CN110435641A - A kind of planning path method of adjustment parked and device - Google Patents
A kind of planning path method of adjustment parked and device Download PDFInfo
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- CN110435641A CN110435641A CN201910711841.6A CN201910711841A CN110435641A CN 110435641 A CN110435641 A CN 110435641A CN 201910711841 A CN201910711841 A CN 201910711841A CN 110435641 A CN110435641 A CN 110435641A
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- 238000000034 method Methods 0.000 title claims abstract description 47
- 230000009471 action Effects 0.000 claims description 24
- 238000004590 computer program Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 8
- 230000002452 interceptive effect Effects 0.000 abstract description 5
- 230000007613 environmental effect Effects 0.000 abstract description 4
- 230000006870 function Effects 0.000 description 20
- 230000004888 barrier function Effects 0.000 description 14
- 238000003825 pressing Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 10
- 230000003993 interaction Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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Abstract
The embodiment of the invention provides a kind of planning path method of adjustment parked and devices, are applied to onboard system, the onboard system includes display interface, which comprises determines the first planning path；Detect the adjustment operation of user；It is operated according to the adjustment, generates adjustment instruction；First planning path is adjusted according to the adjustment instruction, generates the second planning path；It parks according to second planning path.In embodiments of the present invention, driver, by operating for the adjustment of adjustment medium, can participate in the adjustment of planning path of parking using local environmental conditions as foundation.To enhance security of system, efficiency of parking is improved, interactive experience is optimized.
Description
Technical field
The present invention relates to technical fields of parking, and park more particularly to a kind of planning path method of adjustment parked and one kind
Planning path adjust device.
Background technique
For many drivers, parking is a kind of experience of pain, and big city parking space is limited, and vehicle is driven into
Narrow space has become a required skill.However few the case where having stopped vehicle without taking some twists and turns.Based on this, automatically
The technology of parking is come into being.
Existing automatic parking technology is usually all that parking stall is identified by sensor, then according to the coordinate system of foundation
It determines the relative position between vehicle and parking stall, is attached path computing in conjunction with vehicle pose and parking stall pose, and combine
Surrounding enviroment, barrier interference detection, obtain the planning path of automatic parking；In the planning path for getting vehicle automatic parking
Afterwards, system is controlled executing agency's realizing route based on this path and followed, and finally realizes automatic parking.
However, the sensor investigative range due to being responsible for perception is easy to ignore barrier present on path there are blind area,
Cause automatic parking that can not execute in place, automatic path planning again is needed when perceiving barrier, to increase path
It plans number, leads to overlong time of parking.
Summary of the invention
In view of the above problems, it proposes the embodiment of the present invention and overcomes the above problem or at least partly in order to provide one kind
A kind of planning path method of adjustment parked to solve the above problems and a kind of corresponding planning path adjustment device parked.
To solve the above-mentioned problems, the embodiment of the invention discloses a kind of planning path method of adjustment parked, it is applied to
Onboard system, the onboard system include display interface, which comprises
Determine the first planning path；
Detect the adjustment operation of user；
It is operated according to the adjustment, generates adjustment instruction；
First planning path is adjusted according to the adjustment instruction, generates the second planning path；
It parks according to second planning path.
Optionally, described to be operated according to the adjustment, generate adjustment instruction, comprising:
Determine the adjustment direction of the adjustment operation；
According to the adjustment direction, direction adjustment instruction is generated.
Optionally, further includes:
Determine the action type of the adjustment operation；
According to the action type of the adjustment operation, adjustment amplitude is determined；
It is described according to the adjustment direction, generate direction adjustment instruction, comprising:
According to the adjustment direction and the adjustment amplitude, direction adjustment instruction is generated；
It is described that first planning path is adjusted according to the adjustment instruction, generate the second planning path, comprising:
First planning path is adjusted using the adjustment direction and the adjustment amplitude, generates the second planning path.
Optionally, the display interface has also showed that multiple directions adjust icon；The method also includes:
The adjustment instruction is responded, corresponding direction adjustment icon is lighted.
Optionally, further includes:
The current pose and steering wheel angle parameter for obtaining vehicle are joined according to the current pose and the steering wheel angle
Number determines the path adjusting range of the vehicle；
Judge whether second planning path is within the path adjusting range；
It is described to park according to second planning path, comprising:
If second planning path is within the path adjusting range, according in the path adjusting range it
The second interior planning path is parked.
