Automatic parking system, automatic parking method, storage medium, and electronic device

文档序号：125287 发布日期：2021-10-22 浏览：17次中文

阅读说明：本技术 自动泊车系统、自动泊车方法、存储介质及电子设备 (Automatic parking system, automatic parking method, storage medium, and electronic device ) 是由范海波王柳禕尹孟征金彦于 2021-08-02 设计创作，主要内容包括：本发明提供一种自动泊车系统、自动泊车方法、存储介质及电子设备,该系统包括：车位预判器,用于当检测到车位时,根据获取到的车身姿态参数、环境参数和预设参数判定条件确定车位的车位预判结果；路径规划预判器,用于根据车身姿态参数、环境参数和选取的路径规划原则确定路径规划的路径规划预判结果；控制器,用于当车位预判结果为可泊,且路径规划预判结果为不可规划时,动态改变车身姿态参数和/或环境参数使路径规划预判结果为可规划,并根据路径规划预判器规划出的泊车路径进行泊车。实施本发明,既实现泊车位可行性判断,又能够实时调整车身,规划出正确的泊车路径,使得泊车操作可连续自动进行,无需在确定车位可泊时手动调整车身。(The invention provides an automatic parking system, an automatic parking method, a storage medium and an electronic device, wherein the system comprises: the parking space pre-judging device is used for determining a parking space pre-judging result of a parking space according to the acquired vehicle body posture parameter, the acquired environment parameter and the preset parameter judging condition when the parking space is detected; the path planning prejudge device is used for determining a path planning prejudge result of the path planning according to the vehicle body attitude parameter, the environment parameter and the selected path planning principle; and the controller is used for dynamically changing the posture parameters and/or the environmental parameters of the vehicle body to enable the path planning and pre-judging result to be programmable when the parking space pre-judging result is available for parking and the path planning and pre-judging result is not available for planning, and parking according to the parking path planned by the path planning and pre-judging device. By implementing the invention, the feasibility judgment of the parking space is realized, the vehicle body can be adjusted in real time, and the correct parking path is planned, so that the parking operation can be continuously and automatically carried out, and the vehicle body does not need to be manually adjusted when the parking space is determined to be capable of parking.)

1. An automatic parking system, comprising:

the parking space pre-judging device is used for determining a parking space pre-judging result of the parking space according to the acquired vehicle body posture parameters, the acquired environment parameters and the preset parameter judging conditions when the parking space is detected;

the path planning prejudge device is used for determining a path planning prejudge result of the path planning according to the vehicle body attitude parameter, the environment parameter and the selected path planning principle;

and the controller is used for dynamically changing the vehicle body posture parameters and/or the environment parameters to enable the path planning and pre-judging result to be programmable when the parking space pre-judging result is available for parking and the path planning and pre-judging result is unavailable for planning, and parking according to the parking path planned by the path planning and pre-judging device.

2. The automated parking system of claim 1, wherein the parking spot pre-decider is specifically configured to:

when the vehicle body posture parameter and the environment parameter accord with the preset parameter judgment condition, judging that the parking space pre-judgment result is berthable;

and when the vehicle body posture parameters and the environment parameters do not accord with the preset parameter judgment conditions, judging that the parking space pre-judgment result is not available for parking.

3. The automated parking system of claim 1 wherein the path planning predictor is specifically configured to:

responding to the dynamic change of the vehicle body attitude parameters, and starting path planning operation according to the path planning principle;

after the path planning operation is started, when a parking path can be planned according to the path planning principle, the path planning prejudgment result is programmable;

and when the parking path cannot be planned according to the path planning principle, the path planning prejudgment result is unplayable.

4. The automatic parking system of any one of claims 1 to 3 wherein the controller is specifically configured to:

and when the parking space pre-judgment result is available for parking and the path planning pre-judgment result is not available for planning, adjusting the vehicle body attitude parameter and/or the environment parameter according to a preset pre-anchor line, wherein the pre-anchor line is set according to the preset parameter judgment condition.

