CN-121989919-A - Automatic parking method, device, equipment and storage medium

CN121989919ACN 121989919 ACN121989919 ACN 121989919ACN-121989919-A

Abstract

The invention provides an automatic parking method, device, equipment and storage medium, wherein the method comprises the steps of carrying out fusion processing on sensor data of the surrounding environment of a vehicle to obtain environment information comprising the position of an obstacle and the boundary of a parking space; the method comprises the steps of identifying available parking places according to environment information to obtain parking place parameters of a target parking place, optimizing and planning a cost function based on kinematic constraint on a parking path according to the parking place parameters of the target parking place and the current position of a vehicle to obtain an optimal parking track, and controlling a steering system, a power system and a braking system of the vehicle according to the optimal parking track to obtain an executing process of automatically parking the vehicle into the target parking place. According to the invention, by introducing a path optimization planning method based on a cost function and combining with vehicle kinematics constraint, the path redundancy and frequent reversing are effectively reduced, and the parking efficiency and smoothness are improved.

Inventors

Xie Yongbei
YANG WEIMEI

Assignees

深圳市顺禾电器科技有限公司

Dates

Publication Date: 20260508
Application Date: 20260331

Claims (10)

1. An automatic parking method, characterized in that the automatic parking method comprises: after receiving the automatic parking instruction number, carrying out fusion processing on sensor data of the surrounding environment of the vehicle to obtain environment information comprising the position of the obstacle and the parking space boundary; Identifying available parking spaces according to the environmental information to obtain parking space parameters of a target parking space; Optimizing and planning a parking path based on a cost function of kinematic constraint according to the parking space parameters of the target parking space and the current position of the vehicle to obtain an optimal parking track; And controlling a steering system, a power system and a braking system of the vehicle according to the optimal parking track to obtain an execution process of automatically parking the vehicle into the target parking space.
2. The automatic parking method according to claim 1, wherein after receiving the automatic parking instruction number, performing fusion processing on sensor data of a surrounding environment of the vehicle to obtain environment information including a position of the obstacle and a parking space boundary, includes: after receiving the automatic parking instruction number, carrying out fusion processing on sensor data acquired by the ultrasonic radar, the camera and the millimeter wave radar to obtain sensing data of the surrounding environment of the vehicle; Identifying a parking space line and an obstacle through a deep learning model according to the perception data to obtain parking space boundary information and obstacle position information; And integrating the parking space boundary information and the barrier position information to obtain environment information containing the barrier position and the parking space boundary.
3. The automatic parking method according to claim 1, wherein the identifying available parking spaces according to the environmental information, obtaining parking space parameters of a target parking space includes: according to the parking space boundary information in the environment information, scanning and identifying available parking spaces to obtain candidate parking spaces; Analyzing the parking space boundary of the candidate parking space, judging the type of the parking space of the candidate parking space, and acquiring the position and size information of the candidate parking space to obtain the parking space parameters of the candidate parking space; And selecting a parking space meeting the parking condition from the candidate parking spaces as a target parking space according to the parking space parameters of the candidate parking spaces and the current position of the vehicle, and obtaining the parking space parameters of the target parking space.
4. The automatic parking method according to claim 1, wherein the optimizing the parking path according to the parking space parameter of the target parking space and the current position of the vehicle to obtain the optimal parking trajectory includes: determining a planning mode of a parking path according to the type of the target parking space and the current position of the vehicle to obtain an initial parking path; according to the initial parking path, combining with vehicle kinematics constraint, performing cost function evaluation on the candidate path to obtain a parking track with minimum cost; And carrying out smoothing treatment on the parking track to obtain an optimal parking track.
5. The automatic parking method according to claim 4, wherein determining a planned manner of the parking path according to the type of the target parking space and the current position of the vehicle, and obtaining the initial parking path comprises: Determining a movement mode of a parking path according to the type of the parking space of the target parking space, wherein when the type of the parking space is a vertical parking space, the movement mode is linear, when the type of the parking space is a parallel parking space, the movement mode is arc line entry, and when the type of the parking space is an oblique parking space, the movement mode is oblique arc line entry; Generating a path point from the current position to a target parking space of the vehicle according to the movement mode and the current position of the vehicle by combining the minimum turning radius of the vehicle to obtain an initial path point sequence; and determining a connection mode among the path points according to the initial path point sequence to obtain an initial parking path.
6. The automatic parking method according to claim 1, wherein the controlling the steering system, the power system and the braking system of the vehicle according to the optimal parking trajectory, to obtain the execution of the automatic parking of the vehicle into the target parking space, includes: according to the optimal parking track, a steering system and a power system of the vehicle are controlled, and a control process of the vehicle running along the track is obtained; In the control process, the deviation between the actual position of the vehicle and the optimal parking track is monitored, and when the deviation exceeds a preset condition, the vehicle is braked and the path re-planning is triggered, so that the execution process of automatically parking the vehicle into the target parking space is obtained.
7. The automatic parking method according to claim 6, wherein after the control of the steering system and the power system of the vehicle according to the optimal parking trajectory, a control process of the vehicle traveling along the trajectory is obtained, further comprising: Collecting sensor data in real time, and updating environment information according to the sensor data to obtain current environment information; comparing the current environmental information with the environmental information when the optimal parking track is generated, and judging that the environment is changed when the position change of the obstacle or the newly added obstacle is detected; and when the environment is determined to be changed, re-planning the optimal parking track to obtain an updated parking track.
8. An automatic parking apparatus, characterized in that the automatic parking apparatus comprises: the environment sensing module is used for carrying out fusion processing on sensor data of the surrounding environment of the vehicle after receiving the automatic parking instruction number to obtain environment information comprising the position of the obstacle and the parking space boundary; the parking space identification module is used for identifying available parking spaces according to the environmental information to obtain parking space parameters of the target parking spaces; the path planning module is used for carrying out optimization planning on a cost function based on kinematic constraint on a parking path according to the parking space parameters of the target parking space and the current position of the vehicle to obtain an optimal parking track; and the control execution module is used for controlling a steering system, a power system and a braking system of the vehicle according to the optimal parking track to obtain an execution process of automatically parking the vehicle into the target parking space.
9. An automatic parking apparatus comprising a memory and at least one processor, the memory having instructions stored therein; The at least one processor invokes the instructions in the memory to cause the auto-park apparatus to perform the steps of the auto-park method of any of claims 1-7.
10. A computer readable storage medium having instructions stored thereon, which when executed by a processor, implement the steps of the auto-park method according to any of claims 1-7.

