CN113353064B - Automatic parking driving control method - Google Patents

Automatic parking driving control method Download PDF

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Publication number
CN113353064B
CN113353064B CN202110483209.8A CN202110483209A CN113353064B CN 113353064 B CN113353064 B CN 113353064B CN 202110483209 A CN202110483209 A CN 202110483209A CN 113353064 B CN113353064 B CN 113353064B
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parking
distance
vehicle
section
obstacle
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CN113353064A (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 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 sections of parking road 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. The method takes the target parking space as the end point, determines the parking path of the vehicle, sets the preset segmentation rule to divide the parking path into a plurality of segments of parking road sections, and can finely control the parking of the vehicle to each segment of parking road section; after the direction and the driving 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 parking of the vehicle can be effectively ensured after faults occur in the parking process.

Description

Automatic parking driving control method
Technical Field
The invention relates to the technical field of automatic parking, in particular to an automatic parking driving control method.
Background
The automatic driving automobile relies on cooperation of artificial intelligence, visual computing, radar, monitoring device and global positioning system, so that the computer can automatically and safely operate the motor vehicle without any active operation of human beings.
With the development of automatic driving technology, automatic parking technology is becoming popular, and functional safety problems aiming at automatic parking are also increasing. During parking, if the parking system has faults such as blocking, crashing, incapability of communication and the like, communication with a control system of the vehicle cannot be performed, so that safety accidents of out-of-control and collision with obstacles are caused.
Disclosure of Invention
The invention provides an automatic parking driving control method, which solves the technical problems that the existing automatic parking technology has hidden trouble hazards such as machine blocking, dead halt, incapability of communication and the like, and causes potential safety hazards such as vehicle out of control and collision with obstacles.
In order to solve the technical problems, the invention provides an automatic parking 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 sections of parking road 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.
According to the basic scheme, a target parking space is taken as an end point, a parking path of a vehicle is determined, a preset segmentation rule is set to divide the parking path into a plurality of segments of parking road sections, and the parking control of the vehicle can be refined to each segment of parking road section; after the direction and the driving 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 parking of the vehicle can be effectively ensured after faults occur in the parking process.
In a further embodiment, the step S1 comprises;
s11, acquiring an image of a target parking space, and determining a target parking position through image recognition;
s12, a parking coordinate system is established by taking the midpoint of a rear wheel axle of the vehicle on a parking starting point as a coordinate origin, taking a parking direction as an X-axis forward direction and taking a direction of the vehicle transversely far from a parking space as a Y-axis forward direction;
s13, planning a parking route of the vehicle according to the target parking position.
In a further embodiment, in said step S2: the preset segmentation rule is that the steering points in the parking route are used as references, and the parking route is divided to obtain a plurality of sections of parking road sections.
According to the scheme, in the actual parking process, the path is turned after the vehicle turns, the continuity of the path is broken, so that turning points in the parking route are selected as references, and the parking route is divided into a plurality of independent and continuous parking sections, so that the parking safety calculation efficiency is improved.
In a further embodiment, the step S3 comprises;
s31, acquiring the relative distance between the vehicle and the obstacle in the motion direction of the parking section, if the relative distance is greater than a safety distance threshold, entering the next step, otherwise, controlling the vehicle to stop moving;
s32, calculating the actual parking distance according to the relative distance, the type of the parking track and the length of the rest of the parking road section of the section.
According to the scheme, a safe distance threshold between the vehicle and the obstacle is set according to the requirement of safe running of the vehicle, and the actual parking distance of the vehicle is calculated for each section of parking path as an early warning standard, 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 be collided, the vehicle is timely controlled to stop moving.
In a further embodiment, if the parking section of the present section is a straight parking trajectory, the step S32 includes: acquiring a first distance between the obstacle and the vehicle, if the first distance is smaller than or equal to the length of the rest road section, calculating the actual parking distance according to a first preset relational expression, otherwise, calculating the actual parking distance according to a second preset relational expression;
the first preset relation is:
D(n) i ＝M(n) i -δ；
the second preset relation is:
wherein M (n) i For the first distance, D (n), acquired the i-th time on the parking section i For the actual parking distance when the first distance is acquired for the ith time, delta is a safe distance threshold value, D (n) k (k=0, 1,2,3 … i-1) is the actual parking distance, D (n), acquired the kth time on the parking section 0 =0, l (n) is the length of the parking section.
