CN114932897A

CN114932897A - Parking method, device, equipment and storage medium

Info

Publication number: CN114932897A
Application number: CN202210605447.6A
Authority: CN
Inventors: 王皓南; 李超; 杜建宇
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-05-30
Filing date: 2022-05-30
Publication date: 2022-08-23

Abstract

The invention discloses a parking method, a parking device, parking equipment and a parking storage medium. The method comprises the following steps: in the process that a vehicle is parked into a parking space, if a backing-up and braking event is detected, a first barrier distance set acquired by at least one laser radar installed on the main driving door side of the vehicle and a second barrier distance set acquired by at least one laser radar installed on the auxiliary driving door side of the vehicle are acquired; under the condition that the distance between each first obstacle in the first obstacle distance set and the distance between each second obstacle in the second obstacle distance set are larger than a first preset distance, updating the first position and posture information according to the first obstacle distance set, the second obstacle distance set and the first position and posture information of a target parking position; and controlling the vehicle to park according to the updated first position information and the current second position information of the vehicle. By updating the target parking position in real time and re-planning parking, the parking performance and efficiency are improved.

Description

Parking method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of intelligent traffic, in particular to a parking method, a parking device, parking equipment and a parking storage medium.

Background

With the economic development, automobiles are more and more, but the parking space is limited, so that the problems of difficult parking or difficult parking and the like are caused. The traditional parking system has the condition that the parking space identification is deviated, so that the vehicle cannot be parked in a parking space with enough space or the pose of the parked vehicle is incorrect, the vehicle is easily scratched, the parking space cannot be reasonably utilized, and the resource waste is caused.

At present, a parking system combines a map to plan a parking path for a vehicle, but when the deviation between a target position and an actual position is too large in a complex scene, the vehicle cannot smoothly reach the target position specified by the parking path, the vehicle is randomly moved to cause the conditions of vehicle jamming and the like, and the parking performance and efficiency of the vehicle are low.

Disclosure of Invention

The invention provides a parking method, a parking device, parking equipment and a parking storage medium, which are used for dynamically updating information of a target parking position in the process of parking a vehicle, re-planning a parking path according to the updated information and improving the performance and efficiency of parking the vehicle.

In a first aspect, an embodiment of the present invention provides a parking method, including:

in the process that a vehicle is parked into a parking space, if a backing-up and braking event is detected, a first barrier distance set acquired by at least one laser radar installed on the main driving door side of the vehicle and a second barrier distance set acquired by at least one laser radar installed on the auxiliary driving door side of the vehicle are acquired;

under the condition that the distance between each first obstacle in the first obstacle distance set and the distance between each second obstacle in the second obstacle distance set are larger than a first preset distance, updating the first position and posture information according to the first obstacle distance set, the second obstacle distance set and the first position and posture information of a target parking position;

and controlling the vehicle to park according to the updated first position information and the current second position information of the vehicle.

In a second aspect, an embodiment of the present invention provides a parking apparatus, including:

the distance set acquisition module is used for acquiring a first barrier distance set acquired by at least one laser radar installed on the main driving door side of the vehicle and a second barrier distance set acquired by at least one laser radar installed on the auxiliary driving door side of the vehicle if a backing-up and braking event is detected in the process that the vehicle is parked into a parking space;

the pose information updating module is used for updating the first pose information according to the first obstacle distance set, the second obstacle distance set and the first pose information of the target parking position under the condition that the distance of each first obstacle in the first obstacle distance set and the distance of each second obstacle in the second obstacle distance set are greater than a first preset distance;

and the parking module is used for controlling the vehicle to park according to the updated first position information and the current second position information of the vehicle.

In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the parking method according to any one of the embodiments of the present invention.

In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the parking method according to any embodiment of the present invention.