5. The automated parking system of claim 4 wherein the body attitude parameters include a horizontal distance of a center of a rear axle of the body from an upper left vertex of the parking space, a vertical distance of the center of the rear axle of the body from the upper left vertex of the parking space, and a horizontal angle between a forward axis of the body and the parking space, the controller further configured to:

and when the parking space pre-judgment result is available for parking and the path planning pre-judgment result is not available for planning, adjusting the horizontal distance and the horizontal included angle according to a preset pre-anchor line, so that the vehicle body posture parameter conforms to the path planning principle.

6. The automated parking system of claim 1 wherein the environmental parameters include vertical slot length, horizontal slot length, and distance of the slot from an opposite road edge.

7. An automatic parking method of an automatic parking system according to any one of claims 1 to 6, comprising:

when a parking space is detected, acquiring vehicle body posture parameters and environment parameters;

determining a parking space pre-judgment result of the parking space according to the vehicle body posture parameter, the environment parameter and a preset parameter judgment condition;

determining a path planning prejudgment result of the path planning according to the vehicle body attitude parameter, the environment parameter and the selected path planning principle;

and when the parking space pre-judgment result is available for parking and the path planning pre-judgment result is not available for planning, dynamically changing the vehicle body posture parameter and/or the environment parameter to enable the path planning pre-judgment result to be available for planning, and parking according to the parking path planned by the path planning pre-judgment device.

8. The automatic parking method according to claim 7, wherein when the parking space prediction result is available for parking and the path planning prediction result is not available for planning, dynamically changing the body posture parameter and/or the environment parameter to make the path planning prediction result available for planning specifically comprises:

9. The automatic parking method according to claim 8, wherein the vehicle body posture parameters include a horizontal distance from a vehicle body rear axle center to an upper left vertex of the parking space, a vertical distance from the vehicle body rear axle center to the upper left vertex of the parking space, and a horizontal included angle between a vehicle body forward axis and the parking space, and when the parking space pre-judgment result is available for parking and the path planning pre-judgment result is not available for planning, the vehicle body posture parameters and/or the environmental parameters are adjusted according to a preset pre-anchor line, specifically including:

10. The automated parking method of claim 7 wherein the environmental parameters include vertical slot length, horizontal slot length and distance of the slot from the reverse road edge.

11. A storage medium, characterized in that the storage medium stores computer instructions for executing all the steps of the automatic parking method of the automatic parking system according to claims 7-10 when a computer executes the computer instructions.

12. An electronic device, comprising:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to:

when a parking space is detected, acquiring vehicle body posture parameters and environment parameters;

determining a parking space pre-judgment result of the parking space according to the vehicle body posture parameter, the environment parameter and a preset parameter judgment condition;

determining a path planning prejudgment result of the path planning according to the vehicle body attitude parameter, the environment parameter and the selected path planning principle;

Technical Field

The present invention relates to the field of automotive technologies, and in particular, to an automatic parking system, an automatic parking method, a storage medium, and an electronic device.

Background

An automatic driving automobile is also called an unmanned automobile, a computer driving automobile or a wheeled mobile robot, and is an intelligent automobile which realizes unmanned driving through a computer system. The automatic driving automobile depends on the cooperation of artificial intelligence, visual calculation, radar, monitoring device and global positioning system, so that the computer can operate the motor vehicle automatically and safely without any active operation of human. In an auto-driven automobile, auto parking is one of the important links.

At present, the existing automatic parking method mainly adopts the following two methods:

1) generally, a method of single path planning solution is adopted, that is, a vehicle is driven to a parking space, then path planning solution is started, and the planned path generally conforms to a certain mathematical equation (for example: arc tangency, etc.), the solution method is the optimization process under certain constraint conditions. The time consumed by single path planning is long, and if the vehicle is directly planned while walking, the calculation resources and the waiting time are greatly consumed.

2) A parking initial area (about 1m beside a parking space for example) and a parking initial state (the vehicle body is approximately parallel to the parking space) are anchored in advance, and when the vehicle enters the area or the state, a driver gives an instruction to perform parking operation. The initial requirements for parking are high, when the initial parking conditions are changed, planning is often unsuccessful, and when the planning is performed again, planning and parking are often unsuccessful, so that the parking area cannot be quickly adjusted to a proper area, and finally, successful planning and parking are performed.

