CN113353064A - Automatic parking and running control method - Google Patents

Automatic parking and running control method Download PDF

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Publication number
CN113353064A
CN113353064A CN202110483209.8A CN202110483209A CN113353064A CN 113353064 A CN113353064 A CN 113353064A CN 202110483209 A CN202110483209 A CN 202110483209A CN 113353064 A CN113353064 A CN 113353064A
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parking
distance
vehicle
section
obstacle
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CN113353064B (en
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蒋才科
林泽蓬
李枝阳
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Huizhou Foryou General Electronics Co Ltd
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Huizhou Foryou General Electronics Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/50—Barriers
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to the technical field of vehicle-mounted control, and provides an automatic parking and driving control method, which comprises the following steps: identifying a target parking space, and determining a parking route according to the target parking space; dividing a parking route into a plurality of parking sections according to a preset segmentation rule; and acquiring the relative distance between the vehicle and the obstacle in the motion direction in real time, and executing a corresponding parking control strategy according to the relative distance and the type of the parking track. According to the invention, the target parking space is taken as the terminal point, the parking path of the vehicle is determined, the preset segmentation rule is set to divide the parking path into a plurality of parking sections, and the parking of the vehicle can be finely controlled to each parking section; after the direction and the running distance of each section of path are obtained, corresponding parking control is executed according to the detected relative distance between the vehicle and the obstacle in the moving direction and the type of the parking track, so that the safety of vehicle parking can be effectively ensured after a fault occurs in the parking process.

Description

Automatic parking and running control method
Technical Field
The invention relates to the technical field of automatic parking, in particular to a control method for automatic parking and running.
Background
The automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can operate the motor vehicle automatically and safely without any active operation of human.
With the development of the automatic driving technology, the automatic parking technology is gradually popularized, and the problem of functional safety of automatic parking is more and more. In the process of parking, if the parking system has faults of jamming, dead halt, incapability of communication and the like, the communication with a control system of the vehicle cannot be carried out, so that safety accidents of out-of-control vehicle and collision with obstacles are caused.
Disclosure of Invention
The invention provides an automatic parking and driving control method, which solves the technical problems that potential safety hazards such as vehicle runaway, collision with obstacles and the like are caused by potential faults such as jamming, crash, incapability of communication and the like in the existing automatic parking technology.
In order to solve the technical problems, the invention provides an automatic parking and driving control method, which comprises the following steps:
s1, identifying a target parking space, establishing a parking coordinate system, and determining a parking route according to the target parking space;
s2, dividing the parking route into a plurality of parking sections according to a preset segmentation rule;
and S3, acquiring the relative distance between the vehicle and the obstacle in the motion direction in real time, and executing a corresponding parking control strategy according to the relative distance.
The basic scheme takes a target parking space as a terminal point, determines a parking path of a vehicle, sets a preset segmentation rule to divide the parking path into a plurality of parking sections, and can finely control the parking of the vehicle to each parking section; after the direction and the running distance of each section of path are obtained, corresponding parking control is executed according to the detected relative distance between the vehicle and the obstacle in the moving direction and the type of the parking track, so that the safety of vehicle parking can be effectively ensured after a fault occurs in the parking process.
In further embodiments, said step S1 comprises;
s11, acquiring an image of the target parking space, and determining the target parking position through image recognition;
s12, establishing a parking coordinate system by taking the midpoint of the rear wheel axle of the vehicle at the initial point of parking as the origin of coordinates, the parking direction as the X-axis forward direction and the direction of the vehicle transversely far away from the parking space as the Y-axis forward direction;
and S13, planning a parking route of the vehicle according to the target parking position.
In further embodiments, in said step S2: the preset segmentation rule is that the parking route is divided to obtain a plurality of parking sections by taking a turning point in the parking route as a reference.
According to the scheme, in the actual parking process, the path is turned after the vehicle turns, and the continuity of the path is interrupted, so that the turning point in the parking path is selected as a reference, the parking path is divided to obtain multiple independent and continuous parking sections, and the parking safety calculation efficiency is improved.
In further embodiments, said step S3 comprises;
s31, obtaining the relative distance between the vehicle and the obstacle in the movement direction of the parking section, if the relative distance is larger than a safe distance threshold value, entering the next step, otherwise, controlling the vehicle to stop moving;
and S32, calculating the actual parking distance according to the relative distance, the parking track type and the length of the rest section of the parking section.
