CN114506314A - Vehicle parallel parking method, device, equipment and storage medium - Google Patents

Vehicle parallel parking method, device, equipment and storage medium Download PDF

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Publication number
CN114506314A
CN114506314A CN202111666660.XA CN202111666660A CN114506314A CN 114506314 A CN114506314 A CN 114506314A CN 202111666660 A CN202111666660 A CN 202111666660A CN 114506314 A CN114506314 A CN 114506314A
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Prior art keywords
vehicle
parking
point
parallel
track
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崔卫卫
徐勇超
徐磊
朱頔卿
陈必成
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Aiways Automobile Shanghai Co Ltd
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Aiways Automobile Shanghai Co Ltd
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Priority to CN202111666660.XA priority Critical patent/CN114506314A/en
Publication of CN114506314A publication Critical patent/CN114506314A/en
Priority to PCT/CN2022/101857 priority patent/WO2023123935A1/en
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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
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The application provides a parallel vehicle parking method, a device, equipment and a storage medium, and relates to the technical field of automatic driving. The method comprises the following steps: generating a target virtual parking out-of-garage position where the vehicle is currently located according to the current parking position information of the vehicle and ultrasonic detection information collected by a garage position detection unit on the vehicle; determining a garage exit point of the vehicle according to the current parked position information of the vehicle and the target virtual parking garage exit position, wherein the garage exit point is the position in the target virtual parking garage exit position; acquiring a straight line segment in a parking track when the vehicle is parked at the current parking position; determining a target parallel parking track of the vehicle according to the garage exit point and the straight line segment of the vehicle; and controlling the vehicle to park out along the target parallel parking track. The scheme provides a vehicle parallel parking method corresponding to a narrow space scene, which can control vehicles to park out along a target parallel parking track, so that the aim of safe, quick and accurate parking out is fulfilled, and the success rate and the efficiency of parking out the vehicles are improved.

Description

Vehicle parallel parking method, device, equipment and storage medium
Technical Field
The application relates to the technical field of automatic driving, in particular to a parallel vehicle parking method, device, equipment and storage medium.
Background
In recent years, with the continuous popularization of vehicles, parking spaces are increasingly tense, and the division of the parking spaces is narrower and narrower, so that collision accidents can happen when the vehicles are parked out of the parking spaces carelessly. Therefore, new cars launched by many car enterprises have the automatic parking function.
At present, the traditional parallel parking method mainly adopts a double-arc path, an arc-straight line combined path, an arc-convolution line combined path and various continuous curvature function curves, such as a Bessel curve, a quintic polynomial curve and a B-spline curve. The various continuous curvature function curves have the defects of curve flexibility, and the storage space where the vehicle is located is large in order to meet collision avoidance requirements.
However, the existing parallel parking method for vehicles has the problem of poor adaptive capacity of narrow bins, so that the success rate and the efficiency of parking the vehicles are reduced.
Disclosure of Invention
The present invention provides a method, an apparatus, a device and a storage medium for parallel parking of vehicles, which can control vehicles to park out along a target parallel parking track, so as to achieve the purpose of safe, fast and accurate parking out, thereby improving the success rate and efficiency of parking out vehicles.
In order to achieve the above purpose, the technical solutions adopted in the embodiments of the present application are as follows:
in a first aspect, an embodiment of the present application provides a parallel parking method for a vehicle, where the method includes:
generating a target virtual parking out-of-stock position where the vehicle is currently located according to the current parking position information of the vehicle and ultrasonic detection information collected by a stock position detection unit on the vehicle;
determining a garage exit point of the vehicle according to the current position information of the vehicle, and the target virtual parking garage exit position, wherein the garage exit point is the position in the target virtual parking garage exit position;
acquiring a straight line segment in a parking track when the vehicle is parked at the current parking position;
determining a target parallel parking track of the vehicle according to the garage exit point and the straight line segment of the vehicle;
and controlling the vehicle to park out along the target parallel parking track.
Optionally, the determining a target parallel parking trajectory of the vehicle according to the garage exit point of the vehicle and the straight line segment includes:
selecting at least one position point from the straight line segment as selectable points respectively;
generating at least one spiral line by taking the ex-warehouse point as a starting point and each selectable point as an end point, and taking each spiral line as a selectable parallel berthing track;
selecting one selectable parallel park out-track from each of the selectable parallel park out-tracks as the target parallel park out-track.
Optionally, the selecting one selectable parallel park out-track from among the selectable parallel park out-tracks as the target parallel park out-track includes:
determining a priority of each of the selectable parallel-berthing trajectories using a preset trajectory strategy, wherein the preset trajectory strategy comprises: when the vehicle is controlled to be parked according to the selectable parallel parking track, a first vertex on the vehicle does not collide with a first vertex in the target virtual parking garage-out position, and the parking-out time is shortest;
and taking the selectable parallel berthing track with the highest priority as the target parallel berthing track.
Optionally, the determining a garage exit point of the vehicle according to the current position information where the vehicle stops and the target virtual parking garage exit position includes:
judging whether the vehicle meets a preset parking condition or not according to the current position information of the vehicle, and the target virtual parking-out position, wherein the parking condition is used for representing that a first vertex on the vehicle does not collide with a first vertex in the target virtual parking-out position when the vehicle is directly parked out;
if so, taking the central point of the rear axle of the vehicle as the ex-warehouse point;
if not, controlling the vehicle to move backwards according to the straight track, acquiring updated position information of the vehicle in the process of moving backwards, and determining the ex-warehouse point of the vehicle according to the updated position information.
