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WO2019056872A1 - 全自动泊车方法及全自动泊车系统 - Google Patents

全自动泊车方法及全自动泊车系统 Download PDF

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Publication number
WO2019056872A1
WO2019056872A1 PCT/CN2018/098539 CN2018098539W WO2019056872A1 WO 2019056872 A1 WO2019056872 A1 WO 2019056872A1 CN 2018098539 W CN2018098539 W CN 2018098539W WO 2019056872 A1 WO2019056872 A1 WO 2019056872A1
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WO
WIPO (PCT)
Prior art keywords
parking
vehicle
parking space
point
path
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/098539
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English (en)
French (fr)
Inventor
潘青贵
何俏君
范明
林小敏
邱明喆
刘志峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Automobile Group Co Ltd
Original Assignee
Guangzhou Automobile Group Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangzhou Automobile Group Co Ltd filed Critical Guangzhou Automobile Group Co Ltd
Priority to US16/321,048 priority Critical patent/US11338798B2/en
Publication of WO2019056872A1 publication Critical patent/WO2019056872A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0063—Manual parameter input, manual setting means, manual initialising or calibrating means
    • B60W2050/0064—Manual parameter input, manual setting means, manual initialising or calibrating means using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/215—Selection or confirmation of options
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/934—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the depth, i.e. width, not length, of the parking space
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/936—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring parking spaces extending transverse or diagonal to the driving direction, i.e. not parallel to the driving direction

Definitions

  • the invention relates to the technical field of automobile control, in particular to a fully automatic parking method and a fully automatic parking system.
  • the automatic parking is auxiliary parking.
  • the driver also needs to manually drive the vehicle to search for the parking space, determine the type of parking space, and also require the driver to control the throttle/brake in the vehicle during the parking process.
  • the degree is low and the driving experience is not good.
  • the driver who completes the parking with the assistance of the automatic parking system faces the situation of being unable to open the door when parking in the narrow vertical parking space. .
  • the parking path planning is performed, and the parking starting point and the parking path from the parking starting point to the parking ending point are obtained;
  • the vehicle is controlled to be automatically parked according to the planned parking path, and the vehicle is parked in the parking space.
  • the automatic parking system provided by the embodiment of the invention comprises an automatic parking system starting device, a driver getting off detection device, a sensing device, an automatic parking control device, a speed control device, a gear position control device, a steering wheel control device and a vehicle closing device, the automatic parking system starting device, the driver getting-off detecting device, the sensing device, the speed control device, the gear position control device, the steering wheel control device, the vehicle Any of the closing devices are coupled to the automatic parking control device.
  • the automatic parking method and the automatic parking system provided by the embodiments of the present invention, when the automatic parking is activated, the vehicle starts to drive forward automatically and finds and identifies the idle parking space.
  • the vehicle Automatically parked in the parking space, the entire search for parking spaces and parking process without human intervention, automatic parking is possible. In this way, the driver can get off the vehicle before parking the parking space, which can avoid the situation that the driver can not open the door when parking in a narrow vertical or oblique train position, thereby improving the user experience.
  • FIG. 1 is a structural block diagram of a fully automatic parking system according to an embodiment of the present invention.
  • FIG. 2 is a schematic view showing the arrangement position of the sensing device on the vehicle
  • FIG. 3 is a flow chart of a method for automatic parking according to an embodiment of the present invention.
  • FIG. 4 is a control flow chart for adjusting a vehicle body posture when a vehicle searches for a parking space
  • Figure 5 is a schematic diagram of the vehicle forward search to obtain the oblique train position
  • FIG. 6 is a schematic diagram of a vehicle forward search to obtain a vertical parking space or a parallel parking space
  • Figure 7 is a schematic illustration of one of the parking paths for a vertical parking space
  • Figure 8 is a schematic illustration of another parking path for a vertical parking space
  • Figure 9 is a schematic illustration of one of the parking paths for parallel parking spaces
  • Figure 10 is a schematic illustration of another parking path for a parallel parking space
  • Figure 11 is a schematic illustration of one of the parking paths for a diagonal train position
  • Figure 12 is a schematic illustration of another parking path for a diagonal train position
  • Figure 13 is a control flow chart of each parking sub-path phase.
  • an embodiment of the present invention provides a full-automatic parking system, including an automatic parking system starting device 1, a driver getting-off detecting device 2, a sensing device 3, an automatic parking control device 4, and a speed control.
  • the device 5 the gear position control device 6, the steering wheel control device 7, and the vehicle closing device 8.
  • any of the automatic parking system starting device 1, the driver getting-off detecting device 2, the sensing device 3, the speed control device 5, the gear position control device 6, the steering wheel control device 7, and the vehicle closing device 8 are automatically parked
  • the vehicle control device 4 is connected to transmit a detection signal to the automatic parking control device 4 or to receive control of the automatic parking control device 4.
  • the automatic parking control device 4 is the control core of the automatic parking system.
  • the automatic parking system of the present embodiment is particularly suitable for short-distance automatic parking, that is, the driver first confirms that there is a short distance (for example, 50 m) in front of the vehicle. Parking spaces can be parked and then the parking system is activated by the automatic parking system activation device 1.
  • the vehicle After the parking system is started, the vehicle starts to search for the parking space forward.
  • the sensing device 3 detects the distance information between the current vehicle and the surrounding environment, corrects the steering wheel angle to avoid collision with obstacles, and during the search process. Perceiving the type of parking space and the location and size information of the parking space.
  • the parking path is planned by the automatic parking control device 4, and the speed control device is arranged according to the planned parking path.
  • the gear position control device 6 and the steering wheel control device 7 perform real-time feedback control to finally realize the automatic parking operation.
  • the driver can first confirm that there is a parking space that can be parked in the short distance (for example, 50m) in front of the vehicle, and then activate the parking system through the automatic parking system starting device 1, which can avoid being long in front of the vehicle.
  • the vehicle will search for the parking space for too long, or the parking space cannot be found due to obstacles, and eventually the automatic parking cannot be completed.
  • the sensing device 3 includes 12 ultrasonic radar sensors mounted around the vehicle body for detecting obstacles, wherein four sensors (Rd1 to Rd4) are mounted on the vehicle body position above the four wheels of the vehicle, and the remaining 8
  • the sensors (Rd5 ⁇ Rd12) are installed in the front and rear bumper positions of the vehicle, and 12 sensors surround the vehicle for one week.
  • the parking space detection and obstacle distance detection are realized in three different parking spaces in vertical, parallel and oblique directions to avoid detection. Blind areas, ultimately get accurate and complete environmental information.
  • the ultrasonic radar includes a transmitting unit and a receiving unit, and the transmitting unit periodically transmits the ultrasonic signal outwardly, and when the ultrasonic signal encounters an obstacle, it is reflected back, and the reflected signal is received by the ultrasonic radar receiving unit, according to the time interval of sending and receiving.
  • the difference and the sound wave transmission speed can calculate the distance of the obstacle from the ultrasonic radar. This method allows real-time detection of obstacles around the vehicle, whether it is sideways or rear or front.
  • the four radars on both sides of the body are mounted on the wheel eyebrows of the four hubs, parallel to the ground, and the height from the ground is about 700mm.
  • the four radars of the front of the front are the axis of symmetry, symmetrically arranged, parallel to the ground, and the height from the ground is 500mm.
  • the four radars at the rear of the car are symmetrical axes in the middle of the bumper. They are arranged symmetrically, parallel to the ground, and off the ground. Height 500mm. This not only ensures that the sensor can effectively measure distance, but also avoids reflection interference from small obstacles on the ground and on the ground.
  • an embodiment of the present invention further provides a full-automatic parking method, including:
  • S20 controlling the vehicle to automatically travel forward and searching for whether there are available parking spaces on both sides of the vehicle during the traveling, and identifying basic information of the target parking space when there is an available parking space;
  • S30 Perform parking path planning according to basic information of the target parking space, and obtain a parking starting point and a parking path from the parking starting point to the parking ending point;
  • S40 controlling the vehicle to automatically travel to the parking start point
  • S50 Control the vehicle to automatically park according to the planned parking path and park the vehicle into the parking space.
  • an automatic parking button can be provided in the vehicle, and when the user activates the automatic parking button, the automatic parking system is activated.
  • the automatic parking system starting device 1 is an automatic parking button disposed in the vehicle, and the automatic parking button may be a physical switch or a virtual switch that realizes touch input through the touch screen.
