required by parking of the road shoulder is effectively shortened, and the parking efficiency of the road shoulder is improved. Furthermore, aiming at different road shoulder heights, corresponding different strategies are adopted to pass through the road shoulders, so that the efficiency and the safety of parking the vehicle on the road shoulders by the side can be improved.
Fig. 3 shows a schematic structural diagram of a road shoulder parking assisting device provided by the embodiment of the invention. As shown in fig. 3, the apparatus includes:
the road shoulder information acquisition module 301 is configured to acquire road shoulder information when it is determined that the road shoulder needs to be parked;
in the embodiment of the present invention, as an optional embodiment, the road shoulder information includes, but is not limited to: shoulder position information, shoulder height information, and shoulder pavement information.
In the embodiment of the invention, as an optional embodiment, the road shoulder information can be acquired by starting a road shoulder detector arranged at the front end of the vehicle to scan. Wherein, the curb detector can be the radar, and the radar includes but not limited to: laser radar, millimeter wave radar, and ultrasonic radar, and thus, by starting a radar arranged at the front end of the vehicle to emit an electric wave, receive a reflected wave of the electric wave, and detect shoulder position information, shoulder height information, and shoulder road surface information from the electric wave and the reflected wave.
In the embodiment of the present invention, as another optional embodiment, the road shoulder detector may be a stereo camera, and the stereo camera arranged at the front end of the vehicle is started to perform camera shooting, so as to analyze the camera shooting and obtain the road shoulder position information, the road shoulder height information, and the road shoulder pavement information.
In the embodiment of the present invention, as an optional embodiment, the road shoulder road surface information includes, but is not limited to: shoulder width information, shoulder road surface obstacle information, and the like. The road shoulder road surface obstacle information includes but is not limited to: road surface irregularity information, obstacle information, and the like that affect the parking of the vehicle.
A landing position determination module 302, configured to determine a landing position of the shoulder parking assist apparatus according to the acquired shoulder information and length information of the shoulder parking assist apparatus placed on the vehicle;
in this embodiment of the present invention, as an optional embodiment, the landing position determining module 302 includes:
a width determination unit (not shown in the figure) configured to determine whether the shoulder width information in the shoulder road information satisfies a vehicle parking width according to the acquired shoulder road information in the shoulder road information;
the obstacle judging unit is used for judging whether the road shoulder road surface obstacle information in the road shoulder road surface information is suitable for vehicle parking or not if the road shoulder road surface obstacle information is met;
and if the ground-contacting position determining unit is suitable, determining the ground-contacting position according to the shoulder height information in the acquired shoulder information and the length information of the shoulder parking assist device.
In the embodiment of the present invention, as an optional embodiment, the landing position determining unit is specifically configured to:
and determining the horizontal distance between the shoulder parking assisting device and the shoulder according to the height information of the shoulder and the length information of the shoulder parking assisting device, and taking the position which is away from the shoulder by the horizontal distance as the landing position.
In the embodiment of the invention, the shoulder parking assisting device, the shoulder and the ground form a right triangle, wherein the height of the shoulder is the vertical side of the right triangle, and the length of the shoulder parking assisting device is the hypotenuse of the right triangle, so that the horizontal side of the right triangle can be determined according to the hypotenuse and the vertical side, and the length of the horizontal side is the horizontal distance.
In this embodiment of the present invention, as another optional embodiment, the landing position determining module 302 further includes:
the first judgment unit for the shoulder height drives the vehicle to drive the vehicle to the shoulder for parking if the shoulder height information in the acquired shoulder information is less than or equal to a preset shoulder passing threshold;
and if the shoulder height information in the acquired shoulder information is larger than a preset shoulder passing threshold, executing the step of determining the landing position of the shoulder parking assist device.
In the embodiment of the invention, for the condition that the height of the road shoulder is small, the vehicle can directly drive on the road shoulder without the help of a road shoulder parking auxiliary device.
In this embodiment of the present invention, as a further optional embodiment, the landing position determining module 302 further includes:
and the second judgment unit for the road shoulder height is used for calculating a sine value according to the road shoulder height information and the length information of the road shoulder parking auxiliary device, acquiring a road shoulder parking slope according to the sine value, and executing the step of adjusting the pose of the vehicle if the road shoulder parking slope is less than or equal to the maximum climbing angle of the vehicle.
