Parking obstacle avoidance method, device, electronic equipment and storage medium

Abstract

The present invention discloses a parking obstacle avoidance method, device, electronic device and storage medium, wherein the method comprises: determining target obstacle information corresponding to a target vehicle; when the to-be-used distance between the target vehicle and the target obstacle information is less than a preset distance threshold, obtaining at least one to-be-used parameter corresponding to the target vehicle; determining the to-be-determined distance between the target vehicle and the target obstacle information at the next moment based on each to-be-used parameter; determining a target processing method corresponding to the to-be-determined distance, and controlling the target vehicle to perform parking obstacle avoidance based on the target processing method; wherein the target processing method includes emergency braking and continued parking. The problem of emergency braking occurring when the parking position of a vehicle is inaccurate during parking is solved, and the effect of assisting the vehicle to park accurately is achieved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a parking obstacle avoidance method, device, electronic equipment and storage medium. Background Art

[0002] The automatic parking system can effectively solve the problem of difficult parking, reduce the driver's driving burden, and reduce the occurrence of accidents such as scratches during parking.

[0003] At present, the automatic parking system can collect the distance between the surrounding obstacles and the vehicle through the ultrasonic radar in the vehicle, and use the distance information between the obstacle and the vehicle as the basis for whether the vehicle should avoid the obstacle. However, with this method, when the automatic parking system detects that the distance between the obstacle and the vehicle is less than the safety threshold, but the vehicle has not stopped completely, the parking system will immediately control the vehicle to perform emergency braking. Once the vehicle enters the emergency obstacle avoidance area, the automatic parking system will enter the control blind spot and cannot control the vehicle to continue parking, resulting in parking failure.

[0004] In order to effectively assist vehicles in parking and avoiding obstacles, it is necessary to improve the parking and avoiding obstacles method of the vehicle. Summary of the invention

[0005] The present invention provides a parking obstacle avoidance method, device, electronic equipment and storage medium to solve the problem of emergency braking when the parking position of a vehicle is inaccurate.

[0006] According to one aspect of the present invention, there is provided a parking obstacle avoidance method, comprising:

[0007] An obstacle information determination module, used to determine target obstacle information corresponding to the target vehicle;

[0008] A to-be-used parameter acquisition module, used to acquire at least one to-be-used parameter corresponding to the target vehicle when the to-be-used distance between the target vehicle and the target obstacle information is less than a preset distance threshold; wherein the to-be-used parameter includes at least one of a steering wheel angle, a vehicle speed, and a gear parameter;

[0009] A to-be-determined distance determination module, used to determine the to-be-determined distance between the target vehicle and the target obstacle information at the next moment based on various parameters to be used;

[0010] The processing mode determination module is used to determine the target processing mode corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing mode; wherein the target processing mode includes emergency braking and continued parking.

[0011] According to another aspect of the present invention, there is provided a parking obstacle avoidance device, comprising:

[0012] An obstacle information determination module, used to determine target obstacle information corresponding to the target vehicle;

[0013] A to-be-used parameter acquisition module, used to acquire at least one to-be-used parameter corresponding to the target vehicle when the to-be-used distance between the target vehicle and the target obstacle information is less than a preset distance threshold; wherein the to-be-used parameter includes at least one of a steering wheel angle, a vehicle speed, and a gear parameter;

[0014] A to-be-determined distance determination module, used to determine the to-be-determined distance between the target vehicle and the target obstacle information at the next moment based on various parameters to be used;

[0015] The processing mode determination module is used to determine the target processing mode corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing mode; wherein the target processing mode includes emergency braking and continued parking.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the parking obstacle avoidance method described in any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the parking obstacle avoidance method described in any embodiment of the present invention when executed.