Optionally, the determining whether the vehicle meets a preset parking-out condition according to the current parked position information of the vehicle and the target virtual parking-out position includes:
according to the current position information of the vehicle, the minimum turning radius of the vehicle and the included angle value of the first boundary of the target virtual parking garage position, determining the central point of a circular area where the minimum turning radius of a first corner point on the vehicle is located when the vehicle is safely parked;
calculating to obtain the safe parking distance of the vehicle according to the first vertex of the target virtual parking garage-out position and the center point;
and if the minimum turning radius of the first corner point on the vehicle is smaller than the safe parking-out distance of the vehicle, determining that the vehicle meets a preset parking-out condition.
Optionally, the generating a current target virtual parking position of the vehicle according to the current parking position information of the vehicle and the ultrasonic detection information acquired by the parking position detection unit on the vehicle includes:
determining the distance that the vehicle can travel according to the current stop position information of the vehicle and the ultrasonic detection information acquired by a storage position detection unit on the vehicle;
determining a travelable area of the vehicle according to the travelable distance of the vehicle;
and determining the current target virtual parking position of the vehicle according to the collision detection result of the drivable area of the vehicle.
In a second aspect, an embodiment of the present application further provides a parallel parking apparatus for a vehicle, the apparatus including:
the generating module is used for generating a target virtual parking out-of-stock position where the vehicle is currently located according to the current parking position information of the vehicle and the ultrasonic detection information collected by the stock position detecting unit on the vehicle;
the determining module is used for determining the ex-warehouse point of the vehicle according to the current stop position information of the vehicle and the target virtual parking ex-warehouse position, wherein the ex-warehouse point is the position in the target virtual parking ex-warehouse position;
the acquisition module is used for acquiring a straight line segment in a parking track when the vehicle is parked at the current parking position;
the determining module is further used for determining a target parallel parking track of the vehicle according to the ex-warehouse point and the straight line segment of the vehicle;
and the control module is used for controlling the vehicle to park out along the target parallel parking track.
Optionally, the determining module is further configured to:
selecting at least one position point from the straight line segment as selectable points respectively;
generating at least one spiral line by taking the ex-warehouse point as a starting point and each selectable point as an end point, and taking each spiral line as a selectable parallel berthing track;
selecting one selectable parallel park out-track from each of the selectable parallel park out-tracks as the target parallel park out-track.
Optionally, the determining module is further configured to:
determining a priority of each of the selectable parallel-berthing trajectories using a preset trajectory strategy, wherein the preset trajectory strategy comprises: when the vehicle is controlled to park out according to the selectable parallel parking track, a first corner on the vehicle does not collide with a first peak in the target virtual parking out-of-garage position, and the parking out time is shortest;
and taking the selectable parallel berthing track with the highest priority as the target parallel berthing track.
Optionally, the determining module is further configured to:
judging whether the vehicle meets a preset parking condition or not according to the current position information of the vehicle, and the target virtual parking-out position, wherein the parking condition is used for representing that a first vertex on the vehicle does not collide with a first vertex in the target virtual parking-out position when the vehicle is directly parked out;
if so, taking the central point of the rear axle of the vehicle as the ex-garage point;
if not, controlling the vehicle to move backwards according to the straight track, acquiring updated position information of the vehicle in the process of moving backwards, and determining the ex-warehouse point of the vehicle according to the updated position information.
Optionally, the determining module is further configured to:
according to the current position information of the vehicle, the minimum turning radius of the vehicle and the included angle value of the first boundary of the target virtual parking garage position, determining the central point of a circular area where the minimum turning radius of a first corner point on the vehicle is located when the vehicle is safely parked;
calculating to obtain the safe parking distance of the vehicle according to the first vertex of the target virtual parking garage-out position and the center point;
and if the minimum turning radius of the first corner point on the vehicle is smaller than the safe parking-out distance of the vehicle, determining that the vehicle meets a preset parking-out condition.
Optionally, the generating module is further configured to:
determining the distance that the vehicle can travel according to the current stop position information of the vehicle and the ultrasonic detection information acquired by a storage position detection unit on the vehicle;
determining a travelable area of the vehicle according to the travelable distance of the vehicle;
and determining the current target virtual parking position of the vehicle according to the collision detection result of the drivable area of the vehicle.
In a third aspect, an embodiment of the present application further provides an electronic device, including: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is running, the processor executing the machine-readable instructions to perform the steps of the method as provided by the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the method as provided in the first aspect.
The beneficial effect of this application is:
the embodiment of the application provides a parallel vehicle parking method, a device, equipment and a storage medium, wherein the method comprises the following steps: generating a target virtual parking out-of-garage position where the vehicle is currently located according to the current parking position information of the vehicle and ultrasonic detection information collected by a garage position detection unit on the vehicle; determining a garage exit point of the vehicle according to the current parked position information of the vehicle and the target virtual parking garage exit position, wherein the garage exit point is the position in the target virtual parking garage exit position; acquiring a straight line segment in a parking track when the vehicle is parked at the current parking position; determining a target parallel parking track of the vehicle according to the garage exit point and the straight line segment of the vehicle; and controlling the vehicle to park out along the target parallel parking track. The scheme provides a parallel parking method for vehicles corresponding to narrow space scenes, which mainly comprises the steps of generating a target virtual parking garage position where a vehicle is currently located on the basis of current parking position information and size information of the vehicle; determining a delivery point when the vehicle is parked out of the target virtual parking position according to the current parking position information of the vehicle and the target virtual parking position so as to reduce the number of times of adjustment in the parking position when the vehicle is parked out of the narrow space; and finally, calculating a target parallel parking track when the vehicle is parked out of the target virtual parking position by utilizing the exit point of the vehicle and the straight line segment in the parking track when the vehicle is parked in the current parking position, and controlling the vehicle to park out along the target parallel parking track, thereby achieving the aim of safe, quick and accurate parking out, and further improving the success rate and the efficiency of parking out the vehicle.