The embodiment of the invention also discloses a kind of planning paths parked to adjust device, is applied to onboard system, the vehicle
Loading system includes display interface, and described device includes:
First planning path determining module, for determining the first planning path；
Adjustment operation detection module, the adjustment for detecting user operate；
Adjustment instruction generation module generates adjustment instruction for operating according to the adjustment；
Second planning path generation module generates for adjusting first planning path according to the adjustment instruction
Two planning paths；
First parks module, for parking according to second planning path.
Optionally, the adjustment instruction generation module, comprising:
Adjustment direction determines submodule, for determining the adjustment direction of the adjustment operation；
Adjustment instruction generates submodule, for generating direction adjustment instruction according to the adjustment direction.
Optionally, the adjustment instruction generation module, further includes:
Action type determines submodule, for determining the action type of the adjustment operation；
Adjustment amplitude determines submodule, for the action type according to the adjustment operation, determines adjustment amplitude；
The adjustment instruction generates submodule, comprising:
Adjustment instruction generation unit, for generating direction adjustment instruction according to the adjustment direction and the adjustment amplitude；
The second planning path generation module, comprising:
Second planning path generates submodule, for using the adjustment direction and adjustment amplitude adjustment described first
Planning path generates the second planning path.
The embodiment of the invention also discloses a kind of devices, comprising: processor, memory and is stored on the memory simultaneously
The computer program that can be run on the processor is realized when the computer program is executed by the processor and such as takes up an official post
The step of planning path method of adjustment parked described in one.
The embodiment of the invention also discloses a kind of computer readable storage medium, deposited on the computer readable storage medium
Computer program is stored up, as above described in any item planning path tune parked are realized when the computer program is executed by processor
The step of adjusting method.
The embodiment of the present invention includes following advantages: the embodiment of the present invention, which passes through, determines the first planning path；Detect user's
Adjustment operation；And operated according to the adjustment detected, generate adjustment instruction；The first planning path is adjusted according to adjustment instruction, it is raw
At the second planning path, so as to park according to the second planning path.In embodiments of the present invention, driver can be with
Local environmental conditions are foundation, by operating for the adjustment of adjustment medium, participate in the adjustment of planning path of parking.To enhance
Security of system, improves efficiency of parking, optimizes interactive experience.
Detailed description of the invention
Fig. 1 is that one kind of the invention is parked control system schematic diagram；
Fig. 2 is a kind of a kind of step flow chart of embodiment of planning path method of adjustment parked of the invention；
Fig. 3 is a kind of step flow chart of another embodiment of planning path method of adjustment parked of the invention；
Fig. 4 is display interface icon display schematic diagram of the invention；
Fig. 5 is a kind of flow chart of planning path method of adjustment parked of the invention；
Fig. 6 is a kind of structural block diagram of planning path adjustment Installation practice parked of the invention.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
In order to change existing mode of parking in the case where planning path is unreasonable, the number mistake of planning path again
It is more, the problem of overlong time of parking.The invention proposes a kind of designs to be, the adjustment operation by detecting user is adjusted to generate
Whole instruction, in parking process revised planning path are fast implemented and are parked with optimization planning path.
As shown in Figure 1, the present invention is that by human-computer interaction medium, (such as human-computer interaction interface soft is opened in onboard system
Pass/hard switching) controlling unit of parking is participated in, specifically, in the present invention, completion, which parks to control, needs following module cooperative to make
With, including parking system control unit, radar, camera, power module, hard switching/Sofe Switch, (acceleration turns interconnected system
To control units such as, braking, gears) etc..Wherein, parking system control unit is used for coordinated control modules；It radar and takes the photograph
As head is for perceiving ambient conditions；Power module is for providing the energy；Hard switching/Sofe Switch is for inputting adjustment instruction；It is man-machine
Interactive interface is for showing planning path；Interconnected system is for controlling vehicle movement.By multimode coordinative role, can be realized
The effect in revised planning path during automatic parking.
It is illustrated below by way of specific embodiment.
Referring to Fig. 2, a kind of step flow chart of planning path method of adjustment embodiment parked of the invention, institute are shown
Method is stated applied to onboard system, the onboard system has display interface, and the method can specifically include:
101, determine the first planning path；
Planning path refers to according to the relative position between vehicle and parking stall, calculates in conjunction with vehicle pose and parking stall pose
The vehicle obtained the route to be travelled when being parked.