  • step S10 receiving the startup command issued by the user, and the step of activating the automatic parking system according to the startup command may include:
  • S12 Activate the automatic parking system when detecting that the user triggers the automatic parking button.
  • a wireless signal receiving device can be provided in the vehicle, and the automatic parking system is activated when the user issues an automatic parking start command to the wireless signal receiving device via the remote control key or the user terminal.
  • the automatic parking system starting device 1 is a wireless signal receiving device provided in the vehicle, and a remote control key or a user terminal.
  • the remote control key the user can press the automatic parking button set on the remote control key to activate the automatic parking function; when the user terminal is used, the automatic parking application (ie APP) can be pre-installed on the user terminal. The user simply activates the automatic parking function by simply opening the application and issuing an automatic parking instruction.
  • step S10 receiving the startup command issued by the user, and the step of activating the automatic parking system according to the startup command may include:
  • S14 Activate the automatic parking system when detecting that the user issues an automatic parking start command to the wireless signal receiving device.
  • the above automatic parking button or wireless signal receiving device is connected to the automatic parking control device 4 for issuing an automatic parking activation command to the automatic parking control device 4, and the automatic parking control device 4 receives the automatic parking activation.
  • the current vehicle speed information is obtained from the CAN bus or the LIN bus of the vehicle in real time, and the current vehicle speed is compared with the preset vehicle speed threshold. If the current vehicle speed is less than the vehicle speed threshold, the automatic parking function is activated, otherwise The automatic parking function will be activated.
  • the vehicle is provided with a driver drop detection device 2 for detecting whether the driver has got off the vehicle.
  • the vehicle is controlled to start searching for the parking space forward. Since the parking system of the embodiment can realize automatic parking, the driver can perform additional operations in the vehicle, so that the driver can get off the vehicle before parking the parking space to avoid parking in a narrow vertical. When the train is tilted, the driver can't open the door and get off the train, which improves the user experience.
  • the driver getting off detection device 2 may be, but not limited to, a gravity sensor provided on the driver's seat for collecting the driver's weight information.
  • the driver drop detection device 2 may also be another detection device such as a camera.
  • the automatic parking method may further include: before controlling the vehicle to automatically perform the parking space search.
  • the automatic parking method may further include: before controlling the vehicle to perform automatic parking according to the planned parking path:
  • step S20 the step of controlling the vehicle to automatically travel forward and searching for the available parking spaces on both sides of the vehicle during the traveling may include:
  • the ultrasonic radar ranging information of the vehicle and the surrounding environment is acquired by using the sensing device 3 disposed on the vehicle body, and the traveling speed and the steering wheel angle of the vehicle are adjusted according to the ranging information, so that the vehicle is in the traveling direction.
  • the traveling speed and the steering wheel angle of the vehicle are adjusted according to the ranging information, so that the vehicle is in the traveling direction.
  • the 12 ultrasonic radar sensors Rd1 to Rd12 on the vehicle body detect the obstacle information around the vehicle in real time, according to the radars Rd1 to Rd4 on the left and right sides of the vehicle.
  • the distance measurement information determines whether the vehicle deviates from the direction of travel.
  • the ranging values of the radars Rd1 to Rd4 on the left and right sides can be input to the automatic parking control device 4, and the automatic parking control device 4 compares whether
  • the threshold value when the comparison result is YES, determines that the vehicle has deviated from the traveling direction, calculates the steering wheel angle by the automatic parking control device 4, and adjusts the vehicle forward posture by the speed control device 5 and the steering wheel control device 7 until the vehicle returns to the correct traveling direction
  • the comparison result is no, it is determined that the vehicle has not deviated from the traveling direction, and can continue forward according to the current traveling direction.
  • the vehicle When the vehicle performs the parking space search in the traveling direction, it is determined whether or not there is an obstacle in front of the vehicle based on the ranging information of the radars Rd5 to Rd8 directly in front of the vehicle. If it is determined that there is an obstacle in front of the vehicle according to the ranging information of the radars Rd5 to Rd8 in front of the vehicle, the vehicle brake is controlled and the vehicle is continuously controlled to perform the parking space search after the front obstacle disappears; if the front obstacle remains beyond the predetermined length If present, the vehicle is controlled to exit the automatic parking system.
  • the basic information of the target parking space is obtained according to the ranging information, and the basic information of the target parking space includes, for example, the orientation of the target parking space (the target parking space is located on the left side or the right side of the vehicle) , type (target parking space is parallel parking space, vertical parking space or oblique train position), size (width of target parking space), inclination angle (angle between target parking space and vehicle), and lateral distance between vehicle and target parking space.
  • the automatic parking control device 4 can determine whether the target parking space is a parking space that can be parked.
  • the following example shows how the vehicle determines whether to search for available parking spaces, as shown in Figure 5.
  • the radars Rd1 and Rd2 on the right side are used to search for the presence of available parking spaces on the right side of the vehicle.
  • the distance measurement value of the radar on the right side of the vehicle should be a series of values within 200cm and the distance measurement value fluctuates within 50cm, thereby judging that the vehicle is currently passing a car/other Obstacle; when the vehicle is about to leave the car/other obstacles, there will be a large jump in the distance measurement of the right radar.
  • the vehicle travel distance S1 is recorded, as the first boundary of the parking space, and the vehicle is recorded.
  • the minimum value D1 of the radar ranging value during the period of the first vehicle/other obstacle is taken as the lateral distance of the vehicle from the first vehicle, and the vehicle travel distance S1 corresponding to the minimum distance measurement value D1 is recorded.
  • the radar's ranging value shows a big jump again.
  • the vehicle travel distance S2 is recorded, and as the second boundary of the parking space, the vehicle is recorded.
  • the minimum value D2 of the radar ranging value during the period of the second vehicle/other obstacle is used as the lateral distance of the vehicle from the second vehicle, and the distance traveled by the vehicle corresponding to the minimum ranging value D2 is recorded.
  • the process of searching for the available parking space on the left side of the vehicle by using the radars Rd3 and Rd4 on the left side is similar to the above situation. The only difference is that the distance measurement values of the left radars Rd3 and Rd4 are used for judgment, and will not be described herein.
  • step S30 the parking path planning is performed according to the basic information of the identified target parking space, and the parking starting point and the parking path from the parking starting point to the parking ending point are obtained, specifically, the automatic parking control device 4 is based on Ackerman turned to the simplified model of the geometry to calculate the parking starting point and the parking path from the parking starting point to the parking end.
  • the parking path shown in Figure 7 is preferred, that is, the parking path is one: straight or reverse to reach point A + steering wheel right to full + backward to travel 1/4 round Arc Arc1+ arrives at point B and returns to the original position + from point B to point C and reversing into the middle of the parking space.
  • the automatic parking control device 4 does not collide with obstacles on both sides of the parking space when the vehicle enters the target parking space according to the lateral distance D2 of the vehicle from the target parking space, and the vehicle is located in the parking space after passing through the Arc1.
  • the middle the middle of the parking space when the vehicle is finally reversing in the parking space width direction
  • the distance L1 from the parking starting point A to the right side of the target parking space can be calculated, and the length of the trajectory in the middle of the parking space (B point to C) The length of the point) LinB2C and the minimum parking space width PrkSpLen required under the parking path.
  • the parking path is the parking path II.
  • Parking path 2 straight or reverse to point A + steering wheel right full + back driving a circular arc Arc1 (Arc1 ⁇ 1/4 arc) to point B + original left full + left turn forward a arc Arc2+ arrive C point is correcting the body + returning to the original + from C to D to reverse into the middle of the parking space.
  • the automatic parking control device 4 does not collide with obstacles on both sides of the parking space when the vehicle enters the target parking space according to the lateral distance D2 of the vehicle from the target parking space and the actual width PL of the target parking space. And after the vehicle passes Arc2, it is in the middle of the parking space.
  • the distance L1 from the parking start point A to the right side of the target parking space, the angles ⁇ 1 and ⁇ 2 corresponding to the arcs Arc1 and Arc2, and the length of the track entering the middle of the parking space (C) can be calculated.
  • the length of Arc2 Arc2Len the minimum turning radius R Min * ⁇ 2
  • the point C to The D point length is LinC2D
  • the parking stop condition is that the vehicle has traveled to point D.
  • the parking path shown in Figure 9 is preferred, that is, the parking path is one: straight or reverse to reach point A + steering wheel right full + backward driving AB arc + When you reach point B, the left side of the steering wheel is full + backward driving BC arc + straight from C point to point D to adjust to the middle of the parking space.