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 structural diagram of an automatic vehicle parking system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a parking trajectory planning unit in an automatic vehicle parking system according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a parallel parking method for vehicles according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a target virtual parking lot where a vehicle is currently located in a vehicle parallel parking method according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a straight line segment in a parking trajectory in a parallel parking method for a vehicle according to an embodiment of the present disclosure;
FIG. 6 is a schematic flow chart illustrating another parallel vehicle parking method according to an embodiment of the present disclosure;
FIG. 7 is a schematic diagram of a plurality of selectable parallel parking tracks in a parallel parking method for a vehicle according to an embodiment of the present disclosure;
FIG. 8 is a schematic flow chart illustrating another parallel vehicle parking method according to an embodiment of the present disclosure;
FIG. 9 is a schematic flow chart illustrating another parallel vehicle parking method according to an embodiment of the present disclosure;
FIG. 10 is a schematic flow chart illustrating another parallel vehicle parking method according to an embodiment of the present disclosure;
FIG. 11 is a schematic diagram illustrating a safe parking distance of a vehicle in a parallel parking method according to an embodiment of the present disclosure;
FIG. 12 is a schematic flow chart illustrating another parallel vehicle parking method according to an embodiment of the present disclosure;
fig. 13 is a schematic structural diagram of a parallel vehicle berthing device according to an embodiment of the present disclosure.
Icon: 100-automatic parking system for vehicle; 101-reservoir position detection unit; 102-parking trajectory planning unit; 103-parking control unit.
Detailed Description
In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and steps without logical context may be performed in reverse order or simultaneously. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that in the embodiments of the present application, the term "comprising" is used to indicate the presence of the features stated hereinafter, but does not exclude the addition of further features.
First, before the technical solutions provided in the present application are explained in detail, the related background related to the present application will be briefly explained.
Before the proposal of the present application is made, in the prior art, a bi-arc path, an arc-straight line combined path, an arc-convolution line combined path and various curvature continuous function curves, such as a bezier curve, a quintic polynomial curve and a B-spline curve, are mainly adopted.
However, the above-mentioned function curves with various continuous curvatures have the defects of poor flexibility, and the garage space where the vehicle is located is large in order to meet the collision avoidance requirement. Therefore, the existing parallel vehicle parking method has the problem of poor adaptive capacity of a narrow garage, and further reduces the low success rate and efficiency of vehicle parking.
In order to solve the technical problems in the prior art, the application provides a parallel parking method for vehicles corresponding to a narrow space scene, which mainly comprises the steps of generating a target virtual parking garage position where the vehicle is currently located based on current parking position information and size information of the vehicle; determining a delivery point when the vehicle is parked out of the target virtual parking position according to the current parking position information of the vehicle and the target virtual parking position so as to reduce the number of times of adjustment in the parking position when the vehicle is parked out of the narrow space; and finally, calculating a target parallel parking track when the vehicle is parked out of the target virtual parking position by utilizing the exit point of the vehicle and the straight line segment in the parking track when the vehicle is parked in the current parking position, and controlling the vehicle to park out along the target parallel parking track, thereby achieving the aim of safe, quick and accurate parking out, and further improving the success rate and the efficiency of parking out the vehicle.
Fig. 1 is a schematic structural diagram of an automatic vehicle parking system according to an embodiment of the present application; as shown in fig. 1, the automatic vehicle parking system 100 may be a system installed in a general vehicle or an unmanned vehicle, and the automatic vehicle parking system 100 may take over the vehicle and control the vehicle to automatically park in (or park out) a target parking space after a driver drives the vehicle to an entrance of a parking lot or a vicinity of the target parking space.
It should be appreciated that the vehicle auto-park system 100 provided herein may be applied to various auto-park scenarios to assist a driver in finding a suitable parking location and completing parking, or exiting from the parking location.
The hardware part of the automatic parking system 100 includes: a parking space detection unit 101, a parking trajectory planning unit 102, and a parking control unit 103.
The storage location detection unit 101 is configured to detect the surrounding environment and the vehicle location by using a camera or a detection device such as an ultrasonic radar, a millimeter wave radar, or a laser radar, and obtain location information of the vehicle currently parked and a boundary of a surrounding obstacle.
The parking trajectory planning unit 102 is configured to determine a current target virtual parking exit position and a drivable area of the vehicle according to the current parking position information of the vehicle and the surrounding obstacle boundaries, and further calculate a parking trajectory of the vehicle when the vehicle is parked from the target virtual parking exit position by combining the current target virtual parking exit position and the drivable area of the vehicle.
And the parking control unit 103 is used for controlling the vehicle to park out of the target virtual parking-out position according to the obtained parking-out track.