In a further embodiment, if the current parking section is an arc-shaped parking track, the step S32 includes:
A. judging whether the obstacle is in the coverage area of the parking road section, if so, entering the next step, and if not, determining the actual parking distance according to a third preset relation;
the third preset relation is:
wherein D (n) i For the actual parking distance, D (n), at which the first distance was acquired the ith time k (k=0, 1,2,3 … i-1) is the actual parking distance, D (n), acquired the kth time on the parking section 0 ＝0；
B. Connecting the 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 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 of the second line segment, so that the length of the center of the steering circle of the vehicle track and the first end point is the length of the first line segment;
D. calculating a second distance, wherein the second distance is the length of an arc corresponding to a central angle of an included angle of the first line segment and the second line segment, and the length of the first line segment is taken as a radius;
E. if the second distance is smaller than or equal to the length of the rest road section, calculating the actual parking distance according to a fourth preset relation, otherwise, calculating the actual parking distance according to a third preset relation;
in a further embodiment, the second distance is calculated as follows:
wherein r represents the length of the first line segment; (x) 1 ,y 1 ) Coordinates of the obstacle; (x) oi ,y oi ) Coordinates of circle centers of the i steering tracks; m (n) i For the first distance acquired the i-th time on the parking section.
The fourth preset relation is:
D(n) i ＝Q(n) i -δ；
wherein D (n) i For the actual parking distance when the first distance is acquired for the ith time, delta is a safe distance threshold value, Q (n) i And the second distance acquired for the ith time on the parking road section.
According to the scheme, corresponding actual parking distance calculation formulas are respectively set according to the actual situation that the parking road section is a straight road section and an arc road section, when the line characteristic of the parking road section is judged, the corresponding formulas are called and substituted into the known values, so that the data processing efficiency can be improved, the parking sensitivity can be improved, and the collision risk of vehicles can be reduced.
In a further embodiment, the determining whether the obstacle is within the coverage area of the parking section includes:
and determining a coordinate set corresponding to the coverage area of the parking road section and the 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 road section, otherwise, judging that the obstacle is out of the coverage area of the parking road section.
In a further embodiment, the set of coordinates of the coverage area of the parking section is:
wherein, (x) 0 ,y 0 ) Is thatThe coordinates of the origin of coordinates O, K represents the vehicle body width, and R represents the steering circle radius of the vehicle track.
Drawings
FIG. 1 is a workflow diagram of an automatic parking driving control method provided by 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 diagram illustrating segmentation of preset segmentation rules according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the relationship between an obstacle and a vehicle provided by an embodiment of the present invention;
fig. 5 is a schematic view of a parking section with characteristics of an arc-shaped section according to an embodiment of the present invention.
Detailed Description
The following examples are given for the purpose of illustration only and are not to be construed as limiting the invention, including the drawings for reference and description only, and are not to be construed as limiting the scope of the invention as many variations thereof are possible without departing from the spirit and scope of the invention.
The method for controlling the automatic parking driving provided by the embodiment of the invention, as shown in fig. 1, 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, wherein the method comprises the following steps S11-S12;
s11, acquiring an image of a target parking space, and determining a target parking position through image recognition;
s12, a parking coordinate system is established by taking the midpoint of a rear wheel axle of the vehicle on a parking starting point as a coordinate origin, the parking direction as the X-axis forward direction and the direction of the vehicle transversely far from a parking space as the Y-axis forward direction, as shown in FIG. 2;
s13, planning a parking route of the vehicle according to the target parking position.
S2, dividing the parking route into a plurality of sections of parking road sections according to a preset segmentation rule.
In this embodiment, the host vehicle pauses after recognizing the parking space, and then the host vehicle is controlled to park in the parking space in a reversing manner.
In this embodiment, the preset segmentation rule refers to a steering point in the parking route, and the parking route is divided to obtain multiple segments of parking road sections.
Referring specifically to fig. 3, the parking paths are divided according to steering points on the parking path (or the number of steering wheel angle changes in the parking process is counted, each change corresponds to a steering point), so as to obtain multiple sections of parking road segments S1 and S2 … … Sn, and the length of each corresponding section of parking road segment is L (1) and L (2) … … L (n).
In the embodiment, the path is turned after the vehicle turns according to the actual parking process, and the continuity of the path is broken, so that the turning points in the parking route are selected as references, and the parking route is divided into a plurality of independent and continuous parking road sections, so that the calculation efficiency of parking safety is improved.