  • the automatic parking control device 4 does not collide with obstacles on both sides of the parking space when the vehicle enters the target parking space according to the lateral distance D2 of the vehicle from the target parking space, and the vehicle passes through the AB arc Arc1 and After the BC arc Arc2, the outer edge of the vehicle is aligned with the outer edge of the parking space as a constraint.
  • the distance L1 from the starting point of the parking point to the right side of the target parking space can be calculated.
  • the minimum parking space required for the car path is PrkSpLen.
  • Parking path 2 straight or reverse to point A + steering wheel right full + back driving AB arc + arrival point B steering wheel left full + back driving BC arc + reaching C point steering right full + forward driving CD arc + Go straight from point D to point E and adjust to the middle of the parking space.
  • the automatic parking control device 4 does not collide with obstacles on both sides of the parking space when the vehicle enters the target parking space according to the lateral distance D2 of the vehicle from the target parking space and the actual width PL of the target parking space.
  • the outer edge of the vehicle is aligned with the outer edge of the parking space as a constraint condition, and the distance L1 of the parking starting point A from the right side of the target parking space can be calculated, the arc AB, the arc BC
  • the angles ⁇ 1, ⁇ 2, and ⁇ 3 corresponding to the arc CD are straight into the track length (the length from point D to point E) LinD2E in the middle of the parking space.
  • the length of the arc Arc3Len the minimum turning radius R Min * ⁇ 3 and the length D to the length of the E point LinD2E, the parking stop condition is that the vehicle has traveled to point E.
  • the parking path shown in Figure 11 is preferred, that is, the parking path is one: straight or reverse to reach point A + steering wheel right full + backward driving AB arc Arc1+ arrives at point B and returns to the original position + from B to C to reversing into the middle of the parking space.
  • the automatic parking control device 4 does not collide with obstacles on both sides of the parking space when the vehicle enters the target parking space according to the lateral distance D2 of the vehicle from the target parking space, and the vehicle is located in the parking space after passing through the Arc1.
  • the middle the middle of the parking space when the vehicle is finally reversing in the parking space width direction
  • the distance L1 from the parking starting point A to the right side of the target parking space can be calculated, and the length of the trajectory in the middle of the parking space is reversed (ie, point B to Length of point C) LinB2C and the minimum parking space width PrkSpLen required under the parking path.
  • Parking path 2 straight or reverse to point A + steering wheel right full + back driving a circular arc Arc1 (Arc1 ⁇ 1/4 arc) to point B + original left full + left turn forward a arc Arc2+ arrive C point square body + original return + from C to D to reverse into the middle of the parking space;
  • the automatic parking control device 4 does not collide with obstacles on both sides of the parking space when the vehicle enters the target parking space according to the lateral distance D2 of the vehicle from the target parking space and the actual width PL of the target parking space. And after the vehicle passes the AB arc Arc1, BC arc Arc2, the center of the rear axle of the vehicle is located at the center line of the parking space, and the angles ⁇ 1 and ⁇ 2 corresponding to the arc Arc1 and the arc Arc2 are added as ⁇ ( ⁇ is the inclination angle of the parking space) as a constraint condition, and the parking can be calculated.
  • the distance L1 from the parking start point A to the right side of the target parking space and the parking path: the length of Arc1 Arc1Len the minimum turning radius R Min * ⁇ 1
  • the length of Arc2 Arc2Len the minimum turning radius R Min * ⁇ 2 and the point C to
  • the D point length is LinC2D
  • the parking stop condition is that the vehicle has traveled to point D.
  • the automatic parking method provided by the embodiment of the present invention can cover three parking spaces of vertical, parallel and oblique rows, and for each different parking type, the parking path can be selected according to different sizes of the target parking spaces.
  • step 40 the speed control device 5, the gear position control device 6, and the steering wheel control device 7 are controlled by the automatic parking control device 4 to control the vehicle automatic Travel (straight or reverse) to the parking start point A.
  • the automatic parking control device 4 controls the speed control device 5, the gear position control device 6, and the steering wheel control device 7, and controls the vehicle to perform automatic parking according to the planned parking path, and parks the vehicle into the parking.
  • the distance between the current vehicle and the surrounding obstacle is calculated by the ranging information of the radars Rd1 to Rd12 in real time, and the parking path is adjusted in real time according to the ranging information.
  • the control flow is shown in Figure 13.
  • the entire parking path calculated in step S30 includes a plurality of parking sub-paths (for example, the parking path shown in FIG. 7 includes the parking sub-path arc AB and the straight line BC, the parking path shown in FIG. 8 includes the parking sub-path arc AB, Arc BC and straight line CD, etc.), the entire parking path consists of various parking sub-paths.
  • Each parking sub-path corresponds to the length of the parking path that needs to be executed and the corresponding steering wheel angle.
  • the entire parking path control includes multi-segment parking sub-path control with sequential order, and Figure 13 shows any of the parking lots.
  • the control flow of the path acquires the ultrasonic radar ranging information through the sensing device 3, calculates the current vehicle and the surrounding obstacle information, and adjusts the parking sub-path in real time.
  • the specific parking control process for each parking sub-path includes:
  • the vehicle is controlled to perform parking according to the length of the parking path to be executed and the corresponding steering wheel angle, and the ranging values collected by the ultrasonic radars Rd1 to Rd12 are input to the automatic parking control device 4;
  • the automatic parking control device 4 determines whether the travel distance of the vehicle is greater than or equal to the length of the parking path to be executed by the current parking sub-path, if not, proceeds to step S53, and if so, proceeds to step S55;
  • the automatic parking control device 4 determines the relationship between the ranging value collected by the ultrasonic radars Rd1 to Rd12 and the preset collision threshold. If the ranging values of the ultrasonic radars Rd1 to Rd12 are both smaller than the collision threshold, the operation continues. Segment parking path control, if the ranging value of one of the ultrasonic radars Rd1 to Rd12 is greater than or equal to the collision threshold, then proceeds to step S54;
  • step S55 determining whether the parking end condition is satisfied, and if so, completing the parking, using the vehicle closing device 8 to close the window, light, flame out and lock the vehicle, and if not, proceed to step S56;
  • S56 Complete the parking control of the current parking sub-path, enter the parking control of the next parking sub-path, and wait until the parking end condition is met, and park the vehicle into the parking space.
  • the vehicle closing device 8 may be a window motor, a light switch, a flameout control switch, etc., and the control signal for the vehicle closing device 8 may be automatically issued by the automatic parking control device 4 after the parking is completed, or by the user via a remote control key or
  • the user terminal transmits to the wireless signal receiving device in the vehicle and transmits it to the vehicle closing device 8 by the wireless signal receiving device.
  • the automatic parking method and the automatic parking system provided by the embodiments of the present invention, when the automatic parking is activated, the vehicle starts to drive forward automatically and finds and identifies the idle parking space when searching for idle parking. After the parking space, the vehicle is automatically parked in the parking space.
  • the entire search for the parking space and the parking process does not require human participation, and automatic parking can be realized. In this way, the driver can get off the vehicle before parking the parking space, which can avoid the situation that the driver can not open the door when parking in a narrow vertical or oblique train position, thereby improving the user experience.
  • the automatic parking method and the automatic parking system provided by the embodiments of the present invention, when the automatic parking is activated, the vehicle starts to drive forward automatically and finds and identifies the idle parking space.
  • the vehicle Automatically parked in the parking space, the entire search for parking spaces and parking process without human intervention, automatic parking is possible. In this way, the driver can get off the vehicle before parking the parking space, which can avoid the situation that the driver can not open the door when parking in a narrow vertical or oblique train position, thereby improving the user experience.

