WO2022142592A1

WO2022142592A1 - Front-first parking method, device and system

Info

Publication number: WO2022142592A1
Application number: PCT/CN2021/123788
Authority: WO
Inventors: 袁峻; 沈玉杰
Original assignee: 华为技术有限公司
Priority date: 2020-12-31
Filing date: 2021-10-14
Publication date: 2022-07-07
Also published as: CN114684111A

Abstract

Disclosed in the present application are a front-first parking method, device and system, which are used to efficiently and accurately complete parking. The method comprises: collecting parking data, the parking data comprising some or all among position information of a vehicle, obstacle location information, target parking space information and location information of a passable area; estimating the driving direction on the basis of the parking data, and determining at least one parking unit; sequentially determining the parking trajectory of each parking unit by using a step-by-step algorithm, so as to obtain at least one initial parking trajectory; determining an evaluation value of each initial parking trajectory on the basis of the position of the vehicle at an end point of the initial parking trajectory, and determining the optimal parking trajectory according to the evaluation value; and parking according to the optimal parking trajectory. In the method, a step-by-step algorithm is used to plan a parking trajectory, trajectory search time may be effectively reduced, a highly reliable parking trajectory is efficiently and quickly generated, planning duration is short, and real-time requirements are met.

Description

一种车头先入的泊车方法、装置和***A first-in parking method, device and system

相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS

本申请要求在2020年12月31日提交中国国家知识产权局、申请号为202011633813.6、申请名称为“一种车头先入的泊车方法、装置和***”的中国专利申请的优先权，其全部内容通过引用结合在本申请中；本申请要求在2021年06月09日提交中国国家知识产权局、申请号为202110641541.2、申请名称为“一种车头先入的泊车方法、装置和***”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application filed on December 31, 2020 with the State Intellectual Property Office of China, the application number is 202011633813.6, and the application name is "a first-in parking method, device and system", the entire content of which is Incorporated into this application by reference; this application requires a Chinese patent filed with the State Intellectual Property Office of China on June 9, 2021, with the application number of 202110641541.2 and the application titled "A Front-First-In Parking Method, Device and System" priority to the application, the entire contents of which are incorporated herein by reference.

技术领域technical field

本发明涉及汽车技术领域，特别涉及一种车头先入的泊车方法、装置和***。The present invention relates to the technical field of automobiles, and in particular, to a method, a device and a system for first-in parking.

背景技术Background technique

在泊车空间受限的情况下，车辆如何快速简单的泊车入位，对驾驶员来说一直是个困扰。尤其以车头先入的方式泊入车位时，由于车辆前进转弯过程中，车身横摆较大，驾驶员视野受限等因素，经常需要多次调整规划，才能顺利泊车入位，甚至在泊车过程中还可能因泊车不当，与他车发生剐蹭等。When the parking space is limited, how to park the vehicle quickly and easily has always been a problem for the driver. Especially when the vehicle is parked in the front-end mode, due to factors such as large body yaw and limited vision of the driver during the forward turning process of the vehicle, it is often necessary to adjust the planning several times to successfully park in the parking space, even when parking. During the process, it may also be caused by improper parking and scratches with other cars.

综上，目前通过车头先入的方式进行泊车的难度系数较高，泊车过程耗时较长，成功率较低。To sum up, at present, the difficulty coefficient of parking by the first-in method is relatively high, the parking process takes a long time, and the success rate is low.

发明内容SUMMARY OF THE INVENTION

本申请提供一种车头先入的泊车方法、装置和***，用以高效、准确地完成车头先入式泊车。The present application provides a first-in parking method, device and system for efficiently and accurately completing the first-in parking.

应理解，本申请实施例中提供的车头先入的泊车方法可以由车头先入的泊车装置。It should be understood that the head-first-in parking method provided in the embodiments of the present application may be a head-first-in parking device.

其中，所述车头先入的泊车***包括采集装置和处理装置和执行装置。Wherein, the first-in parking system includes a collection device, a processing device, and an execution device.

其中，所述处理装置可以为具有处理功能的服务器，例如，中央处理器，也可以为服务器中的处理芯片，具体本申请实施例不进行限定。The processing device may be a server with a processing function, for example, a central processing unit, or a processing chip in the server, which is not limited in the specific embodiment of the present application.

应理解，本申请实施例中提供的采集装置的情况有多种，可以是单独的装置，也可以是至少两个装置的组合。可以包含摄像装置、雷达装置、传感装置等。It should be understood that the collection device provided in the embodiment of the present application has various situations, which may be a single device or a combination of at least two devices. Cameras, radars, sensing devices, etc. may be included.

在一种可能的实现方式中，本申请实施例中所述采集装置可以集成在所述车辆中，也可以是能够与所述车辆进行通信的装置。例如，所述采集装置为路侧单元(road side unit，RSU)。In a possible implementation manner, the collection device in this embodiment of the present application may be integrated in the vehicle, or may be a device capable of communicating with the vehicle. For example, the collection device is a roadside unit (RSU).

第一方面，本申请实施例提供一种车头先入的泊车方法，包括：In a first aspect, an embodiment of the present application provides a first-in parking method, including:

采集泊车数据，所述泊车数据包括车辆位姿信息、障碍物位置信息、目标车位信息以及可通行区域位置信息中的部分或全部；基于所述车辆位姿信息与所述目标车位信息预估行驶方向，确定至少一个泊车单元；采用步进式算法，依次确定每个泊车单元的泊车轨迹，得到至少一条初始泊车轨迹；基于所述车辆在所述初始泊车轨迹的终点时的位姿，确定所述泊车单元中每条初始泊车轨迹的评估值，并根据所述评估值从所述至少一条初始泊车轨迹中确定最优泊车轨迹；根据所述最优泊车轨迹，进行车头先入式泊车。Collect parking data, the parking data includes vehicle pose information, obstacle position information, target parking space information, and some or all of the passable area position information; based on the vehicle pose information and the target parking space information estimate the driving direction, and determine at least one parking unit; use a step-by-step algorithm to sequentially determine the parking trajectory of each parking unit to obtain at least one initial parking trajectory; based on the vehicle at the end point of the initial parking trajectory determine the evaluation value of each initial parking trajectory in the parking unit, and determine the optimal parking trajectory from the at least one initial parking trajectory according to the evaluation value; according to the optimal parking trajectory Parking trajectory, front-end parking.

基于上述方法，采用步进式算法进行泊车轨迹规划，能够有效降低轨迹搜索时间，高效、快速的生成可靠性强的泊车轨迹，规划耗时短，满足实时性要求。此外，从得到的至少一条泊车轨迹中，选取最优的泊车轨迹进行泊车，能够有效提高泊车入库的成功率。Based on the above method, the step-by-step algorithm is used for parking trajectory planning, which can effectively reduce the trajectory search time, efficiently and quickly generate a highly reliable parking trajectory, with short planning time and meeting real-time requirements. In addition, the optimal parking trajectory is selected from the obtained at least one parking trajectory for parking, which can effectively improve the success rate of parking and storage.

在一种可能的实现方式中，基于所述泊车数据和进入所述泊车单元的初始位姿，采用步进式算法，依次确定每个泊车单元的泊车轨迹，得到至少一条初始泊车轨迹。In a possible implementation manner, based on the parking data and the initial pose of entering the parking unit, a step-by-step algorithm is used to sequentially determine the parking trajectory of each parking unit, and at least one initial parking track is obtained. car track.

在一种可能的实现方式中，根据所述车辆在初始泊车轨迹的终点时的位姿，确定所述车辆车头中心与后轴中心横向偏差之和，以及所述车辆车身与车位中轴线角度偏差值；根据所述车辆车头中心与后轴中心横向偏差之和，以及所述车辆车身与车位中轴线角度偏差值，确定对应初始泊车轨迹的评估值。In a possible implementation manner, the sum of the lateral deviation between the center of the front of the vehicle and the center of the rear axle, and the angle between the vehicle body and the central axis of the parking space are determined according to the posture of the vehicle at the end point of the initial parking trajectory Deviation value: According to the sum of the lateral deviation between the center of the vehicle front and the center of the rear axle, and the angle deviation between the vehicle body and the center axis of the parking space, the evaluation value corresponding to the initial parking trajectory is determined.

基于上述方法，本申请实施例提供了一种确定最优泊车轨迹的方法，即根据所述车辆车头中心与后轴中心横向偏差之和，以及所述车辆车身与车位中轴线角度偏差值，确定对应初始泊车轨迹的评估值，然后将所述评估值最小的初始泊车轨迹确定为最优初始泊车轨迹。Based on the above method, an embodiment of the present application provides a method for determining an optimal parking trajectory, that is, according to the sum of the lateral deviations between the center of the vehicle front and the center of the rear axle, and the angle deviation between the vehicle body and the central axis of the parking space, An evaluation value corresponding to the initial parking trajectory is determined, and then the initial parking trajectory with the smallest evaluation value is determined as the optimal initial parking trajectory.

在一种可能的实现方式中，所述车辆根据所述最优泊车轨迹进行车头先入式泊车过程中，在确定有与障碍物发生碰撞的风险，且能够重新规划泊车路线进行障碍物避让后，重新规划泊车路线，并根据新规划的泊车路线进行车头先入式泊车。In a possible implementation manner, when the vehicle performs the front-end parking according to the optimal parking trajectory, when it is determined that there is a risk of collision with an obstacle, the vehicle can re-plan the parking route for the obstacle. After evading, re-plan the parking route and perform front-end parking according to the newly planned parking route.

基于上述方法，本申请实施例提供了一种实际泊车过程中遇到障碍物的处理方案。Based on the above method, the embodiments of the present application provide a solution for dealing with obstacles encountered during an actual parking process.

在一种可能的实现方式中，所述车辆行驶到所述最优泊车轨迹的终点后，确定车辆前轮目标转角；所述车辆将前轮调整所述目标转角后，进行车头先入式泊车。In a possible implementation manner, after the vehicle travels to the end point of the optimal parking trajectory, the target turning angle of the front wheels of the vehicle is determined; after the vehicle adjusts the target turning angle of the front wheels, the front-end parking is performed. car.

在一种可能的实现方式中，根据当前位置的车辆位姿以及所述目标车位的位置，确定所述车辆是否能够通过调整前轮角度驶入车位。In a possible implementation manner, it is determined whether the vehicle can enter the parking space by adjusting the angle of the front wheels according to the vehicle posture at the current position and the position of the target parking space.

在一种可能的实现方式中，确定当前位置车辆的实际位姿，以及所述最优泊车轨迹中当前位置对应的目标位姿；根据所述实际位姿与所述目标位姿，确定泊车误差；根据所述泊车误差对所述车辆的位姿进行调整。In a possible implementation manner, the actual pose of the vehicle at the current position and the target pose corresponding to the current position in the optimal parking trajectory are determined; according to the actual pose and the target pose, the parking vehicle error; adjust the pose of the vehicle according to the parking error.

基于上述方法，本申请实施例在进行泊车入库时，进行误差调整，能够使得泊车入库的成功率更高，以及泊车入库后，车辆停放位置更加规范。Based on the above method, the embodiment of the present application performs error adjustment when parking into the garage, which can make the success rate of the parking into the garage higher and the parking position of the vehicle more standardized after the parking into the garage.

在一种可能的实现方式中，根据所述车辆当前位置的位姿以及所述目标车位的位置，确定车辆前轮第一转角以及前轮安全转角；将所述第一转角与所述前轮安全转角的交集确定为所述车辆进行前轮调整的目标转角。In a possible implementation manner, according to the pose of the current position of the vehicle and the position of the target parking space, the first turning angle of the front wheel of the vehicle and the safe turning angle of the front wheel are determined; The intersection of the safe corners is determined as the target corner for the vehicle to perform front wheel adjustment.

基于上述方法，本申请实施例在确定前轮转角时，进行安全防护，使得泊车入库的过程更加安全。Based on the above method, the embodiment of the present application performs safety protection when determining the turning angle of the front wheel, so that the process of parking and entering the warehouse is safer.

第二方面，本申请实施例还提供一种车头先入的泊车装置，该装置可以用来执行上述第一方面中的操作。例如，所述装置可以包括用于执行上述第一方面或第一方面的任意可能的实现方式中的各个操作的模块或单元。比如包括采集模块和处理模块。In a second aspect, an embodiment of the present application further provides a front-end parking device, which can be used to perform the operations in the first aspect. For example, the apparatus may include modules or units for performing various operations in the first aspect or any possible implementation of the first aspect described above. For example, it includes acquisition module and processing module.

第三方面，本申请实施例提供了一种芯片***，包括处理器，可选的还包括存储器；其中，存储器用于存储计算机程序，处理器用于从存储器中调用并运行计算机程序，使得安装有芯片***的车头先入的泊车装置执行上述第一方面或第一方面的任意可能的实现方式中的任一方法。In a third aspect, an embodiment of the present application provides a chip system, including a processor, and optionally a memory; wherein, the memory is used to store a computer program, and the processor is used to call and run the computer program from the memory, so that the installed The first-in parking device of the chip system performs any method in the first aspect or any possible implementation manner of the first aspect.