S3, acquiring the relative distance between the vehicle and the obstacle in the motion direction of the parking section in real time, and executing a corresponding parking control strategy according to the relative distance, wherein the method comprises the following steps:
s31, acquiring the relative distance between the vehicle and the obstacle in the motion direction of the parking section of the vehicle, if the relative distance is greater than a safety distance threshold value, entering the next step, otherwise, controlling the vehicle to stop moving;
in this embodiment, the relative distance is related to a type of parking trajectory, and includes: a first distance of a straight parking trajectory phase and a second distance of an arc-shaped parking trajectory phase. As shown in fig. 4, the first distance is a straight line distance from the obstacle Z to a midpoint of a rear portion or a midpoint of a head portion of the vehicle; as shown in fig. 5, the second distance is the length of the arc AB.
S32, calculating the actual parking distance according to the relative distance, the type of the parking track and the length of the rest of the parking road section.
In the present embodiment, step S32 includes:
(1) If the section of parking road is a straight line parking track, the method for calculating the actual parking distance of the time comprises the following steps:
acquiring a first distance M (n) between an obstacle and a vehicle i If the first distance is less than or equal to the length of the remaining road segment (i.e) Calculating the actual parking distance according to the first preset relation, otherwise, calculating the actual parking distance according to the second preset relation;
the first preset relation is:
D(n) i ＝M(n) i -δ；
the second preset relation is:
wherein M (n) i For the first distance, D (n), acquired the i-th time on the parking section i For the actual parking distance when the first distance is acquired for the ith time, delta is a safe distance threshold value, D (n) k (k=0, 1,2,3 … i-1) is the actual parking distance, D (n), obtained the kth time on the parking section 0 =0, l (n) is the length of the parking section.
(2) Referring to fig. 5, if the current parking road section is an arc-shaped parking track, the method for calculating the actual parking distance of the current time is as follows:
A. and judging whether the obstacle is in the coverage area of the parking road section, if so, entering the next step, and if not, determining the actual parking distance according to a third preset relation.
The third preset relation is:
wherein D (n) i For the actual parking distance, D (n), at which the first distance was acquired the ith time k (k=0, 1,2,3 … i-1) is the actual parking distance, D (n), acquired the kth time on the parking section 0 ＝0。
In this embodiment, determining whether the obstacle is within the coverage area of the parking section includes:
determining a coordinate set F (x, y) of a coverage area of a corresponding parking section and coordinates (x) of an obstacle according to a parking coordinate system 1 ,y 1 ) If the coordinate set F (x, y) contains the coordinates (x) of the obstacle 1 ,y 1 ) I.e. (x) 1 ,y 1 ) E, F (x, y), judging that the obstacle is in the coverage area of the parking road section, otherwise, judging that the obstacle is out of the coverage area of the parking road section.
In the present embodiment, the vehicle steering trajectory arc region coordinate set F (x, y) is expressed as:
wherein, (x) 0 ,y 0 ) The coordinates of the origin O are represented by K, which represents the vehicle body width, and R, which represents the steering circle radius of the vehicle track.
B. Steering circle center O connected with vehicle track i (x oi ,y oi ) Obtaining a first line segment with the midpoint A of the tail of the vehicle, and calculating the length r of the first line segment;
C. steering circle center O connected with vehicle track i (x oi ,y oi ) With obstacle coordinate Z (x 1 ,y 1 ) Obtaining a second line segment, and determining a first end point B on the second line segment or an extension line thereof so as to ensure the circle center O of the steering circle of the vehicle track i (x oi ,y oi ) The length of the first line segment and the first end point B is the length r of the first line segment;
D. calculate the second distance Q (n) i The second distance Q (n) i In order to take the length r of the first line segment as the radius, the included angle between the first line segment and the second line segment is less than AO i B is the length of the arc AB corresponding to the central angle, as shown in FIG. 5;
E. if the second distance Q (n) i Less than or equal to the length of the remaining road segment (i.e ) Calculating the actual parking distance D (n) according to the fourth preset relation i Otherwise, calculating the actual parking distance D (n) according to the third preset relation i 。
Second distance Q (n) i The calculation formula of (2) is as follows:
wherein r represents the length of the first line segment; (x) 1 ,y 1 ) Coordinates of the obstacle; (x) oi ,y oi ) Coordinates of circle centers of the i steering tracks; m (n) i For the first distance acquired the i-th time on the parking section.
The fourth preset relationship is:
D(n) i ＝Q(n) i -δ；
wherein D (n) i For the actual parking distance when the first distance is acquired for the ith time, delta is a safe distance threshold value, Q (n) i And the second distance acquired for the ith time on the parking road section.
According to the embodiment, corresponding actual parking distance calculation formulas are respectively set according to the actual situation that the parking road section is a straight road section and an arc road section, when the line characteristic of the parking road section is judged, the corresponding formulas are called and substituted into the known values, so that the data processing efficiency can be improved, the parking sensitivity can be improved, and the collision risk of the vehicle can be reduced.