It will be appreciated that the configuration shown in fig. 1 is merely illustrative and that the vehicle automatic parking system 100 may include more or fewer components than shown in fig. 1 or may have a different configuration than shown in fig. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
Fig. 2 is a schematic structural diagram of a parking trajectory planning unit in an automatic vehicle parking system according to an embodiment of the present application; as shown in fig. 2, the parking trajectory planning unit 102 includes: memory 201, processor 202.
Wherein, the memory 201 and the processor 202 are electrically connected to each other directly or indirectly to realize the data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 201 stores software functional modules stored in the memory 201 in the form of software or firmware (firmware), and the processor 202 executes various functional applications and data processing by running the software programs and modules stored in the memory 201, that is, implements the vehicle parallel parking method in the embodiment of the present application.
The Memory 201 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), and the like. The memory 201 is used for storing a program, and the processor 202 executes the program after receiving an execution instruction.
The processor 202 may be an integrated circuit chip having signal processing capabilities. The Processor 202 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like.
The vehicle parallel parking method and the corresponding advantageous effects provided by the present application will be described below by way of a plurality of specific embodiments.
It should be noted that the present application provides a parallel parking method for vehicles, which mainly aims at the parking space type of the parking space of the vehicle being a parallel parking space, that is, the parking scene of a vertical parking space is not considered in the present application.
Alternatively, the execution subject of the method may be an electronic device such as a server or a computer, and has a data processing function. It should be understood that in other embodiments, the order of some steps in the parallel pull-out method may be interchanged according to actual needs, or some steps may be omitted or deleted. As shown in fig. 3, the method includes:
s301, generating a target virtual parking out-of-garage position where the vehicle is currently located according to the current parking position information of the vehicle and ultrasonic detection information collected by a garage position detection unit on the vehicle.
In the present embodiment, referring to fig. 4, taking the vehicle 1 as an example of a target vehicle to be parked, the current position information of the vehicle is mainly referred to the position of the rear axle center point O1 of the vehicle 1.
Alternatively, the length of the vehicle 1 may be calculated to be EG (or FH) and the width of the vehicle 1 may be calculated to be EF (or GH) according to the position information O1 point where the vehicle 1 is currently parked and the size parameter of the vehicle 1.
Meanwhile, the distance information between the position information O1 point where the vehicle is currently parked and surrounding obstacles can be determined by using ultrasonic detection information acquired by a position detection unit in the automatic vehicle parking system pre-installed on the vehicle 1; then, a target virtual parking garage (ABCD shown in fig. 4) where the vehicle is currently located is generated based on the distance information of the position information O1 where the vehicle is currently parked from the surrounding obstacles and the length and width dimensions of the vehicle.
S302, determining the ex-warehouse point of the vehicle according to the current parking position information of the vehicle and the target virtual parking out-warehouse position.
Wherein, the ex-warehouse point is the position in the target virtual warehouse-out position.
It should be understood that, with continued reference to fig. 4, the position information of the four corner points E, F, H, G may be based on the position information O1 point at which the vehicle 1 is currently parked, and the size parameter of the vehicle 1.
It should be noted that the ex-warehouse point in this application refers to a coordinate position point where each corner point (i.e., E, F, H, G, etc.) on the vehicle 1 does not collide with any boundary (i.e., AB, BC, CD, DA, etc.) in the target virtual parking out-warehouse location when the vehicle 1 is parked out of the target virtual parking out-warehouse location, and the ex-warehouse point is a position point located in the target virtual parking out-warehouse location ABCD.
In the embodiment, whether the vehicle can be parked out of the target virtual parking space safely and without collision can be judged through the position information of the current parking position of the vehicle and the target virtual parking space; if so, the vehicle can be determined to be directly taken out of the garage without adjusting the vehicle in the garage, and at the moment, the current stopped position information is directly used as a point of taking the vehicle out of the garage when the vehicle is parked from the target virtual parking place.
If not, the vehicle can be determined to need multiple times of in-garage adjustment until the vehicle meets the safe and collision-free parking-out condition, and the position information of the vehicle stopped after the vehicle is adjusted is used as a parking-out point when the vehicle is parked out of the target virtual parking-out position.
And S303, acquiring a straight line segment in the parking track when the vehicle is parked at the current parking position.
Referring to fig. 5, a straight line segment in the parking trajectory when the vehicle is parked at the current parked position is a straight line segment from a point p0 to a point p 2. That is, the straight line segment p0p2 can be taken as the final target trajectory segment after the vehicle is parked out of the target virtual parking garage.
In this embodiment, when the vehicle is parked out of the target virtual parking lot, the trajectory data on the parking trajectory corresponding to the last time the vehicle was automatically parked in the target virtual parking lot may be simultaneously read, and the straight line segment p0p2 in the parking trajectory may be obtained by filtering from the trajectory data.
And S304, determining a target parallel parking-out track of the vehicle according to the parking-out point and the straight line segment of the vehicle.
And each track point in the straight line segment can be used as a target point after the vehicle is out of the target virtual parking garage.
Optionally, at least one parking-out trajectory from the garage exit point to the target point outside the garage can be planned according to the garage exit point of the vehicle and each trajectory point in the straight line segment, and a collision-free optimal trajectory is selected from the at least one parking-out trajectory to serve as a target parallel parking-out trajectory when the vehicle is parked out of the target virtual garage.