[0021] The technical solution of this embodiment is to determine the target obstacle information corresponding to the target vehicle, scan the obstacle information in the vicinity of the target vehicle through the radar equipment in the target vehicle, and use the obstacle information closest to the target vehicle as the target obstacle information. When the distance to be used between the target vehicle and the target obstacle information is less than the preset distance threshold, obtain at least one parameter to be used corresponding to the target vehicle, and obtain the parameters to be used of each controller to be used through the control unit in the target vehicle, so as to determine the distance information between the target vehicle and the target obstacle information at the next moment based on each parameter to be used. Based on each parameter to be used, determine the distance to be determined between the target vehicle and the target obstacle information at the next moment, determine the driving trajectory of the target vehicle according to the parameters to be used, and predict the position information of the target vehicle at the next moment, and determine the distance to be determined between the target vehicle and the target obstacle information. Determine the target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method, and determine whether to perform emergency braking or continue parking processing on the target vehicle according to whether the distance to be determined increases relative to the distance to be used. The invention solves the problem of emergency braking when the parking position of the vehicle is inaccurate, and achieves the effect of assisting the vehicle to park accurately.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flow chart of a parking obstacle avoidance method provided according to Embodiment 1 of the present invention;

[0025] Figure 2 is a flow chart of a parking obstacle avoidance method provided according to Embodiment 2 of the present invention;

[0026] Figure 3 is a structural schematic diagram of a parking obstacle avoidance device provided according to Embodiment 3 of the present invention;

[0027] Figure 4 It is a structural schematic diagram of an electronic device of the parking obstacle avoidance method implemented by the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Embodiment 1

[0031] Figure 1 This is a flow chart of a parking obstacle avoidance method provided in Embodiment 1 of the present invention. This embodiment is applicable to vehicle parking situations. The method can be executed by a parking obstacle avoidance device. The parking obstacle avoidance device can be implemented in the form of hardware and / or software. The parking obstacle avoidance device can be configured in an electronic device that can execute the parking obstacle avoidance method.

[0032] like Figure 1 As shown, the method includes:

[0033] S110: Determine target obstacle information corresponding to the target vehicle.

[0034] The target vehicle can be understood as the vehicle currently being parked. When the target vehicle is parking, in order to ensure that the target vehicle can be accurately parked in the parking space, or to avoid the target vehicle from colliding with the obstacle information and smoothly driving out of the parking space, it is necessary to avoid the obstacle information around the target vehicle. The target obstacle information can be understood as the obstacle information closest to the target vehicle, which can be a stationary object in the vicinity of the target vehicle, such as a parking pile on the ground.

[0035] Specifically, the parking state of the target vehicle during the parking process may include a vehicle parking state and a vehicle parking state, that is, driving into a parking space or driving out of a parking space. Usually, there is at least one obstacle information around the target vehicle. In order to ensure that the target vehicle avoids collision with surrounding obstacle information during the parking process, or an inaccurate parking position occurs, target obstacle information can be selected from multiple obstacle information, and parking is performed based on the target obstacle information.

[0036] Optionally, determining target obstacle information corresponding to the target vehicle includes: based on a radar device installed on the target vehicle, scanning at least one obstacle information to be referenced within the vicinity of the target vehicle to obtain a reference distance corresponding to each obstacle information to be referenced; and determining the obstacle information to be referenced corresponding to the shortest reference distance as the target obstacle information.

[0037] Among them, the radar device can be understood as a device for scanning obstacle information in the vicinity of the target vehicle, by sending signals to each obstacle information in the vicinity of the target vehicle and receiving the signals reflected by each obstacle information, so as to determine the distance between each obstacle information and the target vehicle. The obstacle information to be referenced can be understood as the obstacle information in the vicinity of the target. The distance to be referenced can be understood as the distance between each obstacle information to be referenced and the target vehicle.

[0038] Specifically, the radar device installed in the target vehicle scans each obstacle information to be referenced in the vicinity of the target vehicle to obtain the reference distance between each obstacle information to be referenced and the target vehicle. In order to accurately park the target vehicle during the parking process, the obstacle information to be referenced with the closest reference distance can be selected from the multiple obstacle information to be referenced as the target obstacle information.

[0039] Exemplarily, a coordinate system can be established with the target vehicle as the center, and the information of each obstacle to be referenced in the neighborhood can be scanned by radar equipment to determine the position information of each obstacle to be referenced, and the distance between each obstacle information to be referenced and the origin of the coordinate system can be calculated as the reference distance corresponding to each obstacle information to be referenced, and the obstacle information to be referenced with the shortest distance can be used as the target obstacle information.

[0040] S120: When the to-be-used distance between the target vehicle and the target obstacle information is less than a preset distance threshold, obtain at least one to-be-used parameter corresponding to the target vehicle.