In embodiments of the present invention, when vehicle launch parks function, the first planning path of vehicle can be determined.
Specifically, when vehicle launch parks function, parking stall can be identified by sensor, then according to the coordinate of foundation
It is the relative position for determining vehicle and parking stall, is attached path computing in conjunction with vehicle pose and parking stall pose, and combine periphery
Environment, barrier interference detection, obtain the planning path parked；The planning path is the first planning path.
102, detect the adjustment operation of user；
When the first planning path planning of driver's discovery vehicle is unreasonable, such as discovery is because there are blind areas to make for sensor
There are barriers in planning path, or because system accuracy problem causes planning path excessively close from barrier.User is just at this time
It can be adjusted operation, when the adjustment for detecting user operates, planning path line can be adjusted according to adjustment operation
It is whole.
103, it is operated according to the adjustment, generates adjustment instruction；
When the adjustment for detecting user operates, it can be operated according to adjustment and generate adjustment instruction.
104, first planning path is adjusted according to the adjustment instruction, generates the second planning path；
After adjustment instruction has been determined, the first planning path can be adjusted according to adjustment instruction, generate the second planning path.
For example, user has found that there are barriers in the first planning path, at this point, issuing by adjusting operation to onboard system
The instruction adjusted to the right, deviates planning path to the right, avoiding obstacles.Planning path by adjusting rear generation is
Second planning path.
105, it parks according to second planning path.
After determining the second planning path, it can park according to the second planning path.
The embodiment of the present invention includes following advantages: the embodiment of the present invention can be by determining the first planning path；Detection is used
The adjustment at family operates；And operated according to the adjustment detected, generate adjustment instruction；According to the first planning of adjustment instruction adjustment road
Diameter generates the second planning path, so as to park according to the second planning path.In embodiments of the present invention, driver
, by operating for the adjustment of adjustment medium, the adjustment of planning path of parking can be participated in using local environmental conditions as foundation.From
And security of system is enhanced, efficiency of parking is improved, interactive experience is optimized.
Referring to Fig. 3, the step of showing a kind of another embodiment of planning path method of adjustment parked of the invention
Flow chart, the method are applied to onboard system, and the onboard system has display interface, and the method can specifically include:
201, determine the first planning path；
In embodiments of the present invention, when vehicle launch is parked function, the first planning path can be determined.
Specifically, when vehicle launch parks function, parking stall can be identified by sensor, then according to the coordinate of foundation
It is the relative position for determining vehicle and parking stall, is attached path computing in conjunction with vehicle pose and parking stall pose, and combine periphery
Environment, barrier interference detection, obtain the planning path parked；The planning path is the first planning path.
202, detect the adjustment operation of user；
When the first planning path planning of driver's discovery vehicle is unreasonable, such as discovery is because there are blind areas to make for sensor
There are barriers in planning path, or because system accuracy problem causes planning path excessively close from barrier.User is just at this time
Operation can be adjusted；When the adjustment for detecting user operates, planning path can be adjusted according to adjustment operation.
In one example, when vehicle parking, the real-time pose of vehicle is constantly changing, and the blind area of sensor also can be with
Variation can issue the user with warning when sensor detects the barrier being originally present in blind area；Specifically, can
With the display alarm information in man-machine interface, module can also be output by voice and issue the user with voice reminder, to remind
User is adjusted parking path.
In one example, the suggestion path of avoiding barrier can also be generated in man-machine interface, guidance user avoids
Barrier.It is recommended that path can be to be a plurality of, for reducing influence of the sensor blind area to planning path as far as possible.User can pass through
The mode in suggestion path is directly selected to change parking path, the new planning path of vehicle can also be made by adjusting operation
It is overlapped with path is suggested, to carry out parking manoeuvres according to suggestion path.
In one example, vehicle can also be got by server other vehicles upload in the data parked herein
Record obtains the error rate of parking of current location by analyzing data record, and foundation parks error rate to remind user to improve
Attention during parking, adjusts parking path if necessary, to avoid fault of parking.
Or adjusts path when other vehicles are parked here is got by server, to filter out preferably
Parking path recommend user, and shown on interface, so that user selects, and then according to selected path
It parks.