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Abstract

一种全自动泊车方法及全自动泊车系统，其中该全自动泊车方法包括：接收用户发出的启动指令，根据所述启动指令激活自动泊车系统；控制车辆自动向前行进并且在行进过程中搜索车辆的两侧是否存在可用的停车位，当存在可用的停车位时，识别出目标车位的基本信息；根据识别出的目标车位的基本信息进行泊车路径规划，得到泊车起始点以及从泊车起始点到泊车终点的泊车路径；控制车辆自动行进至泊车起始点；控制车辆按照规划好的泊车路径进行自动泊车，将车辆泊入停车位内。本实施例提供的全自动泊车方法及全自动泊车系统，车辆向前自动行驶并寻找和识别空闲的停车位，车辆自动泊入停车位中，整个寻找车位及泊车过程不需人为参与，可实现全自动泊车。

Description

全自动泊车方法及全自动泊车系统 技术领域
本发明涉及汽车控制技术领域，尤其涉及一种全自动泊车方法及全自动泊车系统。
背景技术
近年来，随着国内汽车数量的不断增加，停车拥挤问题成为困扰众多车主的一大难题，一些新手停车技术不成熟，往往造成车辆无法停入车位或者车辆虽停入停车位但造成与其他车辆发生剐蹭的事故或者一辆车占据两个停车位。为解决该困境，一种方法是加快建设新的停车位，另一种方法则是提高现有停车位的资源利用率，因此如果汽车能够自主识别停车位并进行自动泊车，将能有效的解决目前的问题。
技术问题
目前自动泊车大部分为辅助泊车，驾驶员还需手动驾驶车辆前进进行车位的搜索，决定泊车位的类型，以及泊车过程中还需驾驶员在车内对油门/刹车进行控制，自动化程度低，驾驶体验性不好。而且由于泊车过程中驾驶员还需在车内进行部分操作，故在进行较窄垂直车位的泊车时，在自动泊车系统辅助下完成泊车的驾驶员面临着无法开门下车的处境。
技术解决方案
有鉴于此，有必要提供一种全自动泊车方法及全自动泊车系统，以解决还需驾驶员手动驾驶车辆前进进行车位的搜索和车位类型的判断，以及还需驾驶员在车内掌握部分操纵动作，自动化程度低的技术问题。
本发明实施例提供的全自动泊车方法，包括：
接收用户发出的启动指令，根据所述启动指令激活自动泊车系统；
控制车辆自动向前行进并且在行进过程中搜索车辆的两侧是否存在可用的停车位，当存在可用的停车位时，识别出目标车位的基本信息；
根据识别出的目标车位的基本信息进行泊车路径规划，得到泊车起始点以及从泊车起始点到泊车终点的泊车路径；
控制车辆自动行进至泊车起始点；
控制车辆按照规划好的泊车路径进行自动泊车，将车辆泊入停车位内。
本发明实施例提供的全自动泊车系统，包括自动泊车系统启动装置、驾驶员下车检测装置、传感装置、自动泊车控制装置、速度控制装置、档位控制装置、方向盘控制装置和车辆关闭装置，所述自动泊车系统启动装置、所述驾驶员下车检测装置、所述传感装置、所述速度控制装置、所述档位控制装置、所述方向盘控制装置、所述车辆关闭装置中的任一者均与所述自动泊车控制装置连接。
有益效果
本发明实施例提供的全自动泊车方法及全自动泊车系统，当自动泊车激活后，车辆开始向前自动行驶并寻找和识别空闲的停车位，当寻找到空闲的停车位后，车辆自动泊入停车位中，整个寻找车位及泊车过程不需人为参与，可实现全自动泊车。这样，驾驶员可在车辆泊入停车位之前先下车，可以避免泊入较窄的垂直、斜列车位时出现驾驶员无法开门下车的情况，提升了用户使用体验。
附图说明
图1为本发明实施例的全自动泊车系统的结构框图；
图2为传感装置在车辆上的布置位置示意图；
图3为本发明实施例的全自动泊车方法的流程图；
图4为车辆前进搜索车位时调整车身姿态的控制流程图；
图5为车辆前进搜索获得斜列车位的示意图；
图6为车辆前进搜索获得垂直车位或平行车位的示意图；
图7为针对垂直车位的其中一种泊车路径的示意图；
图8为针对垂直车位的另一种泊车路径的示意图；
图9为针对平行车位的其中一种泊车路径的示意图；
图10为针对平行车位的另一种泊车路径的示意图；
图11为针对斜列车位的其中一种泊车路径的示意图；
图12为针对斜列车位的另一种泊车路径的示意图；
图13为每个泊车子路径阶段的控制流程图。
本发明的实施方式
为更进一步阐述本发明为达成预定发明目的所采取的技术手段及功效，以下结合附图及较佳实施例，对本发明详细说明如下。
如图1所示，本发明实施例提供一种全自动泊车系统，包括自动泊车系统启动装置1、驾驶员下车检测装置2、传感装置3、自动泊车控制装置4、速度控制装置5、档位控制装置6、方向盘控制装置7和车辆关闭装置8。
自动泊车系统启动装置1、驾驶员下车检测装置2、传感装置3、速度控制装置5、档位控制装置6、方向盘控制装置7、车辆关闭装置8中的任一者均与自动泊车控制装置4连接，以向自动泊车控制装置4发送检测信号或者接受自动泊车控制装置4的控制。其中，自动泊车控制装置4为该全自动泊车系统的控制核心。
考虑到泊车的时间效率需求，本实施例的全自动泊车系统尤其适合于进行短距离的全自动泊车，即驾驶员先初步确认在车辆正前方短距离(例如50m)的范围内存在可以进行泊车的泊车位，然后再通过自动泊车系统启动装置1激活泊车系统。
泊车系统启动后，车辆开始向前进行车位的搜索，在行进过程中通过传感装置3探测获得当前车辆与周边环境的距离信息，修正方向盘角度以避免与障碍物碰撞，并在搜索过程中感知停车位的类型及停车位的位置、尺寸信息，在搜索到可用的停车位后，通过自动泊车控制装置4进行泊车路径的规划，按照规划好的泊车路径对速度控制装置5、档位控制装置6、方向盘控制装置7进行实时反馈控制，最终实现全自动泊车的动作。
通过驾驶员先初步确认在车辆正前方短距离(例如50m)的范围内存在可以进行泊车的泊车位，然后再通过自动泊车系统启动装置1激活泊车系统，可以避免在车辆正前方长距离没有停车位时，导致车辆向前进行车位搜索的时间过长，或者因为障碍物而无法找到车位，最终出现无法完成自动泊车的情况。
如图2所示，传感装置3包括安装在车身四周的12个超声波雷达传感器，用于探测障碍物，其中4个传感器(Rd1～Rd4)安装在车辆四个轮毂上方的车身位置，其余8个传感器(Rd5～Rd12)安装在车辆的前、后保险杠位置，12个传感器环绕车辆一周，实现垂直、平行、斜列三种不同车位形态下的车位探测及障碍物距离探测，避免出现探测盲区，最终获取准确完善的环境信息。
超声波雷达包含发送单元和接收单元，发送单元定时的往外发送超声波信号，当超声波信号遇到障碍物时则会被反射回来，反射回来的信号被超声波雷达接收单元接收，根据发送和接收的时间间隔差以及声波传输速度，则可以计算出障碍物距离超声波雷达的距离。通过此方法可实时探测车辆四周的障碍物，不论是侧边的还是后方的或前方的。车身两侧的四个雷达分别安装在四个轮毂的轮眉上，与地面平行，离地高度均约为700mm。车头的四个雷达以前保险杠中间位置为对称轴，对称布置，与地面平行，离地高度500mm，车尾的四个雷达以后保险杠中间位置为对称轴，对称布置，与地面平行，离地高度500mm。这样既能保证传感器能有效地测距，又能避免地面及地面较小障碍物的反射干扰。
如图3所示，本发明实施例还提供一种全自动泊车方法，包括：
S10：接收用户发出的启动指令，根据所述启动指令激活自动泊车系统；
S20：控制车辆自动向前行进并且在行进过程中搜索车辆的两侧是否存在可用的停车位，当存在可用的停车位时，识别出目标车位的基本信息；
S30：根据目标车位的基本信息进行泊车路径规划，得到泊车起始点以及从泊车起始点到泊车终点的泊车路径；
S40：控制车辆自动行进至泊车起始点；
S50：控制车辆按照规划好的泊车路径进行自动泊车，将车辆泊入停车位内。
在其中一实施例中，可以在车辆内设置自动泊车按键，当用户触发该自动泊车按键时，即激活自动泊车系统。此时，自动泊车系统启动装置1即是设置在车辆内的自动泊车按键，该自动泊车按键可以是实体开关，也可以是通过触控屏实现触摸输入的虚拟开关。
因此，在步骤S10中，接收用户发出的启动指令，根据所述启动指令激活自动泊车系统的步骤，可以包括：
S11：检测用户是否触发设置在车辆内的自动泊车按键；
S12：在检测到用户触发所述自动泊车按键时，则激活自动泊车系统。