In the embodiment of the invention, because the road shoulder and the ground form a certain gradient and the climbing capability of the vehicle is limited, whether the gradient formed by the road shoulder parking auxiliary device which is overlapped on the road shoulder and the road surface is smaller than the gradient corresponding to the climbing capability of the vehicle needs to be determined.
A downward moving module 303, configured to adjust a pose of the vehicle and control the shoulder parking assist apparatus to move downward, so that a lower portion of the shoulder parking assist apparatus abuts against the ground at the landing position;
the pushing module 304 is configured to push the upper portion of the shoulder parking assist apparatus to fall toward the shoulder until the upper portion of the shoulder parking assist apparatus is overlapped with the shoulder, so that the vehicle drives onto the shoulder to park according to the shoulder parking assist apparatus overlapped with the shoulder and the ground.
In the embodiment of the invention, as an optional embodiment, the road shoulder parking auxiliary device comprises a supporting plate, and the cross section of the supporting plate is of a hollow structure.
In the embodiment of the invention, as an optional embodiment, the supporting surface of the supporting plate is provided with anti-skid patterns or anti-skid grooves or anti-skid blocks.
In the embodiment of the invention, as another optional embodiment, a resistance structure for increasing the abutting resistance of the road shoulder parking assisting device and the ground is arranged at the position where the bottom of the supporting plate abuts against the ground.
In an embodiment of the present invention, as a further optional embodiment, the shoulder parking assist apparatus further includes a vertical thrust structure disposed at the rear of the vehicle, and the vertical thrust structure is connected to the top of the support plate and is configured to apply a thrust to the top of the support plate to move the support plate downward. The vertical thrust structure includes, but is not limited to, a push rod, and the push rod may be a mechanical push rod or a hydraulic push rod.
In an embodiment of the invention, as another optional embodiment, the shoulder parking assisting device further comprises a horizontal thrust structure arranged at the tail of the vehicle, the horizontal thrust structure is connected with the upper part of the supporting plate, and after the lower part of the shoulder parking assisting device is contacted with the ground at the grounding position, horizontal thrust is applied to the upper part of the supporting plate to enable the upper part of the supporting plate to fall towards the shoulder direction so as to be overlapped with the shoulder, so that a vehicle parking channel is formed.
In the embodiment of the invention, as a further optional embodiment, a stress buffering structure is arranged at the overlapping position of the upper part of the supporting plate and the road shoulder, so that the impact force of the upper part of the road shoulder parking auxiliary device falling to the direction of the road shoulder is effectively relieved.
As shown in fig. 4, an embodiment of the present application provides a computer device 400 for executing the shoulder parking assistance method in fig. 1, the device includes a memory 401, a processor 402, and a computer program stored on the memory 401 and executable on the processor 402, wherein the processor 402 implements the steps of the shoulder parking assistance method when executing the computer program.
Specifically, the memory 401 and the processor 402 can be general-purpose memory and processor, which are not limited to specific embodiments, and the processor 402 can execute the shoulder parking assist method when executing the computer program stored in the memory 401.
Corresponding to the shoulder parking assistance method in fig. 1, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to perform the steps of the shoulder parking assistance method.
Specifically, the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, or the like, and when the computer program on the storage medium is executed, the above-mentioned shoulder parking assistance method can be executed.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and there may be other divisions in actual implementation, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of systems or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the present disclosure, which should be construed in light of the above teachings. Are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A road shoulder parking assisting method is characterized by comprising the following steps:
acquiring road shoulder information when determining that the road shoulder parking is required;
determining the landing position of the shoulder parking assist device according to the acquired shoulder information and the length information of the shoulder parking assist device placed on the vehicle;
adjusting the pose of the vehicle, and controlling the shoulder parking assist device to move downwards so that the lower part of the shoulder parking assist device is abutted with the ground at the grounding position;
and pushing the upper part of the shoulder parking auxiliary device to fall towards the shoulder direction until the upper part of the shoulder parking auxiliary device is overlapped with the shoulder, so that the vehicle drives on the shoulder to park according to the shoulder parking auxiliary device overlapped on the shoulder and the ground.