Disclosure of Invention

The invention aims to provide an automatic parking system, an automatic parking method, a storage medium and electronic equipment, which can realize feasibility judgment of parking places, adjust a vehicle body in real time and plan a correct parking path, so that parking operation can be continuously and automatically performed, the vehicle body does not need to be manually adjusted when the parking places are determined to be available, and automatic parking is finished.

The technical scheme of the invention provides an automatic parking system, which comprises:

Further, the parking space pre-judging device is specifically configured to:

when the vehicle body posture parameter and the environment parameter accord with the preset parameter judgment condition, judging that the parking space pre-judgment result is berthable;

Further, the path planning prejudging device is specifically configured to:

responding to the dynamic change of the vehicle body attitude parameters, and starting path planning operation according to the path planning principle;

after the path planning operation is started, when a parking path can be planned according to the path planning principle, the path planning prejudgment result is programmable;

and when the parking path cannot be planned according to the path planning principle, the path planning prejudgment result is unplayable.

Further, the controller specifically includes:

Further, automobile body gesture parameter includes that automobile body rear axle center is apart from the horizontal distance on the upper left summit of parking stall, automobile body rear axle center is apart from the vertical distance on the upper left summit of parking stall and the horizontal contained angle of the preceding axis of automobile body and parking stall, the controller still is used for:

Furthermore, the environmental parameters include the vertical length of the parking space, the horizontal length of the parking space and the distance between the parking space and the side line of the reverse road.

The technical scheme of the invention also provides an automatic parking method of the automatic parking system, which comprises the following steps:

when a parking space is detected, acquiring vehicle body posture parameters and environment parameters;

determining a parking space pre-judgment result of the parking space according to the vehicle body posture parameter, the environment parameter and a preset parameter judgment condition;

determining a path planning prejudgment result of the path planning according to the vehicle body attitude parameter, the environment parameter and the selected path planning principle;

Further, when the parking space pre-judgment result is available for parking and the path planning pre-judgment result is unplayable, dynamically changing the vehicle body attitude parameter and/or the environment parameter to make the path planning pre-judgment result available for planning, specifically comprising:

Further, the vehicle body posture parameters include a horizontal distance from a vehicle body rear axle center to a top left vertex of the parking space, a vertical distance from the vehicle body rear axle center to the top left vertex of the parking space, and a horizontal included angle between a vehicle body forward axis and the parking space, when the parking space pre-judgment result is berthable and the path planning pre-judgment result is unplayable, the vehicle body posture parameters and/or the environment parameters are adjusted according to a preset pre-anchoring line, and the vehicle body posture parameters and/or the environment parameters specifically include:

The technical solution of the present invention also provides a storage medium storing computer instructions for executing all the steps of the automatic parking method of the automatic parking system as described above when a computer executes the computer instructions.

The technical solution of the present invention also provides an electronic device, including:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to:

when a parking space is detected, acquiring vehicle body posture parameters and environment parameters;

determining a parking space pre-judgment result of the parking space according to the vehicle body posture parameter, the environment parameter and a preset parameter judgment condition;

determining a path planning prejudgment result of the path planning according to the vehicle body attitude parameter, the environment parameter and the selected path planning principle;

After adopting above-mentioned technical scheme, have following beneficial effect: the parking space feasibility judgment is realized, the vehicle body can be adjusted in real time, a correct parking path is planned, the parking operation can be continuously and automatically carried out, the vehicle body does not need to be manually adjusted when the parking space is determined to be capable of parking, and automatic parking is completed.