According to the technical scheme of the embodiment of the invention, in the process of parking a vehicle to a parking space, if a reversing and braking event is detected, a first obstacle distance set acquired by at least one laser radar installed on the side of a main driving door of the vehicle and a second obstacle distance set acquired by at least one laser radar installed on the side of an auxiliary driving door of the vehicle are acquired; under the condition that the distance between each first obstacle in the first obstacle distance set and the distance between each second obstacle in the second obstacle distance set are larger than a first preset distance, updating the first position and posture information according to the first obstacle distance set, the second obstacle distance set and the first position and posture information of a target parking position; and controlling the vehicle to park according to the updated first position information and the current second position information of the vehicle. The pose information of the target parking position is updated in real time according to the collected distance data, and the vehicle parking is re-planned according to the updated information, so that the problem that the vehicle is difficult to park when the deviation between the target position and the actual position is overlarge is solved, the vehicle is prevented from being scratched and stuck, and the parking performance and efficiency are improved.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a flow chart illustrating a parking method according to an embodiment of the present invention;

FIG. 2 is a flowchart of a parking method according to a second embodiment of the present invention;

FIG. 3 is a flowchart of a parking method according to a third embodiment of the present invention;

fig. 4 is a schematic structural view of a parking apparatus according to a fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of a parking method according to an embodiment of the present invention, where the embodiment is applicable to a situation where a vehicle is parked, and the method may be performed by a parking apparatus according to an embodiment of the present invention, where the parking apparatus may be implemented in hardware and/or software, and further, the parking apparatus may be configured in an electronic device, such as a vehicle controller. As shown in fig. 1, the method specifically includes the following steps:

s110, in the process that the vehicle is parked into the parking space, if a backing-up braking event is detected, a first barrier distance set acquired by at least one laser radar installed on the main driving door side of the vehicle and a second barrier distance set acquired by at least one laser radar installed on the auxiliary driving door side of the vehicle are acquired.

The reverse braking event can be an event that a driver steps on a brake to stop the vehicle in the process of reversing the vehicle backwards. The laser radars in the embodiment are arranged on two sides of the vehicle door, namely a main driving door side of the vehicle and an auxiliary driving door side of the vehicle, and the number of the laser radars arranged on the same side can be one or more.

The first set of obstacle distances may be a set of distances of the vehicle and the vehicle's main door side obstacle collected by each lidar installed at the main door side of the vehicle. The second obstacle distance set may be a set of distances between the vehicle and the obstacle on the passenger door side of the vehicle, which are collected by each laser radar installed on the passenger door side of the vehicle.

Specifically, when a driver wants to park, the driver needs to find an empty parking space and then controls the vehicle to run at a low speed, clicks to enter a parking interface, can randomly select one parking space from parking spaces displayed on the parking interface, and then clicks a start parking key to start parking.

If the vehicle brakes when backing, the vehicle controller can detect a backing braking event, and the laser radars on two sides of the vehicle door are controlled to collect the distance of obstacles around the vehicle, so that a first obstacle distance set collected by the main driving door side and a second obstacle distance set collected by the auxiliary driving door side can be obtained.

And S120, under the condition that the distance between each first obstacle in the first obstacle distance set and the distance between each second obstacle in the second obstacle distance set are larger than a first preset distance, updating the first position information according to the first obstacle distance set, the second obstacle distance set and the first position information of the target parking position.

The first preset distance may be a preset safety distance between the vehicle and a surrounding obstacle. The target parking position may be a final parking position of the vehicle planned before parking. The first position and posture information may be position and posture information presented after the vehicle is parked at a pre-planned target parking position, and may include position information and a heading angle of the vehicle.

Optionally, when any distance data in the first obstacle distance set and the second obstacle distance set is greater than the first preset distance, there are many ways to update the first pose information according to the first obstacle distance set, the second obstacle distance set, and the first pose information of the target parking position, which is not limited in this embodiment.

One possible implementation manner is that the first obstacle distance in the first obstacle distance set, the second obstacle distance in the second obstacle distance set, and the preset first posture information of the target parking position are input into a pre-trained model, and updated first posture information is obtained.

Another possible implementation manner is that updated first position information is obtained based on a statistical analysis of a specific formula according to the first obstacle distance set, the second obstacle distance set and the first position information of the target parking position.

