CN115230681A - Automatic tracking parking method and device and moving tool thereof - Google Patents
Automatic tracking parking method and device and moving tool thereof Download PDFInfo
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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
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Abstract
The invention discloses an automatic tracking parking method, which comprises the following steps: the method comprises the following steps of S1, acquiring an automatic parking route corresponding to the type of a specific parking space and position information corresponding to the specific parking space according to the type of the specific parking space in which a vehicle is put; step S2, the automatic parking routes and the position information of the specific parking spaces of various types, which are obtained in the step S1, are used as attribute information of the corresponding specific parking spaces, and the attribute information of the specific parking spaces in the automatic driving high-precision map is updated based on the attribute information of the specific parking spaces; obtaining a tracking parking high-precision map according to the above; and S3, when receiving a storage instruction of the target specific parking space input by the user, acquiring the position information and the storage route of the target specific parking space, and controlling the vehicle to drive into the target specific parking space. The invention also discloses an automatic tracking parking device and a moving tool. The invention can ensure that the vehicle can accurately and reliably realize the parking function and obviously increase the success rate of automatic parking.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic tracking parking method, an automatic tracking parking device and a moving tool.
Background
An automatic parking system is a system which can realize automatic identification of available parking spaces and automatically and correctly complete the action of parking into the parking spaces through a vehicle-mounted sensor (a camera and an ultrasonic radar) and a vehicle-mounted processor without manual intervention of an intelligent vehicle.
After the automatic parking system detects the parking space, the vehicle-mounted controller system of the automatic parking system takes over the steering wheel, and the wheels are rotated through the power steering system, so that the automobile is completely dumped into the parking space.
At present, automatic parking schemes in the market are generally two types:
the first automatic parking scheme is as follows: and detecting an empty parking space with marked lines through the camera, and stopping in the parking space.
The specific operation flow is as follows: after a user triggers a parking function, a parking system acquires parking space marking lines through cameras around a vehicle body, and identifies empty parking spaces including horizontal parking spaces, vertical parking spaces and inclined parking spaces by applying an image processing algorithm. And after the empty parking space is identified, the vehicle-mounted controller controls the vehicle to park in the empty parking space.
The second automatic parking scheme is as follows: an empty parking space between two vehicles is detected through the ultrasonic radar, and the vehicles are parked in the parking space.
The specific operation flow is as follows: after a user triggers a parking function, the user needs to drive the vehicle to pass through the parking spaces on the two sides of the empty parking space. The vehicle passes through a parking space- > an empty parking space- > a parking space, so that the distance value detected by the ultrasonic radar around the vehicle body jumps twice, and the parking system identifies the empty parking spaces including the horizontal parking space and the vertical parking space according to an algorithm. And after the empty parking space is identified, the vehicle-mounted controller controls the vehicle to park in the empty parking space.
For the first automatic parking scheme, the parking space marking data acquired by the camera is processed through an image algorithm to identify the empty parking space. There are the following disadvantages:
1. the method has higher requirements on the definition of the parking space marking, and has poorer applicability in old parking lots;
2. the visual data has higher requirements on light rays and cannot be used at night;
3. the requirement on an image processing algorithm is high, and the method can adapt to marked lines with different colors and pavements with different colors.
And for the second automatic parking scheme, the distance data detected by the ultrasonic radar is processed through an algorithm to identify the empty parking space. There are the following disadvantages:
1. the method is only suitable for the empty parking spaces between two existing parking spaces, and has poor adaptability;
2. the requirement on the distance measurement precision of the ultrasonic radar is high, and when the ultrasonic distance measurement error is large, the problems of mistaken identification, incapability of identifying the empty parking space and the like can be caused.
Therefore, for the existing automatic parking scheme, in the automatic parking process, the problem that the automatic parking is highly dependent on an automatic driving perception hardware system exists, and the automatic parking is always a hot topic of automatic driving, but the existing automatic parking scheme is highly dependent on the perception hardware system, including but not limited to ultrasonic parking space recognition, camera recognition of vacant parking spaces and the like.
Disclosure of Invention
The invention aims to provide an automatic tracking parking method, a device and a moving tool thereof aiming at the technical defects in the prior art.