[0041] The distance to be used can be understood as the distance between the target vehicle and the target obstacle information. The preset distance threshold can be understood as a preset safety distance threshold corresponding to the target vehicle, that is, the shortest distance that the obstacle information can approach the target vehicle. The parameters to be used can be understood as parameter information corresponding to each controller in the target vehicle, and the parameters to be used include at least one of the steering wheel angle, vehicle speed, and gear parameters.

[0042] Specifically, after determining the distance to be used between the target obstacle information and the target vehicle, determine whether the distance to be used is less than a preset distance threshold. If so, it is necessary to obtain at least one parameter to be used corresponding to the target vehicle. That is, during the parking process of the target vehicle, if the target obstacle information has entered the safe distance of the target vehicle, it means that the target obstacle information is too close to the target vehicle, and it is necessary to control the target vehicle during the parking process to avoid scratching or colliding with the target obstacle information. At this time, the parameters to be used corresponding to the target vehicle are obtained to further control the target vehicle based on each parameter to be used.

[0043] Optionally, obtaining at least one parameter to be used corresponding to the target vehicle includes: based on a control unit in the target vehicle, obtaining a parameter to be used corresponding to each controller to be used.

[0044] The control unit can be understood as the master controller in the target vehicle, which is connected to each controller to be used and can obtain the usage information of each controller to be used, such as usage time and usage parameters. The controller to be used includes at least one of a steering wheel controller, a vehicle speed controller and a gear controller.

[0045] Specifically, when acquiring the parameters to be used of the target vehicle, the control unit in the target vehicle may send a parameter acquisition instruction to each controller to be used, and after each controller to be used receives the parameter acquisition instruction sent by the control unit, it responds to the parameter acquisition instruction and sends the parameters to be used corresponding to each controller to be used to the control unit. Alternatively, the control unit may monitor the usage of each controller to be used, and when it is necessary to acquire the parameters to be used corresponding to the target vehicle, directly retrieve the parameters to be used corresponding to each controller unit.

[0046] S130: Determine the distance to be determined between the target vehicle and the target obstacle information at the next moment based on the parameters to be used.

[0047] The distance to be determined may be understood as the distance between the target obstacle information and the target vehicle at the next moment.

[0048] Specifically, in order to determine whether the target vehicle is parked successfully, after obtaining the parameters to be used corresponding to the target vehicle, it is necessary to determine the to-be-determined distance of the target obstacle information from the target vehicle at the next moment, so as to judge whether the distance between the target obstacle information and the target vehicle increases according to the to-be-determined distance, and based on this, determine to perform parking control on the target vehicle.

[0049] Optionally, based on each parameter to be used, the distance to be determined between the target vehicle and the target obstacle information at the next moment is determined, including: for each parameter to be used, determining the historical information to be used corresponding to the controller to be used corresponding to the current parameter to be used at each historical moment; based on the trajectory simulation model, calculating each historical information to be used to obtain the driving trajectory information to be used corresponding to the target vehicle; based on the trajectory information to be used, determining the distance to be determined between the target vehicle and the target obstacle information at the next moment.

[0050] In practical applications, the current parameters to be used can be understood as the parameters that need to be used currently, that is, when determining the distance to be determined of the target vehicle based on each parameter to be used, it is necessary to process each parameter to be used one by one, and use the parameter currently being processed as the current parameter to be used. The historical information to be used can be understood as the parameter information corresponding to the controller corresponding to the current parameter to be used at each historical moment. The trajectory simulation model can be understood as a model for simulating the driving trajectory of the target vehicle, such as a neural network model. The historical information to be used corresponding to the target vehicle is input into the trajectory simulation model for analysis and processing, and the driving trajectory information to be used corresponding to the target vehicle can be obtained. Among them, the driving trajectory information to be used can be understood as the trajectory information generated based on the position information of the target vehicle at each historical moment.

[0051] It is understandable that the movement of an object has certain regularity. The position information of the target vehicle at the next moment can be roughly determined based on the trajectory information to be used, and the distance to be determined between the target vehicle and the target obstacle information can be determined based on the position information of the target vehicle at the next moment.

[0052] Optionally, based on the trajectory information to be used, the distance to be determined between the target vehicle and the target obstacle information at the next moment is determined, including: processing the trajectory information to be used based on a prediction function to predict the target vehicle's position to be determined at the next moment; and determining the distance to be determined between the position to be determined and the target obstacle information according to the distance processing function.