Further, when the distance between any one first obstacle and a first obstacle in the set or the distance between any one second obstacle and a second obstacle in the set is smaller than a first preset distance, the possibility of side collision of the vehicle is indicated, at the moment, parking can be stopped, and the possibility of side collision of the vehicle is warned to a user. For example, if the distance of a first obstacle detected by one of the laser radars installed on the main driving door side of the vehicle is smaller than a first preset distance, the user is reminded that the main driving door side at the current position is laterally prevented from collision, and parking is stopped.

And S130, controlling the vehicle to park according to the updated first position information and the current second position information of the vehicle.

The second position and orientation information may be position and orientation information of the current state of the vehicle, and specifically may include current position information and a heading angle of the vehicle.

Specifically, a vehicle parking route is constructed according to the updated attitude information of the target parking position and the attitude information of the current position of the vehicle, and the vehicle parking is controlled based on the parking route.

According to the technical scheme of the embodiment, in the process of parking a vehicle into a parking space, if a backing-up and braking event is detected, a first barrier distance set acquired by at least one laser radar installed on the main driving door side of the vehicle and a second barrier distance set acquired by at least one laser radar installed on the auxiliary driving door side of the vehicle are acquired; under the condition that the distance between each first obstacle in the first obstacle distance set and the distance between each second obstacle in the second obstacle distance set are larger than a first preset distance, updating first position information according to the first obstacle distance set, the second obstacle distance set and first position information of a target parking position; and controlling the vehicle to park according to the updated first position information and the current second position information of the vehicle. According to the scheme, the pose information of the target parking position is updated in real time according to the collected distance data, the vehicle parking is re-planned according to the updated information, the vehicle parking performance and efficiency are improved, and the vehicle is effectively prevented from being scratched or stuck when parked.

Optionally, on the basis of the foregoing embodiment, updating the first pose information according to the first obstacle distance set, the second obstacle distance set, and the first pose information of the target parking position includes: adding the first obstacle distances in the first obstacle distance set to obtain a first distance; adding the second obstacle distances in the second obstacle distance set to obtain a second distance; and updating the first position and posture information according to the first distance, the second distance and the first position and posture information of the target parking position.

Specifically, the first distances may be obtained by adding the first obstacle distances in the first obstacle distance set; and adding the distances of all the second obstacles in the second obstacle distance set to obtain a second distance, and then inputting the first distance, the second distance and the first position and posture information of the target parking position into a pre-trained model to obtain updated first position and posture information. The embodiment updates the first pose information based on all the data in the distance set, so that the updated pose information can be accurately calculated, and the parking performance and accuracy are improved.

Example two

Fig. 2 is a flowchart of a parking method according to a second embodiment of the present invention, and this embodiment further explains in detail "updating first position information according to the first obstacle distance set, the second obstacle distance set, and the first position information of the target parking position" on the basis of the above embodiments. As shown in fig. 2, the method includes:

s210, in the process that the vehicle is parked into the parking space, if a backing-up braking event is detected, a first obstacle distance set collected by at least one laser radar installed on the main driving door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the auxiliary driving door side of the vehicle are obtained.

S220, under the condition that the distance between each first obstacle in the first obstacle distance set and the distance between each second obstacle in the second obstacle distance set are larger than a first preset distance, the distances between the first obstacles in the first obstacle distance set are added to obtain a first distance.

And S230, adding the second obstacle distances in the second obstacle distance set to obtain a second distance.

S240, constructing a rotation matrix according to the course angle in the first position information of the target parking position.

Alternatively, the heading angle may be an angle between the vehicle body and the horizontal line when the vehicle is in the target parking position, and is used for representing the actual orientation of the vehicle. In order to ensure that the course angle in the first bit attitude information does not change before and after the first bit attitude information is updated, the embodiment introduces a rotation matrix. Wherein the rotation matrix may be constructed based on the heading angle of the first attitude information.

Specifically, the rotation matrix may be [ cos (Yaw), -sin (Yaw); sin (Yaw) and cos (Yaw), wherein Yaw is the heading angle in the first attitude information.

And S250, determining a heading vector according to the first distance, the second distance and the rotation matrix.

Optionally, the heading vector may be a vector determined according to a set formula by combining the rotation matrix, the first distance, and the second distance, the vector being the same as the heading angular direction in the first heading position information, and specifically, the vector is used for indicating the translation length.