Therefore, the invention provides an automatic tracking parking method, which comprises the following steps:
the method comprises the following steps of S1, acquiring an automatic parking route corresponding to the type of a specific parking space and position information corresponding to the specific parking space according to the type of the specific parking space in which a vehicle is put; the automatic parking route comprises a warehousing route and a delivery route;
step S2, the automatic parking routes and the position information of the specific parking spaces of various types, which are obtained in the step S1, are used as attribute information of the corresponding specific parking spaces, and the attribute information of the specific parking spaces in the automatic driving high-precision map is updated based on the attribute information of the specific parking spaces; obtaining a tracking parking high-precision map according to the above;
and S3, when a warehousing instruction of the target specific parking space input by the user is received, acquiring the position information and the warehousing route of the target specific parking space according to the tracking parking high-precision map, and controlling the vehicle to drive into the target specific parking space according to the warehousing route.
Preferably, when the type of the specific parking space for parking is a longitudinal empty parking space, the step S1 collects an automatic parking route corresponding to the type of the specific parking space and position information corresponding to the specific parking space, and specifically includes the following steps:
step S1011, selecting a longitudinal empty parking space as a first target specific parking space, and controlling the vehicle to drive forwards along a planned route M on a preset automatic driving high-precision map according to a direction perpendicular to the long edge of the first target specific parking space;
step S1012, when the vehicle drives forwards to a preset garage entering point K1 corresponding to a first target specific parking space, manually driving the vehicle to perform a car backing and garage entering operation to enter the first target specific parking space, and recording position information of the vehicle in the process of the car backing and garage entering operation, so as to obtain a garage entering route L1 of the first target specific parking space;
step S1013, the vehicle is controlled to travel from the first target specific parking space to a preset garage exit point K2 corresponding to the first target specific parking space along a planned route N on a preset automatic driving high-precision map, and position information of the vehicle in the process of vehicle leaving the garage is recorded, so as to obtain a garage exit route L2 of the first target specific parking space.
Preferably, the warehousing point K1 of the first target specific parking space is located on the planned route M and at a position which is a preset first distance D1 in front of the entrance center line L of the first target specific parking space;
the ex-warehouse point K2 of the first target specific parking space is positioned on the planned route N, and the vertical distance between the ex-warehouse point K2 and the entrance of the first target specific parking space is a preset second distance D2;
the planned route N of the vehicle is parallel to the entrance center line L of the first target specific parking space, and the vertical distance between the planned route N and the entrance center line L of the first target specific parking space is equal to a preset third distance D3.
Preferably, the first distance D1 is greater than or equal to the sum of one-half width of the first target specific parking space and one-half length of the vehicle body;
and/or the preset second distance D2 is greater than or equal to 1.5 times of the length of the vehicle body of the vehicle;
and/or the preset third distance D3 is larger than or equal to the sum of one-half width of the first target specific parking space and one-half length of the vehicle body.
Preferably, when the type of the specific parking space to be warehoused is a side empty parking space, the step S1 collects an automatic parking route corresponding to the type of the specific parking space and position information corresponding to the specific parking space, and specifically includes the following steps:
step S1021, selecting a side empty parking space as a second target specific parking space, and controlling the vehicle to drive forwards along a planned route M on a preset automatic driving high-precision map according to a direction perpendicular to the wide side of the second target specific parking space;
step S1022, when the vehicle drives forwards to a preset garage entering point K1 corresponding to a second target specific parking space, manually driving the vehicle to perform the garage entering operation of backing the vehicle into the second target specific parking space, and recording the position information of the vehicle in the process of the garage entering operation of backing the vehicle, so as to obtain a garage entering route L1 of the second target specific parking space;
and S1023, controlling the vehicle to run from the second target specific parking space to a preset garage exit point K2 corresponding to the second target specific parking space along a planned route N on a preset automatic driving high-precision map, and recording position information of the vehicle in the process of garage exit so as to obtain a garage exit route L2 of the second target specific parking space, wherein the garage entry point K1 and the garage exit point K2 of the second target specific parking space are the same.
Preferably, the entry point K1 of the second target specific parking space is located on the planned route M and at a position in front of the entrance center line L of the second target specific parking space by a preset first distance D1.
Preferably, the preset first distance D1 is greater than or equal to the sum of one-half length of the second target specific parking space and one-half length of the vehicle body.