And S305, controlling the vehicle to park out along the target parallel parking track.
Optionally, in this embodiment, a pure tracking control manner may be adopted to track the obtained target parallel parking trajectory to control the vehicle to park along the target parallel parking trajectory until the vehicle travels to the target point.
In summary, the embodiment of the present application provides a parallel parking method for vehicles, which includes: generating a target virtual parking out-of-garage position where the vehicle is currently located according to the current parking position information of the vehicle and ultrasonic detection information collected by a garage position detection unit on the vehicle; determining a garage exit point of the vehicle according to the current parked position information of the vehicle and the target virtual parking garage exit position, wherein the garage exit point is the position in the target virtual parking garage exit position; acquiring a straight line segment in a parking track when the vehicle is parked at the current parking position; determining a target parallel parking track of the vehicle according to the garage exit point and the straight line segment of the vehicle; and controlling the vehicle to park out along the target parallel parking track. The scheme provides a parallel parking method for vehicles corresponding to narrow space scenes, which mainly comprises the steps of generating a target virtual parking garage position where a vehicle is currently located on the basis of current parking position information and size information of the vehicle; determining a delivery point when the vehicle is parked out of the target virtual parking position according to the current parking position information of the vehicle and the target virtual parking position so as to reduce the number of times of adjustment in the parking position when the vehicle is parked out of the narrow space; and finally, calculating a target parallel parking track when the vehicle is parked out of the target virtual parking position by utilizing the exit point of the vehicle and the straight line segment in the parking track when the vehicle is parked in the current parking position, and controlling the vehicle to park out along the target parallel parking track, thereby achieving the aim of safe, quick and accurate parking out, and further improving the success rate and the efficiency of parking out the vehicle.
The following embodiment will specifically explain how to determine the target parallel parking trajectory of the vehicle according to the vehicle exit point and the straight line segment.
Alternatively, referring to fig. 6, the step S304: determining a target parallel parking trajectory of the vehicle according to the garage exit point and the straight line segment of the vehicle, comprising:
s601, selecting at least one position point from the straight line segment as selectable points respectively.
In the present embodiment, to ensure that the vehicle can be parked safely out of the trajectory in parallel along the target without collision. It is therefore proposed that the trajectory points in a straight line segment can be sampled to select at least one position point from the straight line segment as a selectable point, respectively. That is, sampling results in multiple selectable points.
And S602, generating at least one spiral line by taking the ex-warehouse point as a starting point and each selectable point as an end point, and taking each spiral line as a selectable parallel berthing track.
Optionally, the parallel berthing trajectory planning mainly includes connecting the departure point with each selectable point by using a helix based on a fifth-order polynomial to obtain at least one selectable parallel berthing trajectory.
In particular, the spiral may be represented as a parameter of a cubic polynomial based on the distance s. Specifically, the following formula (1) shows:
k(s)＝a+bs+cs2+ds3
Figure BDA0003451970630000121
wherein, the coordinate (x) of the ex-warehouse point is used0,y0,θ0,k0) As a starting point, the coordinates (x) of each selectable pointe,ye,θe,ke) As an endpoint. The polynomial parameters expressed by the formula (1) can be solved, and at least one optional parallel pull-out trajectory can be further obtained, which can refer to the multiple spiral-type optional parallel pull-out trajectories shown in fig. 7.
Wherein, the coordinate (x) of the ex-warehouse point is used0,y0,θ0,k0) Theta in (1)0Is the angle (i.e. the heading when the vehicle is parked) between the departure point and the boundary line AD of the target virtual parking departure position, k0The curvature of the ex-warehouse point. Similarly, the coordinates (x) of each selectable pointe,ye,θe,ke) Theta in (1)eThe included angle, k, between each selectable point and the boundary line AD of the target virtual parking positioneIs the curvature of each selectable point.
S603, selecting one selectable parallel berthing track from the selectable parallel berthing tracks as a target parallel berthing track.
In the embodiment, in order to obtain an optimal target parallel parking track, the vehicle can be controlled to safely, quickly and accurately park along the target parallel parking track, so that the success rate and the efficiency of parking the vehicle are improved. Therefore, it is proposed that a plurality of selectable parallel berthing tracks obtained by the planning shown in fig. 7 need to be screened to select an optimal parallel berthing track, and the selected optimal parallel berthing track is used as a target parallel berthing track.
How to select one selectable parallel parking-out trajectory as the target parallel parking-out trajectory will be specifically explained by the following embodiments.
Alternatively, referring to fig. 8, the step S603: selecting one selectable parallel parking-out track from the selectable parallel parking-out tracks as a target parallel parking-out track, comprising:
s801, determining the priority of each selectable parallel berthing track by using a preset track strategy.
Optionally, the preset trajectory policy includes: when the vehicle is controlled to park according to the selectable parallel parking track, the first vertex on the vehicle and the first vertex in the target virtual parking garage position do not collide, and the parking time is shortest.
Illustratively, with continued reference to fig. 4, the first corner point on the vehicle may be corner point H on vehicle 1, and the first vertex in the target virtual parking garage may be point D in the target virtual parking garage.
Optionally, the priority of each selectable parallel berthing track may be calculated according to the collision condition and the berthing time of each selectable parallel berthing track. For example, when the vehicle is controlled to park along the selectable parallel parking track 1 or the selectable parallel parking track 2, the problem that the first corner point H on the vehicle collides with the first vertex D in the target virtual parking garage position does not occur, but the parking time of the selectable parallel parking track 1 is shorter than that of the selectable parallel parking track 2, that is, the priority of the selectable parallel parking track 1 is higher than that of the selectable parallel parking track 2.