在另一实施例中，可以在车辆内设置无线信号接收装置，当用户通过遥控钥匙或用户终端向该无线信号接收装置发出自动泊车启动指令时，即激活自动泊车系统。此时，自动泊车系统启动装置1即是设置在车辆内的无线信号接收装置，以及遥控钥匙或用户终端。当采用遥控钥匙时，用户可以按下设置在遥控钥匙上的自动泊车按键来启动自动泊车功能；当采用用户终端时，可以在用户终端上预 先安装自动泊车应用程序(即APP)，用户只需打开该应用程序并发出自动泊车指令，即可启动自动泊车功能。
因此，在步骤S10中，接收用户发出的启动指令，根据所述启动指令激活自动泊车系统的步骤，可以包括：
S13：检测用户是否通过遥控钥匙或用户终端向设置在车辆内的无线信号接收装置发送自动泊车启动指令；
S14：在检测到用户向所述无线信号接收装置发出自动泊车启动指令时，则激活自动泊车系统。
上述的自动泊车按键或无线信号接收装置，与自动泊车控制装置4相连，用于向自动泊车控制装置4发出自动泊车激活指令，自动泊车控制装置4在接收到自动泊车激活指令后，从车辆的CAN总线或LIN总线上实时获取当前的车速信息，并比较当前车速与系统预设的车速阈值的大小，若当前车速小于车速阈值时，则激活自动泊车功能，否则不会激活自动泊车功能。
进一步地，车辆设有驾驶员下车检测装置2，用于检测驾驶员是否已下车。在其中一实施例中，只有驾驶员下车之后，才会控制车辆开始向前进行车位的搜索。由于本实施例的泊车系统可以实现全自动泊车，驾驶员可以不用在车内进行额外操作，这样驾驶员可以在车辆泊入停车位之前提前下车，以避免泊入较窄的垂直、斜列车位时出现驾驶员无法开门下车的情况，提升用户使用体验。具体地，驾驶员下车检测装置2可以但不限于为设于驾驶座上的重力传感器，用于采集驾驶员的体重信息。当重力传感器检测到驾驶员的体重信息时，则判定驾驶员还未下车；当重力传感器检测不到驾驶员的体重信息时，则判定驾驶员已经下车。驾驶员下车检测装置2还可以是摄像头等其他检测装置。
因此，在自动泊车系统激活之后，在控制车辆自动向前进行车位搜索之前，所述自动泊车方法还可以包括：
S61：检测驾驶员是否已经下车；
S62：若检测结果为驾驶员还未下车，则控制车辆处于静止状态并等待或提醒驾驶员下车；
S63：若检测结果为驾驶员已经下车，则控制车辆开始向前进行车位的搜索。
在另一实施例中，也可以在车辆最后按照规划好的泊车路径进行自动泊车，泊入停车位之前，驾驶员下车即可，这样驾驶员同样是在车辆泊入停车位之前提 前下车，可以避免泊入较窄的垂直、斜列车位时出现驾驶员无法开门下车的情况。因此，在自动泊车系统激活之后，在控制车辆按照规划好的泊车路径进行自动泊车之前，所述自动泊车方法还可以包括：
S61：检测驾驶员是否已经下车；
S62：若检测结果为驾驶员还未下车，则控制车辆处于静止状态并等待或提醒驾驶员下车；
S63：若检测结果为驾驶员已经下车，则控制车辆开始按照规划好的泊车路径进行自动泊车。
在步骤S20中，控制车辆自动向前行进并且在行进过程中搜索车辆的两侧是否存在可用的停车位的步骤，可以包括：
S21：控制车辆以一定车速自动向前行进；
S22：在行进过程中，利用设置在车身上的传感装置3获取车辆与周围环境的超声波雷达测距信息，根据所述测距信息调整车辆的行进速度和方向盘转角，使车辆在行进方向上进行车位搜索并避开障碍物，直至根据所述测距信息判定车辆的左右两侧存在可用的停车位时，根据所述测距信息获取目标车位的基本信息。
具体地，如图4所示，车辆在行进方向上进行车位搜索时，由车身上的12个超声波雷达传感器Rd1～Rd12实时探测车辆周围的障碍物信息，根据车辆左右两侧的雷达Rd1～Rd4的测距信息，判定车辆是否偏离行进方向。例如，可以将左右两侧的雷达Rd1～Rd4的测距值输入给自动泊车控制装置4，由自动泊车控制装置4比较|Rd1-Rd2|或者|Rd3-Rd4|是否大于一设定的阈值，当比较结果为是，则判定车辆已经偏离行进方向，利用自动泊车控制装置4计算方向盘转角，并通过速度控制装置5和方向盘控制装置7调整车辆前进姿态，直至车辆回归正确的行进方向；当上述比较结果为否，则判定车辆尚未偏离行进方向，可以依当前行进方向继续向前。
车辆在行进方向上进行车位搜索时，根据车辆正前方的雷达Rd5～Rd8的测距信息，判定车辆正前方是否存在障碍物。若根据正前方的雷达Rd5～Rd8的测距信息判定车辆前方存在障碍物，则控制车辆刹车并在前方障碍物消失后再控制车辆继续向前进行车位搜索；若前方障碍物在超出预定时长仍然存在，则控制车辆退出自动泊车系统。
当车辆向前搜索到可用的停车位时，则根据所述测距信息获取目标车位的基本信息，所述目标车位的基本信息例如包括目标车位的方位(目标车位位于车辆左侧还是右侧)、类型(目标车位为平行车位、垂直车位还是斜列车位)、尺寸(目标车位的宽度)、倾斜角(目标车位与车辆的夹角)、以及车辆与目标车位之间的侧向距离。根据目标车位的这些基本信息，自动泊车控制装置4可以判定目标车位是否为可以泊车的停车位。
以下举例说明车辆如何判定是否搜索到可用的停车位，如图5所示，图中以利用右侧的雷达Rd1、Rd2搜索车辆右侧是否存在可用停车位为例，当车辆右侧停放有车辆或者存在其它障碍物时，车辆右侧雷达的测距值随时间变化应该是一系列大小在200cm以内且前后时刻测距值波动在50cm以内的数值，由此判断车辆当前经过一辆车/其它障碍物；当车辆即将离开这辆车/其它障碍物时，右侧雷达的测距值会出现一个大的跳变，此时记录车辆行驶距离S1，作为车位的第一个边界，记录车辆经过第一辆车/其它障碍物的这段时间内雷达测距值的最小值D1，作为车辆距离第一辆车的侧向间距，并记录与该最小测距值D1对应的车辆行驶距离S1’；当车辆再次经过一辆车/其它障碍物时，雷达的测距值再次出现大的跳变，此时记录车辆行驶距离S2，作为车位的第二个边界，记录车辆经过第二辆车/其它障碍物的这段时间段内雷达测距值的最小值D2，作为车辆距离第二辆车的侧向间距，并记录与该最小测距值D2对应的车辆行驶距离S3，以及记录雷达测距值在第一次跳变以及第二次跳变期间的最小值，记为车位深度D3。判断车辆经过第一辆车/障碍物和第二辆车/障碍物时的雷达测距值的变化趋势，将雷达的测距值拟合成一条随时间变化的直线，计算该直线的斜率，得到车辆经过第一辆车和第二辆车时的前进方向与停放车辆/障碍物之间的倾斜角度α，若该角度α大于15°，且D3≥车长L*sinα+D2+1m，
Figure PCTCN2018098539-appb-000001
时，则判定目标车位是一个可以泊车的斜列车位，得到车位宽度
Figure PCTCN2018098539-appb-000002
Figure PCTCN2018098539-appb-000003
侧向间距D2，车位倾斜角α；若α≤15°，且D3≥车宽W+D2，S2-S1≥车长L+1.2m时，则判定这是一个可以泊车的平行车位，如图6所示，得到车位宽度PL＝S2-S1，侧向间距D2；若α≤15°，且D3≥车长L+D2，S2-S1≥车 宽W+1m时，则判定这是一个可以泊车的垂直车位，得到车位宽度PL＝S2-S1，侧向间距D2。若上述条件均不满足，则判定当前搜索到的车位不是一个可以泊车的车位，继续向前搜索车位。
利用左侧的雷达Rd3、Rd4搜索车辆左侧是否存在可用停车位的过程与上述情况类似，唯一区别是使用左侧雷达Rd3、Rd4的测距值进行判断，在此不再赘述。
在步骤S30中，根据识别出的目标车位的基本信息进行泊车路径规划，得到泊车起始点以及从泊车起始点到泊车终点的泊车路径，具体是由自动泊车控制装置4基于阿克曼转向几何的简化模型进行运算，计算得到泊车起始点以及从泊车起始点到泊车终点的泊车路径。
以垂直泊车为例，出于泊车时间考虑，优先选择如图7所示的泊车路径，即泊车路径一：直行或倒车到达A点+方向盘右打满+后退行驶1/4圆弧Arc1+到达B点原地回正+从B点到C点倒车进入车位中间。