In addition, the present invention also provides an automatic tracking parking apparatus, comprising:
the system comprises a collecting unit, a storage unit and a control unit, wherein the collecting unit is used for collecting an automatic parking route corresponding to the type of a specific parking space and position information corresponding to the specific parking space according to the type of the specific parking space in which a vehicle is stored; the automatic parking route comprises a warehousing route and a delivery route;
the acquisition unit is connected with the acquisition unit and used for acquiring the automatic parking routes and the position information of various types of specific parking spaces from the acquisition unit as the attribute information of the corresponding specific parking spaces and updating the attribute information of the specific parking spaces in the automatic driving high-precision map based on the attribute information of the specific parking spaces; thus obtaining a tracking parking high-precision map;
and the parking unit is connected with the acquisition unit and used for acquiring the position information and the parking route of the target specific parking space according to the tracking parking high-precision map and controlling the vehicle to drive into the target specific parking space according to the parking route when receiving a parking instruction of the target specific parking space input by a user.
In addition, the invention also provides a moving tool which comprises the automatic tracking parking device.
Compared with the prior art, the automatic tracking parking method, the device and the moving tool thereof provided by the invention have the advantages that the position information of the specific parking stall, the ex-warehouse route and the in-warehouse route are collected in advance, and when a vehicle parks, the in-warehouse route of the specific parking stall to be put in a warehouse can be directly obtained, so that the vehicle can be controlled to put in the warehouse; when the vehicle leaves the garage, the leaving route of the specific parking space to be left can be directly obtained, so that the vehicle can be controlled to leave the garage, the problems that the current parking function excessively depends on a perception hardware system and the requirement on higher configuration is met can be effectively solved, for the specific parking space needing to be stored in the garage, the parking function can be accurately and reliably achieved by the vehicle, the success rate of automatic parking is remarkably increased, the riding experience of a user during parking is improved, and the method has great practical significance.
Drawings
FIG. 1 is a flow chart of an automatic tracking parking method according to the present invention;
fig. 2 is a schematic diagram of a parking route collection when a longitudinal empty parking space is parked based on the automatic tracking parking method provided by the invention;
fig. 3 is a schematic diagram of a parking route collection when three parking spaces, which are longitudinal empty parking spaces, are parked based on the automatic tracking parking method provided by the invention;
fig. 4 is a schematic diagram of a parking route collection when a lateral empty parking space (i.e., a transverse empty parking space) is parked based on the automatic tracking parking method provided by the present invention;
fig. 5 is a schematic diagram of a parking route collection when three parking spaces, which are lateral empty parking spaces (i.e., lateral empty parking spaces), are parked based on the automatic tracking parking method provided by the present invention;
fig. 6 is a block diagram illustrating an automatic tracking parking apparatus according to the present invention.
Detailed Description
In order to make the technical means for realizing the invention easier to understand, the following detailed description of the present application is made in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the present application are shown in the drawings.
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1, the present invention provides an automatic tracking parking method, comprising the following steps:
the method comprises the following steps that S1, according to the type of a specific parking space where a vehicle is put in storage, an automatic parking route corresponding to the type of the specific parking space and position information corresponding to the specific parking space are collected; the automatic parking route comprises a warehousing route and a delivery route;
s2, taking the automatic parking routes and the position information of the specific parking spaces of various types obtained in the S1 as attribute information of corresponding specific parking spaces, and updating the attribute information of the specific parking spaces in the automatic driving high-precision map based on the attribute information of the specific parking spaces; obtaining a tracking parking high-precision map according to the above;
and S3, when a warehousing instruction of the target specific parking space input by the user is received, acquiring the position information and the warehousing route of the target specific parking space according to the tracking parking high-precision map, and controlling the vehicle to drive into the target specific parking space according to the warehousing route.
An embodiment, referring to fig. 2 and 3, when a specific parking space type entering a garage is a longitudinal empty parking space, the step S1 collects an automatic parking route corresponding to the specific parking space type and position information corresponding to the specific parking space, and specifically includes the following steps:
step S1011, selecting a longitudinal empty parking space as a first target specific parking space, controlling the vehicle to drive forwards along a planned route M on a preset automatic driving high-precision map according to a direction perpendicular to the long edge of the first target specific parking space (namely, driving in a direction perpendicular to an entrance center line L of the parking space);
step S1012, when the vehicle drives forwards to a preset garage entering point K1 corresponding to a first target specific parking space, manually driving the vehicle to perform a car backing and garage entering operation to enter the first target specific parking space, and recording position information of the vehicle in the process of the car backing and garage entering operation, so as to obtain a garage entering route L1 of the first target specific parking space;
step S1013, the vehicle is controlled to travel from the first target specific parking space to a preset ex-garage point K2 corresponding to the first target specific parking space along a planned route N on a preset automatic driving high-precision map, and the position information of the vehicle in the process of ex-garage is recorded, so as to obtain an ex-garage route L2 of the first target specific parking space.