第四方面，本申请实施例提供了一种车辆，至少一个摄像器，至少一个存储器，至少一个收发器以及至少一个处理器；In a fourth aspect, embodiments of the present application provide a vehicle, at least one camera, at least one memory, at least one transceiver, and at least one processor;

所述摄像器，用于采集泊车数据，所述泊车数据包括车辆位姿的数据信息、障碍物位置的数据信息、目标车位的数据信息以及可通行区域位置的数据信息中的部分或全部；The camera is used to collect parking data, and the parking data includes data information of vehicle posture, data information of obstacle positions, data information of target parking spaces, and data information of passable area positions. Part or all of the data information ;

所述存储器，用于存储一个或多个程序以及数据信息；其中所述一个或多个程序包括指令；the memory for storing one or more programs and data information; wherein the one or more programs include instructions;

所述处理器，用于根据所述泊车数据确定初始泊车轨迹；对所述初始泊车轨迹进行步进式搜索，确定目标泊车轨迹；根据所述目标泊车轨迹驶入所述目标车位。The processor is configured to determine an initial parking trajectory according to the parking data; perform a step-by-step search on the initial parking trajectory to determine a target parking trajectory; drive into the target according to the target parking trajectory parking space.

在一种可能的实现方式中，所述车辆还包括显示屏，语音播报装置；In a possible implementation manner, the vehicle further includes a display screen and a voice broadcasting device;

所述显示屏，用于显示所述目标泊车轨迹；the display screen for displaying the target parking track;

所述语音播报装置，用于播报所述目标泊车轨迹。The voice broadcasting device is used for broadcasting the target parking track.

其中，本申请实施例中所述的摄像器可以是驾驶员监测***的摄像机、座舱型摄像机、红外摄像机、行车记录仪(即录像终端)、倒车影像摄像头等，具体本申请实施例不进行限制。Wherein, the camera described in the embodiment of the present application may be a camera of a driver monitoring system, a cockpit camera, an infrared camera, a driving recorder (ie a video recording terminal), a reversing image camera, etc., which are not limited in the specific embodiment of the present application. .

所述摄像器的拍摄区域可以为所述车辆的外部环境。例如，当车辆前行时，所述拍摄区域为车头前方区域；当车辆进行倒车，所述拍摄区域为车尾后方区域；当所述摄像器为360度多角度摄像器时，所述拍摄区域可以为所述车辆周边360度区域等。The shooting area of the camera may be the external environment of the vehicle. For example, when the vehicle is moving forward, the photographing area is the area in front of the vehicle; when the vehicle is reversing, the photographing area is the area behind the rear of the vehicle; when the camera is a 360-degree multi-angle camera, the photographing area is It can be a 360-degree area around the vehicle, or the like.

本申请实施例中所述的传感器可以是光电抄/光敏传感器、超声波/声敏传感器、测距/距离传感器、视觉/图像传感器等一种或多种。The sensors described in the embodiments of the present application may be one or more of photoelectric/photosensitive sensors, ultrasonic/acoustic sensors, ranging/distance sensors, vision/image sensors, and the like.

第五方面，本申请实施例提供了一种车头先入的泊车***，所述***包括采集装置、处理装置以及执行装置；In a fifth aspect, an embodiment of the present application provides a front-end parking system, the system includes a collection device, a processing device, and an execution device;

所述采集装置，用于主要包括超声波雷达以及鱼眼相机，用于进行车辆自身数据、障碍物数据、车位数据以及可通行区域数据等的获取；The acquisition device mainly includes ultrasonic radar and fisheye camera, and is used to acquire vehicle data, obstacle data, parking space data, and passable area data, etc.;

所述处理装置，用于对采集装置采集到的数据进行处理，得到目标泊车轨迹。The processing device is used for processing the data collected by the collecting device to obtain the target parking track.

所述执行装置，用于根据处理装置下发的泊车指示，进行车辆泊车。The execution device is used for parking the vehicle according to the parking instruction issued by the processing device.

第六方面，本申请实施例提供了一种计算机程序产品，计算机程序产品包括：计算机程序代码，当计算机程序代码被计算机运行时，使得所述上报信息的处理装置执行上述第一方面或第一方面的任意可能的实现方式中的任一方法。In a sixth aspect, an embodiment of the present application provides a computer program product, the computer program product includes: computer program code, when the computer program code is run by a computer, the processing device for reporting information executes the first aspect or the first Any method of any possible implementation of an aspect.

第七方面，本申请实施例提供了一种计算机可读存储介质，计算机可读存储介质存储有程序，程序使得计算机执行上述第一方面或第一方面的任意可能的实现方式中的任一方法。In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a program, and the program enables a computer to execute any method in the first aspect or any possible implementation manner of the first aspect .

附图说明Description of drawings

图1为本申请实施例提供的一种车头先入的泊车***示意图；1 is a schematic diagram of a front-first-in parking system according to an embodiment of the present application;

图2为本申请实施例提供的第一种***架构示意图；2 is a schematic diagram of a first system architecture provided by an embodiment of the present application;

图3为本申请实施例提供的第二种***架构示意图；3 is a schematic diagram of a second system architecture provided by an embodiment of the present application;

图4为本申请实施例提供的一种车头先入的泊车方法的轨迹分段示意图；4 is a schematic diagram of trajectory segmentation of a front-first-in parking method provided by an embodiment of the present application;

图5为本申请实施例提供的一种车头先入的泊车方法流程示意图；5 is a schematic flowchart of a front-first-in parking method according to an embodiment of the present application;

图6为本申请实施例提供的一种第一部分泊车轨迹示意图；FIG. 6 is a schematic diagram of a first part of a parking trajectory according to an embodiment of the present application;

图7为本申请实施例提供的一种目标车辆位姿与目标车位中位线角度示意图；FIG. 7 is a schematic diagram of the position and attitude of the target vehicle and the angle of the median line of the target parking space according to an embodiment of the present application;

图8为本申请实施例提供的第一种应用场景示意图；FIG. 8 is a schematic diagram of a first application scenario provided by an embodiment of the present application;

图9为本申请实施例提供的一种泊车单元划分示意图；9 is a schematic diagram of the division of a parking unit according to an embodiment of the present application;

图10为本申请实施例提供的一种泊车单元间衔接点示意图；10 is a schematic diagram of a connection point between parking units according to an embodiment of the present application;

图11为本申请实施例提供的第一泊车单元生成轨迹示意图；11 is a schematic diagram of a trajectory generated by a first parking unit according to an embodiment of the present application;

图12为本申请实施例提供的一种步进式确定最优位姿流程示意图；12 is a schematic flowchart of a step-by-step determination of an optimal pose provided by an embodiment of the present application;

图13为本申请实施例提供的第二种应用场景示意图；13 is a schematic diagram of a second application scenario provided by an embodiment of the present application;

图14为本申请提供的第一种车头先入的泊车装置示意图；FIG. 14 is a schematic diagram of the first front-first-in parking device provided by the application;

图15为本申请提供的第二种车头先入的泊车装置示意图。FIG. 15 is a schematic diagram of a second type of front-first-in parking device provided by the application.

具体实施方式Detailed ways

在泊车空间受限的情况下，车辆如何快速简单的泊车入位，对驾驶员来说一直是个困扰。尤其以车头先入的方式泊入车位时，由于车辆前进转弯过程中，车身横摆较大，驾驶员视野受限等因素，经常需要多次调整规划，才能顺利泊车入位，泊车耗时长，且成功率较低。甚至在泊车过程中还可能因泊车不当，与他车发生剐蹭，造成经济损失等。When the parking space is limited, how to park the vehicle quickly and easily has always been a problem for the driver. Especially when the vehicle is parked in the front-end mode, due to the large yaw of the vehicle body and the limited vision of the driver during the forward turn , and the success rate is low. Even in the process of parking, improper parking may cause rubbing with other cars, resulting in economic losses.

为解决该问题，本申请实施例提供一种车头先入的泊车方法和装置，用以提供一种高效、便捷、准确的车头先入泊车方案。In order to solve this problem, the embodiments of the present application provide a front-first-in parking method and device, so as to provide an efficient, convenient and accurate front-in-parking solution.

本申请实施例的技术方案可以应用于各种车载***，其中，本申请实施例中主要在车头先入泊车过程中，根据采集到的车辆信息，周围环境信息以及车位信息，采用步进式搜索法，寻找到一条规划动作精简，位姿调整最佳的轨迹。此外，本申请实施例中，车辆驶入车位时，不断探测车位位置和大小，实时反馈车位信息，输出合理安全的前轮转角角度，修正误差，提高泊车精度。The technical solutions of the embodiments of the present application can be applied to various vehicle-mounted systems. In the embodiments of the present application, the step-by-step search is mainly used according to the collected vehicle information, surrounding environment information and parking space information during the first-in parking process. method, to find a trajectory with simplified planning actions and optimal pose adjustment. In addition, in the embodiment of the present application, when the vehicle enters the parking space, the position and size of the parking space are continuously detected, the parking space information is fed back in real time, a reasonable and safe front wheel angle is output, errors are corrected, and the parking accuracy is improved.

为便于理解本申请实施例，本申请实施例提供了一种用于车头先入的泊车***，如图1所示，该泊车***的硬件装置包括超声波雷达100(例如，12路超声波雷达)，相机110(例如，四路鱼眼相机)，图像处理器120，CPU 130和控制器140等组成。In order to facilitate the understanding of the embodiments of the present application, the embodiments of the present application provide a parking system for front-end entry. As shown in FIG. 1 , the hardware device of the parking system includes an ultrasonic radar 100 (for example, a 12-channel ultrasonic radar) , a camera 110 (for example, a four-way fisheye camera), an image processor 120, a CPU 130, a controller 140, and the like.

其中，超声波雷达100，主要负责采集车身周围障碍物距自车距离信息。Among them, the ultrasonic radar 100 is mainly responsible for collecting the distance information between the obstacles around the vehicle and the vehicle.

相机110，主要负责采集车身周围环境图像采集。The camera 110 is mainly responsible for collecting images of the surrounding environment of the vehicle body.

图像处理器120，主要负责从图像数据中，完成车位识别，障碍物识别，可通行区域识别等。The image processor 120 is mainly responsible for completing parking space identification, obstacle identification, passable area identification, etc. from the image data.

CPU130，主要负责模块调度以及接收超声波雷达数据，图像处理数据，完成数据信息融合，确定规划方案，生成并输出规划指令等。The CPU 130 is mainly responsible for module scheduling, receiving ultrasonic radar data, image processing data, completing data information fusion, determining a planning scheme, generating and outputting planning instructions, and the like.

本申请实施例一种可选的方案，当车辆人为驾驶时，所述CPU130可以将规划指令发送到车辆显示屏中，用于提示驾驶员如何对车辆进行操作。As an optional solution of the embodiment of the present application, when the vehicle is driven manually, the CPU 130 may send a planning instruction to the display screen of the vehicle to prompt the driver how to operate the vehicle.

本申请实施例另一种可选的方案，当车辆自动驾驶时，所述CPU130可以将规划指令发送给控制器，使所述控制器控制车辆运动，实现车辆自动泊入。In another optional solution of the embodiment of the present application, when the vehicle is driving automatically, the CPU 130 may send a planning instruction to the controller, so that the controller controls the movement of the vehicle and realizes the automatic parking of the vehicle.

控制器140，用于根据CPU的规划指令控制车辆进行运动，实现车辆自动泊车入位。The controller 140 is configured to control the vehicle to move according to the planning instruction of the CPU, so as to realize the automatic parking of the vehicle.

进一步的，本申请实施例根据上述硬件装置构成的***架构可以如图2所示，具体可划分为采集***、处理***以及执行***。Further, the system architecture constituted by the above-mentioned hardware device according to the embodiment of the present application may be as shown in FIG. 2 , and may be specifically divided into a collection system, a processing system, and an execution system.

其中，本申请实施例中所述的采集***，主要包括超声波雷达以及鱼眼相机，用于进行车辆自身数据、障碍物数据、车位数据以及可通行区域数据等的获取。Among them, the acquisition system described in the embodiments of the present application mainly includes ultrasonic radar and fisheye camera, which are used to acquire vehicle data, obstacle data, parking space data, and passable area data.

本申请实施例中所述的处理***，如图3所示，还可以进一步划分为识别监测层，决策规划层。The processing system described in the embodiment of the present application, as shown in FIG. 3 , may be further divided into an identification monitoring layer and a decision planning layer.

其中，本申请实施例一种可选的方式，所述识别监测层主要通过图像处理器，对鱼眼相机采集到的图像进行车辆/行人识别，以及进行可通行区域识别；对超声波雷达采集到的数据对障碍物进行距离监测；并结合鱼眼相机以及超声波雷达进行车位识别等。In an optional manner of the embodiment of the present application, the identification and monitoring layer mainly uses an image processor to perform vehicle/pedestrian identification and passable area identification on the images collected by the fisheye camera; The data is used for distance monitoring of obstacles; combined with fisheye camera and ultrasonic radar for parking space recognition, etc.

本申请实施例一种可选的方式，所述决策规划层主要通过CPU，对所述识别监测层得到的信息进行处理，得到泊车路径规划。In an optional manner of the embodiment of the present application, the decision planning layer mainly processes the information obtained by the identification monitoring layer through the CPU to obtain the parking path plan.