Drawings

The disclosure of the present invention will become more readily understood by reference to the drawings. It should be understood that: these drawings are for illustrative purposes only and are not intended to limit the scope of the present disclosure. In the figure:

fig. 1 is a schematic structural diagram of an automatic parking system according to an embodiment of the present invention;

FIG. 2 is an input parameter applied to the parking space pre-decider and the path planning pre-decider shown in FIG. 1;

FIG. 3 is a schematic structural diagram of the parking space pre-judging device shown in FIG. 1 and including an input and an output;

FIG. 4 is a schematic diagram of the path planning predictor including an input and an output shown in FIG. 1;

fig. 5 is a schematic view of automatic parking of the automatic parking system shown in fig. 1;

fig. 6 is a flowchart illustrating an automatic parking method of an automatic parking system according to an embodiment of the present invention;

fig. 7 is a flowchart illustrating an automatic parking method of an automatic parking system according to another embodiment of the present invention;

fig. 8 is a schematic hardware configuration diagram of an electronic device for an automatic parking method of an automatic parking system according to an embodiment of the present invention.

Detailed Description

The following further describes embodiments of the present invention with reference to the accompanying drawings.

It is easily understood that according to the technical solution of the present invention, those skilled in the art can substitute various structures and implementation manners without changing the spirit of the present invention. Therefore, the following detailed description and the accompanying drawings are merely illustrative of the technical aspects of the present invention, and should not be construed as limiting or restricting the technical aspects of the present invention.

The terms of orientation of up, down, left, right, front, back, top, bottom, and the like referred to or may be referred to in this specification are defined relative to the configuration shown in the drawings, and are relative terms, and thus may be changed correspondingly according to the position and the use state of the device. Therefore, these and other directional terms should not be construed as limiting terms.

As shown in fig. 1 to 5, a schematic structural diagram of an automatic parking system according to an embodiment of the present invention includes:

the parking space pre-judging device 11 is used for determining a parking space pre-judging result of a parking space according to the acquired vehicle body posture parameters, the acquired environment parameters and the preset parameter judging conditions when the parking space is detected;

the path planning prejudge device 12 is used for determining a path planning prejudge result of the path planning according to the vehicle body attitude parameter, the environment parameter and the selected path planning principle;

and the controller 13 is used for dynamically changing the posture parameters and/or the environmental parameters of the vehicle body to enable the path planning and pre-judging result to be programmable when the parking space pre-judging result is available for parking and the path planning and pre-judging result is not available for planning, and parking according to the parking path planned by the path planning and pre-judging device.

The automatic parking system mainly comprises a parking space pre-judging device 11, a path planning pre-judging device 12 and a controller 13.

The parking space pre-judging device 11 is configured to judge whether the parking space is available according to the acquired vehicle body posture parameter, the acquired environmental parameter and the preset parameter judgment condition when the parking space is detected, so as to obtain a parking space pre-judging result. The detection of the parking space can be searched and detected through a sensor arranged on the vehicle body, when the parking space is detected, the parking space prejudgment device 11 acquires vehicle body posture parameters and environment parameters, judges whether the parking space can be parked according to preset parameter judgment conditions, and judges that the parking space can be parked when the vehicle body posture parameters and the environment parameters accord with the preset parameter judgment conditions, otherwise, the parking space can not be parked. The preset parameter determination condition is related to the vehicle body posture parameter and/or the environmental parameter, a threshold value or a range value can be set for one or more parameters of the vehicle body posture parameter and/or the environmental parameter as the preset parameter determination condition, and the preset parameter determination condition can be preset in the parking space pre-determination device 11.

The path planning prejudge 12 is used for judging whether the path can be planned according to the vehicle body attitude parameter, the environment parameter and the selected path planning principle, and obtaining a path planning prejudge result. The path planning principle comprises curves to be planned, such as a herringbone parking curve, a constraint function and an objective function, wherein the constraint function is designed in such a way that the boundary is not collided in the parking process; the design principle of the objective function is that the final parking state is as close to the tail end of the vehicle as possible under the condition of meeting the minimum boundary constraint, and the central axis of the vehicle and the central axis of the parking space are overlapped as much as possible.

The controller 13 is configured to dynamically change the vehicle body posture parameter and/or the environmental parameter to make the path planning prediction result programmable when the parking space prediction result is parking available and the path planning prediction result is not planning, and perform parking according to the parking path planned by the path planning prediction device.