It should be noted that the position information of the vehicle can be collected by a positioning module installed on the existing vehicle. The positioning module is hardware including a positioning sensor, a positioning algorithm and a running positioning algorithm, and is an existing module capable of providing real-time positioning information of a vehicle, for example, a GNSS (global navigation satellite system) module, a GPS positioning module or a fusion positioning sensor combination composed of a plurality of positioning sensors may be adopted, which is not strictly limited in the present application.
In a concrete implementation, the warehousing point K1 of the first target specific parking space is located on the planned route M and at a position which is a preset first distance D1 in front of the entrance center line L of the first target specific parking space; and the ex-warehouse point K2 of the first target specific parking space is positioned on the planned route N, and the vertical distance between the ex-warehouse point K2 and the entrance of the first target specific parking space is a preset second distance D2.
The values of the first distance D1 and the second distance D2 in the embodiment of the present invention may be flexibly set by a person skilled in the art according to actual requirements, and the present application is not strictly limited.
In a preferred embodiment, the planned route N of the vehicle is parallel to the entrance centerline L of the first target specific parking space, and the vertical distance between the planned route N and the entrance centerline L of the first target specific parking space is equal to the preset third distance D3.
In a preferred embodiment, the first distance D1 is greater than or equal to the sum of one-half the width of the first target specific space and one-half the length of the vehicle body. And/or, in a preferred embodiment, the preset second distance D2 is greater than or equal to 1.5 times the length of the body of the vehicle. And/or, in a preferred embodiment, the predetermined third distance D3 is greater than or equal to the sum of one-half the width of the first target specific space and one-half the length of the vehicle body.
Referring to fig. 2, the position of the garage entering point K1 may be specified in advance according to the size of the parking space and the size of the vehicle, for the vertically empty parking space that is the first target specific parking space. For example, the warehousing point K1 as the vertical empty parking space is located on the planned route line M on the preset automatic driving high-precision map and at a position ahead of the entrance center line L of the first target specific parking space by a preset first distance D1 (the preset first distance D1 is greater than or equal to the sum of one-half width of the first target specific parking space and one-half length of the vehicle body, for example, 4 meters).
Similarly, the position of the delivery point K2 for the vertical empty space may be predetermined in accordance with the size of the space and the size of the vehicle. For example, the ex-warehouse point K2 as a longitudinal empty parking space is located on the planned route N on the preset automatic driving high-precision map, and the vertical distance from the parking space entrance is a preset second distance D2 (the preset second distance D2 is greater than or equal to 1.5 times of the length of the vehicle body, for example, the vertical distance from the vehicle to the specific parking space entrance is 7.5 meters).
The planned route N on the preset automatic driving high-precision map is parallel to the entrance center line L of the longitudinal empty parking space, the vertical distance between the planned route N and the entrance center line L of the parking space is equal to a preset third distance D3, and the preset third distance is larger than or equal to the sum of one half width of the first target specific parking space and one half length of the vehicle body, and is 4 meters for example.
In one embodiment, the planned route N on the preset autopilot high-precision map is parallel to the entrance centerline L of the first target specific parking space.
In an embodiment, the parking space may be any one of a plurality of parking spaces, for example, referring to fig. 3, the parking space may be any one of three longitudinal empty parking spaces a, B, and C, where the corresponding parking points are A1, B1, and C1, M in the drawing is a preset planned route on the automatic driving high-precision map, and A2, B2, and C2 are target outbound high-precision map routes of vehicles corresponding to three positions, respectively. According to the technical scheme, the automatic parking route (including the warehousing route and the ex-warehouse route) of any longitudinal empty parking space can be acquired. Of course, the above is taken as an example of three warehouse locations, and the multi-warehouse location is extended according to the principles of the warehouse-out route and the warehouse-in route.