本申请实施例中所述的执行***，主要包括控制器，用于根据处理***下发的泊车指示，进行车辆泊车。The execution system described in the embodiment of the present application mainly includes a controller, which is used for parking the vehicle according to the parking instruction issued by the processing system.

进一步的，本申请实施例所述的泊车指示包括并不限于下述几种：车辆纵向控制指示，车辆横向控制指示。Further, the parking instructions described in the embodiments of the present application include but are not limited to the following types: vehicle longitudinal control instructions and vehicle lateral control instructions.

其中，所述车辆控制可以分为车辆纵向控制，例如，车速控制，以及车辆横向控制，例如，车辆方向盘旋转角度控制、档位等。The vehicle control can be divided into vehicle longitudinal control, such as vehicle speed control, and vehicle lateral control, such as vehicle steering wheel rotation angle control, gear position, and the like.

其中，本申请实施例描述的***架构以及业务场景是为了更加清楚的说明本申请实施例的技术方案，并不构成对于本申请实施例提供的技术方案的限定。进一步的，本领域普通技术人员可知，随着车辆架构的演变和新业务场景的出现，本申请实施例提供的技术方案对于类似的技术问题，同样适用。应理解，图1至图3仅为便于理解而示例的简化示意图，该***架构中还可以包括其他设备或者还可以包括其他单元模块。The system architecture and service scenarios described in the embodiments of the present application are for the purpose of illustrating the technical solutions of the embodiments of the present application more clearly, and do not constitute limitations on the technical solutions provided by the embodiments of the present application. Further, those of ordinary skill in the art know that with the evolution of vehicle architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems. It should be understood that FIG. 1 to FIG. 3 are only simplified schematic diagrams for easy understanding, and the system architecture may further include other devices or may also include other unit modules.

其中，本申请实施例通过车头先入的方式进行泊车的过程可以分为两部分，即可以理解为将所述车头先入的泊车轨迹分为两段。Wherein, the parking process by the first-in approach in the embodiment of the present application can be divided into two parts, that is, it can be understood that the parking trajectory of the first-in approach is divided into two sections.

示例性的，如图4所示，第一部分轨迹为图4中所示的AB段轨迹，第二部分轨迹为图4中所示的BC段轨迹。其中，本申请实施例中所述的A点为目标车辆通过车头先入的方式进行泊车的起点位置；B点为目标车辆将车头调整到偏离目标车位阈值角度后的位置，此时，目标车辆的车头在目标车辆的车尾与目标车位之间；C点为本申请实施例中目标车辆泊入车位后的停放位置，即整个泊车轨迹的终点。Exemplarily, as shown in FIG. 4 , the first partial trajectory is the AB segment trajectory shown in FIG. 4 , and the second partial trajectory is the BC segment trajectory shown in FIG. 4 . Wherein, point A described in the embodiment of the present application is the starting position of the target vehicle for parking by means of front-end first-in; point B is the position where the target vehicle adjusts the front of the vehicle to deviate from the threshold angle of the target parking space. At this time, the target vehicle The front of the vehicle is between the rear of the target vehicle and the target parking space; point C is the parking position after the target vehicle is parked in the parking space in the embodiment of the application, that is, the end point of the entire parking trajectory.

下面，如图5所示，根据上述介绍的两段泊车轨迹，分别对本申请实施例中所述的车头先入的泊车方法的流程进行介绍。Next, as shown in FIG. 5 , the flow of the front-first-in parking method described in the embodiments of the present application will be respectively introduced according to the two parking trajectories described above.

第一部分：通过车头先入的方式进行泊车的第一部分轨迹(即AB段轨迹)。The first part: the first part of the trajectory (ie, the AB segment trajectory) for parking in the first-in method.

S500、车辆中的采集装置进行泊车数据采集。S500. The collection device in the vehicle collects parking data.

本申请实施例中所述泊车数据包括下列中的部分或全部：The parking data in this embodiment of the present application includes some or all of the following:

车辆位置的数据信息、障碍物位置的数据信息、车位的数据信息以及可通行区域位置的数据信息等。The data information of the vehicle position, the data information of the obstacle position, the data information of the parking space, and the data information of the passable area position, etc.

例如，所述泊车数据包括目标车辆(即需要进行泊车的车辆)所在的位置、目标车位的大小以及位置、目标车辆周围的可通行区域位置以及大小、目标车辆周围的障碍物位置以及距离目标车辆的距离等。For example, the parking data includes the location of the target vehicle (that is, the vehicle that needs to be parked), the size and location of the target parking space, the location and size of the passable area around the target vehicle, the location and distance of obstacles around the target vehicle distance to the target vehicle, etc.

所述采集装置包括并不限于摄像装置、传感装置，超声波，雷达等。The collection device includes but is not limited to a camera device, a sensor device, an ultrasonic wave, a radar, and the like.

S501、所述车辆中的采集装置将所述泊车数据发送给所述车辆中的处理装置。S501. The collection device in the vehicle sends the parking data to the processing device in the vehicle.

S502、所述车辆中的处理装置根据所述泊车数据通过步进式算法得到至少一条第一部分轨迹。S502. The processing device in the vehicle obtains at least one first partial trajectory through a step-by-step algorithm according to the parking data.

示例性的，假设本申请实施例中所述处理装置根据所述泊车数据，通过步进式算法，得到如图6所示的3条第一部分轨迹，即3条AB段轨迹。Exemplarily, it is assumed that the processing device in the embodiment of the present application obtains three first partial trajectories as shown in FIG. 6 , that is, three AB segment trajectories through a step-by-step algorithm according to the parking data.

S503、所述车辆中的处理装置确定每条第一部分轨迹的评估值。S503. The processing device in the vehicle determines the evaluation value of each first partial trajectory.

本申请实施例一种可选的方式，可以通过下述方式确定第一部分轨迹的评估值。In an optional manner in this embodiment of the present application, the evaluation value of the first partial trajectory may be determined in the following manner.

首先，从得到的至少一条AB段轨迹中，选取一条AB段轨迹，模拟目标车辆沿着该AB段轨迹进行行驶，当目标车辆行驶到B点后，获取目标车辆在B点的模拟位姿。First, select an AB segment trajectory from the obtained at least one AB segment trajectory, and simulate the target vehicle to drive along the AB segment trajectory. When the target vehicle travels to point B, obtain the simulated pose of the target vehicle at point B.

然后，根据目标车辆在该AB轨迹B点的模拟位姿，如图7所示，确定所述目标车辆在B点时车头中心与后轴中心横向偏差之和(即图7中的角度1+角度2)，以及确定目标车辆车身与车位中轴线角度偏差(即图7中的角度2)。Then, according to the simulated pose of the target vehicle at point B of the AB trajectory, as shown in FIG. 7 , determine the sum of the lateral deviation between the center of the vehicle’s head and the center of the rear axle when the target vehicle is at point B (that is, the angle 1+ in FIG. 7 ) angle 2), and determine the angular deviation between the target vehicle body and the central axis of the parking space (ie, angle 2 in FIG. 7 ).

最后，根据所述目标车辆在B点时的车头中心与后轴中心横向偏差之和，以及目标车辆车身与车位中轴线角度偏差，确定该AB轨迹的评估值。Finally, the evaluation value of the AB trajectory is determined according to the sum of the lateral deviation of the center of the front of the target vehicle and the center of the rear axle when the target vehicle is at point B, and the angle deviation between the body of the target vehicle and the central axis of the parking space.

S504、所述车辆中的处理装置将评估值最小的第一部分轨迹确定为目标泊车轨迹。S504. The processing device in the vehicle determines the first partial trajectory with the smallest evaluation value as the target parking trajectory.

S505、所述车辆根据所述目标泊车轨迹进行行驶。S505, the vehicle travels according to the target parking trajectory.

可选的，所述车辆中的处理装置根据所述目标泊车轨迹确定泊车规划方案，并生成泊车指令。所述车辆中的处理装置将所述泊车指令发送给所述车辆执行装置。所述泊车指令包括目标速度，档位及方向盘旋转角度等。所述车辆中的执行装置根据所述泊车指令进行行驶。Optionally, the processing device in the vehicle determines a parking planning scheme according to the target parking trajectory, and generates a parking instruction. The processing device in the vehicle sends the parking instruction to the vehicle execution device. The parking instruction includes target speed, gear position and steering wheel rotation angle. The execution device in the vehicle travels according to the parking instruction.

S506、所述车辆根据所述目标泊车轨迹进行泊车过程中，判断是否有与障碍物发生碰撞的风险，若是，执行S507，若否，执行S508。S506 , during the parking process of the vehicle according to the target parking trajectory, determine whether there is a risk of collision with an obstacle, if yes, go to S507 , if not, go to S508 .

其中，本申请实施例一种可选的方式，所述执行模块在根据所述泊车指令进行泊车过程中，所述车辆中的采集装置继续对目标车辆周围环境进行数据采集，并上传给所述车辆中的处理装置；所述车辆中的处理装置根据接收到的来自所述采集装置的周围环境数据，分析判断所述目标车辆是否有与障碍物发生碰撞的风险。In an optional manner of the embodiment of the present application, during the parking process of the execution module according to the parking instruction, the collection device in the vehicle continues to collect data on the surrounding environment of the target vehicle, and upload the data to The processing device in the vehicle; the processing device in the vehicle analyzes and determines whether the target vehicle has a risk of colliding with an obstacle according to the surrounding environment data received from the collecting device.

S507、所述车辆中的处理装置根据当前目标车辆的位姿判断是否可以通过重规划实现障碍避让，若是，执行S502，若否，执行S509。S507 , the processing device in the vehicle determines whether the obstacle avoidance can be realized by re-planning according to the pose of the current target vehicle, if so, execute S502 , if not, execute S509 .

S508、所述车辆中的控制装置根据所述目标泊车轨迹，到达目标泊车轨迹的终点，并继续执行S512。S508 , the control device in the vehicle reaches the end point of the target parking trajectory according to the target parking trajectory, and continues to execute S512 .

S509、所述目标车辆停车等待障碍物离开，并继续执行S508。S509, the target vehicle stops and waits for the obstacle to leave, and continues to perform S508.

S510、所述车辆中的处理装置确定是否等待超时，若是，执行S511；若否，执行S509。S510. The processing device in the vehicle determines whether to wait for a timeout, if so, execute S511; if not, execute S509.

S511、泊车终止。S511. Parking is terminated.

第二部分：通过车头先入的方式进行泊车的第二部分轨迹。The second part: the second part of the trajectory of parking by the way of front first.

S512、所述车辆中的处理装置判断所述车辆的车头是否能够驶入车位，若是，执行S513，若否，执行S514。S512. The processing device in the vehicle determines whether the front of the vehicle can drive into the parking space, and if so, executes S513, and if not, executes S514.

本申请实施例中一种可选的方式，所述车辆中的采集装置采集所述车辆当前的位置信息，以及所述车辆与所述目标车位的距离信息等，并将采集到的信息上传给所述车辆的处理装置。所述车辆中的处理装置根据所述采集装置上传的信息确定所述车辆是否可以通过调整前轮角度，驶入车位。In an optional manner in the embodiment of the present application, the collection device in the vehicle collects the current position information of the vehicle, the distance information between the vehicle and the target parking space, etc., and uploads the collected information to The processing device of the vehicle. The processing device in the vehicle determines whether the vehicle can drive into the parking space by adjusting the angle of the front wheels according to the information uploaded by the collecting device.

S513、所述车辆中的控制装置进行误差调整后驶入车位，泊车完成。S513 , the control device in the vehicle drives into the parking space after performing error adjustment, and the parking is completed.

其中，本申请实施例一种可选的方式，所述控制装置在确定所述目标车辆能够驶入车位后，为有效保障车辆安全准确的驶入车位，所述车辆中的处理装置还可以控制所述执行装置，进行闭环误差动态轨迹前进/后退调整。In an optional manner of the embodiment of the present application, after the control device determines that the target vehicle can drive into the parking space, in order to effectively ensure that the vehicle enters the parking space safely and accurately, the processing device in the vehicle may also control the The execution device performs forward/backward adjustment of the closed-loop error dynamic trajectory.

S514、所述车辆中的控制装置通过来回倒车调整位姿，进入车位。S514 , the control device in the vehicle adjusts the posture and posture by reversing back and forth, and enters the parking space.

为了更清楚地展示本申请提供的技术方案，下面通过实施例对本申请提供的车头先入的泊车方法进行说明。In order to demonstrate the technical solution provided by the present application more clearly, the following examples describe the front-end first-in parking method provided by the present application.

需要说明的是，下述介绍仅为对本申请提供的技术方案的列举，并不构成本申请所提供的技术方案的限定，任何针对下述实施例的组合变形，得到的用于解决本申请技术问题的方式都属于本申请保护范围。It should be noted that the following introduction is only an enumeration of the technical solutions provided by the application, and does not constitute a limitation of the technical solutions provided by the application. Any combination and deformation of the following embodiments can be used to solve the technical solutions of the application The manner of the question belongs to the scope of protection of this application.