According to the scheme, the safety distance threshold value between the vehicle and the obstacle is set according to the requirement of safe driving of the vehicle, the safety distance threshold value is used as an early warning standard, the actual parking distance of the vehicle is calculated according to each parking path, so that collision judgment of the obstacle is carried out, and when the actual parking distance is equal to 0 and the obstacle is about to collide, the vehicle is controlled to stop moving in time.
In a further embodiment, if the parking section of this segment is a straight parking trajectory, step S32 includes: obtaining a first distance between the barrier and the vehicle, if the first distance is smaller than or equal to the length of the remaining road section, calculating the actual parking distance according to a first preset relational expression, and otherwise, calculating the actual parking distance according to a second preset relational expression;
the first preset relational expression is as follows:
D(n)i＝M(n)i-δ；
the second preset relational expression is as follows:
Figure BDA0003049233320000031
wherein, M (n)iFor the first distance taken the ith time on the parking section, D (n)iDelta is a safe distance threshold for the actual parking distance at the time of the ith acquisition of the first distance, D (n)k(k-0, 1,2,3 … i-1) is the actual parking distance obtained the k-th time on the parking section, d (n)0L (n) is the length of the parking section.
In a further embodiment, if the current parking section is an arc parking trajectory, step S32 includes:
A. judging whether the barrier is in the coverage area of the parking section, if so, entering the next step, and otherwise, determining the actual parking distance according to a third preset relational expression;
the third preset relational expression is as follows:
Figure BDA0003049233320000032
wherein, D (n)iFor the actual parking distance at the moment of obtaining the first distance i, D (n)k(k-0, 1,2,3 … i-1) is the actual parking distance obtained the k-th time on the parking section, d (n)0＝0；
B. Connecting the circle center of a steering circle of a vehicle track with the midpoint of the tail of the vehicle to obtain a first line segment, and calculating the length of the first line segment;
C. connecting the circle center of a steering circle of the vehicle track with the coordinates of the obstacle to obtain a second line segment, and determining a first end point on the second line segment or an extension line thereof, so that the length of the circle center of the steering circle of the vehicle track and the length of the first end point are the length of the first line segment;
D. calculating a second distance, wherein the second distance takes the length of the first line segment as a radius, and an included angle between the first line segment and the second line segment is the length of a circular arc corresponding to a central angle;
E. if the second distance is smaller than or equal to the length of the remaining road section, calculating the actual parking distance according to a fourth preset relational expression, otherwise, calculating the actual parking distance according to a third preset relational expression;
in a further embodiment, the second distance is calculated as follows:
Figure BDA0003049233320000041
wherein r represents the length of the first line segment; (x)1,y1) Is the coordinates of the obstacle; (x)oi,yoi) The coordinates of the centers of the i turning tracks are obtained; m (n)iThe first distance obtained for the ith time on the parking section.
The fourth preset relational expression is as follows:
D(n)i＝Q(n)i-δ；
wherein, D (n)iDelta is a safe distance threshold, Q (n), for the actual parking distance at the time the first distance is acquired iiThe second distance obtained for the ith time on the parking section.
According to the scheme, corresponding actual parking distance calculation formulas are respectively set for the actual situations that the parking road sections are straight road sections and arc road sections, and when the line characteristics of the parking road sections of the current section are judged, the corresponding formulas are called and substituted into known numerical values, so that the data processing efficiency can be improved, the parking sensitivity can be improved, and the vehicle collision risk can be reduced.
In a further embodiment, the determining whether the obstacle is within a coverage area of the parking section includes:
and determining a coordinate set corresponding to a coverage area of the parking section and coordinates of the obstacle according to the parking coordinate system, if the coordinate set contains the coordinates of the obstacle, judging that the obstacle is in the coverage area of the parking section, and otherwise, judging that the obstacle is out of the coverage area of the parking section.
In a further embodiment, the set of coordinates for the coverage area of the parking section is:
Figure BDA0003049233320000042
wherein (x)0,y0) And K represents the width of the vehicle body, and R represents the radius of a steering circle of the vehicle track.