According to the embodiment of the invention, the target parking space is taken as the end point, the parking path of the vehicle is determined, the preset segmentation rule is set to divide the parking path into a plurality of segments of parking road sections, and the parking control of the vehicle can be refined to each segment of parking road section; after the direction and the driving 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 parking of the vehicle can be effectively ensured after faults occur in the parking process.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.

Claims (6)

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 sections of parking road sections according to a preset segmentation rule;
s3, acquiring the relative distance between the vehicle and the obstacle in the motion direction of the parking section in real time, and executing a corresponding parking control strategy according to the relative distance;
the step S3 includes:
s31, acquiring the relative distance between the vehicle and the obstacle in the motion direction of the parking section, if the relative distance is greater than a safety distance threshold, entering the next step, otherwise, controlling the vehicle to stop moving;
s32, calculating the actual parking distance according to the relative distance, the type of the parking track and the length of the rest of the parking road section of the section;
if the parking section in this section is a straight parking track, the step S32 includes: acquiring a first distance between the obstacle and the vehicle, if the first distance is smaller than or equal to the length of the rest road section, calculating the actual parking distance according to a first preset relational expression, otherwise, calculating the actual parking distance according to a second preset relational expression;
the first preset relation is:
D(n) i =M(n) i -δ；
the second preset relation is:
wherein M (n) i For the first distance, D (n), acquired the i-th time on the parking section i For the actual parking distance at the i-th acquisition of the first distance,for a safe distance threshold, D (n) k (k=0, 1,2,3 … i-1) is the actual parking distance, D (n), acquired the kth time on the parking section 0 =0, l (n) is the length of the parking section;
if the current parking road section is an arc-shaped parking track, the step S32 includes:
A. judging whether the obstacle is in the coverage area of the parking road section, if so, entering the next step, and if not, determining the actual parking distance according to a third preset relation;
the third preset relation is:
wherein D (n) i For the actual parking distance, D (n), at which the first distance was acquired the ith time k (k=0, 1,2,3 … i-1) is the actual parking distance, D (n), acquired the kth time on the parking section 0 =0；
B. Connecting the 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 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 of the second line segment, so that the length of the center of the steering circle of the vehicle track and the first end point is the length of the first line segment;
D. calculating a second distance, wherein the second distance is the length of an arc corresponding to a central angle of an included angle of the first line segment and the second line segment, and the length of the first line segment is taken as a radius;
E. if the second distance is smaller than or equal to the length of the rest road section, calculating the actual parking distance according to a fourth preset relation, otherwise, calculating the actual parking distance according to the third preset relation;
the fourth preset relation is:
D(n) i =Q(n) i -δ；
wherein D (n) i For the actual parking distance at the i-th acquisition of the first distance,for a safe distance threshold, Q (n) i And the second distance acquired for the ith time on the parking road section.
2. The automatic parking driving control method according to claim 1, wherein the step S1 includes;
s11, acquiring an image of a target parking space, and determining a target parking position through image recognition;
s12, a parking coordinate system is established by taking the midpoint of a rear wheel axle of the vehicle on a parking starting point as a coordinate origin, taking a parking direction as an X-axis forward direction and taking a direction of the vehicle transversely far from a parking space as a Y-axis forward direction;
s13, planning a parking route of the vehicle according to the target parking position.
3. The automatic parking driving control method according to claim 2, wherein in said step S2: the preset segmentation rule is that the steering points in the parking route are used as references, and the parking route is divided to obtain a plurality of sections of parking road sections.
4. The automatic parking driving control method according to claim 1, wherein the calculation formula of the second distance is as follows:
wherein r represents the length of the first line segment; (x) 1 ,y 1 ) Coordinates of the obstacle; (x) oi ,y oi ) Coordinates of circle centers of the i steering tracks; m (n) i For the first distance acquired the i-th time on the parking section.
5. The automatic parking driving control method according to claim 1, wherein the determining whether the obstacle is within the coverage area of the parking section includes:
and determining a coordinate set corresponding to the coverage area of the parking road section and the 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 road section, otherwise, judging that the obstacle is out of the coverage area of the parking road section.
6. The automatic parking driving control method according to claim 5, wherein: the coordinate set of the coverage area of the parking road section is as follows:
wherein, (x) 0 ,y 0 ) The coordinates of the origin O are represented by K, which represents the vehicle body width, and R, which represents the steering circle radius of the vehicle track.
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