下面结合图8所示的场景，对本申请实施例所述方案分阶段进行阐述。The solution described in the embodiments of the present application will be described in stages with reference to the scenario shown in FIG. 8 .

示例性的，假设当前泊车场景中，目标车辆为车辆A，目标车辆A前方距离5米处有一障碍物1(例如，行人)。目标车辆A下方有一目标车位A，其中，目标车位A在车位1与车位2之间，且车位1中已停放车辆1，车位2中已停放车辆2。Exemplarily, it is assumed that in the current parking scene, the target vehicle is vehicle A, and there is an obstacle 1 (eg, a pedestrian) at a distance of 5 meters in front of the target vehicle A. There is a target parking space A under the target vehicle A, wherein the target parking space A is between the parking space 1 and the parking space 2, and the parking space 1 has parked the vehicle 1 and the parking space 2 has parked the vehicle 2.

阶段一、泊车数据采集 Stage 1. Parking data collection

该模块具体用于接收来自相机，超声波雷达以及传感器等采集装置的泊车数据。This module is specifically used to receive parking data from acquisition devices such as cameras, ultrasonic radars, and sensors.

示例性的，在该场景中，该阶段主要通过相机和超声波雷达数据识别环境中存在的车位，即目标车位A；通过相机数据识别环境中存在的车辆/行人等目标及位置，即障碍物1；通过相机和超声波雷达数据识别环境中的可通行区域，即图8中的斜纹区域。Exemplarily, in this scene, the camera and ultrasonic radar data are used to identify the parking spaces in the environment at this stage, that is, the target parking space A; the camera data is used to identify targets and positions such as vehicles/pedestrians in the environment, that is, obstacle 1. ; Identify the passable area in the environment through camera and ultrasonic radar data, that is, the twill area in Figure 8.

例如，所述车辆在泊车数据采集阶段，获取到的泊车数据信息如下：For example, in the parking data collection stage of the vehicle, the acquired parking data information is as follows:

(1)车位信息：(1) Parking information:

公式1：Slot＝{P ₁,P ₂,P ₃,P ₄} Formula 1: Slot={P ₁ , P ₂ , P ₃ , P ₄ }

其中，Slot表示目标车辆，P ₁表示车位左上角坐标、P ₂表示车位右上角坐标、P ₃表示车位左下角坐标、P ₄表示车位右下角坐标。 Among them, Slot represents the target vehicle, P1 represents the coordinates _of the upper left corner of the parking space, P2 represents the coordinates of the upper right corner _of the parking space, _P3 represents the coordinates of the lower left corner of the parking space, and P4 represents the coordinates of the lower right corner of the parking space _.

(2)行人/车辆目标：(2) Pedestrian/vehicle target:

公式2：Objects＝{Object ₁,Object ₂,…,Object _n}；Object＝{P ₁,P ₂,P ₃,P ₄} Formula 2: Objects={Object ₁ ,Object ₂ ,...,Object _n }; Object={P ₁ ,P ₂ ,P ₃ ,P ₄ }

其中，Objects表示行人，Object ₁表示行人左上角坐标、Object ₂表示行人右上角坐标、Object ₃表示行人左下角坐标、Object ₄表示行人右下角坐标。 Among them, Objects represents pedestrians, Object ₁ represents the coordinates of the upper left corner of the pedestrian, Object ₂ represents the coordinates of the upper right corner of the pedestrian, Object ₃ represents the coordinates of the lower left corner of the pedestrian, and Object ₄ represents the coordinates of the lower right corner of the pedestrian.

其中，Object表示其他车辆，P ₁表示车位左上角坐标、P ₂表示车位右上角坐标、P ₃表示车位左下角坐标、P ₄表示车位右下角坐标。 Among them, Object represents other vehicles, P1 represents the coordinates _of the upper left corner of the parking space, P2 represents the coordinates of the upper right corner _of the parking space, _P3 represents the coordinates of the lower left corner of the parking space, and P4 represents the coordinates of the lower right corner of the parking space _.

(3)可通行区域：(3) Passable area:

公式3：Freespace＝{P ₁,P ₂,P ₃,…,P _n} Formula 3: Freespace={P ₁ ,P ₂ ,P ₃ ,...,P _n }

其中，Freespace表示可通行区域，P ₁,P ₂,P ₃,…,P _n表示可通行区域坐标。 Among them, Freespace represents the passable area, and P ₁ , P ₂ , P ₃ , ..., P _n represent the coordinates of the passable area.

阶段二、针对泊车过程中第一部分轨迹的生成与跟踪Stage 2: Generation and tracking of the first part of the trajectory during the parking process

根据上述泊车数据信息，得到最优轨迹。According to the above parking data information, the optimal trajectory is obtained.

本申请实施例一种可选的方式，将上述泊车数据信息，发送给车辆中的处理装置后，在所述处理装置中执行的处理过程可以如下所述：In an optional manner of the embodiment of the present application, after the above-mentioned parking data information is sent to the processing device in the vehicle, the processing process performed in the processing device may be as follows:

本申请实施例中目标车辆中的采集装置在采集到泊车数据后，所述目标车辆中的处理装置根据所述泊车数据可以确定出泊车过程中车辆的大致走向，以及泊车的区域。After the collection device in the target vehicle in the embodiment of the present application collects the parking data, the processing device in the target vehicle can determine the approximate direction of the vehicle during the parking process and the parking area according to the parking data .

进一步的，本申请实施例所述目标车辆可以根据泊车过程中的车辆大致走向以及泊车区域，将泊车过程分为至少一个泊车单元。Further, the target vehicle described in this embodiment of the present application may divide the parking process into at least one parking unit according to the approximate direction of the vehicle and the parking area during the parking process.

示例性的，假设目标车辆在泊车过程中，目标车位在自车的右侧时，车辆的大致走向是如图9中的(a)所示。然后，可以将泊车过程分为4个泊车单元，例如，泊车过程的第一泊车单元如图9中的(b)所示，泊车过程的第二泊车单元如图9中的(c)所示，泊车过程的第三单元如图9中的(d)所示，泊车过程的第四单元如图9中的(e)所示。其中，第一泊车单元至第三泊车单元规划的轨迹为上述所述的AB段轨迹，第四泊车单元规划的轨迹为上述所述的BC段轨迹。Exemplarily, it is assumed that the target vehicle is in the process of parking and when the target parking space is on the right side of the own vehicle, the approximate direction of the vehicle is as shown in (a) of FIG. 9 . Then, the parking process can be divided into 4 parking units. For example, the first parking unit in the parking process is shown in (b) of FIG. 9 , and the second parking unit in the parking process is shown in FIG. 9 . As shown in (c) of FIG. 9 , the third unit of the parking process is shown in (d) of FIG. 9 , and the fourth unit of the parking process is shown as (e) of FIG. 9 . Wherein, the planned trajectory of the first parking unit to the third parking unit is the above-mentioned AB segment trajectory, and the planned trajectory of the fourth parking unit is the above-mentioned BC segment trajectory.

需要说明的是，本申请实施例中，车辆在进行泊车过程中确定车辆的大致走向以及针对泊车过程中泊车单元的划分的方式有多种，本申请实施例不进行限定。例如，本申请实施例可以根据之前泊车过程中的先验轨迹模型，确定出泊车过程的大致方向以及泊车过程中的泊车单元。其中，所述先验轨迹模型是根据几何分析和大量实验证明得出的。It should be noted that, in the embodiments of the present application, there are various ways of determining the general direction of the vehicle during the parking process of the vehicle and dividing the parking units during the parking process, which are not limited in the embodiments of the present application. For example, the embodiment of the present application can determine the general direction of the parking process and the parking units in the parking process according to the prior trajectory model in the previous parking process. Wherein, the prior trajectory model is obtained according to geometric analysis and a large number of experimental proofs.

进一步的，所述车辆中的处理装置可以基于每个泊车单元进行泊车轨迹规划。也就是说，泊车过程中的整个泊车轨迹是由若干段泊车单元轨迹组成的。Further, the processing device in the vehicle may perform parking trajectory planning based on each parking unit. That is to say, the entire parking trajectory during the parking process is composed of several segments of parking unit trajectories.

其中，本申请实施例一种可选的方式，所述车辆中的处理装置采用步进式算法生成每个泊车单元中的轨迹。Wherein, in an optional manner of the embodiment of the present application, the processing device in the vehicle uses a step-by-step algorithm to generate the trajectory in each parking unit.

可以理解的是，车辆在行驶过程中，一段轨迹中可能会包含直线轨迹以及圆弧轨迹，因此，本申请实施例中泊车单元中的轨迹可以理解为是由若干直线轨迹和/或若干圆弧轨迹组成的。It can be understood that, during the driving process of the vehicle, a segment of trajectory may include a straight trajectory and a circular arc trajectory. Therefore, the trajectory in the parking unit in the embodiment of the present application can be understood as consisting of several straight trajectories and/or several circular arcs. composed of tracks.

其中，在泊车单元轨迹中，圆弧和直线两者各自发挥重要作用。例如，圆弧的作用，在于灵活的调整自车方向；直线的作用，一方面调整自车位置，另一方面可以平滑的连接两段圆弧，使***更容易跟踪生成的轨迹。Among them, in the trajectory of the parking unit, both arcs and straight lines play an important role. For example, the function of the arc is to flexibly adjust the direction of the ego vehicle; the function of the straight line is to adjust the position of the ego car on the one hand, and on the other hand, it can smoothly connect the two arcs, making it easier for the system to track the generated trajectory.

需要说明的是，本申请实施例中所述最小泊车单元中可以仅存在直线轨迹，也可以仅存在圆弧轨迹，并且，本申请实施例中并不限定圆弧轨迹与直线轨迹的先后顺序，任何能够组合成最小单元泊车轨迹的方式，都适用于本申请实施例。It should be noted that, in the minimum parking unit described in the embodiments of the present application, there may be only straight trajectories or only circular arc trajectories, and the order of the circular arc trajectories and the straight trajectories is not limited in the embodiments of the present application. , any method that can be combined into a minimum unit parking trajectory is applicable to the embodiments of the present application.

其中，本申请实施例中在进行泊车单元轨迹确定时，如图10所示，第一泊车单元以A点作为计算起点，然后根据步进式算法，确定出第一泊车单元中的泊车轨迹，并得到第一泊车单元中的轨迹终点，例如Q1点为第一泊车单元轨迹的终点。Among them, in the embodiment of the present application, when determining the trajectory of the parking unit, as shown in FIG. 10 , the first parking unit takes point A as the starting point of calculation, and then determines the trajectory of the first parking unit according to the step-by-step algorithm. The parking trajectory is obtained, and the end point of the trajectory in the first parking unit is obtained, for example, point Q1 is the end point of the trajectory of the first parking unit.

进一步的，第二泊车单元以第一泊车单元中规划的泊车轨迹终点(即Q1)作为第二泊车单元中泊车轨迹规划的起点，然后根据步进式算法，确定出第二泊车单元中的泊车轨迹，并得到第二泊车单元中的轨迹终点，例如Q2点为第二泊车单元轨迹的终点。依此类推，直到整个泊车轨迹规划完成。Further, the second parking unit takes the planned parking trajectory end point (ie Q1) in the first parking unit as the starting point of the parking trajectory planning in the second parking unit, and then determines the second parking trajectory according to the step-by-step algorithm. The parking trajectory in the car unit is obtained, and the end point of the trajectory in the second parking unit is obtained, for example, point Q2 is the end point of the trajectory of the second parking unit. And so on, until the entire parking trajectory planning is completed.

也就是说，进行步进式路线确定时，每次步进路线的起点是上一次步进路线时得到的路线终点。That is to say, when the step-by-step route is determined, the starting point of each step-by-step route is the route end point obtained in the previous step-by-step route.

下面，为了方便理解，本申请实施例假设每个泊车单元轨迹是由一条直线轨迹与一条圆弧轨迹组成的，且直线轨迹在圆弧轨迹之前的情况，对步进式确定泊车单元轨迹的内容进行介绍：In the following, for the convenience of understanding, the embodiment of the present application assumes that each parking unit trajectory is composed of a linear trajectory and a circular arc trajectory, and the linear trajectory is before the circular arc trajectory, and the step-by-step determination of the parking unit trajectory is performed. The content is introduced:

其中，假设，每次进行步进算法后的起点位姿的位姿信息为：Among them, it is assumed that the pose information of the starting point pose after each step algorithm is performed is:

公式4：Position _车＝{x _车，y _车，θ _车}。 Formula 4: Position _car = {x _car , y _car , θ _car }.

对于直线轨迹，每次步进步长为d _{step_line}，则在x，y方向上步长分别为： For a straight line trajectory, the step length of each step is d _{step_line} , then the step lengths in the x and y directions are:

则直线轨迹搜索过程中，每次进行步进算法后的终点位姿更新如下：Then, in the process of linear trajectory search, the endpoint pose update after each step algorithm is performed as follows:

进一步的，车辆完成直线阈值步进次数后，生成了如图11中(a)所示的一条直线轨迹。Further, after the vehicle completes the linear threshold step times, a linear trajectory as shown in (a) in FIG. 11 is generated.