In embodiments of the present invention, the onboard system includes adjustment medium, and the adjustment operation of the detection user can be with
It include: the adjustment operation for detecting user and acting on adjustment medium.
Wherein, adjustment medium may include physical contact interaction medium and sound interaction medium.Interaction medium is physically contacted
It may include the Sofe Switch in man-machine interface, the physical switch on panel, knob etc..Sound interaction medium may include that voice connects
Receive module etc..
Specifically, it may include click, long-pressing or the sliding to Sofe Switch that user, which acts on the adjustment operation of adjustment medium,
Deng；To the pressing of physical switch, move；It also may include the twisting to knob；Can also include to speech reception module into
The operation of row voice input.
In one example, by taking Sofe Switch as an example, Sofe Switch may include " adjusting to the left " and " adjusting to the right ".User's
Adjustment operation may include clicking " adjusting to the left " or clicking " adjusting to the right ".
In embodiments of the present invention, before the adjustment operation of detection user, further includes: detect the adjustment starting behaviour of user
Make；The adjustment start-up operation is responded, starting planning path adjusts function.
In practical applications, adjustment function starting medium can be set in onboard system, to control adjustment function
Starting and closing.Specifically, adjustment function starting medium may include physical contact interaction medium and sound interaction medium.Physics
Contact action medium may include the Sofe Switch in man-machine interface, the physical switch on panel, knob etc..Sound interaction medium can
To include speech reception module etc..
Specifically, it may include click, long-pressing or the sliding to Sofe Switch that user, which acts on the adjustment operation of adjustment medium,
Deng；To the pressing of physical switch, move；It also may include the twisting to knob；Can also include to speech reception module into
The operation of row voice input.
In embodiments of the present invention, when detecting the adjustment start-up operation of user, planning path adjustment function can be started
Energy.
As shown in figure 4, in embodiments of the present invention, the display interface displaying has adjustment icon, and the method is also
It may include: the response adjustment start-up operation, light the adjustment icon.
In order to allow user to be able to know that whether issued adjustment start-up operation is responded, and can be set in the display interface
Corresponding adjustment icon is set, when adjustment start-up operation obtains response, lights the adjustment icon, to inform that user grasps
It has been performed.
203, determine the adjustment direction of the adjustment operation；
User acts on the adjustment operation on adjustment medium can be different according to the difference of adjustment medium.Wherein, user
The adjustment operation acted on adjustment medium may include click, long-pressing, rotation, acoustic control etc..
When the adjustment for detecting user operates, adjustment direction can be determined according to the medium of adjustment operation effect.For example,
When the adjustment for detecting user acts on " adjusting to the left " of Sofe Switch, it can determine that adjustment direction is travelling route
Left side.
204, according to the adjustment direction, generate direction adjustment instruction；
After the adjustment direction of planning path has been determined, direction adjustment instruction can be generated according to adjustment direction.
In one example, when " to the left adjust " icon is clicked, then mean to determine to planning path be adjusted to
The instruction adjusted to the left can be generated in left adjustment at this time, to carry out adjustment to the left to planning path.
As shown in figure 4, in embodiments of the present invention, having also showed that multiple directions adjust icon, institute on the display interface
State method further include: respond the adjustment instruction, light corresponding direction adjustment icon.
In embodiments of the present invention, adjustment icon in direction may include " adjusting to the left " icon and " adjusting to the right " icon.
In order to allow user to be able to know that whether issued adjustment operation is responded, and tune can be arranged in the display interface
It is whole to operate corresponding direction adjustment icon, when adjustment operation obtains response, lights the direction and adjust icon, to inform user
Operation has been performed.For example, when adjustment operation is to adjust to the left, it is corresponding in the display interface to light " adjusting to the left " icon.
In embodiments of the present invention, described to include: according to adjustment operation generation adjustment instruction
S11 determines the action type of the adjustment operation；
In embodiments of the present invention, action type can also include fine tuning and quickly adjustment.
In embodiments of the present invention, adjustment operation can be different according to different adjustment media, wherein may include:
Click, long-pressing or rotation etc..Different action types is determined according to different operations.
In one example, it is directed to Sofe Switch, adjustment operation may include click and long-pressing, and click can indicate micro-
It adjusts, long-pressing can indicate quickly to adjust.
