WO2018233298A1 - Procédé et dispositif permettant la conduite automatique d'un véhicule dans une place de stationnement - Google Patents

Procédé et dispositif permettant la conduite automatique d'un véhicule dans une place de stationnement Download PDF

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Publication number
WO2018233298A1
WO2018233298A1 PCT/CN2018/075483 CN2018075483W WO2018233298A1 WO 2018233298 A1 WO2018233298 A1 WO 2018233298A1 CN 2018075483 W CN2018075483 W CN 2018075483W WO 2018233298 A1 WO2018233298 A1 WO 2018233298A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
parking space
arc
trajectory
determining
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Application number
PCT/CN2018/075483
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English (en)
Chinese (zh)
Inventor
丁晨曦
章健勇
付晶玮
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蔚来汽车有限公司
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Filing date
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Application filed by 蔚来汽车有限公司 filed Critical 蔚来汽车有限公司
Publication of WO2018233298A1 publication Critical patent/WO2018233298A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects

Definitions

  • the present invention relates to autonomous driving techniques, and more particularly to a method for determining a trajectory of a vehicle entering a parking space, a method of automatically driving a vehicle into a parking space, and a vehicle controller and computer readable storage medium implementing the method.
  • Self-driving cars rely on artificial intelligence.
  • the vision computing, radar, monitoring devices and global positioning system work together to automatically and safely operate the motor vehicle without human active operation.
  • roads and parking spaces are increasingly becoming scarce resources. Therefore, it is a feasible way to alleviate this problem by reasonably limiting the parking space area. But this will increase the difficulty of parking.
  • the difficulty of fully-automatic parking is how to plan a reasonable avoidable vehicle trajectory.
  • the trajectory planning adopts a method of reducing the target parking area, and the number of adjustment steps is large, and collision is very easy.
  • a method for determining a travel trajectory of a vehicle entering a parking space includes the following steps:
  • Determining location information of the vehicle the location information including a relative position of the vehicle and the parking space and an obstacle around the parking space;
  • a driving trajectory of the vehicle entering the parking space is generated according to the position information, wherein the driving trajectory comprises a plurality of arcs.
  • the step of determining location information of the vehicle comprises:
  • the relative position of the vehicle to the parking space is determined based on the image obtained by the image acquisition device and the relative position of the obstacle around the vehicle and the parking space is determined based on the detection signal of the onboard ultrasonic sensor or the onboard radar.
  • the longitudinal direction of the parking space is parallel to the road traveling direction.
  • the driving track comprises an S-shaped curve formed by splicing a first arc and a second arc.
  • the travel trajectory of the vehicle entering the parking space is generated in the following manner:
  • the position of the starting point of the first arc is selected from a range determined according to the length of the vehicle body and the size of the parking space;
  • the abscissa of the center of the first arc is the same as the abscissa of the starting point, and the ordinate of the center of the first arc is selected such that the first arc
  • the radius is greater than the distance from the center of the circle to the dangerous point by a second safety value and the first arc has an intersection with the second arc, which is the first rectangular corner of the vehicle when the vehicle profile enters the parking space.
  • intersection of the first arc and the second arc is determined as the end point of the first arc and the starting point of the second arc.
  • the end point of the second arc of the arc corresponds to the position of the reference point on the vehicle when the vehicle is parked in the parking space, the reference point being located in the area where the vehicle profile first enters the parking space.
  • a method for automatically driving a vehicle into a parking space in accordance with an aspect of the present invention includes the following steps:
  • the method for generating a travel trajectory is used to generate a travel trajectory of the vehicle entering the parking space;
  • the vehicle is guided into the parking space along the travel trajectory.
  • a vehicle controller in accordance with another aspect of the present invention includes a memory, a processor, and a computer program stored on the memory and operative on the processor, wherein the program is executed to implement the following steps:
  • the method for generating a travel trajectory is used to generate a travel trajectory of the vehicle entering the parking space;
  • the vehicle is guided into the parking space along the travel trajectory.
  • An apparatus for automatically driving a vehicle into a parking space includes:
  • a first module for determining whether there is a trigger condition for starting the operation of automatically driving the vehicle into the parking space
  • a second module for the presence of a trigger condition, generating a travel trajectory of the vehicle entering the parking space using the method as described above;
  • the third module is configured to guide the vehicle into the parking space along the driving trajectory if a corresponding driving trajectory can be generated.
  • a computer readable storage medium according to another aspect of the present invention, wherein a computer program is stored thereon, the program being executed by the processor to implement the following steps:
  • the method for generating a travel trajectory is used to generate a travel trajectory of the vehicle entering the parking space;
  • the vehicle is guided into the parking space along the travel trajectory.
  • FIG. 1 is a flow chart of a method for determining a travel trajectory of a vehicle entering a parking space, in accordance with one embodiment of the present invention.
  • FIG. 2 is a flow chart of a method of determining location information applied to the embodiment of FIG. 1.
  • FIG. 3 is a flow chart of a method of generating a travel trajectory for a vehicle entering a parking space as applied to the embodiment of FIG. 1.
  • FIG. 4 exemplarily shows a travel trajectory when the vehicle enters the parking space.
  • FIG. 5 is a flow chart of a method for automatically driving a vehicle into a parking space in accordance with another embodiment of the present invention.
  • FIG. 6 is a schematic block diagram of a vehicle controller in accordance with yet another embodiment of the present invention.
  • Figure 7 is a schematic block diagram of an apparatus for automatically driving a vehicle into a parking space in accordance with yet another embodiment of the present invention.
  • FIG. 1 is a flow chart of a method for determining a travel trajectory of a vehicle entering a parking space, in accordance with one embodiment of the present invention.
  • a device for controlling travel determines position information of the vehicle in response to a user input command to park the vehicle into a designated parking space.
  • the location information described herein includes at least the relative position of the vehicle to the parking space and the relative position of the vehicle to the obstacle around the parking space.
  • the command input by the user is only one of the conditions for triggering the operation of determining the vehicle position information, and the other conditions may include, for example, the vehicle speed being lower than the set speed threshold or the vehicle is continuously decelerating or the like.
  • the method shown in FIG. 2 can be employed to determine the position information of the vehicle.