Optionally, there are many ways to determine the heading vector according to the first distance, the second distance, and the rotation matrix, and this embodiment is not limited.

In one embodiment, a distance difference is determined from the first distance and the second distance; determining a target distance according to the distance difference and a second preset distance; and determining a course vector according to the target distance and the rotation matrix.

The distance difference may be a difference obtained by subtracting the first distance from the second distance, and the distance difference may be positive or negative. In order to avoid that the distance difference is too large and the vehicle moves from the target position to a position too far away, increasing the possibility of collision, the present embodiment introduces a second preset distance, wherein the second preset distance may be a preset maximum distance between the vehicle and the obstacle where collision may occur.

Specifically, the target distance may be determined according to the following equations 1 and 2:

tmp ═ LeftDis-RightDis equation 1

dis min (Maxdis) sign (tmp) formula 2

Wherein leftDis is a first distance, rightDis is a second distance, and tmp is a distance difference value between the two distances; MaxDis is the second preset distance and dis is the target distance.

Comparing the absolute value of the distance difference with a second preset distance, and selecting the second preset distance as a target distance when the absolute value of the distance difference is greater than the second preset distance; when the absolute value of the distance difference is smaller than a second preset distance, selecting the absolute value of the distance difference as a target distance; furthermore, sign (tmp) is introduced in this embodiment so that the sign of the finally obtained target distance is the same as the sign of the distance difference.

Then, a heading vector is determined based on equation 3 as follows:

x ═ cos (yaw), -sin (yaw); sin (yaw), cos (yaw) ] [ dis; 0 equation 3

Wherein X is a heading vector.

Another possible implementation is to input the first distance, the second distance, and the rotation matrix into a model, and determine a heading vector based on the model.

And S260, updating the position information in the first attitude information according to the heading vector and the position information in the first attitude information.

It should be noted that, in this embodiment, the heading angle in the updated first pose information is the same as the heading angle in the first pose information before updating.

Optionally, the position information in the updated first pose information is calculated based on the heading vector and the position information in the first pose information according to a set formula.

For example, the position information in the updated first posture information may be determined according to the following formula 4:

y ═ TgtX; TgtY ] + [ cos (pi/2), -sin (pi/2); sin (pi/2), cos (pi/2) ]. times.X formula 4

Wherein, TgtX is an abscissa in the position information in the first position information before updating, tgy is an ordinate in the position information in the first position information before updating, pi is a circumference ratio, and Y is the position information in the updated first position information, i.e., the abscissa of the updated target parking position.

Specifically, the horizontal and vertical coordinates to be transformed of the target parking position can be solved through a coordinate transformation method. The specific solution is that firstly, a vector which is the same as the course angle direction of the original target parking position, namely a course vector, is determined according to the target distance; then the vector which is converted into the same direction as the course angle of the original target parking position is converted into a vector which is vertical to the course angle direction, and finally the vector is added with the horizontal and vertical coordinates of the original target parking position which is not converted, so that the horizontal and vertical coordinates of the new target parking position, namely the position information in the updated first position information can be obtained

And S270, controlling the vehicle to park according to the updated first position information and the current second position information of the vehicle.

According to the technical scheme of the embodiment, under the condition that the distance between each first obstacle in the first obstacle distance set and the distance between each second obstacle in the second obstacle distance set are larger than the first preset distance, the new target parking position can be accurately calculated by combining the real-time obstacle distance and the information of the target parking position. According to the scheme, a preferable mode for repositioning the target parking position according to a real-time condition is provided, and data support is provided for accurately parking the vehicle and improving the vehicle parking efficiency.

On the basis of any one of the above embodiments, controlling the vehicle to park according to the updated first position information and the current second position information of the vehicle includes: planning a parking route according to the updated first position information and the current second position information of the vehicle; and controlling the vehicle to park according to the parking route.

Specifically, a new parking route may be generated according to the updated first position information and the current second position information of the vehicle, and the vehicle may be parked into the relocated target parking position according to the parking route. According to the scheme, the current information and the updated target information of the vehicle are fully considered, the reliability of parking path planning is greatly improved, and the parking efficiency is improved.