And S802, taking the selectable parallel berthing-out track with the highest priority as a target parallel berthing-out track.
Therefore, on the basis of the above-described embodiment, the selectable parallel-parked trajectory 1 having the highest priority may be used as the target parallel-parked trajectory for the vehicle to park, so as to control the vehicle to park along the selectable parallel-parked trajectory 1.
The following embodiments will specifically explain how to determine the delivery point of the vehicle based on the current position information where the vehicle is stopped and the target virtual parking position.
Alternatively, referring to fig. 9, the step S302: determining the ex-warehouse point of the vehicle according to the current position information of the vehicle, and the target virtual parking ex-warehouse position, wherein the method comprises the following steps:
s901, judging whether the vehicle meets a preset parking-out condition or not according to the current parking position information of the vehicle and the target virtual parking-out position.
And when the vehicle is directly parked out, the first corner point H on the vehicle does not collide with the first vertex D in the target virtual parking out library position.
It should be understood that the vehicle parking-out situation can be divided into two categories, one is that the parking-out condition can be satisfied without adjustment when the vehicle is in the current parked position; the other type is that when the vehicle is positioned at the current stopped position and is directly taken out of the garage, the parking-out condition is not met, namely the vehicle needs to adjust the stopped position in the garage for multiple times until the parking-out condition is met.
The following embodiments will specifically explain how to determine whether the vehicle meets the preset parking-out condition according to the current parking position information of the vehicle and the target virtual parking-out position.
Alternatively, referring to fig. 10, the step S901: judging whether the vehicle meets a preset parking condition or not according to the current parked position information of the vehicle and the target virtual parking position, wherein the judgment comprises the following steps:
s1001, according to the current parking position information of the vehicle, the minimum turning radius of the vehicle and the included angle value of the first boundary of the target virtual parking position, the central point of the circular area where the minimum turning radius of the first corner point on the vehicle is located when the vehicle is safely parked is determined.
Referring to fig. 11, the minimum turning radius Rmin of the vehicle refers to a turning radius (e.g., OO1 in fig. 11) centered on the position information where the vehicle is currently stopped (i.e., the rear axle center position of the vehicle).
The included angle value of the position O1 where the vehicle is currently stopped and the first boundary AD of the target virtual parking garage position is 90-theta as shown in FIG. 111(i.e., the heading of the vehicle).
Thus, taking the left bin position as an example, the current location information (x, y) at which the vehicle is parked and the heading 90- θ of the vehicle are known1Then, the position of the central point O of the circular area where the minimum turning radius of the first corner point G on the vehicle is located can be calculated according to the following formula, specifically as follows:
Figure BDA0003451970630000141
s1002, calculating to obtain the safe parking distance of the vehicle according to the first vertex of the target virtual parking garage-out position and the center point.
Alternatively, the location of the first vertex D of the target virtual parking garage position, and the location of the center point (O) may be determinedx,Oy) And calculating to obtain the safe parking distance OD of the vehicle, wherein the OT distance is the distance between the position of the central point and the first corner point G on the vehicle, namely OG.
Therefore, as shown in fig. 11, it is only necessary that the first corner point G of the vehicle does not collide with the first vertex D of the target virtual parking lot when the vehicle is out of the garage, that is, the safe parking distance OD of the vehicle is > OT + safe _ dis, so as to ensure that the vehicle is parked safely.
Wherein, safe _ dis refers to a safe distance, and is generally selected to be about 20 cm.
S1003, if the minimum turning radius of the first corner point on the vehicle is smaller than the safe parking-out distance of the vehicle, determining that the vehicle meets the preset parking-out condition.
On the basis of the above embodiment, if the minimum turning radius OG of the first corner point on the vehicle is only required to satisfy less than the safe pull-out distance OD of the vehicle, i.e., OG < OD, it can be determined that the vehicle satisfies the preset pull-out condition.
And S902, if yes, taking the central point of the rear axle of the vehicle as a garage exit point.
Alternatively, if the above parking condition can be satisfied without adjustment when the vehicle is located at the currently parked position, the rear axle center point of the vehicle may be directly used as the delivery point.
And S903, if not, controlling the vehicle to move backwards according to the straight track, acquiring updated position information of the vehicle in the process of moving backwards, and determining a warehouse-out point of the vehicle according to the updated position information.
Optionally, if the vehicle is located at the current parked position, the parking-out condition is not met when the vehicle is directly taken out of the garage, that is, the vehicle needs to adjust the parked position in the garage for multiple times until the parking-out condition is met.
The required in-warehouse adjustment and ex-warehouse exit are mainly used for controlling the vehicle to retreat according to a straight track, acquiring updated position information of the vehicle in real time in the process of retreating, judging whether a parking condition is met or not according to the updated position information of the vehicle, and if yes, taking the updated position information as an ex-warehouse exit point of the vehicle.