When the path planning is performed, a special path planning module in the vehicle parking system can be utilized, and the path planning module responds to dynamically changed vehicle body posture parameters and environment parameters and starts the path planning module according to a certain planning principle (a curve to be planned, a constraint function and an objective function) when needed.

In practical implementation, the programs of the parking space pre-judging device 11, the path planning pre-judging device 12 and the controller 13 may be written into the parking program, so that the parking space pre-judging device 11, the path planning pre-judging device 12 and the controller 13 are embedded into the MCU.

The vehicle body posture parameters comprise the horizontal distance from the center of a rear shaft of the vehicle body to the top left vertex of the parking space, the vertical distance from the center of the rear shaft of the vehicle body to the top left vertex of the parking space, and the horizontal included angle between the front axis and the parking space of the vehicle body, and the environmental parameters comprise the vertical length of the parking space, the horizontal length of the parking space and the distance from the parking space to a reverse road side line. As shown in fig. 2, fig. 2 shows input parameters of the parking space pre-judging device 11 and the path planning pre-judging device 12, the longitudinal direction of the parking space (the concave area in the figure) shown in fig. 2 is perpendicular to the road traveling direction, and the parking space is in a rectangular shape, and the periphery of the rectangular shape forms the boundary of the obstacle. Preferably, an X-Y coordinate system is selected, the top left of the parking space is taken as an origin (0,0), and vehicle body posture parameters (X0, Y0, theta0) and environment parameters (W _ slot, L _ slot, Lw) are selected. Wherein x0 represents the horizontal distance from the center of the rear axle of the vehicle body to the top left vertex of the parking space, y0 represents the vertical distance from the center of the rear axle of the vehicle body to the top left vertex of the parking space, theta0 represents the included angle between the front axis of the vehicle body and the parking space, W _ slot represents the vertical length of the parking space, L _ slot represents the horizontal length of the parking space, and Lw represents the distance from the reverse road edge of the parking space.

Preferably, the regularly changed body posture parameters and environment parameters related to any path planning mode shown in the figure can be used as input parameters of the path planning prejudging device. In addition, the parameters shown in the figures are also applicable to parking modes such as parallel parking, oblique parking and the like, because the path planning modes such as parallel parking, oblique parking and the like are consistent with the path planning for vertical parking described herein, namely, operations based on classical path planning curve templates (e.g., circular arc tangent lines, B splines, gyroids and the like) are adopted. When the path planning is carried out, the principle of the vertical parking path planning is the same, namely under the limitation of the parameters of the vehicle, the body posture parameters (x0, y0, theta0) and the environment parameters (W _ slot, L _ slot, Lw) shown in the figure still need to be determined.

As shown in fig. 3, fig. 3 is a schematic structural diagram of a path planning predictor including an input and an output, where the input of the parking space predictor 11 is 6 sets of parameters (x0, y0, theta0, W _ slot, L _ slot, Lw), and the output is available/unavailable for parking.

As shown in fig. 4, fig. 4 is a schematic structural diagram of a path planning predictor including an input and an output, where the input of the path planning predictor 12 is 6 sets of parameters (x0, y0, theta0, W _ slot, L _ slot, Lw), and the output is programmable/non-programmable. In the implementation process, a designated path planning module (in which a designated path planning method such as herringbone parking mode-straight line-tangent arc-tangent straight line) is selected, vehicle body attitude parameters (x0, y0, theta0) and environment parameters (W _ slot, L _ slot, Lw) are regularly changed, wherein the selection range of each parameter needs to be reasonable and limited within a certain range, a boundary collision constraint function and a target function are designed, a path planning program scanning test is carried out on the module, and if the path can be successfully planned, the planning is judged to be possible; and if the path cannot be planned, judging that the path cannot be planned. Optionally, the objective function design principle is that the parking final state is as close to the end of the parking space as possible (i.e. y0 is minimum) under the condition that the minimum boundary constraint is met, and the central axis of the vehicle and the central axis of the parking space are coincident as far as possible; the constraint function design principle is that the parking process does not collide with the boundary.