In one example, for knob, adjustment operation can be rotation process.
S12 determines adjustment amplitude according to the action type of the adjustment operation.
After action type has been determined, adjustment amplitude can be determined according to action type.
In practical applications, different adjustment amplitudes can be configured for different action types.
In one example, for Sofe Switch, when action type is fine tuning, planning path does 5 degree of fine tuning, works as operation
When type is quickly adjustment, planning path does 15 degree of adjustment.In addition, quickly adjustment can also according to the time span of long-pressing come
The corresponding adjustment amplitude of setting.For example, 10 degree are adjusted within long-pressing 2 seconds, 15 degree of adjustment in long-pressing 3 seconds etc..
In one example, for knob, different rotation angles can represent different adjustment amplitudes.
It in embodiments of the present invention, can be according to adjustment direction and adjustment after adjustment direction and adjustment amplitude has been determined
Amplitude generates adjustment instruction.
205, first planning path is adjusted according to the adjustment instruction, generates the second planning path；
After adjustment instruction has been determined, the first planning path can be adjusted according to adjustment instruction, generate the second planning path.
For example, user has found that there are barriers in the first planning path, at this point, starting path adjustment function, passes through long-pressing
Icon is adjusted to the right, deviates planning path to the right, avoiding obstacles.Planning path by adjusting rear generation is
Two planning paths.
206, it parks according to second planning path.
It is determining that the second planning path can be performed, can park according to the second planning path.
In embodiments of the present invention, after generating the second planning path, it is also necessary to judge whether the second planning path surpasses
Outbound path adjusting range, ability execution route adjustment operation, adjusts beyond path without departing from path adjusting range
Not execution route adjustment operation in the case where range.Specifically, judging whether planning path exceeds path adjusting range and can wrap
It includes:
S21 obtains the current pose and steering wheel angle parameter of vehicle, is turned according to the current pose and the steering wheel
Angular dimensions determines the path adjusting range of the vehicle；
In practical applications, the path adjusting range of vehicle can pass through the current pose and steering wheel angle parameter of vehicle
It determines.
The current pose of vehicle may include stationary state, acceleration mode, deceleration regime, left turn state, right turn state etc.,
Angular relationship of the steering wheel angle parameter characterization wheel of vehicle relative to vehicle body.
In practical applications, the path adjusting range of vehicle is because of the current pose of vehicle and the difference of steering wheel angle parameter
And difference.For example, the path adjusting range of acceleration mode can be less than static in the case where steering wheel angle parameter constant
Path adjusting range under state.In addition, the determination of path adjusting range is also related with vehicle performance itself.For different vehicle
Path adjusting range can by experiment obtain.
S22, judges whether second planning path is within the path adjusting range；
After generating the second planning path, need to judge whether the second planning path is within the adjusting range of path.
In embodiments of the present invention, if 206 may include: second planning path be in the path adjusting range it
It is interior, it parks according to the second planning path within the path adjusting range.
When the second planning path is within the adjusting range of path, then prove the second planning path be it is executable, this
When can show the second planning path in the display interface, and show that the second planning path be the second planning path that can be performed,
Such as it can be shown in green by the second planning path.
If the second planning path exceed path adjusting range, it was demonstrated that the second planning path be it is unreasonable, can not be performed.
It shows that the second planning path is the second planning path that can not be performed at this time, such as the second planning path can be shown as red
Color indicates that the second planning path is not performed.
In embodiments of the present invention, when being parked according to second planning path, if the planning path adjusts
Function is closed, then is parked according to first planning path.
During being parked according to the second planning path, if planning path adjustment function is closed, second
Planning path will be unable to be performed.It is gone on smoothly to guarantee to park, planning path can be switched to the first planning road at this time
Diameter is parked.
As shown in figure 5, in one example, when vehicle enters and parks and (moor into or moor out) state, judging display interface
Whether first planning path is shown, if so, judging the first planning path whether rationally (if display interface does not show the first rule
Path is drawn, also can determine whether the first planning path is reasonable, be only possible to hysteresis occur)；If the first planning path does not conform to
Reason；Judgement, which needs to adjust to the left, still to be adjusted to the right；If desired it adjusts to the left, then activated path adjusts function, and click is adjusted to the left
It is whole；If desired it adjusts to the right, then activated path adjusts function, and click adjusts to the right；After judging the adjustment shown on display interface
Whether the second planning path generated is reasonable；If rationally, parking according to second planning path, until path is advised next time
It draws；If unreasonable, planning path is readjusted.