EXAMPLE III

Fig. 3 is a flowchart of a parking method according to a third embodiment of the present invention. The present embodiment further explains "controlling the vehicle to park according to the updated first position information and the current second position information of the vehicle" in detail based on the above-mentioned embodiments. As shown in fig. 3, the parking method of the present embodiment may include:

s310, in the process that the vehicle is parked into the parking space, if a backing-up braking event is detected, a first obstacle distance set collected by at least one laser radar installed on the main driving door side of the vehicle and a second obstacle distance set collected by at least one laser radar installed on the auxiliary driving door side of the vehicle are obtained.

And S320, under the condition that the distance between each first obstacle in the first obstacle distance set and the distance between each second obstacle in the second obstacle distance set are larger than a first preset distance, updating the first position information according to the first obstacle distance set, the second obstacle distance set and the first position information of the target parking position.

S330, constructing a first straight line according to the updated first position and posture information.

Specifically, the slope k1 and the position information in the updated first attitude information (i.e., the horizontal and vertical coordinates x1 and y1) may be substituted into the expression of the straight-line equation with the tangent value of the heading angle in the updated first attitude information as the slope k1 to construct the first straight line.

For example, the expression of the linear equation is: when the slope k1, the abscissa x1 and the ordinate y1 are substituted into the expression of the linear equation, the intercept b can be determined to be c1, and the first line is k1x + c 1.

And S340, constructing a second straight line according to the current second position information of the vehicle.

Specifically, the tangent value of the heading angle in the current second position information of the vehicle may be used as the slope k2, and the slope k2 and the position information (i.e., the horizontal and vertical coordinates x2 and y2) in the second position information may be substituted into the expression of the straight line equation to construct the second straight line.

For example, the expression of the linear equation is: when the slope k2, the abscissa x2 and the ordinate y2 are substituted into the expression of the linear equation, the intercept b can be determined to be c2, and the first line is k2x + c 2.

And S350, determining the position information of the intersection point of the first straight line and the second straight line.

Specifically, the intersection coordinates of the two straight lines may be calculated from the analytical expressions of the first straight line and the second straight line, for example, the intersection is CP and the intersection coordinates are (x0, y 0).

S360, according to the position information of the intersection point, the updated course angle in the first position information and the updated course angle in the second position information, the position information of the first terminal point, the position information of the second terminal point and the position information of the center point are determined.

The position information of the first terminal point can be position information of a terminal point of a forward running position of the vehicle at the current position; the position information of the second end point can be position information in the updated first position information, and a certain distance exists between the position information of the second end point and the position information in the updated first position information in consideration of errors existing in an actual scene, and the distance is usually small; the position information of the central point is the circle center of the circular arc corresponding to the first end point and the second end point. The position information of the first end point and the position information of the second end point may be calculated based on the rotational translation of the intersection position.

Specifically, the intersection point position information, the updated course angle in the first position information, and the updated course angle in the second position information may be input into a model or be brought into a set formula, so as to obtain the position information of the first endpoint, the position information of the second endpoint, and the position information of the center point.

Optionally, determining the position information of the first endpoint, the position information of the second endpoint, and the position information of the center point according to the position information of the intersection, the updated course angle in the first position information, and the updated course angle in the second position information may further be: determining a first rotating radius and a second rotating radius according to an included angle between the first straight line and the second straight line and the minimum turning radius of the vehicle; determining the position information of the first terminal point according to the first rotation radius, the position information of the intersection point and the course angle in the second position information; determining the position information of a second terminal point according to the first rotation radius, the position information of the intersection point, the course angle in the second position posture information and the updated course angle in the first position posture information; and determining the position information of the central point according to the included angle between the first straight line and the second straight line, the second rotating radius, the position information of the intersection point and the course angle in the second position and attitude information.

Wherein an angle between the first line and the second line can be determined based on the slope of the first line and the slope of the second line, for example, angle ═ (pi- | atan (k1) -atan (k2) |); wherein angle is the angle between two straight lines, and pi is the circumferential ratio.