  • the device for controlling travel acquires an image including a parking space boundary line using an image acquisition device (eg, an in-vehicle camera).
  • the vehicle ultrasonic sensor or the vehicle radar is used to obtain the detection signal of the obstacle around the parking space.
  • the device for controlling driving determines the relative position of the vehicle and the parking space according to the image obtained by the image acquiring device and determines the relative position of the obstacle around the vehicle and the parking space according to the detection signal of the vehicle-mounted ultrasonic sensor or the vehicle-mounted radar.
  • step 120 the means for controlling the travel generates a travel trajectory of the vehicle entering the parking space based on the position information determined in step 110.
  • FIG. 3 is a flow chart of a method for generating a travel trajectory of a vehicle entering a parking space applied to the embodiment shown in FIG. 1, which is exemplarily The trajectory of the vehicle as it enters the parking space is shown.
  • the longitudinal direction (horizontal direction in the drawing) of the parking space (the recessed area in the drawing) shown in FIG. 4 is parallel to the road traveling direction, and the parking space is rectangular, and the periphery of the rectangle constitutes the boundary of the obstacle.
  • the traveling track of the vehicle includes an S-shaped curve formed by splicing the first arc and the second arc, wherein the starting point and the ending point of the first arc are respectively P1 and P2
  • the center of the circle is O1
  • the starting and ending points of the second arc are P2 and P3, respectively
  • the center of the circle is O2.
  • the position at which the rectangular apex angle that first passes when the vehicle profile is driven into the parking space is defined as the dangerous point C.
  • the Cartesian coordinate system shown in FIG. 4 is exemplarily used herein, wherein the origin of the coordinate system is located at the lower left corner of the parking space, and the X-axis and the Y-axis are parallel and perpendicular to the longitudinal direction of the parking space, respectively.
  • the device for controlling the running determines the position of the vehicle when it is parked in the parking space according to the vehicle body size and the parking space boundary, and thereby obtains the abscissa x3 and the longitudinal direction of the end point of the second arc. Coordinate y3.
  • the end point of the second arc of the arc corresponds to the position of the reference point W on the vehicle when the vehicle is parked in the parking space, the reference point W being located in the area where the vehicle profile first enters the parking space, such as the vehicle right shown in FIG. Rear wheel (exemplarily, the vehicle in Figure 4 retreats into the garage).
  • the means for controlling the travel determines the center O2 of the second arc of the arc.
  • the abscissa xO2 of the center O2 is the same as the abscissa x3 of the end point, so once the ordinate YO2 of the center of the second arc is determined, the radius R2 of the arc is also determined (which is equal to the center of the circle) The distance from O2 to the end point P3).
  • the ordinate YO2 is selected such that the radius R2 of the second arc of the arc is smaller than the sum of the vehicle body length L and the preset first safety value T1 and greater than the minimum turning radius of the vehicle, wherein the first safety value T1 This is equivalent to ensuring that the vehicle does not rub against obstacles, which can be obtained experimentally.
  • the means for controlling the travel determines the abscissa x1 and the ordinate y1 of the starting point P1 of the first arc of the arc.
  • the position of the starting point P1 can be selected from a range determined according to the length of the vehicle body and the size of the parking space.
  • the means for controlling the travel determines the position of the center O1 of the first arc of the arc.
  • the abscissa xO1 of the center O1 is the same as the abscissa x1 of the starting point P1, so that once the ordinate YO1 of the center O1 of the first arc is determined, the radius R1 of the arc is also determined (its It is equal to the distance from the center O1 to the starting point P1). On the other hand, once the arc radius R1 is determined, the ordinate YO1 is also determined.
  • the ordinate YO1 is selected such that the radius R1 of the first segment of the arc is greater than the distance from the center of the circle O1 to the dangerous point C by a second safety value T2 and the first segment of the arc and the second segment of the circle
  • the arc has intersections.
  • the second safety value T2 is equivalent to a redundant amount that ensures that the vehicle does not rub against the obstacle, which can be obtained experimentally.
  • the ordinate YO1 of the center O1 can be selected according to the following iterative process:
  • step 2) If there is an intersection, the trial value of the ordinate in step 2) is determined as the ordinate of the center O1.
  • the means for controlling the travel determines the intersection P2 of the first arc of the arc and the arc of the second arc as the end point of the first arc and the starting point of the second arc.
  • step 360 an S-shaped curve formed by splicing the first arc and the second arc is generated as a trajectory of the vehicle.
  • FIG. 5 is a flow chart of a method for automatically driving a vehicle into a parking space in accordance with another embodiment of the present invention.
  • the means for controlling travel determines whether there is a condition that triggers an automatic parking operation. If there is a trigger condition, then step 520 is entered, otherwise, the method flow is exited.
  • the triggering conditions include, for example, but are not limited to, a user input command to park the vehicle into the designated parking space, presence of available parking spaces, vehicle speed below a set speed threshold, vehicle deceleration, etc., and combinations of these triggering conditions.
  • the means for controlling the travel utilizes the method described above with reference to Figures 1-4 to generate a travel trajectory for the vehicle to enter the parking space.
  • step 520 the method illustrated in FIG. 5 proceeds to step 530.
  • the means for controlling the travel guides the vehicle into the parking space along the travel trajectory determined in step 520.
  • FIG. 6 is a schematic block diagram of a vehicle controller in accordance with yet another embodiment of the present invention.
  • the vehicle controller 60 shown in FIG. 6 includes a memory 610, a processor 620, and a computer program 630 stored on the memory 610 and operable on the processor 620, wherein the executing computer program 630 can implement the above described with reference to FIG. A method for automatically driving a vehicle into a parking space.
  • Figure 7 is a schematic block diagram of an apparatus for automatically driving a vehicle into a parking space in accordance with yet another embodiment of the present invention.
  • the apparatus 70 shown in FIG. 7 includes a first module 710, a second module 720, and a third module 730.
  • the first module 710 is configured to determine whether there is a condition for triggering an automatic parking operation; and the second module 720 is configured to: if there is a condition for triggering an automatic parking operation, the vehicle for making the vehicle described with reference to FIG.
  • the method of automatically entering the parking space generates a driving trajectory of the vehicle entering the parking space; and the third module 730 is configured to guide the vehicle to enter the parking space along the driving trajectory if a corresponding driving trajectory can be generated.
  • a computer readable storage medium having stored thereon a computer program executable by the processor to effect automatic driving of the vehicle into the parking space as described above with reference to FIG. method.