When the path planning prejudge device is used, the path planning prejudge device program and parameters obtained by training are written into the parking program to be used as the parking path planning prejudge device. When the vehicle drives into the parking area, the path planning prejudging device can be used for making real-time judgment (current point) or prediction judgment (position after a certain time), and if the judgment is positive, the parking planning can be performed; if the negative class is judged, the parking planning is not available.

The automatic parking system provided by the invention judges whether the parking space can be parked or not according to the vehicle body posture parameter, the environment parameter and the preset parameter judgment condition through the parking space prejudging device, judges whether the path can be planned or not according to the vehicle body posture parameter, the environment parameter and the selected path planning principle through the path planning prejudging device, dynamically changes the vehicle body posture parameter and/or the environment parameter to enable the path planning prejudging result to be planned when the parking space prejudging result is the parking available parking space and the path planning prejudging result is the unplayable path, and carries out parking according to the parking path planned by the path planning prejudging device, thereby realizing the feasibility judgment of parking space, adjusting the vehicle body in real time and planning a correct parking path, leading the parking operation to be continuously and automatically carried out, avoiding manually adjusting the vehicle body when the parking space is determined to be available, and finishing automatic parking.

In one embodiment, in order to facilitate quick determination of parking space feasibility, the parking space pre-determining device 11 is specifically configured to:

when the vehicle body posture parameters and the environment parameters accord with preset parameter judgment conditions, judging that the parking space pre-judgment result is parking available;

In one embodiment, in order to facilitate rapid determination of feasibility of path planning and plan a correct parking path, the path planning predeterminer 12 is specifically configured to:

responding to the dynamic change of the vehicle body attitude parameters, and starting path planning operation according to a path planning principle;

after the path planning operation is started, when a parking path can be planned according to a path planning principle, the path planning prejudgment result is programmable;

and when the parking path cannot be planned according to the path planning principle, the path planning prejudgment result is unplayable.

In one embodiment, in order to facilitate quick adjustment of the vehicle body and achieve continuous automatic parking, the controller 13 specifically includes:

and when the parking space pre-judgment result is available for parking and the path planning pre-judgment result is not available for planning, adjusting the vehicle body attitude parameter and/or the environment parameter according to a preset pre-anchor line, and setting the pre-anchor line according to the preset parameter judgment condition.

In one embodiment, the vehicle body posture parameters include a horizontal distance from a vehicle body rear axle center to a top left vertex of the parking space, a vertical distance from the vehicle body rear axle center to the top left vertex of the parking space, and a horizontal included angle between a vehicle body forward axis and the parking space, and the controller 13 is further configured to:

and when the parking space pre-judgment result is available for parking and the path planning pre-judgment result is not available for planning, adjusting the horizontal distance and the horizontal included angle according to a preset pre-anchored line to enable the vehicle body attitude parameters to accord with the path planning principle.

In one embodiment, the environmental parameters include vertical length of the space, horizontal length of the space, and distance of the space from a side line of the reverse road.

The following describes in detail the automatic parking method of the automatic parking system according to the present invention with reference to fig. 5, as shown in fig. 5, when the vehicle body approaches too close to the parking space, the parking space pre-judgment result determined by the parking space pre-judgment device 11 is that the parking space is available, but the path planning pre-judgment result determined by the path planning pre-judgment device 12 is that the path is not available, the controller 13 starts an automatic parking flow, the vehicle body starts to automatically adjust toward the pre-aiming line 14, the attitude parameter and/or the environmental parameter of the vehicle body are continuously changed, the path planning pre-judgment device 12 determines whether the path is available in real time, when the attitude parameter and the environmental parameter of the vehicle body meet the requirement, the path is planned according to the selected path planning principle, which indicates that the path planning pre-judgment result is available, the vehicle body starts to decelerate until the vehicle body stops, the path planning is formally started, and the vehicle is parked according to the planned parking path.