基于阿克曼转向几何的简化模型，由自动泊车控制装置4根据车辆距离目标车位的侧向间距D2，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且车辆经Arc1后位于车位中间(使车辆最后倒车时在车位宽度方向上位于车位中间)为约束条件，可以计算得到泊车起始点A点距离目标车位右侧的距离L1，倒车进入车位中间的轨迹长度(B点到C点的长度)LinB2C以及该泊车路径下所需的最小车位宽度PrkSpLen。若PrkSpLen≤车位宽度PL，则判定可以按照该泊车路径一进行泊车，从而得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：Arc1的长度Arc1Len＝车辆的最小转弯半径R Min*π/2以及B点到C点的长度LinB2C，泊车停止条件为车辆行驶到了C点；若计算得到的所需最小车位宽度PrkSpLen>车位宽度PL，则选择如图8所示的泊车路径，即泊车路径二。
泊车路径二：直行或倒车到达A点+方向盘右打满+后退行驶一段圆弧Arc1(Arc1＜1/4圆弧)到达B点+原地左打满+左转前进一段圆弧Arc2+到达C点摆正车身+原地回正+从C点到D点倒车进入车位中间。
基于阿克曼转向几何的简化模型，由自动泊车控制装置4根据车辆距离目标车位的侧向间距D2和目标车位的实际宽度PL，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且车辆经Arc2后位于车位中间为约束条件，可以计算得到泊车起始点A距离目标车位右侧的距离L1，圆弧Arc1和Arc2对应的角度α1 和α2，倒车进入车位中间的轨迹长度(C点到D点的长度)LinC2D。从而，得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：Arc1的长度Arc1Len＝最小转弯半径R Min*α1、Arc2的长度Arc2Len＝最小转弯半径R Min*α2以及C点到D点长度LinC2D，泊车停止条件为车辆行驶到了D点。
以平行泊车为例，出于泊车时间考虑，优先选择如图9所示的泊车路径，即泊车路径一：直行或倒车到达A点+方向盘右打满+后退行驶AB圆弧+到达B点方向盘左打满+后退行驶BC圆弧+从C点到D点直行调整到车位中间。
基于阿克曼转向几何的简化模型，由自动泊车控制装置4根据车辆距离目标车位的侧向间距D2，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且车辆经AB弧Arc1和BC弧Arc2后车辆外边缘与车位外边缘对齐为约束条件，可以计算得到泊车起始点A点距离目标车位右侧的距离L1，AB弧对应的角度β1，BC弧对应的角度β2以及该泊车路径下所需的最小车位宽度PrkSpLen。若PrkSpLen≤车位宽度PL，则判定可以按照该泊车路径一进行泊车，从而得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：AB弧的长度Arc1Len＝车辆的最小转弯半径R Min*β1，BC弧的长度Arc2Len＝车辆的最小转弯半径R Min*β2，以及C点到D点的长度LinC2D，泊车停止条件为车辆行驶到了D点；若计算得到的所需最小车位宽度PrkSpLen>车位宽度PL，则选择如图10所示的泊车路径，即泊车路径二。
泊车路径二：直行或倒车到达A点+方向盘右打满+后退行驶AB圆弧+到达B点方向盘左打满+后退行驶BC圆弧+到达C点方向盘右打满+前进行驶CD圆弧+从D点到E点直行调整到车位中间。
基于阿克曼转向几何的简化模型，由自动泊车控制装置4根据车辆距离目标车位的侧向间距D2和目标车位的实际宽度PL，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且经AB弧Arc1、BC弧Arc2、CD弧Arc3后车辆外边缘与车位外边缘对齐为约束条件，可以计算得到泊车起始点A距离目标车位右侧的距离L1，圆弧AB、圆弧BC和圆弧CD对应的角度β1、β2、β3，直行进入车位中间的轨迹长度(D点到E点的长度)LinD2E。从而，得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：AB弧的长度Arc1Len＝最小转弯半径R Min*β1、BC弧的长度Arc2Len＝最小转弯半径R Min*β2、CD弧的长度Arc3Len＝最小转弯半径R Min*β3以及D点到E点长度LinD2E，泊车停止条件为车辆行驶 到了E点。
以斜列泊车为例，出于泊车时间考虑，优先选择如图11所示的泊车路径，即泊车路径一：直行或倒车到达A点+方向盘右打满+后退行驶AB圆弧Arc1+到达B点原地回正+从B点到C点倒车进入车位中间。
基于阿克曼转向几何的简化模型，由自动泊车控制装置4根据车辆距离目标车位的侧向间距D2，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且车辆经Arc1后位于车位中间(使车辆最后倒车时在车位宽度方向上位于车位中间)为约束条件，可以计算得到泊车起始点A点距离目标车位右侧的距离L1，倒车进入车位中间的轨迹长度(即B点到C点的长度)LinB2C以及该泊车路径下所需的最小车位宽度PrkSpLen。若PrkSpLen≤车位宽度PL，则判定可以按照该泊车路径一进行泊车，从而得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：Arc1的长度Arc1Len＝车辆的最小转弯半径R Min*α(α为车位倾斜角)以及B点到C点的长度LinB2C，泊车停止条件为车辆行驶到了C点；若计算得到的所需最小车位宽度PrkSpLen>车位宽度PL，则选择如图12所示的泊车路径，即泊车路径二。
泊车路径二：直行或倒车到达A点+方向盘右打满+后退行驶一段圆弧Arc1(Arc1＜1/4圆弧)到达B点+原地左打满+左转前进一段圆弧Arc2+到达C点摆正车身+原地回正+从C点到D点倒车进入车位中间；
基于阿克曼转向几何的简化模型，由自动泊车控制装置4根据车辆距离目标车位的侧向间距D2和目标车位的实际宽度PL，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且车辆经AB弧Arc1、BC弧Arc2后车辆后轴中心位于车位中心线，弧Arc1和弧Arc2对应的角度β1和β2相加为α(α为车位倾斜角)作为约束条件，可以计算得到泊车起始点A距离目标车位右侧的距离L1，弧Arc1和Arc2对应的角度β1和β2，倒车进入车位中间的轨迹长度(C点到D点的长度)LinC2D。从而，得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：Arc1的长度Arc1Len＝最小转弯半径R Min*β1、Arc2的长度Arc2Len＝最小转弯半径R Min*β2以及C点到D点长度LinC2D，泊车停止条件为车辆行驶到了D点。
由上可见，本发明实施例提供的全自动泊车方法，可以涵盖垂直、平行、斜列三种停车位，而且针对每种不同的车位类型，可以根据目标车位的不同尺寸情 况选择泊车路径一或者泊车路径二进行自动泊车。
在经过上述计算得到泊车起始点A以及泊车路径之后，在步骤40中，由自动泊车控制装置4对速度控制装置5、档位控制装置6、方向盘控制装置7进行控制，控制车辆自动行进(直行或倒车)至泊车起始点A。
在步骤50中，由自动泊车控制装置4对速度控制装置5、档位控制装置6、方向盘控制装置7进行控制，控制车辆按照规划好的泊车路径进行自动泊车，将车辆泊入停车位内。具体地，在控制车辆自动泊入停车位的过程中，还实时通过雷达Rd1～Rd12的测距信息计算当前车辆与周边障碍物的距离，根据所述测距信息对泊车路径进行实时调整，控制流程如图13所示。
由于在步骤S30计算得到的泊车路径包括多段泊车子路径(例如图7所示的泊车路径包括泊车子路径弧AB和直线BC，图8所示的泊车路径包括泊车子路径弧AB、弧BC和直线CD等)，整个泊车路径由各段泊车子路径组成。每段泊车子路径均对应有其需要执行的泊车路径长度和对应的方向盘角度，整个泊车路径控制包括时间上存在先后顺序的多段泊车子路径控制，图13所示为其中任一段泊车子路径的控制流程，通过传感装置3获取超声波雷达测距信息，计算得到当前车辆与周边障碍物信息，对泊车子路径进行实时调整。
如图13所示，针对每段泊车子路径的具体泊车控制过程包括：
S51：根据当前泊车子路径需执行的泊车路径长度和对应的方向盘角度控制车辆进行泊车，并将超声波雷达Rd1～Rd12采集到的测距值输入给自动泊车控制装置4；