The embodiment of the present invention includes following advantages: the embodiment of the present invention, which passes through, determines the first planning path；Detect user's
Adjustment operation；And operated according to the adjustment detected, generate adjustment instruction；The first planning path is adjusted according to adjustment instruction, it is raw
At the second planning path, so as to park according to the second planning path.In embodiments of the present invention, driver can be with
Local environmental conditions are foundation, by for adjustment medium adjustment operate, participate in park planning path route adjustment.To
Security of system is enhanced, efficiency of parking is improved, optimizes interactive experience.
It should be noted that for simple description, therefore, it is stated as a series of action groups for embodiment of the method
It closes, but those skilled in the art should understand that, embodiment of that present invention are not limited by the describe sequence of actions, because according to
According to the embodiment of the present invention, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art also should
Know, the embodiments described in the specification are all preferred embodiments, and the related movement not necessarily present invention is implemented
Necessary to example.
Referring to Fig. 6, a kind of structural block diagram of planning path adjustment Installation practice parked of the invention is shown, specifically
May include following module:
First planning path determining module 601, for determining the first planning path；
Adjustment operation detection module 602, the adjustment for detecting user operate；
Adjustment instruction generation module 603 generates adjustment instruction for operating according to the adjustment；
Second planning path generation module 604 is generated for adjusting first planning path according to the adjustment instruction
Second planning path；
First parks module 605, for parking according to second planning path.
In embodiments of the present invention, the adjustment instruction generation module may include:
Adjustment direction determines submodule, for determining the adjustment direction of the adjustment operation；
Adjustment instruction generates submodule, for generating direction adjustment instruction according to the adjustment direction.
In embodiments of the present invention, can also include:
Action type determines submodule, for determining the action type of the adjustment operation；
Adjustment amplitude determines submodule, for the action type according to the adjustment operation, determines adjustment amplitude；
The adjustment instruction generates submodule, comprising:
Adjustment instruction generation unit, for generating direction adjustment instruction according to the adjustment direction and the adjustment amplitude.
In embodiments of the present invention, the second planning path generation module may include:
Second planning path generates submodule, for using the adjustment direction and adjustment amplitude adjustment described first
Planning path generates the second planning path.
In embodiments of the present invention, the display interface has also showed that multiple directions adjust icon；Described device can be with
Include:
Direction adjustment icon lights module, for responding the adjustment instruction, lights corresponding direction adjustment icon.
In embodiments of the present invention, can also include:
Path adjusting range determining module, for obtaining the current pose and steering wheel angle parameter of vehicle, according to described
Current pose and the steering wheel angle parameter determine the path adjusting range of the vehicle；
Judgment module, for judging whether second planning path is within the path adjusting range；
Described first parks module, comprising:
First parks submodule, if being within the path adjusting range for second planning path, according to place
The second planning path within the path adjusting range is parked.
In embodiments of the present invention, the onboard system further includes adjustment medium, adjustment operation detection module, can be with
Include:
Adjustment operation detection sub-module acts on the adjustment operation of adjustment medium for detecting user.
In embodiments of the present invention, can also include:
Start-up operation detection module is adjusted, for detecting the adjustment start-up operation of user；
Planning path adjusts function activation module, and for responding the adjustment start-up operation, starting planning path adjusts function
Energy.
In embodiments of the present invention, the display interface displaying has adjustment icon；Described device can also include:
Adjustment icon lights module, for responding the adjustment start-up operation, lights the adjustment icon.
In embodiments of the present invention, can also include:
Second parks module, for when being parked according to second planning path, if the planning path adjusts
Function is closed, then is parked according to first planning path.
For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple
Place illustrates referring to the part of embodiment of the method.
The embodiment of the invention also provides a kind of devices, comprising:
Including processor, memory and it is stored in the computer that can be run on the memory and on the processor
Program, the computer program realize each mistake of the above-mentioned planning path method of adjustment embodiment parked when being executed by processor
Journey, and identical technical effect can be reached, to avoid repeating, which is not described herein again.