In another embodiment, referring to fig. 4 and 5, when the type of the specific parking space to be parked is a side empty parking space, the step S1 collects an automatic parking route corresponding to the type of the specific parking space and position information corresponding to the specific parking space, and specifically includes the following steps:
step S1021, selecting a side empty parking space as a second target specific parking space, and controlling the vehicle to drive forwards along a planned route M on a preset automatic driving high-precision map in a direction perpendicular to the width of the second target specific parking space;
step S1022, when the vehicle drives forwards to a preset garage entering point K1 corresponding to a second target specific parking space, manually driving the vehicle to perform the garage entering operation of backing the vehicle into the second target specific parking space, and recording the position information of the vehicle in the process of the garage entering operation of backing the vehicle, so as to obtain a garage entering route L1 of the second target specific parking space;
and S1023, controlling the vehicle to drive to a preset ex-warehouse point K2 corresponding to a second target specific parking space from the second target specific parking space along a planned route N on a preset automatic driving high-precision map, and recording position information of the vehicle in the process of ex-warehouse of the vehicle, so as to obtain an ex-warehouse route L2 of the second target specific parking space, wherein the warehousing point K1 and the ex-warehouse point K2 of the second target specific parking space are the same.
In the present invention, due to the particularity of parking in the side parking space, the parking route L1 and the parking exit route L2 can be merged for the side parking space, as shown in fig. 4.
In a concrete implementation, the warehousing point K1 of the second target specific parking space is located on the planned route M and at a position which is a preset first distance D1 in front of the entrance center line L of the second target specific parking space.
The preset first distance D1 is larger than or equal to the sum of one half length of the second target specific parking space and one half length of the vehicle body.
Referring to fig. 4, when a parking space is left open on a side where parking is required, the position of the parking spot K1 may be predetermined according to the size of the parking space and the size of the vehicle. For example, as the entry point K1 of the side empty space, the position is located at a preset first distance D1 ahead of the entrance center line L of the side empty space (in this case, the preset first distance D1 is greater than or equal to the sum of one-half length of the second target specific space and one-half length of the vehicle body, for example, 5 meters).
In the concrete implementation, for the side empty parking space, the position of the warehouse-out point coincides with the position of the warehouse-in point K1.
It should be noted that, for the present invention, the side empty parking space that needs to be warehoused may be any one of a plurality of parking spaces, for example, referring to fig. 5, may be any one of three side empty parking spaces a, B, and C, the warehousing points that correspond to each other are A1, B1, and C1, and M in the drawing is a planned route on a preset automatic driving high-precision map. Of course, in the above, three warehouse locations are taken as an example, and the multi-warehouse location is extended according to the principles of the warehouse-out route and the warehouse-in route.
In the present invention, for step S2, the attribute information of the specific parking space in the automatic driving high-precision map may be updated based on the attribute information of the specific parking space by using an existing high-precision mapping tool. The high-precision map making tool (i.e. the high-precision map making software) is the prior art, is not the innovation point of the present invention, and is not described herein again.
It should be noted that the automatic driving implementation depends on a high-precision map, and information such as lane lines, intersections, crosswalks and the like needs to be acquired from the high-precision map, and for the present invention, the position information of the specific parking space obtained in step S1 can be imported by a conventionally known high-precision map creation tool (i.e., high-precision map creation software) capable of creating a high-precision map. In particular, a high-precision map making tool developed by Beijing Intelligent expert science and technology Limited can be adopted to make the high-precision map.
In concrete implementation, after completing high-precision library mapping by using an existing high-precision mapping tool, a map maker can derive a high-precision map format which can be identified by automatic driving, and the map can be imported into an automatic driving vehicle by using a map downloading mode, including but not limited to an Over-the-Air Technology (OTA), a host computer downloading mode and the like.
In view of the fact that the development of the existing automatic driving navigation technology is gradually improved and the positioning accuracy can reach the level of 10cm, the automatic parking system can further achieve the automatic parking function by utilizing the automatic driving navigation technology, so that a user can select parking spaces according to the site requirement and support transverse parking spaces and longitudinal parking spaces, and the specific warehousing direction can be determined according to the acquisition route.
Compared with the prior art, the invention has the following beneficial technical effects:
1. the invention can solve the high requirements of the current parking function on the parking space marking lines, the perception sensor and the algorithm, can lead the user to select or change the parking space by the way of collecting the parking space and the route (namely the position information of the specific parking space, the outbound route and the inbound route) in advance, can increase the success rate of automatic parking, and can improve the riding experience of the vehicle during parking.
2. Aiming at parking places which are inconvenient to park, such as corners of a parking lot, the periphery of walls and the like, the automatic parking success rate and speed can be increased by means of collecting parking routes in advance.