S52：自动泊车控制装置4判断车辆的行驶路程是否大于或等于当前泊车子路径需执行的泊车路径长度，若否，则进入步骤S53，若是，则进入步骤S55；
S53：自动泊车控制装置4判断超声波雷达Rd1～Rd12采集到的测距值与预设的碰撞阈值之间的关系，若超声波雷达Rd1～Rd12的测距值均小于该碰撞阈值，则继续该段泊车子路径控制，若超声波雷达Rd1～Rd12其中一个的测距值大于或等于该碰撞阈值，则进入步骤S54；
S54：结束当前泊车子路径的控制，重新计算泊车子路径，得到更新后的泊车子路径长度和方向盘转角，并返回步骤S51；
S55：判断是否满足泊车结束条件，若是，则完成泊车，利用车辆关闭装置8关闭车窗、灯光、熄火并锁车，若否，则进入步骤S56；
S56：完成当前泊车子路径的泊车控制，进入下一段泊车子路径的泊车控制，直至满足泊车结束条件，将车辆泊入停车位内。
车辆关闭装置8可以是车窗电机、灯光开关、熄火控制开关等，给车辆关闭装置8的控制信号可以在完成泊车后由自动泊车控制装置4自动下发，或者由用户通过遥控钥匙或用户终端向车内的无线信号接收装置发出，再由无线信号接收装置传递给车辆关闭装置8。
综上所述，本发明实施例提供的全自动泊车方法及全自动泊车系统，当自动泊车激活后，车辆开始向前自动行驶并寻找和识别空闲的停车位，当寻找到空闲的停车位后，车辆自动泊入停车位中，整个寻找车位及泊车过程不需人为参与，可实现全自动泊车。这样，驾驶员可在车辆泊入停车位之前先下车，可以避免泊入较窄的垂直、斜列车位时出现驾驶员无法开门下车的情况，提升了用户使用体验。
上述实施方式只是本发明的实施例，不是用来限制本发明的实施与权利范围，凡依据本发明专利所申请的保护范围中所述的内容做出的等效变化和修饰，均应包括在本发明的专利保护范围内。
工业实用性
本发明实施例提供的全自动泊车方法及全自动泊车系统，当自动泊车激活后，车辆开始向前自动行驶并寻找和识别空闲的停车位，当寻找到空闲的停车位后，车辆自动泊入停车位中，整个寻找车位及泊车过程不需人为参与，可实现全自动泊车。这样，驾驶员可在车辆泊入停车位之前先下车，可以避免泊入较窄的垂直、斜列车位时出现驾驶员无法开门下车的情况，提升了用户使用体验。

Claims (14)

  1. 一种全自动泊车方法，其特征在于，包括：
    接收用户发出的启动指令，根据所述启动指令激活自动泊车系统；
    控制车辆自动向前行进并且在行进过程中搜索车辆的两侧是否存在可用的停车位，当存在可用的停车位时，识别出目标车位的基本信息；
    根据识别出的目标车位的基本信息进行泊车路径规划，得到泊车起始点以及从泊车起始点到泊车终点的泊车路径；
    控制车辆自动行进至泊车起始点；
    控制车辆按照规划好的泊车路径进行自动泊车，将车辆泊入停车位内。
  2. 根据权利要求1所述的全自动泊车方法，其特征在于：接收用户发出的启动指令，根据所述启动指令激活自动泊车系统的步骤，包括：
    检测用户是否触发设置在车辆内的自动泊车按键；
    在检测到用户触发所述自动泊车按键时，则激活自动泊车系统。
  3. 根据权利要求1所述的全自动泊车方法，其特征在于：接收用户发出的启动指令，根据所述启动指令激活自动泊车系统的步骤，包括：
    检测用户是否通过遥控钥匙或用户终端向设置在车辆内的无线信号接收装置发送自动泊车启动指令；
    在检测到用户向所述无线信号接收装置发出自动泊车启动指令时，则激活自动泊车系统。
  4. 根据权利要求1所述的全自动泊车方法，其特征在于：在自动泊车系统激活之后，在控制车辆自动向前进行车位搜索之前，所述自动泊车方法还包括：
    检测驾驶员是否已经下车；
    若检测结果为驾驶员还未下车，则控制车辆处于静止状态并等待或提醒驾驶员下车；
    若检测结果为驾驶员已经下车，则控制车辆开始向前进行车位的搜索。
  5. 根据权利要求1所述的全自动泊车方法，其特征在于：在自动泊车系统激活之后，在控制车辆按照规划好的泊车路径进行自动泊车之前，所述自动泊车方法还包括：
    检测驾驶员是否已经下车；
    若检测结果为驾驶员还未下车，则控制车辆处于静止状态并等待或提醒驾驶员下车；
    若检测结果为驾驶员已经下车，则控制车辆开始按照规划好的泊车路径进行自动泊车。
  6. 根据权利要求1所述的全自动泊车方法，其特征在于：控制车辆自动向前行进并且在行进过程中搜索车辆的两侧是否存在可用的停车位的步骤，包括：
    控制车辆以一定车速自动向前行进；
    在行进过程中，利用设置在车身上的传感装置获取车辆与周围环境的超声波雷达测距信息，根据所述测距信息调整车辆的行进速度和方向盘转角，使车辆在行进方向上进行车位搜索并避开障碍物，直至根据所述测距信息判定车辆的左右两侧存在可用的停车位时，根据所述测距信息获取目标车位的基本信息。
  7. 根据权利要求6所述的全自动泊车方法，其特征在于：车辆在行进方向上进行车位搜索时，根据车辆左右两侧的雷达测距信息判定车辆是否偏离行进方向，若判定车辆已经偏离行进方向时，则调整车辆前进姿态直至车辆回归正确的行进方向。
  8. 根据权利要求6所述的全自动泊车方法，其特征在于：车辆在行进方向上进行车位搜索时，若根据所述测距信息判定车辆前方存在障碍物，则控制车辆刹车并在前方障碍物消失后再控制车辆继续向前进行车位搜索；若前方障碍物在超出预定时长仍然存在，则控制车辆退出自动泊车系统。
  9. 根据权利要求1所述的全自动泊车方法，其特征在于：车辆在行进方向上进行车位搜索时，按照以下方式判定车辆的左右两侧是否存在可用的停车位：
    根据车辆与停放车辆或其它障碍物之间的测距值范围和前后时刻的测距值波动判断车辆当前是否经过一辆车/其它障碍物，当车辆即将离开这辆车/其它障碍物时，在车辆的测距值出现大的跳变时记录车辆行驶距离S1，作为车位的第一个边界，记录车辆经过这辆车/其它障碍物的这段时间内测距值的最小值D1，作为车辆距离第一辆车的侧向间距，该最小测距值D1对应车辆行驶距离记为S1’；
    当车辆再次经过一辆车/其它障碍物，在车辆的测距值再次出现大的跳变时，记录车辆行驶距离S2，作为车位的第二个边界，记录车辆经过第二辆车/其它障碍物的这段时间段内测距值的最小值D2，作为车辆距离第二辆车的侧向间距， 并记录测距值在第一次跳变以及第二次跳变期间的最小值，记为车位深度D3；
    判断车辆经过第一辆车/障碍物和第二辆车/障碍物时测距值的变化趋势，将该测距值拟合成一条随时间变化的直线，计算该直线的斜率，得到车辆的前进方向与停放车辆/障碍物之间的倾斜角度α；
    若α大于15°，且D3≥车长L*sinα+D2+1m，
    Figure PCTCN2018098539-appb-100001
    Figure PCTCN2018098539-appb-100002
    时，则判定目标车位是一个可以泊车的斜列车位，得到车位宽度
    Figure PCTCN2018098539-appb-100003
    Figure PCTCN2018098539-appb-100004
    侧向间距D2，车位倾斜角α；
    若α≤15°，且D3≥车宽W+D2，S2-S1≥车长L+1.2m时，则判定目标车位是一个可以泊车的平行车位，得到车位宽度PL＝S2-S1，侧向间距D2；
    若α≤15°，且D3≥车长L+D2，S2-S1≥车宽W+1m时，则判定目标车位是一个可以泊车的垂直车位，得到车位宽度PL＝S2-S1，侧向间距D2；
    若上述条件均不满足，则判定目标车位不是一个可泊车的车位，继续向前搜索车位。
  10. 根据权利要求9所述的全自动泊车方法，其特征在于：若识别出的目标车位为垂直车位，则根据识别出的目标车位的基本信息进行泊车路径规划，得到泊车起始点以及从泊车起始点到泊车终点的泊车路径的步骤，包括：