[0053] The prediction function can be understood as a function for predicting the position information of the target vehicle at the next moment. For example, if a coordinate system is established with the target obstacle information as the center, the target vehicle can determine the next position of the target vehicle at the next moment based on the prediction function during the movement. The position to be determined can be understood as the position information of the target vehicle at the next moment. The distance processing function can be understood as a function for calculating the distance between the target vehicle and the target obstacle information.

[0054] Specifically, by analyzing and processing the estimated information to be used corresponding to the target vehicle through the prediction function, the position to be determined at the next moment of the target vehicle can be determined based on the law of object motion. Assuming that a coordinate system is established with the target obstacle information as the center, the distance between the position to be determined and the origin of the coordinate system is calculated through the distance processing function to obtain the distance to be determined between the position to be determined and the target obstacle information.

[0055] S140: Determine a target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method.

[0056] The target handling method can be understood as the control method of the target vehicle during the parking process, including emergency braking and continued parking.

[0057] Specifically, the control mode of parking the target vehicle is determined according to the distance to be determined, so that the target vehicle avoids obstacles during parking. Optionally, a target processing mode corresponding to the distance to be determined is determined, and the target vehicle is controlled to park and avoid obstacles based on the target processing mode, including: detecting the distance to be determined based on the distance detection condition, determining whether the distance to be determined is increased relative to the distance to be used; if so, controlling the target vehicle to continue parking; if not, controlling the target vehicle to perform emergency braking.

[0058] The distance detection condition may be understood as a condition for detecting the distance to be determined, so as to determine whether the distance to be determined is increased relative to the distance to be used.

[0059] Specifically, during the parking process of the target vehicle, whether the vehicle is in the parking-in state or the parking-out state, after determining the distance to be determined corresponding to the target vehicle, the distance to be determined is detected based on the distance detection condition to determine whether the distance to be determined is increased relative to the distance to be used. If it is increased, it means that the distance between the target vehicle and the target obstacle information is getting farther and farther, and the probability of scratching or collision is reduced, then the target vehicle is controlled to continue to respond to the parking request and continue to park. If it is reduced, it means that the target vehicle is getting closer and closer to the target obstacle information, and there may be a scratch or collision, and the target vehicle needs to be immediately emergency braked.

[0060] It should be noted that, during the vehicle parking process, the target obstacle information may be selected as the obstacle information in the parking direction of the target vehicle, and during the vehicle unparking process, the target obstacle information may be selected as the obstacle information in the parking direction of the target vehicle.

[0061] The technical solution of this embodiment determines the target obstacle information corresponding to the target vehicle, scans the obstacle information in the vicinity of the target vehicle through the radar equipment in the target vehicle, and takes the obstacle information closest to the target vehicle as the target obstacle information. When the distance to be used between the target vehicle and the target obstacle information is less than the preset distance threshold, obtain at least one parameter to be used corresponding to the target vehicle, and obtain the parameters to be used of each controller to be used through the control unit in the target vehicle, so as to determine the distance information between the target vehicle and the target obstacle information at the next moment based on each parameter to be used. Based on each parameter to be used, determine the distance to be determined between the target vehicle and the target obstacle information at the next moment, determine the driving trajectory of the target vehicle according to the parameters to be used, and predict the position information of the target vehicle at the next moment, and determine the distance to be determined between the target vehicle and the target obstacle information. Determine the target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method. Determine whether the distance to be determined increases relative to the distance to be used, and determine whether to perform emergency braking or continue parking processing on the target vehicle. The problem of emergency braking when the parking position is inaccurate when the vehicle is parked is solved, and the effect of assisting the vehicle to park accurately is achieved.