对于圆弧轨迹，为简化计算并且满足最精简的轨迹完成自车方向调整，这里用自车最小转弯半径作为圆弧轨迹的固定转弯半径r，则根据当前自车位置可以推算出圆弧轨迹的圆心位置：For the arc trajectory, in order to simplify the calculation and satisfy the most streamlined trajectory to complete the direction adjustment of the ego vehicle, here the minimum turning radius of the ego vehicle is used as the fixed turning radius r of the arc trajectory, and the arc trajectory can be calculated according to the current ego vehicle position. Center position:

其中，

in,

在轨迹搜索的过程中，圆弧步长为d _{step_arc}，则转角步长为： In the process of track search, the arc step size is d _{step_arc} , and the corner step size is:

公式9：θ _{step_arc}＝d _{step_arc}/r。 Formula 9: θ _{step_arc} = d _{step_arc} /r.

因此圆弧轨迹搜索过程中，每次进行步进算法后的终点位姿更新如下：Therefore, during the arc trajectory search process, the endpoint pose update after each step algorithm is performed as follows:

其中，

in,

进一步的，车辆完成直线阈值步进次数后，生成了如图11中的(b)所示的一条圆弧轨迹。Further, after the vehicle completes the linear threshold step times, a circular arc trajectory as shown in (b) in FIG. 11 is generated.

其中，本申请实施例中公式中的角度是可变量，在生成直线轨迹时，通过调整角度，可以生成多条直线轨迹。在生成圆弧轨迹时，通过调整角度，可以生成多条圆弧轨迹，因此，每个泊车单元中可以得到至少一条泊车单元轨迹。Wherein, the angle in the formula in the embodiment of the present application is a variable value, and when generating a linear trajectory, by adjusting the angle, multiple linear trajectories can be generated. When generating a circular arc trajectory, by adjusting the angle, multiple circular arc trajectories can be generated. Therefore, at least one parking unit trajectory can be obtained in each parking unit.

需要说明的是，本申请实施例中角度的取值范围可以根据现有方式进行确定，本申请实施例并不限定。It should be noted that, the value range of the angle in the embodiment of the present application may be determined according to the existing manner, which is not limited in the embodiment of the present application.

通过将步进搜索算法加入泊车轨迹模型中，能够在保证优质精简的搜索结果前提下，大幅降低轨迹搜索时间，并且对较远处感知误差容忍度高，当驶近障碍物时，可根据精度更高的感知探测，做出快速合理的重规划策略。By adding the step-by-step search algorithm to the parking trajectory model, the trajectory search time can be greatly reduced on the premise of ensuring high-quality and simplified search results, and the tolerance for sensing errors in farther distances can be high. Perceptual detection with higher accuracy, making a fast and reasonable re-planning strategy.

进一步的，如图12所示，本申请实施例提供了一种针对每个泊车单元，进行步进式确定最优位姿的流程图，如下：Further, as shown in FIG. 12 , an embodiment of the present application provides a flowchart of step-by-step determination of the optimal pose for each parking unit, as follows:

其中，假设该泊车单元中的泊车轨迹是由一段直线轨迹与一段圆弧轨迹确定的，并且先执行直线轨迹。Wherein, it is assumed that the parking trajectory in the parking unit is determined by a straight line trajectory and a circular arc trajectory, and the straight line trajectory is executed first.

S1200、确定用于生成直线轨迹的直线步进步长。S1200. Determine the linear step length for generating the linear trajectory.

S1201、选取用于进行直线轨迹步进的第一角度，并根据所述第一角度和直线步进步长进行直线轨迹生成。S1201. Select a first angle for performing linear trajectory stepping, and generate a linear trajectory according to the first angle and the linear step progress.

S1202、确定生成的直线轨迹是否有与障碍物发生碰撞的风险，若是，执行S1203，若否，执行S1204。S1202. Determine whether the generated linear trajectory has a risk of colliding with an obstacle, if so, execute S1203, and if not, execute S1204.

S1203、回退到该泊车单元轨迹规划起点，更换第一角度，重新进行直线轨迹步进，继续执行S1202。S1203 , returning to the starting point of the trajectory planning of the parking unit, changing the first angle, re-stepping the linear trajectory, and continuing to execute S1202 .

S1204、确定是否到达直线轨迹进行步进的直线步进次数，若是，执行S1205，若否，执行S1201。S1204: Determine whether the number of linear steps to be performed on the linear track is reached, if so, execute S1205, and if not, execute S1201.

S1205、确定用于生成圆弧轨迹的圆弧步进步长。S1205. Determine the arc step length for generating the arc track.

S1206、选取用于进行圆弧轨迹步进的第二角度，并根据第二角度和圆弧步进步长生成一段圆弧轨迹。S1206: Select a second angle for performing circular arc trajectory step, and generate a segment of circular arc trajectory according to the second angle and the circular arc step length.

S1207、确定生成的圆弧轨迹是否有与障碍物发生碰撞的风险，若是，执行S1208，若否，执行S1209。S1207. Determine whether the generated arc trajectory has a risk of colliding with an obstacle, and if so, execute S1208, and if not, execute S1209.

S1208、回退到上一段步进的圆弧轨迹起点，更换第二角度，重新进行圆弧轨迹步进，继续执行S1207。S1208 , return to the starting point of the arc track of the previous step, change the second angle, perform the arc track step again, and continue to execute S1207 .

S1209、确定是否到达圆弧轨迹进行步进的圆弧步进次数，若是，执行S1210，若否，执行S1206。S1209: Determine whether the number of arc stepping times for stepping on the arc track is reached, if so, execute S1210, and if not, execute S1206.

S1210、结束该单元的轨迹生成。S1210. End the trajectory generation of the unit.

进一步的，本申请实施例中在通过上述步进式算法，将得到的第一泊车单元轨迹、第二泊车单元轨迹以及第三泊车单元轨迹连接起来后，即为第一部分泊车轨迹。Further, in the embodiment of the present application, after the first parking unit trajectory, the second parking unit trajectory, and the third parking unit trajectory obtained are connected through the above-mentioned step-by-step algorithm, the first part of the parking trajectory is obtained. .

阶段三、位姿进行评估Stage three, pose evaluation

本申请实施例中，在完成第二阶段轨迹生成与跟踪后，会得到至少一条第一部分泊车轨迹。然后，在该阶段，对得到的至少一条第一部分泊车轨迹分别进行轨迹评估，得到每条第一部分轨迹对应的评估(cost)值，根据cost的大小评判每条第一部分轨迹的优劣。In this embodiment of the present application, after completing the second-stage trajectory generation and tracking, at least one first partial parking trajectory will be obtained. Then, in this stage, the obtained at least one first part of the parking trajectory is respectively evaluated for the trajectory, and the evaluation (cost) value corresponding to each first part of the trajectory is obtained, and the pros and cons of each first part of the trajectory are judged according to the size of the cost.

其中，本申请实施例一种可选的方式，进行位姿评估时，可以结合下述两个方面进行评判：Wherein, in an optional manner in the embodiment of the present application, when evaluating the pose, the following two aspects may be combined for evaluation:

评判方面一：车头中心与后轴中心横向偏差之和(e _{rear_distance}+e _{front_distance})； Judgment aspect one: the sum of the lateral deviation between the center of the front and the center of the rear axle (e _{rear_distance} +e _{front_distance} );

其中，评判方面一所述的车头中心与后轴中心，是目标车辆模拟在第三泊车单元规划的路线终点时对应的车头中心与后轴中心。Wherein, the front center and the rear axle center mentioned in the first aspect of the evaluation are the corresponding front center and rear axle center when the target vehicle simulates the end point of the route planned by the third parking unit.

评判方面二：车身与车位中轴线角度偏差。Judgment aspect 2: The angle deviation between the body and the central axis of the parking space.

其中，评判方面二所述的车身与车位中轴线，是目标车辆模拟在第三泊车单元规划的路线终点时对应的车身与车位中轴线。Wherein, the central axis of the body and the parking space described in the judgment aspect 2 is the central axis of the body and the parking space corresponding to when the target vehicle simulates the end point of the route planned by the third parking unit.

示例性的，用于确定评估值(cost)的具体公式如下：Exemplarily, the specific formula for determining the evaluation value (cost) is as follows:

公式12：Cost＝(1.0+k ₁×(e _θ) ²)×(1.0+k ₂×(e _{rear_distance}+e _{front_distance}) ²) Formula 12: Cost=(1.0+k ₁ ×(e _θ ) ² )×(1.0+k ₂ ×(e _{rear_distance} +e _{front_distance} ) ² )

其中k ₁和k ₂分别为角度偏差和横向偏差在损失函数中所占比重。 where k ₁ and k ₂ are the proportions of angular deviation and lateral deviation in the loss function, respectively.

进一步的，本申请实施例中在对第二阶段生成的至少一条第一部分泊车轨迹确定评估值之后，将评估值最小的第一部分泊车轨迹确定为最优泊车轨迹。即将所述评估值最小的轨迹确定为所述车辆进行泊车过程中采用的目标泊车轨迹。Further, in the embodiment of the present application, after the evaluation value is determined for at least one first partial parking trajectory generated in the second stage, the first partial parking trajectory with the smallest evaluation value is determined as the optimal parking trajectory. That is, the trajectory with the smallest evaluation value is determined as the target parking trajectory used in the parking process of the vehicle.

阶段四、动态微调轨迹 Stage 4. Dynamic fine-tuning of the trajectory

本申请实施例在该阶段四中，主要判断目标车辆根据所述第三阶段得到的目标泊车轨迹进行行驶后，目标车辆在所述目标泊车轨迹的终点(即B点)所处的位姿是否可以驶入车位。In the fourth stage of this embodiment of the present application, after the target vehicle travels according to the target parking trajectory obtained in the third stage, the position of the target vehicle at the end point (ie point B) of the target parking trajectory is mainly determined. Whether the posture can drive into the parking space.

当所述车辆中的处理装置根据所述采集装置采集到的数据信息确定本车的车头尚不可探入目标车位中时，可通过若干段圆弧曲线调整位姿。当所述车辆中的处理装置根据所述采集装置采集到的数据信息确定本车的车头可探入车位时，则启动动态微调规划。When the processing device in the vehicle determines according to the data information collected by the collecting device that the front of the vehicle cannot penetrate into the target parking space, the pose can be adjusted through several arc curves. When the processing device in the vehicle determines according to the data information collected by the collecting device that the front of the vehicle can penetrate into the parking space, the dynamic fine-tuning planning is started.

进一步的，由于车位检测误差，定位误差，规划误差和控制误差等多种误差因素，导致自车在驶入车位时，距目标位置仍存在较大误差，因此需要根据自车位姿，做动态调整式规划，从而使车辆在所述车位中的停放位置更加规范。Further, due to various error factors such as parking space detection error, positioning error, planning error and control error, when the self-vehicle enters the parking space, there is still a large error from the target position, so it needs to be dynamically adjusted according to the self-vehicle posture Therefore, the parking position of the vehicle in the parking space is more standardized.

为此，本发明实施例一种可选的方式，采用闭环误差的规划方式，直接根据自车位姿与目标位姿存在的误差，确定前轮转角。To this end, an optional method in the embodiment of the present invention uses a closed-loop error planning method to directly determine the front wheel rotation angle according to the error existing between the self-vehicle posture and the target posture.

本申请实施例通过上述动态微调，由自车位姿与目标位姿确定出位姿误差，并根据确定出的位姿误差，直接生成控制指令，闭环效果最为迅速，去除了从消除误差意图到生成轨迹再到跟踪轨迹过程中，闭环响应不及时的问题。In this embodiment of the present application, through the above dynamic fine-tuning, the pose error is determined from the self-vehicle pose and the target pose, and the control command is directly generated according to the determined pose error, and the closed-loop effect is the fastest, eliminating the need for error elimination From the trajectory to the tracking trajectory, the closed-loop response is not timely.

其中，本申请实施例一种可选的方式，在动态微调阶段，自车与目标车位位姿确定误差时选择的维度与上述阶段三进行位姿评估时考虑的维度相同。Wherein, in an optional manner of the embodiment of the present application, in the dynamic fine-tuning stage, the dimension selected for determining the position and attitude error between the ego vehicle and the target vehicle is the same as the dimension considered in the above-mentioned third stage for pose evaluation.

即采用车头中心与后轴中心横向偏差之和(e _{rear_distance}+e _{front_distance})以及车身与车位中轴线角度偏差确定自车与目标车位的误差。示例性的，假设本申请实施例进行闭环误差规划采用的模型为下述的闭环控制PID模型。 That is, the sum of the lateral deviations between the center of the front and the center of the rear axle (e _{rear_distance} + e _{front_distance} ) and the angle deviation between the body and the central axis of the parking space are used to determine the error between the own vehicle and the target parking space. Exemplarily, it is assumed that the model used for closed-loop error planning in this embodiment of the present application is the following closed-loop control PID model.

其中，将车头中心与后轴中心横向偏差之和以及车身与车位中轴线角度偏差作为e(t)，代入上述公式13，从而得到自车与目标车位的误差值y。Among them, the sum of the lateral deviation between the center of the vehicle head and the center of the rear axle and the angle deviation between the center axis of the vehicle body and the parking space are taken as e(t), and are substituted into the above formula 13 to obtain the error value y between the own vehicle and the target parking space.