The embodiment of the invention also provides a kind of computer readable storage medium, meter is stored on computer readable storage medium
Calculation machine program realizes each mistake of the above-mentioned planning path method of adjustment embodiment parked when computer program is executed by processor
Journey, and identical technical effect can be reached, to avoid repeating, which is not described herein again.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar parts between the embodiments can be referred to each other.
It should be understood by those skilled in the art that, the embodiment of the embodiment of the present invention can provide as method, apparatus or calculate
Machine program product.Therefore, the embodiment of the present invention can be used complete hardware embodiment, complete software embodiment or combine software and
The form of the embodiment of hardware aspect.Moreover, the embodiment of the present invention can be used one or more wherein include computer can
With in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of program code
The form of the computer program product of implementation.
The embodiment of the present invention be referring to according to the method for the embodiment of the present invention, terminal device (system) and computer program
The flowchart and/or the block diagram of product describes.It should be understood that flowchart and/or the block diagram can be realized by computer program instructions
In each flow and/or block and flowchart and/or the block diagram in process and/or box combination.It can provide these
Computer program instructions are set to general purpose computer, special purpose computer, Embedded Processor or other programmable data processing terminals
Standby processor is to generate a machine, so that being held by the processor of computer or other programmable data processing terminal devices
Capable instruction generates for realizing in one or more flows of the flowchart and/or one or more blocks of the block diagram
The device of specified function.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing terminal devices
In computer-readable memory operate in a specific manner, so that instruction stored in the computer readable memory generates packet
The manufacture of command device is included, which realizes in one side of one or more flows of the flowchart and/or block diagram
The function of being specified in frame or multiple boxes.
These computer program instructions can also be loaded into computer or other programmable data processing terminal devices, so that
Series of operation steps are executed on computer or other programmable terminal equipments to generate computer implemented processing, thus
The instruction executed on computer or other programmable terminal equipments is provided for realizing in one or more flows of the flowchart
And/or in one or more blocks of the block diagram specify function the step of.
Although the preferred embodiment of the embodiment of the present invention has been described, once a person skilled in the art knows bases
This creative concept, then additional changes and modifications can be made to these embodiments.So the following claims are intended to be interpreted as
Including preferred embodiment and fall into all change and modification of range of embodiment of the invention.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that process, method, article or terminal device including a series of elements not only wrap
Those elements are included, but also including other elements that are not explicitly listed, or further includes for this process, method, article
Or the element that terminal device is intrinsic.In the absence of more restrictions, being wanted by what sentence "including a ..." limited
Element, it is not excluded that there is also other identical elements in process, method, article or the terminal device for including the element.
Above to a kind of planning path method of adjustment parked provided by the present invention and a kind of planning path tune parked
Engagement positions are described in detail, and used herein a specific example illustrates the principle and implementation of the invention,
The above description of the embodiment is only used to help understand the method for the present invention and its core ideas；Meanwhile for the one of this field
As technical staff, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, to sum up institute
It states, the contents of this specification are not to be construed as limiting the invention.
Claims (10)
1. a kind of planning path method of adjustment parked, which is characterized in that be applied to onboard system, the onboard system includes aobvious
Show interface, which comprises
Determine the first planning path；
Detect the adjustment operation of user；
It is operated according to the adjustment, generates adjustment instruction；
First planning path is adjusted according to the adjustment instruction, generates the second planning path；
It parks according to second planning path.
2. generating adjustment instruction, packet the method according to claim 1, wherein described operate according to the adjustment
It includes:
Determine the adjustment direction of the adjustment operation；
According to the adjustment direction, direction adjustment instruction is generated.
3. according to the method described in claim 2, it is characterized by further comprising:
Determine the action type of the adjustment operation；
According to the action type of the adjustment operation, adjustment amplitude is determined；
It is described according to the adjustment direction, generate direction adjustment instruction, comprising:
According to the adjustment direction and the adjustment amplitude, direction adjustment instruction is generated；
It is described that first planning path is adjusted according to the adjustment instruction, generate the second planning path, comprising:
First planning path is adjusted using the adjustment direction and the adjustment amplitude, generates the second planning path.
4. the method according to claim 1, wherein the display interface has also showed that multiple directions adjustment figure
Mark；The method also includes:
The adjustment instruction is responded, corresponding direction adjustment icon is lighted.