In addition, the vehicle can be controlled to advance by the minimum turning radius (left-parking left-turning and right-parking right-turning) until the corner point G of the vehicle touches an obstacle, then the vehicle is stopped, and then the vehicle backs by the minimum turning radius (left-parking right-turning and right-parking left-turning) until the corner point F or E of the vehicle touches the obstacle first, after the vehicle is stopped, the updated position information of the vehicle needs to be obtained again, whether the vehicle meets the parking condition or not is judged according to the updated position information of the vehicle, and if the vehicle meets the parking condition, the updated position information is used as the storage-out point of the vehicle.
How to acquire ultrasonic detection information according to the current position information where the vehicle is parked and the garage position detection unit on the vehicle will be explained in detail by the following embodiments.
Alternatively, referring to fig. 12, the step S301: according to the current stop position information of the vehicle and the ultrasonic detection information collected by the storehouse position detection unit on the vehicle, the method comprises the following steps:
and S1201, determining the distance to be traveled of the vehicle according to the current stop position information of the vehicle and the ultrasonic detection information acquired by the storage position detection unit on the vehicle.
In this embodiment, the shortest distance between the vehicle and the position point where the front and rear obstacles are located is mainly obtained according to the ultrasonic detection information acquired by the depot detection unit on the vehicle, so as to determine the distance that the vehicle can travel in the front and rear directions.
Meanwhile, the shortest distance between the vehicle and the position point where the left and right side obstacles are located is obtained according to the ultrasonic detection information collected by the storage position detection unit on the vehicle, so that the left and right side travelable distances of the vehicle are determined. That is, the travelable distance of the vehicle can be obtained from the travelable distance in the front-rear direction of the vehicle and the travelable distance in the right-left direction of the vehicle.
And S1202, determining a travelable area of the vehicle according to the travelable distance of the vehicle.
S1203, determining a target virtual parking garage position where the vehicle is located according to a collision detection result of the drivable region of the vehicle.
In this embodiment, in order to ensure safe and collision-free parking of the vehicle, it is necessary to perform collision detection on the travelable region of the vehicle, and according to the collision detection result of the travelable region of the vehicle, virtualize a rectangular library position, and sample the length and width of the rectangular library position, so that a maximized target virtual parking library position where the vehicle is currently located can be obtained through continuous sampling and collision.
Based on the same inventive concept, the embodiment of the present application further provides a vehicle parallel parking-out device corresponding to the vehicle parallel parking-out method, and as the principle of solving the problem of the device in the embodiment of the present application is similar to that of the vehicle parallel parking-out method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and repeated details are omitted.
Referring to fig. 13, an embodiment of the present application further provides a parallel parking apparatus for a vehicle, including:
the generating module 1301 is configured to generate a virtual parking exit position of a target where the vehicle is currently located according to the current parking position information of the vehicle and the ultrasonic detection information acquired by the parking position detecting unit on the vehicle;
a determining module 1302, configured to determine a vehicle departure point according to the current vehicle stop position information and the target virtual parking departure position, where the departure point is a position in the target virtual parking departure position;
an obtaining module 1303, configured to obtain a straight line segment in a parking trajectory when the vehicle is parked at the current parking position;
the determining module 1302 is further configured to determine a target parallel parking trajectory of the vehicle according to the ex-warehouse point and the straight line segment of the vehicle;
and a control module 1304 for controlling the vehicle to park out along the target parallel parking trajectory.
Optionally, the determining module 1302 is further configured to:
selecting at least one position point from the straight line segment as selectable points respectively;
generating at least one spiral line by taking the ex-warehouse point as a starting point and each selectable point as an end point, and taking each spiral line as a selectable parallel berthing track;
and selecting one selectable parallel berthing track from the selectable parallel berthing tracks as a target parallel berthing track.
Optionally, the determining module 1302 is further configured to:
determining the priority of each selectable parallel berthing-out track by using a preset track strategy, wherein the preset track strategy comprises the following steps: when the vehicle is controlled to park out according to the selectable parallel parking track, the first vertex on the vehicle and the first vertex in the target virtual parking out-of-stock position do not collide, and the parking out time is shortest;
and taking the selectable parallel berthing track with the highest priority as a target parallel berthing track.
Optionally, the determining module 1302 is further configured to:
judging whether the vehicle meets a preset parking condition or not according to the current parked position information of the vehicle and the target virtual parking out-of-garage position, wherein the parking condition is used for representing that a first vertex on the vehicle does not collide with a first vertex in the target virtual parking out-of-garage position when the vehicle is parked directly;
if so, taking the central point of the rear axle of the vehicle as a delivery point;
if not, controlling the vehicle to move backwards according to the straight track, acquiring updated position information of the vehicle in the process of moving backwards, and determining the ex-warehouse point of the vehicle according to the updated position information.
Optionally, the determining module 1302 is further configured to:
according to the position information of the vehicle at the current stop, the minimum turning radius of the vehicle and the included angle value of the first boundary of the target virtual parking position, determining the central point of a circular area where the minimum turning radius of a first corner point on the vehicle is located when the vehicle is safely parked;
calculating to obtain the safe parking distance of the vehicle according to the first vertex of the target virtual parking out-of-stock position and the center point;
and if the minimum turning radius of the first corner point on the vehicle is smaller than the safe parking-out distance of the vehicle, determining that the vehicle meets the preset parking-out condition.