As shown in fig. 6, fig. 6 is a flowchart illustrating an automatic parking method of an automatic parking system according to an embodiment of the present invention, including:

step S601: when a parking space is detected, acquiring vehicle body posture parameters and environment parameters;

step S602: determining a parking space pre-judgment result of a parking space according to the vehicle body posture parameter, the environment parameter and a preset parameter judgment condition;

step S603: determining a path planning prejudgment result of the path planning according to the vehicle body attitude parameter, the environment parameter and the selected path planning principle;

step S604: and when the parking space pre-judgment result is available for parking and the path planning pre-judgment result is not available for planning, dynamically changing the posture parameters and/or the environmental parameters of the vehicle body to enable the path planning pre-judgment result to be available for planning, and parking according to the parking path planned by the path planning pre-judgment device.

Specifically, when the sensor detects a parking space, the MCU executes the step S601 to acquire a vehicle body posture parameter and an environment parameter; then, step S602-step S604 are performed.

In step S602, when the vehicle body posture parameter and the environmental parameter meet the predetermined parameter determination condition, it is determined that the parking space is available for parking, otherwise, the parking space is unavailable for parking. The preset parameter determination condition is related to the vehicle body posture parameter and/or the environmental parameter, a threshold value or a range value can be set for one or more parameters of the vehicle body posture parameter and/or the environmental parameter as the preset parameter determination condition, and the preset parameter determination condition can be preset in the parking space pre-determination device 11.

In step S603, in response to the dynamic change of the body posture parameter, a path planning operation is started according to the path planning principle, after the path planning operation is started, when the parking path can be planned according to the path planning principle, the path planning prejudgment result is plannable, and when the parking path cannot be planned according to the path planning principle, the path planning prejudgment result is unplayable.

The automatic parking method of the automatic parking system provided by the invention judges whether the parking space can be parked according to the vehicle body posture parameter, the environment parameter and the preset parameter, judges whether the path can be planned according to the vehicle body posture parameter, the environment parameter and the selected path planning principle, dynamically changes the vehicle body posture parameter and/or the environment parameter to enable the path planning prejudgment result to be planned when the parking space prejudgment result is that the parking space can be parked and parks according to the parking path planned by the path planning prejudgment device, thereby realizing the parking space feasibility judgment, adjusting the vehicle body in real time and planning a correct parking path, continuously and automatically carrying out parking operation without manually adjusting the vehicle body when the parking space can be confirmed, and finishing automatic parking.

In one embodiment, in order to facilitate rapid adjustment of the vehicle body and achieve continuous automatic parking, when the parking space pre-determination result is parking available and the path planning pre-determination result is unplayable, dynamically changing the vehicle body posture parameter and/or the environmental parameter to make the path planning pre-determination result be programmable specifically includes:

and when the parking space pre-judgment result is available for parking and the path planning pre-judgment result is not available for planning, adjusting the posture parameters and/or the environmental parameters of the vehicle body according to a preset pre-anchor line, and setting the pre-anchor line according to preset parameter judgment conditions.

In one embodiment, the environmental parameters include vertical length of the space, horizontal length of the space, and distance of the space from a side line of the reverse road.

As shown in fig. 7, fig. 7 is a flowchart illustrating an automatic parking method of an automatic parking system according to another embodiment of the present invention, including:

step S701: when a parking space is detected, acquiring vehicle body posture parameters and environment parameters;

step S702: judging whether the parking place can be parked or not;

step S703: giving up the parking space;

step S704: stopping and decelerating to 0;

step S705: receiving an automatic parking starting command;

step S706: judging whether the path can be planned;

step S707: adjusting the horizontal distance and the horizontal included angle according to a preset pre-anchor line to enable the posture parameters of the vehicle body to accord with a path planning principle;

step S708: stopping and decelerating to 0;

step S709: judging whether the path planning is successful;

step S710: and parking according to the parking path.

Specifically, when the sensor detects a parking space, the MCU executes step S701-step S702, and determines whether the parking space is available in step S702, if so, executes step S704-step S706, otherwise, executes step S703. In step S706, it is determined whether the path is programmable, if so, step S708-step S709 are executed, otherwise, step S707 is executed. In step S709, it is determined whether the path planning is successful, if so, step S710 is executed, otherwise, step S707 is executed.

An embodiment of the present invention provides a storage medium for storing computer instructions for executing all the steps of the automatic parking method of the automatic parking system in any one of the method embodiments described above when a computer executes the computer instructions.