进一步的，狭小的车位空间，如果规划不考虑安全防护，仅用闭环误差控制，会存在剐蹭到车位旁边障碍物的风险。Further, in the narrow parking space, if the planning does not consider safety protection and only uses closed-loop error control, there will be a risk of scratching the obstacles next to the parking space.

因此，本申请实施例一种可选的方式，在通过据自车位姿与目标位姿存在的误差，确定前轮转角时，可以对输出的前轮转角进行安全防护约束。Therefore, in an optional manner of the embodiment of the present application, when the front wheel rotation angle is determined according to the error between the self-vehicle posture and the target posture, safety protection constraints can be performed on the output front wheel rotation angle.

具体的，本申请实施例在根据确定的前轮转角生成控制指令之前，对所述前轮转角进行安全防护约束。从而，可以使得到的控制指令指示的轨迹更为安全。Specifically, in this embodiment of the present application, before a control command is generated according to the determined front wheel rotation angle, a safety protection constraint is performed on the front wheel rotation angle. Therefore, the trajectory indicated by the obtained control instruction can be made safer.

本申请实施例一种可选的方式，提供一种对前轮转角进行安全防护约束的计算方法：An optional manner of the embodiment of the present application provides a calculation method for performing safety protection constraints on the front wheel rotation angle:

示例性的，当自车驶入车位，为避免自车与车位两边障碍物相撞，需对前轮转角调节范围作约束。Exemplarily, when the self-vehicle enters the parking space, in order to avoid the collision between the self-vehicle and the obstacles on both sides of the parking space, the adjustment range of the front wheel rotation angle needs to be restricted.

其中，假设自车最大前轮转角角度为max_front_wheel_angle,则前轮转角取值范围为[-max_front_wheel_angle,max_front_wheel_angle]，向左转为正，向右转为负。Among them, assuming that the maximum front wheel angle of the vehicle is max_front_wheel_angle, the range of the front wheel angle is [-max_front_wheel_angle, max_front_wheel_angle], turning left is positive, and turning right is negative.

如图13所示，线段V ₀V ₁和线段S ₂S ₃的距离为distance ₁，线段V ₂V ₃和线段S ₀S ₁的距离为distance ₂。 As shown in FIG. 13 , the distance between the line segment V ₀ V ₁ and the line segment S ₂ S ₃ is distance ₁ , and the distance between the line segment V ₂ V ₃ and the line segment S ₀ S ₁ is distance ₂ .

为保证线段V ₂V ₃和线段S ₀S ₁保持大于min_obstacle_distance的最小间距，就要限制自车向右转的幅度，即约束输出前轮转角的最小值。则给出下述公式14： In order to ensure that the line segment V ₂ V ₃ and the line segment S ₀ S ₁ maintain the minimum distance greater than min_obstacle_distance, it is necessary to limit the amplitude of the right turn of the ego vehicle, that is, the minimum value of the output front wheel rotation angle. Then the following formula 14 is given:

min_angle＝-max_front_wheel_anglemin_angle=-max_front_wheel_angle

×min(max(distance ₂-min_obstacle_distance,0)×k,1.0) ×min(max(distance ₂ -min_obstacle_distance,0)×k,1.0)

其中，k为距离约束系数，k越大需要自车有较快转向速度，可以更灵活的利用空间修正自车位姿。Among them, k is the distance constraint coefficient. The larger the k is, the faster the turning speed of the ego car is required, and the position and posture of the ego car can be corrected more flexibly by using the space.

此外，从公式中可以看出，当distance ₂越小，min_angle越大，当distance ₂≤min_obstacle_distance时，min_angle只能取0，即自车只能沿直线往前走，从而避免线段V ₂V ₃和线段S ₀S ₁发生碰撞可能。 In addition, it can be seen from the formula that the smaller the distance _{2 is, the larger the min_angle is. When the distance 2} _{≤min_obstacle_distance} , the min_angle can only take 0, that is, the self-vehicle can only go forward in a straight line, thus avoiding the line segment V ₂ V ₃ and The line segment S ₀ S ₁ may collide.

为保证线段V ₀V ₁和线段S ₂S ₃保持大于min_obstacle_distance的最小间距，就要限制自车向左转的幅度，即约束输出前轮转角的最大值。 In order to ensure that the line segment V ₀ V ₁ and the line segment S ₂ S ₃ maintain a minimum distance greater than min_obstacle_distance, it is necessary to limit the amplitude of the left turn of the ego vehicle, that is, the maximum value of the output front wheel rotation angle.

考虑极限情况，当distance ₂＝min_obstacle_distance时，为保证下一时刻distance ₂≥min_obstacle_distance，max_angle取最大值时，应保证转弯半径OV ₁垂直于S ₂S ₃。 Considering the limit situation, when distance ₂ =min_obstacle_distance, in order to ensure that distance ₂ ≥min_obstacle_distance at the next moment, when max_angle takes the maximum value, it should be ensured that the turning radius OV ₁ is perpendicular to S ₂ S ₃ .

其中，因为S ₂S ₃方向角已知，因此可得OV ₁方向角，再根据V ₁坐标，可计算出OV ₁的直线方程。 Among them, because the direction angle of S ₂ S ₃ is known, the direction angle of OV ₁ can be obtained, and then according to the coordinates of V ₁ , the straight line equation of OV ₁ can be calculated.

线段OC为自车转弯半径垂直于自车位姿方向，因此OC方向角已知，再根据C点坐标即自车位置，可计算出OC的直线方程，将OV ₁，OC直线方程联立，计算出转弯圆心O的位置，则转弯圆的半径为： The line segment OC is the self-vehicle turning radius perpendicular to the self-vehicle posture direction, so the OC direction angle is known, and then according to the C point coordinate, that is, the self-vehicle position, the straight line equation _of OC can be calculated. Out of the position of the turning circle center O, the radius of the turning circle is:

根据阿克曼转向模型可计算出前轮转角为：According to the Ackerman steering model, the front wheel steering angle can be calculated as:

则前轮转角最大值为下述公式17：Then the maximum front wheel rotation angle is the following formula 17:

其中k为距离约束系数。where k is the distance constraint coefficient.

此外，从公式中可以看出，当distance ₁越小，max_angle越小，当distance ₂≤min_obstacle_distance时，max_angle取boundary_angle，即自车行驶保证distance ₁增大，从而避免线段V ₀V ₁和线段S ₂S ₃发生碰撞可能。 In addition, it can be seen from the formula that when the distance ₁ is smaller, the max_angle is smaller. When distance ₂ ≤min_obstacle_distance, the max_angle takes the boundary_angle, that is, the distance ₁ is guaranteed to increase when the vehicle travels, so as to avoid the line segment V ₀ V ₁ and the line segment S ₂ S ₃ collision is possible.

综上根据几何计算约束，保证动态微调在可移动空间内安全高效的输出横向控制指令。In summary, according to the geometric calculation constraints, the dynamic fine-tuning can ensure the safe and efficient output of lateral control commands in the movable space.

通过本申请实施例所述车头先入的泊车方法，进行泊车过程中，步进式搜索路径规划，规划轨迹精简有效，保证较少的档位切换次数和行驶距离的情况下，达到调整自车到最佳驶入位姿的效果，且规划耗时短，满足实时性要求。By means of the front-end parking method described in the embodiment of the present application, the step-by-step search path planning is performed during the parking process, the planning trajectory is simplified and effective, and the automatic adjustment can be achieved while ensuring fewer gear switching times and driving distances. The effect of the car to the best entry pose, and the planning time is short, which meets the real-time requirements.

另一方面，本发明提出在自车驶入车位时，根据更精确的感知信息，做出进一步安全快速的微调，快速收敛误差，提高泊车精度。On the other hand, the present invention proposes to make further safe and rapid fine-tuning according to more accurate perception information when the self-vehicle enters the parking space, so as to quickly converge the error and improve the parking accuracy.

其中，本申请实施例中的术语“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中，A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。以下至少一项(个)下或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a，b，或c中的至少一项(个)，可以表示：a,b,c,a-b,a-c,b-c,或a-b-c，其中a,b,c可以是单个，也可以是多个。Wherein, the term "at least one" in the embodiments of the present application refers to one or more, and "a plurality" refers to two or more. "And/or", which describes the relationship of the associated objects, means that there can be three kinds of relationships, for example, A and/or B, which can mean that A exists alone, A and B exist at the same time, and B exists alone, where A , B can be singular or plural. The character "/" generally indicates that the associated objects are an "or" relationship. The following at least one item(s) or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (a) of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c may be single or multiple .

除非有相反的说明，本申请实施例提及“第一”、“第二”等序数词是用于对多个对象进行区分，不用于限定多个对象的顺序、时序、优先级或者重要程度。此外，本申请实施例和权利要求书及附图中的术语“包括”和“具有”不是排他的。例如，包括了一系列步骤或模块的过程、方法、***、产品或设备，不限定于已列出的步骤或模块，还可以包括没有列出的步骤或模块。Unless stated to the contrary, ordinal numbers such as “first” and “second” mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, sequence, priority, or importance of multiple objects . In addition, the terms "comprising" and "having" in the embodiments and claims of the present application and the drawings are not exclusive. For example, a process, method, system, product or device that includes a series of steps or modules is not limited to the listed steps or modules, and may also include unlisted steps or modules.

通过上述对本申请方案的介绍，可以理解的是，上述实现各设备为了实现上述功能，其包含了执行各个功能相应的硬件结构和/或软件单元。本领域技术人员应该很容易意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，本发明能够以硬件或硬件和计算机软件的结合形式来实现。某个功能究竟以硬件还是计算机软件驱动硬件的方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本发明的范围。From the above introduction to the solution of the present application, it can be understood that, in order to realize the above functions, the above implementing devices include hardware structures and/or software units corresponding to executing the functions. Those skilled in the art should easily realize that the present invention can be implemented in hardware or a combination of hardware and computer software in conjunction with the units and algorithm steps of each example described in the embodiments disclosed herein. Whether a function is performed by hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

如图14所示，本发明实施例一种车头先入的泊车装置，该装置包括处理器1400、存储器1401和收发机1402；As shown in FIG. 14, an embodiment of the present invention is a front-end parking device, the device includes a processor 1400, a memory 1401, and a transceiver 1402;

处理器1400负责管理总线架构和通常的处理，存储器1401可以存储处理器1400在执行操作时所使用的数据。收发机1402用于在处理器1400的控制下接收和发送数据与存储器1401进行数据通信。The processor 1400 is responsible for managing the bus architecture and general processing, and the memory 1401 may store data used by the processor 1400 when performing operations. The transceiver 1402 is used to receive and transmit data under the control of the processor 1400 for data communication with the memory 1401 .

总线架构可以包括任意数量的互联的总线和桥，具体由处理器1400代表的一个或多个处理器和存储器1401代表的存储器的各种电路链接在一起。总线架构还可以将诸如***设备、稳压器和功率管理电路等之类的各种其他电路链接在一起，这些都是本领域所公知的，因此，本文不再对其进行进一步描述。总线接口提供接口。处理器1400负责管理总线架构和通常的处理，存储器1401可以存储处理器1400在执行操作时所使用的数据。The bus architecture may include any number of interconnected buses and bridges, in particular one or more processors represented by processor 1400 and various circuits of memory represented by memory 1401 linked together. The bus architecture may also link together various other circuits, such as peripherals, voltage regulators, and power management circuits, which are well known in the art and, therefore, will not be described further herein. The bus interface provides the interface. The processor 1400 is responsible for managing the bus architecture and general processing, and the memory 1401 may store data used by the processor 1400 when performing operations.

本发明实施例揭示的流程，可以应用于处理器1400中，或者由处理器1400实现。在实现过程中，车头先入的泊车流程的各步骤可以通过处理1400中的硬件的集成逻辑电路或者软件形式的指令完成。处理器1400可以是通用处理器、数字信号处理器、专用集成电路、现场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。The processes disclosed in the embodiments of the present invention may be applied to the processor 1400 or implemented by the processor 1400 . In the implementation process, each step of the first-in parking process can be completed through the hardware integrated logic circuit in the processing 1400 or the instructions in the form of software. The processor 1400 may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the embodiments of the present invention. The disclosed methods, steps, and logical block diagrams of . A general purpose processor may be a microprocessor or any conventional processor or the like.

结合本发明实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器1401，处理器1400读取存储器1401中的信息，结合其硬件完成信号处理流程的步骤。The steps of the method disclosed in conjunction with the embodiments of the present invention may be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor. The software modules may be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other storage media mature in the art. The storage medium is located in the memory 1401, and the processor 1400 reads the information in the memory 1401, and completes the steps of the signal processing flow in combination with its hardware.

本申请一种可选的方式，所述处理器1400用于读取存储器1401中的程序并以执行如图5所示的S500-S514中的方法流程；或执行如图12所示的S1200-S1210中的方法流程。In an optional manner of the present application, the processor 1400 is configured to read the program in the memory 1401 and execute the method flow in S500-S514 shown in FIG. 5; or execute the S1200-S514 shown in FIG. The method flow in S1210.