In addition, based on the above automatic tracking parking method provided by the present invention, in order to execute the automatic tracking parking method, the present invention further provides an automatic tracking parking apparatus, as shown in fig. 6, the apparatus includes:
the system comprises a collecting unit, a storage unit and a control unit, wherein the collecting unit is used for collecting an automatic parking route corresponding to the type of a specific parking space and position information corresponding to the specific parking space according to the type of the specific parking space in which a vehicle is stored; the automatic parking route comprises a warehousing route and a ex-warehouse route;
the acquisition unit is connected with the acquisition unit and used for taking the automatic parking routes and the position information of various types of specific parking places acquired from the acquisition unit as the attribute information of the corresponding specific parking places and updating the attribute information of the specific parking places in the automatic driving high-precision map based on the attribute information of the specific parking places; obtaining a tracking parking high-precision map according to the above;
and the parking unit is connected with the acquisition unit and used for acquiring the position information and the parking route of the target specific parking space according to the tracking parking high-precision map and controlling the vehicle to drive into the target specific parking space according to the parking route when receiving a parking instruction of the target specific parking space input by a user.
In particular implementation, when the type of the specific parking space in the garage is a longitudinal empty parking space, the acquiring unit acquires an automatic parking route corresponding to the type of the specific parking space and position information corresponding to the specific parking space, and specifically includes:
selecting a longitudinal empty parking space as a first target specific parking space, and controlling a vehicle to drive forwards along a planned route M on a preset automatic driving high-precision map according to a direction perpendicular to the long edge of the first target specific parking space;
when a vehicle drives forwards to a preset garage entering point K1 corresponding to a first target specific parking space, manually driving the vehicle to perform a car backing and garage entering operation and enter the first target specific parking space, and recording position information of the vehicle in the process of the car backing and garage entering operation, so that a garage entering route L1 of the first target specific parking space is obtained;
and controlling the vehicle to drive from the first target specific parking space to a preset ex-garage point K2 corresponding to the first target specific parking space along a planned route N on a preset automatic driving high-precision map, and recording the position information of the vehicle in the process of ex-garage of the vehicle, so as to obtain an ex-garage route L2 of the first target specific parking space.
In particular implementation, when the type of the specific parking space to be warehoused is a side empty parking space, the acquisition unit acquires an automatic parking route corresponding to the type of the specific parking space and position information corresponding to the specific parking space, and the method specifically comprises the following steps:
selecting a side empty parking space as a second target specific parking space, and controlling the vehicle to drive forwards along a planned route M on a preset automatic driving high-precision map according to a direction perpendicular to the wide side of the second target specific parking space;
when a vehicle drives forwards to a preset garage entering point K1 corresponding to a second target specific parking space, manually driving the vehicle to perform the garage entering operation of backing the vehicle into the second target specific parking space, and recording the position information of the vehicle in the process of the garage entering operation of backing the vehicle, so as to obtain a garage entering route L1 of the second target specific parking space;
and controlling the vehicle to drive from the second target specific parking space to a preset ex-garage point K2 corresponding to the second target specific parking space along a planned route N on a preset automatic driving high-precision map, and recording position information of the vehicle in the process of ex-garage of the vehicle so as to obtain an ex-garage route L2 of the second target specific parking space, wherein the warehousing point K1 and the ex-garage point K2 of the second target specific parking space are the same.
In addition, the invention also provides a moving tool, and the moving tool comprises the automatic tracking parking device.
The moving means may be any means that can be moved, such as a Vehicle (e.g. a passenger car, a bus, a van, a truck, a trailer, a dump truck, a crane, an excavator, a scraper, a road train, a sweeper, a sprinkler, a garbage truck, an engineering truck, a rescue Vehicle, a logistics car, an AGV (Automated Guided Vehicle), etc.), a motorcycle, a bicycle, a tricycle, a trolley, a robot, a sweeper, a balance car, etc., which application is not strictly limited to the type of moving means and is not exhaustive.
