Summary:
At this stage, there are many types of automatic parking, and the technology is becoming more and more mature. In most cases, the automatic parking function of the vehicle can indeed help the user to park faster, solve the pain point of the user's parking difficulty, and reduce the occurrence of scratches The probability of driving improves the user's driving happiness.
05 HPA--memory parking
Memory parking (Home-zone Parking Assist, HPA), or memory parking assistance (Home-zone Parking Pilot, HPP), in some specific scenarios, can replace the user to park the car in the designated parking space. During the parking process, the user does not need to stay in the car. For safety reasons, the user needs to stay within a certain distance from the car and monitor the real-time running status of the car through the mobile phone APP to ensure safety such as braking when necessary. Operation to ensure that the vehicle completes the parking operation. The main sub-functions include self-built maps, vehicle positioning, memory parking in and memory parking out.
When the user drives the vehicle for the first time, the vehicle learns, records and stores the user's frequently used drop-off location, parking location and parking route through its own sensors. Then when the user drives to the recorded alighting position again, the vehicle automatically reminds the user that the user can get off and park into the parking space autonomously. After the user agrees to enable this function in the car, the user gets off the car and uses the mobile APP to trigger the vehicle's autonomous valet parking function. At this time, the vehicle is responsible for driving safety. Car status to the driver's remote control device. After the vehicle finishes parking, the driver is notified of the end of parking through the remote control device.
Its sensor configuration information is as follows (just one of the configurations):
The HPA parking process is shown in the figure above, which is mainly divided into two stages, the route learning and mapping stage and the route playback autonomous parking stage.
Route learning stage: Generate A->B->P->C environmental feature map and other relevant information through the image information acquired by the camera. The system will remind you whether the route learning is successful or not.
Autonomous parking phase: The vehicle is repositioned within the range of the starting point. Plan a path from A to point B, and the path generation will prompt the user. After the user confirms, the vehicle will automatically drive to point B. After reaching point B, the vehicle will plan the trajectory and park in place to P. When the vehicle is called, it can autonomously park and cruise to the calling point.
The main functional modules of HPA are introduced in the following table:
HPA creates a map flow chart:
Flow chart of HPA berthing:
HPA pick-up flow chart:
06 AVP--valet parking
The autonomous parking system/valet parking system (Automated Valet Parking, AVP) is based on a high-precision map, which senses the surrounding environment and positioning through the sensors on the vehicle side, and automatically plans driving paths in the parking lot, outside the parking lot and in the park. Carry out automatic search for parking spaces, automatic parking in/out of the garage, and remote pick-up; at the same time, remote control and real-time monitoring can be performed through the mobile phone APP/key terminal.
Its sensor configuration information is as follows (just one of the configurations):
The basic functions of AVP include:
(1) AVP composition : In the parking lot area without self-composition data, construct a map through the sensor of the car;
(2) AVP parks in the parking space : In the parking lot area with self-composition data, the vehicle automatically drives to the target parking space selected by the driver at low speed or finds an empty parking space and automatically parks in;
(3 ) AVP pick-up : In the parking lot area with self-composition data, the vehicle automatically parks out of the parking space and automatically drives to the target location selected by the driver at a low speed.
The low-speed automatic driving in the self-composition area of the parking lot can complete the following actions: low-speed cruising, follow-up/start, crossing passage, up and down ramps, obstacle stop/circumvention, gate passage, etc.
AVP parking flow chart:
AVP pick-up flow chart:
AVP composition mainly includes self-composition creation and sharing and self-composition crowdsourcing.
AVP-self-composition image creation and sharing : self-composition image information includes road information and parking space information in the parking lot. In the parking lot that meets the ODD requirements, the vehicle automatically conducts / the user manually triggers the creation of self-composition through the HMI. The car terminal saves/manages the self-constructed pictures created in units of parking lots, and uploads the self-constructed pictures on the car terminal to the cloud for sharing when the law is in compliance.
AVP-Self-Crowdsourcing : When the law is in compliance, the car-end self-composition can be uploaded to the cloud for sharing. The cloud analyzes and fuses the self-composition pictures of the same parking lot uploaded by each vehicle to generate a cloud self-composition picture, which can be used for the first time. The download and use of vehicles in this parking lot will trigger the update of the self-composition map of the vehicle under certain conditions.
In areas with self-constructed images of parking lots, AVP has the following typical application scenarios:
AVP function scope of application:
The AVP function does not support pausing during the cruising phase, but it can be paused when parking in/out of a parking space. The pausing conditions refer to the pausing conditions of APA & RPA.
When the vehicle encounters the following situations while cruising, the AVP mission will be canceled. Details are as follows:
(1) When the vehicle encounters an obstacle, the speed drops to zero and the timeout expires;
(2) The driver intervenes in the gear;
(3) The driver intervenes in the accelerator pedal;
(4) The driver interferes with the steering wheel;
(5) The driver intervenes in the brake pedal;
(6) The driver unbuckles the seat belt;
(7) The exterior rearview mirror is folded;
(8) Four doors and two covers are opened;
(9) The AVP interface is closed.
07 Epilogue
The previous article introduced the representative functions of parking L0-L4. At this stage, there are many types of automatic parking, and the technology is becoming more and more mature. In most cases, the automatic parking function of the vehicle can indeed help users park faster. The car is stored in the garage to solve the pain point of the user's parking difficulty, reduce the probability of scratches, and improve the user's driving happiness.
However, it should be noted that automatic parking is often followed by the word "assist", which can only play a role of assistance. Nowadays, the corner case of automatic driving is progressing slowly. When users drive vehicles, they will always encounter those who do not have parking spaces. Lines, extreme weather, etc. At this time, it is necessary to be hard on the iron, and the user's own driving level is the lower limit to ensure the safety of the vehicle. The user cannot fully trust the machine, let alone vent his anger on the machine.
Source | Eleven Organization