The minimum turning radius of the vehicle may be a radius of a track circle through which the center of the outside steering wheel rolls on the support plane when the vehicle is steered at the lowest stable vehicle speed while the steering wheel is turned to the extreme position; the minimum turning radius of a vehicle may be used to characterize the vehicle's ability to pass through narrow curved terrain or to bypass an obstacle that is not traversable.

Alternatively, the first radius of rotation and the second radius of rotation may be calculated according to a set formula, for example, R ═ VehMinR/tan (angle/2), R1 ═ VehMinR/sin (angle/2); wherein R is the first radius of rotation, R1 is the second radius of rotation, and VehMinR is the minimum turning radius of the vehicle. It will be appreciated that in a right triangle, the two legs are R and VehMinR, respectively, the minimum turning radius, and VehMinR is the leg subtended by the angle.

Alternatively, the position information of the first end point and the position information of the second end point may be determined based on a formula. Specifically, PntA ═ cos (yaw1), -sin (yaw 1); sin (yaw1), cos (yaw1) ] [ R; 0] + [ x 0; y0 ]; PntD ═ cos (yaw), sin (yaw 1); -sin (yaw1), cos (yaw1) ] - [ R; 0] + [ x 0; y0 ]; wherein, PntA is the position information of the first end point, PntD is the position information of the second end point, yaw is the course angle in the updated first attitude information, yaw1 is the course angle in the current second attitude information, R is the first radius of rotation, [ x 0; y0 is the coordinate location of the intersection. It can be understood that PntA is obtained by rotating yaw1 counterclockwise from the positive direction of the X axis in the constructed coordinate system with the intersection CP as the center and R as the radius. Similarly, PntD is obtained by clockwise rotating the positive direction of the X axis by an angle of yaw with the intersection CP as the center of the circle and R as the radius.

Alternatively, the position information of the central point may be determined by a preset model or a set formula. For example, it may be based on PntO1 ═ cos (angle/2-yaw1), sin (angle/2-yaw 1); -sin (angle/2-yaw1), cos (angle/2-yaw1) ] [ R1; 0] + [ x 0; y0 ]; here, PntO1 is position information of the center point.

And S370, planning a parking route according to the position information of the first end point, the position information of the second end point and the position information of the center point.

Optionally, an arc connecting the first end point and the second end point, that is, a parking route, is constructed with the center point as a center.

And S380, controlling the vehicle to park according to the parking route.

Optionally, the embodiment further includes a collision detection mechanism, which obtains information of each point in the route by calculating the segmented parking route, calculates position information of a left rear corner of the vehicle when the vehicle is located at the point according to the information of each point, and determines whether the position information exceeds the limit wall analytic expression, and if the position information exceeds the limit wall analytic expression, abandons the planning.

Specifically, when a vehicle parking path is planned, a limit wall is set up according to the direction of a target parking position by combining the current second position information of the vehicle, and the specific implementation method can be used for calculating the position of each point of the whole vehicle by using the current position and calculating the analytic expression y of the parking space center line as kx + c. Taking the left rear corner point as an example, if the coordinates of the left rear corner point of the vehicle are (a, b), then the analytical formula of the limiting wall is y ═ b-ka + kx, and then whether the collision exists needs to be judged according to the positive and negative values of the y of the analytical formula.

According to the technical scheme provided by the embodiment of the disclosure, the parking route is re-planned according to the updated first position information and the current second position information of the vehicle, the intersection point information of two straight lines is introduced, the position information of the first terminal point, the position information of the second terminal point and the position information of the center point can be accurately positioned, the accuracy of the parking route planning is ensured, and the flexibility of the whole scheme is increased. And the turning radius is calculated according to the minimum turning radius, so that the maneuvering performance of the vehicle can be fully exerted, and smooth parking of the vehicle is ensured.