In summary, compared with the prior art, the automatic tracking parking method, the device and the moving tool provided by the invention collect the position information of the specific parking space, the exit route and the entry route in advance, and when a vehicle parks, the entry route of the specific parking space to be entered can be directly obtained, so that the vehicle can be controlled to enter; when the vehicle leaves the garage, the leaving route of the specific parking space to be left can be directly obtained, so that the vehicle can be controlled to leave the garage, the problems that the current parking function excessively depends on the perception hardware system and the higher configuration requirement is met can be effectively solved, the parking function can be accurately and reliably realized for the specific parking space needing to be stored by the vehicle, the success rate of automatic parking is obviously increased, the riding experience of a user during parking is favorably improved, and the method has great practical significance.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.
Claims (11)
1. An automatic tracking parking method is characterized by comprising the following steps:
the method comprises the following steps of S1, acquiring an automatic parking route corresponding to the type of a specific parking space and position information corresponding to the specific parking space according to the type of the specific parking space in which a vehicle is put; the automatic parking route comprises a warehousing route and a ex-warehouse route;
step S2, the automatic parking routes and the position information of the specific parking spaces of various types, which are obtained in the step S1, are used as attribute information of the corresponding specific parking spaces, and the attribute information of the specific parking spaces in the automatic driving high-precision map is updated based on the attribute information of the specific parking spaces; thus obtaining a tracking parking high-precision map;
and S3, when a warehousing instruction of the target specific parking space input by the user is received, acquiring the position information and the warehousing route of the target specific parking space according to the tracking parking high-precision map, and controlling the vehicle to drive into the target specific parking space according to the warehousing route.
2. The automatic tracking parking method according to claim 1, wherein when the type of the specific parking space in the garage is a longitudinal empty parking space, the step S1 of collecting an automatic parking route corresponding to the type of the specific parking space and position information corresponding to the specific parking space includes the following steps:
step S1011, selecting a longitudinal empty parking space as a first target specific parking space, and controlling the vehicle to drive forwards along a planned route M on a preset automatic driving high-precision map according to a direction perpendicular to the long edge of the first target specific parking space;
step S1012, when the vehicle drives forwards to a preset garage-in point K1 corresponding to a first target specific parking space, manually driving the vehicle to carry out a reversing garage-in operation and drive into the first target specific parking space, and recording position information of the vehicle in the reversing garage-in operation process, thereby obtaining a garage-in route L1 of the first target specific parking space;
step S1013, the vehicle is controlled to travel from the first target specific parking space to a preset garage exit point K2 corresponding to the first target specific parking space along a planned route N on a preset automatic driving high-precision map, and position information of the vehicle in the process of vehicle leaving the garage is recorded, so as to obtain a garage exit route L2 of the first target specific parking space.
3. The automatic tracking parking method according to claim 2, wherein the parking point K1 of the first target specific parking space is located on the planned route M and at a position in front of the entrance centerline L of the first target specific parking space by a preset first distance D1;
the ex-warehouse point K2 of the first target specific parking space is positioned on the planned route N, and the vertical distance between the ex-warehouse point K2 and the entrance of the first target specific parking space is a preset second distance D2;
the planned route N of the vehicle is parallel to the entrance center line L of the first target specific parking space, and the vertical distance between the planned route N and the entrance center line L of the first target specific parking space is equal to a preset third distance D3.
4. The automatic tracking parking method according to claim 3 wherein said first distance D1 is greater than or equal to the sum of one-half the width of the first target specific slot and one-half the length of the vehicle body;
and/or the preset second distance D2 is greater than or equal to 1.5 times of the length of the vehicle body of the vehicle;
and/or the preset third distance D3 is larger than or equal to the sum of one-half width of the first target specific parking space and one-half length of the vehicle body.
5. The automatic tracking parking method according to claim 1, wherein when the type of a specific parking space to be parked is a side empty parking space, the step S1 collects an automatic parking route corresponding to the type of the specific parking space and position information corresponding to the specific parking space, and specifically comprises the following steps:
step S1021, selecting a side empty parking space as a second target specific parking space, and controlling the vehicle to drive forwards along a planned route M on a preset automatic driving high-precision map in a direction perpendicular to the width of the second target specific parking space;
step S1022, when the vehicle drives forwards to a preset garage-in point K1 corresponding to a second target specific parking space, manually driving the vehicle to carry out the operation of backing a car and garage-in and drive into the second target specific parking space, and recording the position information of the vehicle in the process of backing the car and garage-in operation, thereby obtaining a garage-in route L1 of the second target specific parking space;
and S1023, controlling the vehicle to drive from the second target specific parking space to a preset garage exit point K2 corresponding to the second target specific parking space along a planned route N on a preset automatic driving high-precision map, and recording position information of the vehicle in the process of garage exit so as to obtain a garage exit route L2 of the second target specific parking space, wherein the garage entry point K1 and the garage exit point K2 of the second target specific parking space are the same.