Drawings
Fig. 1 is a flowchart illustrating an automatic parking and driving control method according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a parking coordinate system provided by an embodiment of the present invention;
FIG. 3 is a schematic segmentation diagram of a preset segmentation rule according to an embodiment of the present invention;
FIG. 4 is a schematic view of an obstacle in relation to a vehicle provided by an embodiment of the present invention;
FIG. 5 is a graphical representation of a parking segment featuring a curved segment, according to an embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are given solely for the purpose of illustration and are not to be construed as limitations of the invention, including the drawings which are incorporated herein by reference and for illustration only and are not to be construed as limitations of the invention, since many variations thereof are possible without departing from the spirit and scope of the invention.
As shown in fig. 1, an automatic parking and driving control method according to an embodiment of the present invention includes the steps of:
s1, identifying a target parking space, establishing a parking coordinate system, and determining a parking route according to the target parking space, wherein the parking coordinate system comprises the steps of S11-S12;
s11, acquiring an image of the target parking space, and determining the target parking position through image recognition;
s12, establishing a parking coordinate system by taking the midpoint of the rear wheel axle of the vehicle at the initial point of parking as the origin of coordinates, the parking direction as the X-axis forward direction and the direction of the vehicle transversely far away from the parking space as the Y-axis forward direction, as shown in FIG. 2;
and S13, planning the parking route of the vehicle according to the target parking position.
And S2, dividing the parking route into a plurality of parking sections according to the preset segmentation rule.
In the embodiment, the vehicle pauses after the parking space is identified, and then the vehicle is controlled to park in the parking space in a reversing mode.
In this embodiment, the preset segmentation rule is to divide the parking route to obtain a plurality of parking segments by taking the turning point in the parking route as a reference.
Referring to fig. 3, a parking path is divided according to a turning point on a parking route (or a steering wheel angle is changed during parking, each time a turning point is changed), so as to obtain a plurality of parking sections S1 and S2 … … Sn, where the lengths of each corresponding parking section are L (1), L (2), … … L (n).
According to the embodiment, in the actual parking process, the path is turned after the vehicle turns, the continuity of the path is broken, so that the turning point in the parking path is selected as a reference, and the parking path is divided into multiple independent and continuous parking sections, so that the parking safety calculation efficiency is improved.
S3, acquiring the relative distance between the vehicle and the obstacle in the motion direction of the current parking section in real time, and executing a corresponding parking control strategy according to the relative distance, wherein the parking control strategy comprises the following steps:
s31, obtaining the relative distance between the vehicle and the obstacle in the movement direction of the parking section, if the relative distance is larger than a safe distance threshold value, entering the next step, otherwise, controlling the vehicle to stop moving;
in the present embodiment, the relative distance is related to a parking trajectory type, and includes: a first distance of the straight parking trajectory phase and a second distance of the arc parking trajectory phase. As shown in fig. 4, the first distance is a straight-line distance from the obstacle Z to a midpoint of the tail or a midpoint of the head of the vehicle; as shown in fig. 5, the second distance is the length of arc AB.
And S32, calculating the actual parking distance according to the relative distance, the parking track type and the length of the rest section of the parking section.
In the present embodiment, step S32 includes:
(1) if the parking section is a straight parking track, the method for calculating the actual parking distance comprises the following steps:
obtaining a first distance M (n) between an obstacle and the vehicleiIf the first distance is less than or equal to the remaining link length (i.e., the first distance is less than or equal to the remaining link length
Figure BDA0003049233320000061
) If not, calculating the actual parking distance according to a second preset relational expression;
the first predetermined relationship is:
D(n)i＝M(n)i-δ；
the second predetermined relationship is:
Figure BDA0003049233320000062
wherein, M (n)iFor the first distance taken the ith time on the parking section, D (n)iDelta is a safe distance threshold for the actual parking distance at the time of the ith acquisition of the first distance, D (n)k(k-0, 1,2,3 … i-1) is the actual parking distance obtained on the k-th parking lot, d (n)0L (n) is the length of the parking section.
(2) Referring to fig. 5, if the current parking section is an arc parking trajectory, the method for calculating the current actual parking distance includes:
A. and judging whether the barrier is in the coverage area of the parking section, if so, entering the next step, and otherwise, determining the actual parking distance according to a third preset relational expression.