    初步规划泊车路径一：直行或倒车到达A点+方向盘右打满+后退行驶1/4圆弧Arc1+到达B点原地回正+从B点到C点倒车进入车位中间；根据车辆距离目标车位的侧向间距D2，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且车辆经Arc1后位于车位中间为约束条件，计算得到泊车起始点A点距离目标车位右侧的距离L1，倒车进入车位中间时B点到C点的轨迹长度LinB2C以及该泊车路径下所需的最小车位宽度PrkSpLen，若PrkSpLen≤车位宽度PL，则判定可以按照该泊车路径一进行泊车，从而得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：Arc1的长度Arc1Len＝车辆的最小转弯半径R Min*π/2以及B点到C点的长度LinB2C，泊车停止条件为车辆行驶到了C点；
    若上述计算得到的所需最小车位宽度PrkSpLen>车位宽度PL，则选择泊车路径二：直行或倒车到达A点+方向盘右打满+后退行驶一段圆弧Arc1到达B点 +原地左打满+左转前进一段圆弧Arc2+到达C点摆正车身+原地回正+从C点到D点倒车进入车位中间；根据车辆距离目标车位的侧向间距D2和目标车位的实际宽度PL，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且车辆经Arc2后位于车位中间为约束条件，计算得到泊车起始点A距离目标车位右侧的距离L1，圆弧Arc1和Arc2对应的角度α1和α2，倒车进入车位中间时C点到D点的轨迹长度LinC2D，得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：Arc1的长度Arc1Len＝最小转弯半径R Min*α1、Arc2的长度Arc2Len＝最小转弯半径R Min*α2以及C点到D点长度LinC2D，泊车停止条件为车辆行驶到了D点。
  11. 根据权利要求9所述的全自动泊车方法，其特征在于：若识别出的目标车位为平行车位，则根据识别出的目标车位的基本信息进行泊车路径规划，得到泊车起始点以及从泊车起始点到泊车终点的泊车路径的步骤，包括：
    初步规划泊车路径一：直行或倒车到达A点+方向盘右打满+后退行驶AB圆弧+到达B点方向盘左打满+后退行驶BC圆弧+从C点到D点直行调整到车位中间；根据车辆距离目标车位的侧向间距D2，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且车辆经AB弧Arc1和BC弧Arc2后车辆外边缘与车位外边缘对齐为约束条件，计算得到泊车起始点A点距离目标车位右侧的距离L1，AB弧对应的角度β1，BC弧对应的角度β2以及该泊车路径下所需的最小车位宽度PrkSpLen，若PrkSpLen≤车位宽度PL，则判定可以按照该泊车路径一进行泊车，从而得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：AB弧的长度Arc1Len＝车辆的最小转弯半径R Min*β1，BC弧的长度Arc2Len＝车辆的最小转弯半径R Min*β2，以及C点到D点的长度LinC2D，泊车停止条件为车辆行驶到了D点；
    若上述计算得到的所需最小车位宽度PrkSpLen>车位宽度PL，则选择泊车路径二：直行或倒车到达A点+方向盘右打满+后退行驶AB圆弧+到达B点方向盘左打满+后退行驶BC圆弧+到达C点方向盘右打满+前进行驶CD圆弧+从D点到E点直行调整到车位中间；根据车辆距离目标车位的侧向间距D2和目标车位的实际宽度PL，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且经AB弧Arc1、BC弧Arc2、CD弧Arc3后车辆外边缘与车位外边缘对齐为约束条件，计算得到泊车起始点A距离目标车位右侧的距离L1，圆弧AB、圆弧BC和圆弧 CD对应的角度β1、β2、β3，直行进入车位中间时D点到E点的轨迹长度LinD2E，得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：AB弧的长度Arc1Len＝最小转弯半径R Min*β1、BC弧的长度Arc2Len＝最小转弯半径R Min*β2、CD弧的长度Arc3Len＝最小转弯半径R Min*β3以及D点到E点长度LinD2E，泊车停止条件为车辆行驶到了E点。
  12. 根据权利要求9所述的全自动泊车方法，其特征在于：若识别出的目标车位为斜列车位，则根据识别出的目标车位的基本信息进行泊车路径规划，得到泊车起始点以及从泊车起始点到泊车终点的泊车路径的步骤，包括：
    初步规划泊车路径一：直行或倒车到达A点+方向盘右打满+后退行驶AB圆弧Arc1+到达B点原地回正+从B点到C点倒车进入车位中间；根据车辆距离目标车位的侧向间距D2，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且车辆经Arc1后位于车位中间为约束条件，计算得到泊车起始点A点距离目标车位右侧的距离L1，倒车进入车位中间时B点到C点的轨迹长度LinB2C以及该泊车路径下所需的最小车位宽度PrkSpLen，若PrkSpLen≤车位宽度PL，则判定可以按照该泊车路径一进行泊车，从而得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：Arc1的长度Arc1Len＝车辆的最小转弯半径R Min*α以及B点到C点的长度LinB2C，泊车停止条件为车辆行驶到了C点；
    若上述计算得到的所需最小车位宽度PrkSpLen>车位宽度PL，则选择泊车路径二：直行或倒车到达A点+方向盘右打满+后退行驶一段圆弧Arc1到达B点+原地左打满+左转前进一段圆弧Arc2+到达C点摆正车身+原地回正+从C点到D点倒车进入车位中间；根据车辆距离目标车位的侧向间距D2和目标车位的实际宽度PL，以车辆进入目标车位时不与车位两侧障碍物发生碰撞且车辆经AB弧Arc1、BC弧Arc2后车辆后轴中心位于车位中心线，弧Arc1和弧Arc2对应的角度β1和β2相加为α作为约束条件，计算得到泊车起始点A距离目标车位右侧的距离L1，弧Arc1和Arc2对应的角度β1和β2，倒车进入车位中间时C点到D点的轨迹长度LinC2D，得到泊车起始点A距离目标车位右侧的距离L1以及泊车路径：Arc1的长度Arc1Len＝最小转弯半径R Min*β1、Arc2的长度Arc2Len＝最小转弯半径R Min*β2以及C点到D点长度LinC2D，泊车停止条件为车辆行驶到了D点。
  13. 根据权利要求1所述的全自动泊车方法，其特征在于：规划好的泊车路 径包括多段泊车子路径，其中执行任一段泊车子路径包括：
    S51：根据当前泊车子路径需执行的泊车路径长度和对应的方向盘角度控制车辆进行泊车，并将传感装置采集到的测距值输入给自动泊车控制装置；
    S52：判断车辆的行驶路程是否大于或等于当前泊车子路径需执行的泊车路径长度，若否，则进入下面步骤S53，若是，则进入步骤S55；
    S53：判断传感装置采集到的测距值与预设的碰撞阈值之间的关系，若传感装置的测距值均小于该碰撞阈值，则继续该段泊车子路径控制，若传感装置其中一个的测距值大于或等于该碰撞阈值，则进入步骤S54；
    S54：结束当前泊车子路径的控制，重新计算泊车子路径，得到更新后的泊车子路径长度和方向盘转角，并返回步骤S51；
    S55：判断是否满足泊车结束条件，若是，则完成泊车，若否，则进入步骤S56；
    S56：完成当前泊车子路径的泊车控制，进入下一段泊车子路径的泊车控制，直至满足泊车结束条件，将车辆泊入停车位内。
  14. 一种全自动泊车系统，其特征在于，所述全自动泊车系统用于执行如权利要求1至13任一项所述的全自动泊车方法，所述全自动泊车系统包括自动泊车系统启动装置、驾驶员下车检测装置、传感装置、自动泊车控制装置、速度控制装置、档位控制装置、方向盘控制装置和车辆关闭装置，所述自动泊车系统启动装置、所述驾驶员下车检测装置、所述传感装置、所述速度控制装置、所述档位控制装置、所述方向盘控制装置、所述车辆关闭装置中的任一者均与所述自动泊车控制装置连接。
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