5. the method according to claim 1, wherein further include:
The current pose and steering wheel angle parameter of vehicle are obtained, it is true according to the current pose and the steering wheel angle parameter
The path adjusting range of the fixed vehicle；
Judge whether second planning path is within the path adjusting range；
It is described to park according to second planning path, comprising:
If second planning path is within the path adjusting range, according within the path adjusting range
Second planning path is parked.
6. a kind of planning path adjustment device parked, which is characterized in that be applied to onboard system, the onboard system includes aobvious
Show interface, described device includes:
First planning path determining module, for determining the first planning path；
Adjustment operation detection module, the adjustment for detecting user operate；
Adjustment instruction generation module generates adjustment instruction for operating according to the adjustment；
Second planning path generation module generates the second rule for adjusting first planning path according to the adjustment instruction
Draw path；
First parks module, for parking according to second planning path.
7. device according to claim 6, which is characterized in that the adjustment instruction generation module, comprising:
Adjustment direction determines submodule, for determining the adjustment direction of the adjustment operation；
Adjustment instruction generates submodule, for generating direction adjustment instruction according to the adjustment direction.
8. device according to claim 7, which is characterized in that further include:
Action type determines submodule, for determining the action type of the adjustment operation；
Adjustment amplitude determines submodule, for the action type according to the adjustment operation, determines adjustment amplitude；
The adjustment instruction generates submodule, comprising:
Adjustment instruction generation unit, for generating direction adjustment instruction according to the adjustment direction and the adjustment amplitude；
The second planning path generation module, comprising:
Second planning path generates submodule, for using first planning of the adjustment direction and adjustment amplitude adjustment
Path generates the second planning path.
9. a kind of device characterized by comprising processor, memory and be stored on the memory and can be described
The computer program run on processor is realized when the computer program is executed by the processor as in claim 1-5
The step of described in any item planning path methods of adjustment parked.
10. a kind of computer readable storage medium, which is characterized in that store computer journey on the computer readable storage medium
Sequence, the computer program realize the planning path according to any one of claims 1 to 5 parked when being executed by processor
The step of method of adjustment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910711841.6A CN110435641A (en) | 2019-08-02 | 2019-08-02 | A kind of planning path method of adjustment parked and device |
| PCT/CN2019/126410 WO2021022758A1 (en) | 2019-08-02 | 2019-12-18 | Method for adjusting planned parking path, and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910711841.6A CN110435641A (en) | 2019-08-02 | 2019-08-02 | A kind of planning path method of adjustment parked and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110435641A true CN110435641A (en) | 2019-11-12 |
Family
ID=68433025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910711841.6A Pending CN110435641A (en) | 2019-08-02 | 2019-08-02 | A kind of planning path method of adjustment parked and device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110435641A (en) |
| WO (1) | WO2021022758A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111796595A (en) * | 2020-06-30 | 2020-10-20 | 中国第一汽车股份有限公司 | Vehicle remote control method, device, system, equipment and storage medium |
| WO2021022758A1 (en) * | 2019-08-02 | 2021-02-11 | 广东小鹏汽车科技有限公司 | Method for adjusting planned parking path, and device |
| CN113460035A (en) * | 2020-03-30 | 2021-10-01 | 本田技研工业株式会社 | Housing area management device |
| WO2024168799A1 (en) * | 2023-02-17 | 2024-08-22 | 华为技术有限公司 | Intelligent parking method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023028764A1 (en) * | 2021-08-30 | 2023-03-09 | 华为技术有限公司 | Automatic parking method and apparatus, and vehicle |
| CN113808434B (en) * | 2021-10-15 | 2022-12-13 | 广州小鹏汽车科技有限公司 | Parking route sharing processing method and device, vehicle and readable storage medium |
| CN113947934B (en) * | 2021-10-15 | 2023-02-10 | 广州小鹏汽车科技有限公司 | Parking route processing method, device and system |
| CN113945223B (en) * | 2021-10-15 | 2023-02-10 | 广州小鹏汽车科技有限公司 | Parking route sharing processing method, device and equipment |
| CN115817535B (en) * | 2022-12-23 | 2023-09-29 | 远峰科技股份有限公司 | Automatic parking path planning method and device based on fuzzy decision-making |
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Also Published As
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| WO2021022758A1 (en) | 2021-02-11 |
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Application publication date: 20191112 |