2. The method according to claim 1, wherein the determining the landing position of the shoulder parking assist apparatus based on the acquired shoulder information and length information of the shoulder parking assist apparatus placed on the vehicle comprises:
judging whether the road shoulder width information in the road shoulder road information meets the vehicle parking width or not according to the road shoulder road information in the acquired road shoulder information;
if yes, judging whether the road shoulder pavement obstacle information in the road shoulder pavement information is suitable for parking of the vehicle;
and if the road shoulder height information is suitable, determining the landing position according to the acquired road shoulder height information in the road shoulder information and the length information of the road shoulder parking auxiliary device.
3. The method according to claim 2, wherein the determining the landing position based on the shoulder height information in the acquired shoulder information and the length information of the shoulder parking assist apparatus comprises:
and determining the horizontal distance between the shoulder parking assisting device and the shoulder according to the height information of the shoulder and the length information of the shoulder parking assisting device, and taking the position which is away from the shoulder by the horizontal distance as the landing position.
4. The method according to claim 1, 2 or 3, characterized in that before determining the landing position of the shoulder parking assist apparatus after the obtaining of the shoulder information and the length information of the shoulder parking assist apparatus placed on the vehicle, the method further comprises:
if the shoulder height information in the acquired shoulder information is less than or equal to a preset shoulder passing threshold, driving the vehicle to drive the shoulder to stop;
and if the shoulder height information in the acquired shoulder information is larger than a preset shoulder passing threshold, executing the step of determining the landing position of the shoulder parking assist device.
5. The method according to claim 1, 2 or 3, characterized in that, after the determination of the ground-contact position of the curb parking assist apparatus, before adjusting the pose of the vehicle, the method further comprises:
and calculating a sine value according to the height information of the road shoulder and the length information of the road shoulder parking auxiliary device, acquiring a road shoulder parking slope according to the sine value, and executing the step of adjusting the pose of the vehicle if the road shoulder parking slope is less than or equal to the maximum climbing angle of the vehicle.
6. A curb parking assist device, comprising:
the road shoulder information acquisition module is used for acquiring road shoulder information when determining that the road shoulder parking is required;
the landing position determining module is used for determining the landing position of the shoulder parking assisting device according to the acquired shoulder information and the length information of the shoulder parking assisting device placed on the vehicle;
the downward moving module is used for adjusting the pose of the vehicle and controlling the road shoulder parking auxiliary device to move downward so that the lower part of the road shoulder parking auxiliary device is abutted with the ground at the landing position;
and the pushing module is used for pushing the upper part of the shoulder parking auxiliary device to fall towards the shoulder direction until the upper part of the shoulder parking auxiliary device is overlapped with the shoulder, so that the vehicle drives on the shoulder to park according to the shoulder parking auxiliary device overlapped on the shoulder and the ground.
7. The apparatus of claim 6, wherein the shoulder parking assist apparatus comprises a support plate, and a position where a bottom of the support plate abuts against the ground is provided with a resistance structure for increasing resistance of the shoulder parking assist apparatus against the ground.
8. The apparatus of claim 6 or 7, wherein the shoulder parking assist apparatus further comprises a vertical thrust structure provided at a rear portion of the vehicle, the vertical thrust structure being connected to a top portion of the support plate for applying a thrust to the top portion of the support plate to move the support plate downward.
9. A computer device, comprising: a processor, a memory and a bus, the memory storing machine readable instructions executable by the processor, the processor and the memory communicating over the bus when a computer device is operated, the machine readable instructions when executed by the processor performing the steps of the shoulder parking assist method of any one of claims 1 to 5.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the shoulder parking assist method according to any one of claims 1 to 5.
CN202110692873.3A 2021-06-22 2021-06-22 Road shoulder parking assisting method and device Active CN113232662B (en)

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JP4118743B2 (en) * 2003-05-16 2008-07-16 アルパイン株式会社 In-vehicle system
JP5325765B2 (en) * 2009-12-28 2013-10-23 日立オートモティブシステムズ株式会社 Road shoulder detection device and vehicle using road shoulder detection device
DE102011086241B4 (en) * 2011-11-14 2018-04-05 Robert Bosch Gmbh Method for the safe parking of a vehicle
CN204849515U (en) * 2015-06-15 2015-12-09 无锡百科知识产权有限公司 Auxiliary device that curb parkked
KR20170134047A (en) * 2016-05-27 2017-12-06 옥윤선 Parking device on road
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