Example four

Fig. 4 is a schematic structural diagram of a parking apparatus according to a fourth embodiment of the present invention. The present embodiment may be applicable to vehicle parking, and the apparatus may be implemented in a software and/or hardware manner, and may be integrated in any device providing a parking function, such as a vehicle controller, as shown in fig. 4, and the parking apparatus may specifically include:

the distance set acquisition module 410 is configured to, in a process that a vehicle is parked into a parking space, acquire a first obstacle distance set acquired by at least one laser radar installed on a main driving door side of the vehicle and a second obstacle distance set acquired by at least one laser radar installed on an auxiliary driving door side of the vehicle if a parking braking event is detected;

the pose information updating module 420 is configured to update the first pose information according to the first obstacle distance set, the second obstacle distance set, and the first pose information of the target parking position when each first obstacle distance in the first obstacle distance set and each second obstacle distance in the second obstacle distance set are greater than a first preset distance;

and the parking module 430 is configured to control the vehicle to park according to the updated first position information and the current second position information of the vehicle.

According to the technical scheme of the embodiment, in the process of parking a vehicle to a parking space, if a backing-up and braking event is detected, a first obstacle distance set acquired by at least one laser radar installed on the main driving door side of the vehicle and a second obstacle distance set acquired by at least one laser radar installed on the auxiliary driving door side of the vehicle are acquired; under the condition that the distance between each first obstacle in the first obstacle distance set and the distance between each second obstacle in the second obstacle distance set are larger than a first preset distance, updating first position information according to the first obstacle distance set, the second obstacle distance set and first position information of a target parking position; and controlling the vehicle to park according to the updated first position information and the current second position information of the vehicle. According to the scheme, the pose information of the target parking position is updated in real time according to the collected distance data, the vehicle parking is re-planned according to the updated information, the vehicle parking performance and efficiency are improved, and the vehicle is effectively prevented from being scratched or stuck when parked.

Optionally, the pose information updating module 420 includes:

the first distance acquisition unit is used for adding the first obstacle distances in the first obstacle distance set to obtain a first distance;

the second distance acquisition unit is used for adding the second obstacle distances in the second obstacle distance set to obtain a second distance;

and the first position and posture updating unit is used for updating the first position and posture information according to the first distance, the second distance and the first position and posture information of the target parking position.

Optionally, the first posture updating unit further includes:

the rotation matrix constructing subunit is used for constructing a rotation matrix according to the course angle in the first position information of the target parking position;

the course vector determining subunit is used for determining a course vector according to the first distance, the second distance and the rotation matrix;

and the position information updating subunit is used for updating the position information in the first position and posture information according to the course vector and the position information in the first position and posture information.

Optionally, the heading vector determining subunit is specifically configured to:

determining a distance difference value according to the first distance and the second distance;

determining a target distance according to the distance difference and a second preset distance;

and determining a course vector according to the target distance and the rotation matrix.

Optionally, parking module 430 further comprises:

the parking route planning unit is used for planning a parking route according to the updated first position information and the current second position information of the vehicle;

and the parking unit is used for controlling the vehicle to park according to the parking route.

Optionally, the parking route planning unit further includes:

the first straight line constructing subunit is used for constructing a first straight line according to the updated first position and attitude information;

the second straight line constructing subunit is used for constructing a second straight line according to the current second position and posture information of the vehicle;

an intersection point determining subunit, configured to determine position information of an intersection point of the first straight line and the second straight line;

the position information determining subunit is used for determining the position information of the first terminal point, the position information of the second terminal point and the position information of the central point according to the position information of the intersection point, the updated course angle in the first position information and the updated course angle in the second position information;

and the route planning subunit is used for planning the parking route according to the position information of the first terminal point, the position information of the second terminal point and the position information of the central point.

Optionally, the location information determining subunit is specifically configured to:

determining a first rotating radius and a second rotating radius according to an included angle between the first straight line and the second straight line and the minimum turning radius of the vehicle;

determining the position information of the first terminal point according to the first rotation radius, the position information of the intersection point and the course angle in the second position information;

determining the position information of a second terminal point according to the first rotation radius, the position information of the intersection point, the course angle in the second position posture information and the updated course angle in the first position posture information;

and determining the position information of the central point according to the included angle between the first straight line and the second straight line, the second rotating radius, the position information of the intersection point and the course angle in the second attitude information.