The third predetermined relationship is:
Figure BDA0003049233320000071
wherein, D (n)iFor the actual parking distance at the moment of obtaining the first distance i, D (n)k(k-0, 1,2,3 … i-1) is the actual parking distance obtained the k-th time on the parking section, d (n)0＝0。
In the present embodiment, the determining whether the obstacle is within the coverage area of the parking section includes:
determining a set of coordinates F (x, y) of a coverage area of a corresponding parking segment and coordinates (x) of an obstacle from a parking coordinate system1,y1) If the coordinate set F (x, y) contains the coordinates (x) of the obstacle1,y1) I.e. (x)1,y1) E, F (x, y), judging that the obstacle is in the coverage area of the parking section, otherwise, judging that the obstacle is out of the coverage area of the parking section.
In the present embodiment, the vehicle turning track arc area coordinate set F (x, y) is expressed as:
Figure BDA0003049233320000072
wherein (x)0,y0) And K represents the width of the vehicle body, and R represents the radius of a steering circle of the vehicle track.
B. Centre of turning circle O connecting vehicle tracksi(xoi,yoi) Obtaining a first line segment from the midpoint A of the tail of the vehicle, and calculating the length r of the first line segment;
C. centre of turning circle O connecting vehicle tracksi(xoi,yoi) With obstacle coordinates Z (x)1,y1) Obtaining a second line segment, and determining a first endpoint B on the second line segment or the extension line thereof so that the center O of a steering circle of the vehicle tracki(xoi,yoi) And a length from the first end point B ofThe length r of the first line segment;
D. calculating a second distance Q (n)iSaid second distance Q (n)iThe included angle between the first line segment and the second line segment is ^ AO by taking the length r of the first line segment as a radiusiB is the length of the arc AB corresponding to the central angle, as shown in FIG. 5;
E. if the second distance Q (n)iLess than or equal to the remaining road segment length (i.e.
Figure BDA0003049233320000073
Figure BDA0003049233320000081
) Calculating the actual parking distance D (n) according to a fourth preset relational expressioniOtherwise, calculating the actual parking distance D (n) according to a third preset relational expressioni。
Second distance Q (n)iThe calculation formula of (a) is as follows:
Figure BDA0003049233320000082
wherein r represents the length of the first line segment; (x)1,y1) Is the coordinates of the obstacle; (x)oi,yoi) The coordinates of the centers of the i turning tracks are obtained; m (n)iThe first distance obtained for the ith time on the parking section.
The fourth predetermined relationship is:
D(n)i＝Q(n)i-δ；
wherein, D (n)iDelta is a safe distance threshold, Q (n), for the actual parking distance at the time the first distance is acquired iiThe second distance obtained for the ith time on the parking section.
In the embodiment, corresponding actual parking distance calculation formulas are respectively set for the actual situations that the parking sections are straight sections and arc sections, and when the line characteristics of the parking section are judged, the corresponding formulas are called and substituted into known values, so that the data processing efficiency can be improved, the parking sensitivity can be improved, and the vehicle collision risk can be reduced.
According to the embodiment of the invention, the target parking space is taken as the terminal point, the parking path of the vehicle is determined, the preset segmentation rule is set to divide the parking path into a plurality of parking sections, and the parking of the vehicle can be finely controlled to each parking section; after the direction and the running distance of each section of path are obtained, corresponding parking control is executed according to the detected relative distance between the vehicle and the obstacle in the moving direction and the type of the parking track, so that the safety of vehicle parking can be effectively ensured after a fault occurs in the parking process.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (10)

1. An automatic parking driving control method is characterized by comprising the following steps:
s1, identifying a target parking space, establishing a parking coordinate system, and determining a parking route according to the target parking space;
s2, dividing the parking route into a plurality of parking sections according to a preset segmentation rule;
and S3, acquiring the relative distance between the vehicle and the obstacle in the motion direction of the current parking section in real time, and executing a corresponding parking control strategy according to the relative distance.
2. An automatic parking drive control method according to claim 1, wherein said step S1 includes;
s11, acquiring an image of the target parking space, and determining the target parking position through image recognition;
s12, establishing a parking coordinate system by taking the midpoint of the rear wheel axle of the vehicle at the initial point of parking as the origin of coordinates, the parking direction as the X-axis forward direction and the direction of the vehicle transversely far away from the parking space as the Y-axis forward direction;
and S13, planning a parking route of the vehicle according to the target parking position.