6. The method according to claim 5, wherein the parking spot K1 of the second target specific parking space is located on the planned route M and at a position in front of the entrance centerline L of the second target specific parking space by a predetermined first distance D1.
7. The automatic tracking parking method according to claim 6 wherein the preset first distance D1 is greater than or equal to the sum of one-half length of the second target specific parking space and one-half length of the vehicle body.
8. An automatic tracking parking device, comprising:
the system comprises a collecting unit, a storage unit and a control unit, wherein the collecting unit is used for collecting an automatic parking route corresponding to the type of a specific parking space and position information corresponding to the specific parking space according to the type of the specific parking space in which a vehicle is stored; the automatic parking route comprises a warehousing route and a delivery route;
the acquisition unit is connected with the acquisition unit and used for taking the automatic parking routes and the position information of various types of specific parking places acquired from the acquisition unit as the attribute information of the corresponding specific parking places and updating the attribute information of the specific parking places in the automatic driving high-precision map based on the attribute information of the specific parking places; thus obtaining a tracking parking high-precision map;
and the parking unit is connected with the acquisition unit and used for acquiring the position information and the parking route of the target specific parking space according to the tracking parking high-precision map and controlling the vehicle to drive into the target specific parking space according to the parking route when receiving a parking instruction of the target specific parking space input by a user.
9. The automatic tracking parking device according to claim 8, wherein when the specific parking space type of the parking lot is a longitudinal empty parking space, the collecting unit collects an automatic parking route corresponding to the specific parking space type and position information corresponding to the specific parking space, and specifically comprises:
selecting a longitudinal empty parking space as a first target specific parking space, and controlling a vehicle to drive forwards along a planned route M on a preset automatic driving high-precision map according to a direction perpendicular to the long edge of the first target specific parking space;
when a vehicle drives forwards to a preset garage-in point K1 corresponding to a first target specific parking space, manually driving the vehicle to carry out a car-back garage-in operation and drive into the first target specific parking space, and recording position information of the vehicle in the process of the car-back garage-in operation, thereby obtaining a garage-in route L1 of the first target specific parking space;
and controlling the vehicle to drive from the first target specific parking space to a preset ex-garage point K2 corresponding to the first target specific parking space along a planned route N on a preset automatic driving high-precision map, and recording the position information of the vehicle in the process of ex-garage of the vehicle, so as to obtain an ex-garage route L2 of the first target specific parking space.
10. The automatic tracking parking device according to claim 8, wherein when the type of the specific parking space to be parked is a side empty parking space, the collecting unit collects an automatic parking route corresponding to the type of the specific parking space and position information corresponding to the specific parking space, and specifically comprises:
selecting a side empty parking space as a second target specific parking space, and controlling the vehicle to drive forwards along a planned route M on a preset automatic driving high-precision map according to a direction perpendicular to the wide side of the second target specific parking space;
when a vehicle drives forwards to a preset garage entering point K1 corresponding to a second target specific parking space, manually driving the vehicle to perform the garage entering operation of backing the vehicle into the second target specific parking space, and recording the position information of the vehicle in the process of the garage entering operation of backing the vehicle, so as to obtain a garage entering route L1 of the second target specific parking space;
and controlling the vehicle to drive from the second target specific parking space to a preset ex-garage point K2 corresponding to the second target specific parking space along a planned route N on a preset automatic driving high-precision map, and recording position information of the vehicle in the process of ex-garage of the vehicle so as to obtain an ex-garage route L2 of the second target specific parking space, wherein the warehousing point K1 and the ex-garage point K2 of the second target specific parking space are the same.
11. A moving means characterized by comprising the automatic tracking parking apparatus according to any one of claims 8 to 10.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116992156A (en) * | 2023-09-26 | 2023-11-03 | 哆米兔(临沂)信息科技有限公司 | Parking space recommending method and system for parking lot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116992156A (en) * | 2023-09-26 | 2023-11-03 | 哆米兔(临沂)信息科技有限公司 | Parking space recommending method and system for parking lot |
| CN116992156B (en) * | 2023-09-26 | 2023-12-15 | 哆米兔(临沂)信息科技有限公司 | Parking space recommending method and system for parking lot |
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