如图15所示，本发明提供一种车头先入的泊车的装置，所述装置包括采集模块1500和处理模块1501。As shown in FIG. 15 , the present invention provides a head-first parking device, the device includes a collection module 1500 and a processing module 1501 .

所述采集模块1500，用于采集泊车数据，所述泊车数据包括车辆位姿信息、障碍物位置信息、目标车位信息以及可通行区域位置信息中的部分或全部；The collection module 1500 is used to collect parking data, and the parking data includes part or all of vehicle posture information, obstacle position information, target parking space information, and passable area position information;

所述处理模块1501，用于根据所述泊车数据，采用步进式算法，确定至少一条初始泊车轨迹；对每条初始泊车轨迹进行评估，确定最优初始泊车轨迹；将所述最优初始泊车轨迹确定为目标泊车轨迹；根据所述目标泊车轨迹进行车头先入式泊车。The processing module 1501 is used to determine at least one initial parking trajectory by using a step-by-step algorithm according to the parking data; evaluate each initial parking trajectory to determine the optimal initial parking trajectory; The optimal initial parking trajectory is determined as the target parking trajectory; the front-end parking is performed according to the target parking trajectory.

在一种实现方式中，所述处理模块1501具体用于：In an implementation manner, the processing module 1501 is specifically used for:

将泊车过程分成至少一个泊车单元；采用步进式算法确定依次确定每个泊车单元的泊车轨迹，得到至少一条初始泊车轨迹；其中，上一个泊车单元中的轨迹终点是下一个泊车单元的轨迹起点。The parking process is divided into at least one parking unit; the step-by-step algorithm is used to determine the parking trajectory of each parking unit in turn, and at least one initial parking trajectory is obtained; wherein, the end point of the trajectory in the previous parking unit is the next one. The starting point of the trajectory of a parking unit.

确定车辆在每条初始泊车轨迹的终点时的位姿；Determine the pose of the vehicle at the end of each initial parking trajectory;

根据所述位姿对所述初始泊车轨迹进行评估，确定最优初始泊车轨迹。The initial parking trajectory is evaluated according to the pose to determine the optimal initial parking trajectory.

根据车辆在初始泊车轨迹的终点时的位姿，确定所述车辆车头中心与后轴中心横向偏差之和，以及所述车辆车身与车位中轴线角度偏差值；According to the posture of the vehicle at the end point of the initial parking trajectory, determine the sum of the lateral deviation between the center of the vehicle's head and the center of the rear axle, and the angle deviation between the vehicle body and the center axis of the parking space;

根据所述车辆车头中心与后轴中心横向偏差之和，以及所述车辆车身与车位中轴线角度偏差值，确定对应初始泊车轨迹的评估值；Determine the evaluation value corresponding to the initial parking trajectory according to the sum of the lateral deviation between the center of the vehicle front and the center of the rear axle, and the angle deviation between the vehicle body and the center axis of the parking space;

将所述评估值最小的初始泊车轨迹确定为最优初始泊车轨迹。The initial parking trajectory with the smallest evaluation value is determined as the optimal initial parking trajectory.

在一种实现方式中，所述处理模块1501还用于：In an implementation manner, the processing module 1501 is further configured to:

当所述车辆根据所述目标泊车轨迹进行泊车过程中，确定有与障碍物发生碰撞的风险后，判断是否能够重新规划泊车路线进行障碍物避让；When the vehicle is parked according to the target parking trajectory, after determining that there is a risk of collision with an obstacle, judging whether the parking route can be re-planned to avoid obstacles;

若是，重新规划泊车路线，并根据新规划的泊车路线进行泊车；若否，在阈值时长内，等待障碍物离开后，继续根据所述目标泊车轨迹进行泊车。If so, re-plan the parking route, and perform parking according to the newly planned parking route; if not, within the threshold time period, after waiting for the obstacle to leave, continue to park according to the target parking trajectory.

当所述车辆行驶到所述目标泊车轨迹的终点后，确定所述车辆在当前位置是否能够驶入车位；After the vehicle travels to the end point of the target parking trajectory, determine whether the vehicle can drive into the parking space at the current position;

若是，确定车辆前轮目标转角，驶入车位；若否，重新规划泊车路线。If so, determine the target corner of the front wheels of the vehicle and drive into the parking space; if not, re-plan the parking route.

根据当前位置的车辆位姿以及所述目标车位的位置，确定所述车辆是否能够通过调整前轮角度驶入车位。According to the vehicle posture at the current position and the position of the target parking space, it is determined whether the vehicle can enter the parking space by adjusting the angle of the front wheels.

确定当前位置车辆的实际位姿，以及所述目标泊车轨迹中当前位置对应的目标位姿；Determine the actual pose of the vehicle at the current position, and the target pose corresponding to the current position in the target parking trajectory;

根据所述实际位姿与所述目标位姿，确定泊车误差；determining a parking error according to the actual pose and the target pose;

根据所述泊车误差对所述车辆的位姿进行调整。The pose of the vehicle is adjusted according to the parking error.

根据所述车辆当前位置的位姿以及所述目标车位的位置，确定车辆前轮第一转角以及前轮安全转角；According to the pose of the current position of the vehicle and the position of the target parking space, determine the first turning angle of the front wheel of the vehicle and the safe turning angle of the front wheel;

将所述第一转角与所述前轮安全转角的交集确定为所述车辆进行前轮调整的目标转角。The intersection of the first turning angle and the front wheel safe turning angle is determined as the target turning angle for the vehicle to perform front wheel adjustment.

在一些可能的实施方式中，本发明实施例提供的车头先入的泊车方法的各个方面还可以实现为一种程序产品的形式，其包括程序代码，当所述程序代码在计算机设备上运行时，所述程序代码用于使所述计算机设备执行本说明书中描述的根据本发明各种示例性实施方式的车头先入的泊车方法中的步骤。In some possible implementations, various aspects of the first-in parking method provided by the embodiments of the present invention may also be implemented in the form of a program product, which includes program code, and when the program code runs on a computer device , the program code is used to cause the computer device to execute the steps in the first-in parking method according to various exemplary embodiments of the present invention described in this specification.

所述程序产品可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的***、装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

根据本发明的实施方式的用于车头先入的泊车程序产品，其可以采用便携式紧凑盘只读存储器(CD-ROM)并包括程序代码，并可以在服务器设备上运行。然而，本发明的程序产品不限于此，在本文件中，可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被通信传输、装置或者器件使用或者与其结合使用。The parking program product for first entry according to an embodiment of the present invention may employ a portable compact disk read only memory (CD-ROM) and include program codes, and may run on a server device. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium that contains or stores a program that can be communicated, used by an apparatus or device, or used in conjunction therewith.

可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了可读程序代码。这种传播的数据信号可以采用多种形式，包括——但不限于——电磁信号、光信号或上述的任意合适的组合。可读信号介质还可以是可读存储介质以外的任何可读介质，该可读介质可以发送、传播或者传输用于由周期网络动作***、装置或者器件使用或者与其结合使用的程序。A readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, carrying readable program code therein. Such propagated data signals may take a variety of forms including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing. A readable signal medium can also be any readable medium, other than a readable storage medium, that can transmit, propagate, or transport a program for use by or in connection with a periodic network action system, apparatus, or device.

可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于——无线、有线、光缆、RF等，或者上述的任意合适的组合。Program code embodied on a readable medium may be transmitted using any suitable medium including, but not limited to, wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

可以以一种或多种程序设计语言的任意组合来编写用于执行本发明操作的程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、C++等，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。在涉及远程计算设备的情形中，远程计算设备可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)—连接到用户计算设备，或者，可以连接到外部计算设备。Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural Programming Language - such as the "C" language or similar programming language. The program code may execute entirely on the user computing device, partly on the user device, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device.

本申请实施例针对车头先入的泊车方法还提供一种计算设备可读存储介质，即断电后内容不丢失。该存储介质中存储软件程序，包括程序代码，当所述程序代码在计算设备上运行时，该软件程序在被一个或多个处理器读取并执行时可实现本申请实施例上面任何车头先入的泊车方案。The embodiments of the present application further provide a storage medium readable by a computing device for the first-in parking method, that is, the content is not lost after the power is turned off. Software programs are stored in the storage medium, including program codes. When the program codes are run on a computing device, the software programs can implement any of the above-mentioned embodiments of the present application when the software program is read and executed by one or more processors. parking plan.

以上参照示出根据本申请实施例的方法、装置(***)和/或计算机程序产品的框图和/或流程图描述本申请。应理解，可以通过计算机程序指令来实现框图和/或流程图示图的一个块以及框图和/或流程图示图的块的组合。可以将这些计算机程序指令提供给通用计算机、专用计算机的处理器和/或其它可编程数据处理装置，以产生机器，使得经由计算机处理器和/或其它可编程数据处理装置执行的指令创建用于实现框图和/或流程图块中所指定的功能/动作的方法。The present application is described above with reference to block diagrams and/or flowchart illustrations illustrating methods, apparatus (systems) and/or computer program products according to embodiments of the present application. It will be understood that a block of the block diagrams and/or flowchart illustrations, and combinations of blocks of the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. These computer program instructions may be provided to a general purpose computer, a processor of a special purpose computer and/or other programmable data processing apparatus to produce a machine such that the instructions executed via the computer processor and/or other programmable data processing apparatus create a Methods of implementing the functions/acts specified in the block diagrams and/or flowchart blocks.

相应地，还可以用硬件和/或软件(包括固件、驻留软件、微码等)来实施本申请。更进一步地，本申请可以采取计算机可使用或计算机可读存储介质上的计算机程序产品的形式，其具有在介质中实现的计算机可使用或计算机可读程序代码，以由指令执行***来使用或结合指令执行***而使用。在本申请上下文中，计算机可使用或计算机可读介质可以是任意介质，其可以包含、存储、通信、传输、或传送程序，以由指令执行***、装置或设备使用，或结合指令执行***、装置或设备使用。Accordingly, the present application may also be implemented in hardware and/or software (including firmware, resident software, microcode, etc.). Still further, the present application may take the form of a computer program product on a computer-usable or computer-readable storage medium having computer-usable or computer-readable program code embodied in the medium for use by an instruction execution system or Used in conjunction with an instruction execution system. In the context of this application, a computer-usable or computer-readable medium can be any medium that can contain, store, communicate, transmit, or transmit a program for use by, or in connection with, an instruction execution system, apparatus, or device. device or equipment use.

本申请结合多个流程图详细描述了多个实施例，但应理解，这些流程图及其相应的实施例的相关描述仅为便于理解而示例，不应对本申请构成任何限定。各流程图中的每一个步骤并不一定是必须要执行的，例如有些步骤是可以跳过的。并且，各个步骤的执行顺序也不是固定不变的，也不限于图中所示，各个步骤的执行顺序应以其功能和内在逻辑确定。The present application describes multiple embodiments in detail with reference to multiple flowcharts, but it should be understood that the related descriptions of these flowcharts and their corresponding embodiments are only examples for ease of understanding, and should not constitute any limitation to the present application. Every step in each flowchart is not necessarily required to be executed, for example, some steps can be skipped. Moreover, the execution sequence of each step is not fixed, nor limited to what is shown in the figures, and the execution sequence of each step should be determined by its function and internal logic.

本申请描述的多个实施例之间可以任意组合或步骤之间相互交叉执行，各个实施例的执行顺序和各个实施例的步骤之间的执行顺序均不是固定不变的，也不限于图中所示，各个实施例的执行顺序和各个实施例的各个步骤的交叉执行顺序应以其功能和内在逻辑确定。The multiple embodiments described in this application may be arbitrarily combined or the steps may be executed alternately. The execution sequence of each embodiment and the execution sequence of the steps in each embodiment are not fixed, nor are they limited to the drawings. As shown, the execution sequence of each embodiment and the cross execution sequence of each step of each embodiment should be determined by its functions and inherent logic.