3. An automatic parking drive control method according to claim 2, wherein in said step S2: the preset segmentation rule is that the parking route is divided to obtain a plurality of parking sections by taking a turning point in the parking route as a reference.
4. An automatic parking drive control method according to claim 1, wherein said step S3 includes:
s31, obtaining the relative distance between the vehicle and the obstacle in the movement direction of the parking section, if the relative distance is larger than a safe distance threshold value, entering the next step, otherwise, controlling the vehicle to stop moving;
and S32, calculating the actual parking distance according to the relative distance, the parking track type and the length of the rest section of the parking section.
5. The method for controlling an automatic parking operation according to claim 4, wherein if the parking section of the current segment is a straight parking trajectory, the step S32 includes: obtaining a first distance between the barrier and the vehicle, if the first distance is smaller than or equal to the length of the remaining road section, calculating the actual parking distance according to a first preset relational expression, and otherwise, calculating the actual parking distance according to a second preset relational expression;
the first preset relational expression is as follows:
D(n)i＝M(n)i-δ；
the second preset relational expression is as follows:
Figure FDA0003049233310000021
wherein, M (n)iFor the first distance taken the ith time on the parking section, D (n)iDelta is a safe distance threshold for the actual parking distance at the time of the ith acquisition of the first distance, D (n)k(k-0, 1,2,3 … i-1) is the actual parking distance obtained the k-th time on the parking section, d (n)0L (n) is the length of the parking section.
6. The method for controlling an automatic parking vehicle according to claim 4, wherein if the current parking section is an arc parking trajectory, the step S32 includes;
A. judging whether the barrier is in the coverage area of the parking section, if so, entering the next step, and otherwise, determining the actual parking distance according to a third preset relational expression;
the third preset relational expression is as follows:
Figure FDA0003049233310000022
wherein, D (n)iFor the actual parking distance at the moment of obtaining the first distance i, D (n)k(k-0, 1,2,3 … i-1) is the actual parking distance obtained the k-th time on the parking section, d (n)0＝0；
B. Connecting the circle center of a steering circle of a vehicle track with the midpoint of the tail of the vehicle to obtain a first line segment, and calculating the length of the first line segment;
C. connecting the circle center of a steering circle of the vehicle track with the coordinates of the obstacle to obtain a second line segment, and determining a first end point on the second line segment or an extension line thereof, so that the length of the circle center of the steering circle of the vehicle track and the length of the first end point are the length of the first line segment;
D. calculating a second distance, wherein the second distance takes the length of the first line segment as a radius, and an included angle between the first line segment and the second line segment is the length of a circular arc corresponding to a central angle;
E. and if the second distance is less than or equal to the length of the remaining road section, calculating the actual parking distance according to a fourth preset relational expression, otherwise, calculating the actual parking distance according to the third preset relational expression.
7. An automatic parking drive control method according to claim 6, wherein the calculation formula of the second distance is as follows:
Figure FDA0003049233310000031
wherein r represents the length of the first line segment; (x)1,y1) Is the coordinates of the obstacle; (x)oi,yoi) The coordinates of the centers of the i turning tracks are obtained; m (n)iThe first distance obtained for the ith time on the parking section.
8. An automatic parking drive control method according to claim 7, wherein the fourth predetermined relationship is:
D(n)i＝Q(n)i-δ；
wherein, D (n)iDelta is a safe distance threshold, Q (n), for the actual parking distance at the time the first distance is acquired iiThe second distance obtained for the ith time on the parking section.
9. The automatic parking drive control method according to claim 6, wherein the determining whether the obstacle is within a coverage area of the parking section includes:
and determining a coordinate set corresponding to a coverage area of the parking section and coordinates of the obstacle according to the parking coordinate system, if the coordinate set contains the coordinates of the obstacle, judging that the obstacle is in the coverage area of the parking section, and otherwise, judging that the obstacle is out of the coverage area of the parking section.
10. An automatic parking drive control method according to claim 9, characterized in that: the coordinate set of the coverage area of the parking section is as follows:
Figure FDA0003049233310000041
wherein (x)0,y0) And K represents the width of the vehicle body, and R represents the radius of a steering circle of the vehicle track.
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