The parking device provided by the embodiment of the invention can execute the parking method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

EXAMPLE five

FIG. 5 illustrates a schematic diagram of an electronic device 50 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 5, the electronic device 50 includes at least one processor 51, and a memory communicatively connected to the at least one processor 51, such as a Read Only Memory (ROM)52, a Random Access Memory (RAM)53, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 51 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)52 or the computer program loaded from the storage unit 58 into the Random Access Memory (RAM) 53. In the RAM53, various programs and data necessary for the operation of the electronic apparatus 50 can also be stored. The processor 51, ROM 52 and RAM53 are connected to each other by a bus 54. An input/output (I/O) interface 55 is also connected to bus 54.

A plurality of components in the electronic apparatus 50 are connected to the I/O interface 55, including: an input unit 56 such as a keyboard, a mouse, or the like; an output unit 57 such as various types of displays, speakers, and the like; a storage unit 58 such as a magnetic disk, an optical disk, or the like; and a communication unit 59 such as a network card, modem, wireless communication transceiver, etc. The communication unit 59 allows the electronic device 50 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 51 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 51 performs the various methods and processes described above, such as implementing the parking method provided by embodiments of the present invention.

EXAMPLE six

A sixth embodiment of the present invention further provides a computer-readable storage medium, on which a computer program (or referred to as computer-executable instructions) is stored, where the computer program is used for executing the parking method provided in the embodiment of the present invention when executed by a processor.

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for embodiments of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or a conventional procedural programming language such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the embodiments of the present invention have been described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and many other equivalent embodiments may be included without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method of parking a vehicle, comprising:

2. The method of claim 1, wherein the updating the first pose information according to the first set of obstacle distances, the second set of obstacle distances, and first pose information for a target parking location comprises:

adding the first obstacle distances in the first obstacle distance set to obtain a first distance;

adding the second obstacle distances in the second obstacle distance set to obtain a second distance;

and updating the first position and posture information according to the first distance, the second distance and the first position and posture information of the target parking position.

3. The method of claim 2, wherein the updating the first pose information based on the first distance, the second distance, and first pose information for a target parking location comprises:

constructing a rotation matrix according to a course angle in the first position information of the target parking position;

determining a course vector according to the first distance, the second distance and the rotation matrix;

and updating the position information in the first position information according to the course vector and the position information in the first position information.

4. The method of claim 3, wherein determining a heading vector based on the first distance, the second distance, and the rotation matrix comprises:

5. The method according to claim 1, wherein the controlling the vehicle to park according to the updated first position information and the current second position information of the vehicle comprises:

planning a parking route according to the updated first position information and the current second position information of the vehicle;

and controlling the vehicle to park according to the parking route.

6. The method of claim 5, wherein the planning a parking route according to the updated first position information and the current second position information of the vehicle comprises:

constructing a first straight line according to the updated first attitude information;

constructing a second straight line according to the current second position and posture information of the vehicle;

determining position information of an intersection of the first straight line and the second straight line;

determining the position information of a first terminal, the position information of a second terminal and the position information of a central point according to the position information of the intersection point, the course angle in the updated first position information and the course angle in the second position information;

and planning a parking route according to the position information of the first terminal point, the position information of the second terminal point and the position information of the central point.

7. The method according to claim 6, wherein determining the position information of the first endpoint, the position information of the second endpoint, and the position information of the center point according to the position information of the intersection, the updated course angle in the first position information, and the course angle in the second position information comprises:

determining a first rotating radius and a second rotating radius according to the included angle between the first straight line and the second straight line and the minimum turning radius of the vehicle;

determining the position information of a first terminal point according to the first rotation radius, the position information of the intersection point and the course angle in the second position information;

determining the position information of a second terminal point according to the first rotation radius, the position information of the intersection point, the course angle in the second position posture information and the course angle in the updated first position posture information;

and determining the position information of the central point according to the included angle between the first straight line and the second straight line, the second rotating radius, the position information of the intersection point and the course angle in the second position and attitude information.

8. A parking apparatus, comprising:

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method for parking according to any one of claims 1 to 7.

10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a method for parking according to any one of claims 1 to 7.