As shown in fig. 8, fig. 8 is a schematic hardware structure diagram of an electronic device for an automatic parking method of an automatic parking system according to an embodiment of the present invention, including:

at least one processor 801; and the number of the first and second groups,

a memory 802 communicatively coupled to the at least one processor 801; wherein the content of the first and second substances,

the memory 802 stores instructions executable by the at least one processor 801 to enable the at least one processor 801 to:

when a parking space is detected, acquiring vehicle body posture parameters and environment parameters;

determining a parking space pre-judgment result of the parking space according to the vehicle body posture parameter, the environment parameter and a preset parameter judgment condition;

determining a path planning prejudgment result of the path planning according to the vehicle body attitude parameter, the environment parameter and the selected path planning principle;

Fig. 8 illustrates an example of a processor 801.

The Electronic device is preferably an Electronic Control Unit (ECU).

The electronic device may further include: an input device 803 and an output device 804.

The processor 801, the memory 802, the input device 803, and the output device 804 may be connected by a bus or other means, and are illustrated as being connected by a bus.

The memory 802, which is a non-volatile computer-readable storage medium, may be used to obtain non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to an automatic parking method of an automatic parking system in the embodiment of the present application, for example, the method flows shown in fig. 6-7. The processor 801 executes various functional applications and data processing by running the nonvolatile software programs, instructions, and modules acquired in the memory 802, so as to implement the automatic parking method in the above-described embodiment.

The memory 802 may include an acquisition program area and an acquisition data area, wherein the acquisition program area may acquire an operating system, an application program required for at least one function; the acquisition data area may acquire data created according to use of an automatic parking method of the automatic parking system, and the like. Further, the memory 802 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 802 may optionally include a memory remotely located from the processor 801, and these remote memories may be connected via a network to a device that performs the automatic parking method of the automatic parking system. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 803 may receive an input of a user click and generate signal inputs related to user settings and function control of an automatic parking method of the automatic parking system. The output device 804 may include a display device such as a display screen.

The one or more modules, when executed by the one or more processors 801, execute the automatic parking method of the automatic parking system in any of the above-described method embodiments when the one or more modules are retrieved from the memory 802.

The product can execute the method provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in the embodiments of the present application.

The electronic device of embodiments of the present invention exists in a variety of forms, including but not limited to:

(1) an Electronic Control Unit (ECU) is also called a "traveling computer" or a "vehicle-mounted computer". The digital signal processor mainly comprises a microprocessor (CPU), a memory (ROM and RAM), an input/output interface (I/O), an analog-to-digital converter (A/D), a shaping circuit, a driving circuit and other large-scale integrated circuits.

(2) Mobile communication devices, which are characterized by mobile communication capabilities and are primarily targeted at providing voice and data communications. Such terminals include smart phones (e.g., iphones), multimedia phones, functional phones, and low-end phones, among others.

(3) The ultra-mobile personal computer equipment belongs to the category of personal computers, has calculation and processing functions and generally has the characteristic of mobile internet access. Such terminals include PDA, MID, and UMPC devices, among others.

(4) Portable entertainment devices such devices may display and play multimedia content. Such devices include audio and video players (e.g., ipods), handheld game consoles, electronic books, as well as smart toys and portable car navigation devices.

(5) The server is similar to a general computer architecture, but has higher requirements on processing capability, stability, reliability, safety, expandability, manageability and the like because of the need of providing highly reliable services.

(6) And other electronic devices with data interaction functions.

Furthermore, the logic instructions in the memory 802 may be implemented in software functional units and may be acquired from a computer readable storage medium when the logic instructions are sold or used as a stand-alone product. Based on such understanding, the technical solution of the present invention or a part thereof, which essentially contributes to the prior art, can be embodied in the form of a software product, which is obtained from a storage medium and includes instructions for causing a mobile terminal (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of acquiring program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be obtained from a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

18页详细技术资料下载

上一篇：一种医用注射器针头装配设备

下一篇：自动泊车决策模型优化系统及方法

Automatic parking system, automatic parking method, storage medium, and electronic device

相关技术

网友询问留言