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

Abstract

La présente invention concerne des techniques de conduite automatique, et plus particulièrement un procédé de détermination d'un trajet de conduite le long duquel un véhicule entre dans une place de stationnement, un procédé permettant la conduite automatique d'un véhicule dans une place de stationnement, un dispositif de commande de véhicule permettant de réaliser le procédé et un support d'informations lisible par ordinateur. Le procédé de détermination d'un trajet de conduite le long duquel un véhicule entre dans une place de stationnement comprend les étapes suivantes consistant : à déterminer des informations d'emplacement d'un véhicule, les informations d'emplacement comprenant des emplacements relatifs du véhicule, une place de stationnement et des obstacles autour de la place de stationnement ; et à générer, en fonction des informations d'emplacement, un trajet de conduite le long duquel le véhicule entre dans la place de stationnement, le trajet de conduite comprenant de multiples segments d'arc.
PCT/CN2018/075483 2017-06-22 2018-02-06 Procédé et dispositif permettant la conduite automatique d'un véhicule dans une place de stationnement WO2018233298A1 (fr)

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CN201710480458.5 2017-06-22
CN201710480458.5A CN109109855B (zh) 2017-06-22 2017-06-22 用于使车辆自动驶入车位的方法和装置

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CN109581414B (zh) * 2019-01-30 2021-03-16 东软睿驰汽车技术（沈阳）有限公司 一种激光雷达设置方法和停车场
CN110723070B (zh) * 2019-09-06 2020-12-15 成都长迪传感技术有限公司 一种汽车盲区传感***
CN111196271A (zh) * 2020-01-21 2020-05-26 北京百度网讯科技有限公司 自动泊车方法、装置、设备及存储介质

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