尽管结合具体特征及其实施例对本申请进行了描述，显而易见的，在不脱离本申请的精神和范围的情况下，可对其进行各种修改和组合。相应地，本说明书和附图仅仅是所附权利要求所界定的本申请的示例性说明，且视为已覆盖本申请范围内的任意和所有修改、变化、组合或等同物。显然，本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包括这些改动和变型在内。Although the application has been described in conjunction with specific features and embodiments thereof, it will be apparent that various modifications and combinations can be made therein without departing from the spirit and scope of the application. Accordingly, this specification and drawings are merely exemplary illustrations of the application as defined by the appended claims, and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of this application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

一种车头先入的泊车方法，其特征在于，所述方法包括：A first-in parking method, characterized in that the method comprises:

采集泊车数据，所述泊车数据包括车辆位姿信息、障碍物位置信息、目标车位信息以及可通行区域位置信息中的部分或全部；collecting parking data, where the parking data includes vehicle pose information, obstacle location information, target parking space information, and some or all of the location information of the passable area;

基于所述车辆位姿信息与所述目标车位信息预估行驶方向，确定至少一个泊车单元；Estimate the driving direction based on the vehicle pose information and the target parking space information, and determine at least one parking unit;

采用步进式算法，依次确定每个泊车单元的泊车轨迹，得到至少一条初始泊车轨迹；Using a step-by-step algorithm, the parking trajectory of each parking unit is determined in turn, and at least one initial parking trajectory is obtained;

基于所述车辆在所述初始泊车轨迹的终点时的位姿，确定所述泊车单元中每条初始泊车轨迹的评估值，并根据所述评估值从所述至少一条初始泊车轨迹中确定最优泊车轨迹；Based on the pose of the vehicle at the end point of the initial parking trajectory, an evaluation value of each initial parking trajectory in the parking unit is determined, and the at least one initial parking trajectory is obtained from the evaluation value according to the evaluation value. determine the optimal parking trajectory;

根据所述最优泊车轨迹，进行车头先入式泊车。According to the optimal parking trajectory, front-end parking is performed.
根据权利要求1所述的方法，其特征在于，采用步进式算法，依次确定每个泊车单元的泊车轨迹，得到至少一条初始泊车轨迹，包括：The method according to claim 1, wherein a step-by-step algorithm is used to sequentially determine the parking trajectory of each parking unit to obtain at least one initial parking trajectory, comprising:

基于所述泊车数据和进入所述泊车单元的初始位姿，采用步进式算法，依次确定每个泊车单元的泊车轨迹，得到至少一条初始泊车轨迹。Based on the parking data and the initial pose of entering the parking unit, a step-by-step algorithm is used to sequentially determine the parking trajectory of each parking unit to obtain at least one initial parking trajectory.
根据权利要求1或2所述的方法，其特征在于，基于所述车辆在所述初始泊车轨迹的终点时的位姿，确定所述泊车单元中每条初始泊车轨迹的评估值，包括：The method according to claim 1 or 2, wherein the evaluation value of each initial parking trajectory in the parking unit is determined based on the pose of the vehicle at the end point of the initial parking trajectory, include:

根据所述车辆在初始泊车轨迹的终点时的位姿，确定所述车辆车头中心与后轴中心横向偏差之和，以及所述车辆车身与车位中轴线角度偏差值；According to the posture of the vehicle at the end point of the initial parking trajectory, determine the sum of the lateral deviation between the center of the front of the vehicle and the center of the rear axle, and the angle deviation between the vehicle body and the central axis of the parking space;

根据所述车辆车头中心与后轴中心横向偏差之和，以及所述车辆车身与车位中轴线角度偏差值，确定对应初始泊车轨迹的评估值。The evaluation value corresponding to the initial parking trajectory is determined according to the sum of the lateral deviations of the center of the front of the vehicle and the center of the rear axle, and the angle deviation between the vehicle body and the central axis of the parking space.
根据权利要求1～3任一项所述的方法，其特征在于，根据所述最优泊车轨迹进行车头先入式泊车，还包括：The method according to any one of claims 1 to 3, wherein the front-end parking is performed according to the optimal parking trajectory, further comprising:

所述车辆根据所述最优泊车轨迹进行车头先入式泊车过程中，在确定有与障碍物发生碰撞的风险，且能够重新规划泊车路线进行障碍物避让后，重新规划泊车路线，并根据新规划的泊车路线进行车头先入式泊车。In the process of the vehicle's front-end parking according to the optimal parking trajectory, after it is determined that there is a risk of collision with an obstacle, and the parking route can be re-planned to avoid obstacles, the parking route is re-planned, According to the newly planned parking route, front-end parking is performed.
根据权利要求1～4任一项所述的方法，其特征在于，根据所述最优泊车轨迹进行车头先入式泊车之后，还包括：The method according to any one of claims 1 to 4, wherein after the front-end parking is performed according to the optimal parking trajectory, the method further comprises:

所述车辆行驶到所述最优泊车轨迹的终点后，确定车辆前轮目标转角；After the vehicle travels to the end point of the optimal parking trajectory, determine the target turning angle of the front wheels of the vehicle;

所述车辆将前轮调整所述目标转角后，进行车头先入式泊车。After the vehicle adjusts the front wheel to the target turning angle, the vehicle performs front-end parking.
根据权利要求5所述的方法，其特征在于，确定车辆前轮目标转角，驶入车位之前，还包括：The method according to claim 5, characterized in that, before driving into the parking space before determining the target turning angle of the front wheels of the vehicle, further comprising:

确定当前位置车辆的实际位姿，以及所述最优泊车轨迹中当前位置对应的目标位姿；Determine the actual pose of the vehicle at the current position, and the target pose corresponding to the current position in the optimal parking trajectory;

根据所述实际位姿与所述目标位姿，确定泊车误差；determining a parking error according to the actual pose and the target pose;

根据所述泊车误差对所述车辆的位姿进行调整。The pose of the vehicle is adjusted according to the parking error.
根据权利要求5或6所述的方法，其特征在于，确定车辆前轮目标转角，包括：The method according to claim 5 or 6, wherein determining the target turning angle of the front wheel of the vehicle comprises:

根据所述车辆当前位置的位姿以及所述目标车位的位置，确定车辆前轮第一转角以及前轮安全转角；According to the pose of the current position of the vehicle and the position of the target parking space, determine the first turning angle of the front wheel of the vehicle and the safe turning angle of the front wheel;

将所述第一转角与所述前轮安全转角的交集确定为所述车辆进行前轮调整的目标转角。The intersection of the first turning angle and the front wheel safe turning angle is determined as the target turning angle for the vehicle to perform front wheel adjustment.
一种车头先入的泊车装置，其特征在于，包括：A head-first-in parking device, characterized in that it includes:

采集模块，用于采集泊车数据，所述泊车数据包括车辆位姿信息、障碍物位置信息、目标车位信息以及可通行区域位置信息中的部分或全部；a collection module, used for collecting parking data, the parking data includes part or all of vehicle posture information, obstacle position information, target parking space information and passable area position information;

处理模块，用于基于所述车辆位姿信息与所述目标车位信息预估行驶方向，确定至少一个泊车单元；采用步进式算法，依次确定每个泊车单元的泊车轨迹，得到至少一条初始泊车轨迹；基于所述车辆在所述初始泊车轨迹的终点时的位姿，确定所述泊车单元中每条初始泊车轨迹的评估值，并根据所述评估值从所述至少一条初始泊车轨迹中确定最优泊车轨迹；根据所述最优泊车轨迹，进行车头先入式泊车。The processing module is used to estimate the driving direction based on the vehicle pose information and the target parking space information, and determine at least one parking unit; adopt a step-by-step algorithm to sequentially determine the parking trajectory of each parking unit, and obtain at least one parking unit. an initial parking trajectory; based on the pose of the vehicle at the end point of the initial parking trajectory, determine the evaluation value of each initial parking trajectory in the parking unit, and extract the value from the An optimal parking trajectory is determined from at least one initial parking trajectory; front-end parking is performed according to the optimal parking trajectory.
根据权利要求8所述的泊车装置，其特征在于，所述处理模块具体用于：The parking device according to claim 8, wherein the processing module is specifically used for:

基于所述泊车数据和进入所述泊车单元的初始位姿，采用步进式算法，依次确定每个泊车单元的泊车轨迹，得到至少一条初始泊车轨迹。Based on the parking data and the initial posture of entering the parking unit, a step-by-step algorithm is used to sequentially determine the parking trajectory of each parking unit to obtain at least one initial parking trajectory.
根据权利要求8或9所述的泊车装置，其特征在于，所述处理模块具体用于：The parking device according to claim 8 or 9, wherein the processing module is specifically used for:

根据所述车辆在初始泊车轨迹的终点时的位姿，确定所述车辆车头中心与后轴中心横向偏差之和，以及所述车辆车身与车位中轴线角度偏差值；According to the posture of the vehicle at the end point of the initial parking trajectory, determine the sum of the lateral deviation between the center of the vehicle's head and the center of the rear axle, and the angle deviation between the vehicle body and the central axis of the parking space;

根据所述车辆车头中心与后轴中心横向偏差之和，以及所述车辆车身与车位中轴线角度偏差值，确定对应初始泊车轨迹的评估值。The evaluation value corresponding to the initial parking trajectory is determined according to the sum of the lateral deviations of the center of the front of the vehicle and the center of the rear axle, and the angle deviation between the vehicle body and the central axis of the parking space.
根据权利要求8～10任一项所述的泊车装置，其特征在于，所述处理模块还用于：The parking device according to any one of claims 8 to 10, wherein the processing module is further configured to:

所述车辆根据所述最优泊车轨迹进行车头先入式泊车过程中，在确定有与障碍物发生碰撞的风险，且能够重新规划泊车路线进行障碍物避让后，重新规划泊车路线，并根据新规划的泊车路线进行车头先入式泊车。In the process of the vehicle's front-end parking according to the optimal parking trajectory, after it is determined that there is a risk of collision with an obstacle, and the parking route can be re-planned to avoid obstacles, the parking route is re-planned, According to the newly planned parking route, front-end parking is performed.
根据权利要求8～11任一项所述的泊车装置，其特征在于，所述处理模块还用于：The parking device according to any one of claims 8 to 11, wherein the processing module is further configured to:

所述车辆行驶到所述最优泊车轨迹的终点后，确定车辆前轮目标转角；After the vehicle travels to the end point of the optimal parking trajectory, determine the target turning angle of the front wheels of the vehicle;

所述车辆将前轮调整所述目标转角后，进行车头先入式泊车。After the vehicle adjusts the front wheel to the target turning angle, the vehicle performs front-end parking.
根据权利要求12所述的泊车装置，其特征在于，所述处理模块还用于：The parking device according to claim 12, wherein the processing module is further used for:

确定当前位置车辆的实际位姿，以及所述最优泊车轨迹中当前位置对应的目标位姿；Determine the actual pose of the vehicle at the current position, and the target pose corresponding to the current position in the optimal parking trajectory;

根据所述实际位姿与所述目标位姿，确定泊车误差；determining a parking error according to the actual pose and the target pose;

根据所述泊车误差对所述车辆的位姿进行调整。The pose of the vehicle is adjusted according to the parking error.
根据权利要求12或13所述的泊车装置，其特征在于，所述处理模块具体用于：The parking device according to claim 12 or 13, wherein the processing module is specifically used for:

根据所述车辆当前位置的位姿以及所述目标车位的位置，确定车辆前轮第一转角以及前轮安全转角；According to the pose of the current position of the vehicle and the position of the target parking space, determine the first turning angle of the front wheel of the vehicle and the safe turning angle of the front wheel;

将所述第一转角与所述前轮安全转角的交集确定为所述车辆进行前轮调整的目标转角。The intersection of the first turning angle and the front wheel safe turning angle is determined as the target turning angle for the vehicle to perform front wheel adjustment.
一种车头先入的泊车装置，其特征在于，包括：一个或多个处理器；存储器；收发器；A first-in parking device, characterized in that it includes: one or more processors; a memory; a transceiver;

所述存储器，用于存储一个或多个程序以及数据信息；其中所述一个或多个程序包括指令；the memory for storing one or more programs and data information; wherein the one or more programs include instructions;

所述处理器，用于根据所述存储器中的至少一个或多个程序，执行如权利要求1～7中任一项所述的方法。The processor is configured to execute the method according to any one of claims 1 to 7 according to at least one or more programs in the memory.
一种车辆，其特征在于，包括：至少一个摄像器和/或传感器，至少一个存储器，以及至少一个处理器；A vehicle, characterized by comprising: at least one camera and/or sensor, at least one memory, and at least one processor;

所述摄像器和/或传感器，用于采集泊车数据，所述泊车数据包括车辆位姿信息、障碍物位置信息、目标车位信息以及可通行区域位置信息中的部分或全部；The camera and/or sensor is used to collect parking data, and the parking data includes part or all of vehicle posture information, obstacle position information, target parking space information and passable area position information;

所述存储器，用于存储一个或多个程序以及数据信息；其中所述一个或多个程序包括指令；the memory for storing one or more programs and data information; wherein the one or more programs include instructions;

所述处理器，用于基于所述车辆位姿信息与所述目标车位信息预估行驶方向，确定至少一个泊车单元；采用步进式算法，依次确定每个泊车单元的泊车轨迹，得到至少一条初始泊车轨迹；基于所述车辆在所述初始泊车轨迹的终点时的位姿，确定所述泊车单元中每条初始泊车轨迹的评估值，并根据所述评估值从所述至少一条初始泊车轨迹中确定最优泊车轨迹；根据所述最优泊车轨迹，进行车头先入式泊车。The processor is configured to estimate the driving direction based on the vehicle pose information and the target parking space information, and determine at least one parking unit; adopt a step-by-step algorithm to sequentially determine the parking trajectory of each parking unit, Obtain at least one initial parking trajectory; determine the evaluation value of each initial parking trajectory in the parking unit based on the pose of the vehicle at the end point of the initial parking trajectory, and calculate from the evaluation value according to the evaluation value. An optimal parking trajectory is determined from the at least one initial parking trajectory; front-end parking is performed according to the optimal parking trajectory.
一种计算机可读存储介质，其特征在于，包括计算机指令，当所述计算机指令在车头先入的泊车装置上运行时，使得所述车头先入的泊车装置执行如权利要求1～7中任一项所述的方法。A computer-readable storage medium, characterized by comprising computer instructions, when the computer instructions are executed on the front-end parking device, the front-end parking device is made to execute any one of claims 1 to 7. one of the methods described.