Description

Automatic parking method, device, equipment and storage medium Technical Field The present invention relates to the field of data processing technologies, and in particular, to an automatic parking method, apparatus, device, and storage medium. Background With the acceleration of the urban process and the continuous increase of the keeping quantity of motor vehicles, the problem of difficult parking is increasingly prominent, and particularly in urban areas with short parking spaces, drivers need to complete parking operations in narrow spaces, which puts high demands on driving technologies. To reduce the burden on the driver, automatic parking techniques have been developed. The existing automatic parking technology generally adopts a preset geometric path planning method, a vehicle is required to be parked at a specific position relative to a parking space to start parking, and in the path planning process, the problems of frequent reversing, path redundancy, rigorous requirements on an initial position and the like of a planned path are caused due to the fact that the kinematic constraint of the vehicle and the real-time change of a parking scene are not fully considered, so that the applicability and user experience of a parking system are affected. Disclosure of Invention The invention mainly aims to solve the technical problems of path redundancy and frequent reversing caused by insufficient consideration of vehicle kinematics constraint in path planning in the existing automatic parking technology; the invention provides an automatic parking method, which comprises the following steps: after receiving the automatic parking instruction number, carrying out fusion processing on sensor data of the surrounding environment of the vehicle to obtain environment information comprising the position of the obstacle and the parking space boundary; Identifying available parking spaces according to the environmental information to obtain parking space parameters of a target parking space; Optimizing and planning a parking path based on a cost function of kinematic constraint according to the parking space parameters of the target parking space and the current position of the vehicle to obtain an optimal parking track; And controlling a steering system, a power system and a braking system of the vehicle according to the optimal parking track to obtain an execution process of automatically parking the vehicle into the target parking space. The invention also provides an automatic parking device, which comprises: the environment sensing module is used for carrying out fusion processing on sensor data of the surrounding environment of the vehicle after receiving the automatic parking instruction number to obtain environment information comprising the position of the obstacle and the parking space boundary; the parking space identification module is used for identifying available parking spaces according to the environmental information to obtain parking space parameters of the target parking spaces; the path planning module is used for carrying out optimization planning on a cost function based on kinematic constraint on a parking path according to the parking space parameters of the target parking space and the current position of the vehicle to obtain an optimal parking track; and the control execution module is used for controlling a steering system, a power system and a braking system of the vehicle according to the optimal parking track to obtain an execution process of automatically parking the vehicle into the target parking space. The invention also provides an automatic parking device which comprises a memory and at least one processor, wherein the memory is stored with instructions, the memory is connected with the at least one processor through a line, and the at least one processor calls the instructions in the memory so that the automatic parking equipment can execute the steps of the automatic parking method. The present invention also provides a computer readable storage medium having instructions stored therein which, when run on a computer, cause the computer to perform the steps of the auto-park method described above. The automatic parking method, the device, the equipment and the storage medium are used for obtaining environment information comprising obstacle positions and parking space boundaries through fusion processing of sensor data of surrounding environments of a vehicle, identifying available parking spaces according to the environment information to obtain parking space parameters of a target parking space, optimizing and planning a parking path based on a cost function of kinematic constraint according to the parking space parameters of the target parking space and the current position of the vehicle to obtain an optimal parking track, and controlling a steering system, a power system and a braking system of the vehicle according to the optimal parking track to obtain an execution proc