Optionally, the generating module 1301 is further configured to:
determining the distance that the vehicle can travel according to the current stop position information of the vehicle and the ultrasonic detection information acquired by a storage position detection unit on the vehicle;
determining a travelable area of the vehicle according to the travelable distance of the vehicle;
and determining the current target virtual parking position of the vehicle according to the collision detection result of the drivable area of the vehicle.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Optionally, the invention also provides a program product, for example a computer-readable storage medium, comprising a program which, when being executed by a processor, is adapted to carry out the above-mentioned method embodiments.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, 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 through some interfaces, devices or units, 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 of the present invention 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 integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a portable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other media capable of storing program codes.

Claims (10)

1. A method of parallel pull-out of a vehicle, the method comprising:
generating a target virtual parking out-of-stock position where the vehicle is currently located according to the current parking position information of the vehicle and ultrasonic detection information collected by a stock position detection unit on the vehicle;
determining a garage exit point of the vehicle according to the current position information of the vehicle, and the target virtual parking garage exit position, wherein the garage exit point is the position in the target virtual parking garage exit position;
acquiring a straight line segment in a parking track when the vehicle is parked at the current parking position;
determining a target parallel parking track of the vehicle according to the garage exit point and the straight line segment of the vehicle;
and controlling the vehicle to park out along the target parallel parking track.
2. The method of claim 1, wherein determining the target parallel parking trajectory of the vehicle from the garage exit point of the vehicle and the straight line segment comprises:
selecting at least one position point from the straight line segment as selectable points respectively;
generating at least one spiral line by taking the ex-warehouse point as a starting point and each selectable point as an end point, and taking each spiral line as a selectable parallel berthing track;
selecting one selectable parallel park out-track from each of the selectable parallel park out-tracks as the target parallel park out-track.
3. The method of claim 2, wherein selecting one selectable parallel-parked trajectory from among the selectable parallel-parked trajectories as the target parallel-parked trajectory comprises:
determining a priority of each of the selectable parallel-berthing trajectories using a preset trajectory strategy, wherein the preset trajectory strategy comprises: when the vehicle is controlled to park out according to the selectable parallel parking track, a first corner on the vehicle does not collide with a first peak in the target virtual parking out-of-garage position, and the parking out time is shortest;
and taking the selectable parallel berthing track with the highest priority as the target parallel berthing track.
4. The method of claim 1, wherein determining the departure point of the vehicle based on the current location information at which the vehicle is parked and the target virtual parking lot comprises:
judging whether the vehicle meets a preset parking condition or not according to the current position information of the vehicle, and the target virtual parking-out position, wherein the parking condition is used for representing that a first vertex on the vehicle does not collide with a first vertex in the target virtual parking-out position when the vehicle is directly parked out;
if so, taking the central point of the rear axle of the vehicle as the ex-warehouse point;
if not, controlling the vehicle to move backwards according to the straight track, acquiring the updated position information of the vehicle in the process of moving backwards, and determining the ex-garage point of the vehicle according to the updated position information.
5. The method according to claim 4, wherein the determining whether the vehicle meets a preset parking-out condition according to the position information of the vehicle at which the vehicle is currently parked and the target virtual parking-out depot comprises:
according to the current position information of the vehicle, the minimum turning radius of the vehicle and the included angle value of the first boundary of the target virtual parking garage position, determining the central point of a circular area where the minimum turning radius of a first corner point on the vehicle is located when the vehicle is safely parked;
calculating to obtain the safe parking distance of the vehicle according to the first vertex of the target virtual parking garage-out position and the center point;
and if the minimum turning radius of the first corner point on the vehicle is smaller than the safe parking-out distance of the vehicle, determining that the vehicle meets a preset parking-out condition.
6. The method according to any one of claims 1 to 5, wherein the generating of the target virtual parking lot at which the vehicle is currently located according to the position information of the vehicle at which the vehicle is currently parked and the ultrasonic detection information collected by the parking lot detection unit on the vehicle comprises:
determining the distance that the vehicle can travel according to the current stop position information of the vehicle and the ultrasonic detection information acquired by a storage position detection unit on the vehicle;
determining a travelable area of the vehicle according to the travelable distance of the vehicle;
and determining the current target virtual parking position of the vehicle according to the collision detection result of the drivable area of the vehicle.
7. A parallel pull-out device for vehicles, the device comprising:
the generating module is used for generating a target virtual parking out-of-stock position where the vehicle is currently located according to the current parking position information of the vehicle and the ultrasonic detection information collected by the stock position detecting unit on the vehicle;
the determining module is used for determining the ex-warehouse point of the vehicle according to the current stop position information of the vehicle and the target virtual parking ex-warehouse position, wherein the ex-warehouse point is the position in the target virtual parking ex-warehouse position;
the acquisition module is used for acquiring a straight line segment in a parking track when the vehicle is parked at the current parking position;
the determining module is further used for determining a target parallel parking track of the vehicle according to the ex-warehouse point and the straight line segment of the vehicle;
and the control module is used for controlling the vehicle to park out along the target parallel parking track.
8. The apparatus of claim 7, wherein the determining module is further configured to:
selecting at least one position point from the straight line segment as selectable points respectively;
generating at least one spiral line by taking the ex-warehouse point as a starting point and each selectable point as an end point, and taking each spiral line as a selectable parallel berthing track;
selecting one selectable parallel park out-track from each of the selectable parallel park out-tracks as the target parallel park out-track.
9. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the method according to any one of claims 1-6.
10. A computer-readable storage medium, characterized in that a computer program is stored on the storage medium, which computer program, when being executed by a processor, is adapted to carry out the steps of the method according to any one of claims 1-6.
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