[0062] Embodiment 2

[0063] In a specific example, Figure 2As shown, after the parking function of the target vehicle is activated, the obstacle information in the neighborhood of the target vehicle can be scanned by the radar equipment on the target vehicle to obtain the reference distance corresponding to each obstacle information to be referenced, and establish a virtual wall of the target vehicle (that is, from each obstacle information to be referenced, select the obstacle information to be referenced with the shortest reference distance as the target obstacle information). During the parking process, the parking system (that is, the control unit of the target vehicle) always uses the distance to be used between the target vehicle and the target obstacle information as a reference to control the parking of the target vehicle. It can be understood that when the distance to be used between the target obstacle information and the target vehicle is less than the preset distance threshold, the control unit of the target vehicle can obtain the parameters to be used corresponding to the target vehicle, such as the steering wheel angle, vehicle speed and gear information, etc., as well as the information to be used corresponding to each controller to be used at each historical moment, and according to each information to be used, the driving trajectory information to be used corresponding to the target vehicle can be determined. By inputting the trajectory information to be used into the prediction function, the position to be determined of the target vehicle at the next moment can be predicted, and the distance to be determined between the current target vehicle and the target obstacle information can be determined based on the distance processing function. The distance to be determined is detected based on the distance detection condition. If the distance to be determined increases relative to the used distance, the target vehicle is controlled to respond to the parking control request and continue parking. If the distance to be determined decreases relative to the used distance, the target vehicle is controlled to perform emergency braking.

[0064] The technical solution of this embodiment determines the target obstacle information corresponding to the target vehicle, scans the obstacle information in the vicinity of the target vehicle through the radar equipment in the target vehicle, and takes the obstacle information closest to the target vehicle as the target obstacle information. When the distance to be used between the target vehicle and the target obstacle information is less than the preset distance threshold, obtain at least one parameter to be used corresponding to the target vehicle, and obtain the parameters to be used of each controller to be used through the control unit in the target vehicle, so as to determine the distance information between the target vehicle and the target obstacle information at the next moment based on each parameter to be used. Based on each parameter to be used, determine the distance to be determined between the target vehicle and the target obstacle information at the next moment, determine the driving trajectory of the target vehicle according to the parameters to be used, and predict the position information of the target vehicle at the next moment, and determine the distance to be determined between the target vehicle and the target obstacle information. Determine the target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method. Determine whether the distance to be determined increases relative to the distance to be used, and determine whether to perform emergency braking or continue parking processing on the target vehicle. The problem of emergency braking when the parking position is inaccurate when the vehicle is parked is solved, and the effect of assisting the vehicle to park accurately is achieved.

[0065] Embodiment 3

[0066] Figure 3 This is a schematic diagram of the structure of a parking obstacle avoidance device provided in Embodiment 3 of the present invention. The device includes: an obstacle information determination module 210, a to-be-used parameter acquisition module 220, a to-be-determined distance determination module 230, and a processing method determination module 240.

[0067] Wherein, the obstacle information determination module 210 is used to determine the target obstacle information corresponding to the target vehicle;

[0068] The to-be-used parameter acquisition module 220 is used to acquire at least one to-be-used parameter corresponding to the target vehicle when the to-be-used distance between the target vehicle and the target obstacle information is less than a preset distance threshold; wherein the to-be-used parameter includes at least one of a steering wheel angle, a vehicle speed, and a gear parameter;

[0069] The to-be-determined distance determination module 230 is used to determine the to-be-determined distance between the target vehicle and the target obstacle information at the next moment based on various parameters to be used;

[0070] The processing mode determination module 240 is used to determine the target processing mode corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing mode; wherein the target processing mode includes emergency braking and continued parking.

[0071] The technical solution of this embodiment determines the target obstacle information corresponding to the target vehicle, scans the obstacle information in the vicinity of the target vehicle through the radar equipment in the target vehicle, and takes the obstacle information closest to the target vehicle as the target obstacle information. When the distance to be used between the target vehicle and the target obstacle information is less than the preset distance threshold, obtain at least one parameter to be used corresponding to the target vehicle, and obtain the parameters to be used of each controller to be used through the control unit in the target vehicle, so as to determine the distance information between the target vehicle and the target obstacle information at the next moment based on each parameter to be used. Based on each parameter to be used, determine the distance to be determined between the target vehicle and the target obstacle information at the next moment, determine the driving trajectory of the target vehicle according to the parameters to be used, and predict the position information of the target vehicle at the next moment, and determine the distance to be determined between the target vehicle and the target obstacle information. Determine the target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method. Determine whether the distance to be determined increases relative to the distance to be used, and determine whether to perform emergency braking or continue parking processing on the target vehicle. The problem of emergency braking when the parking position is inaccurate when the vehicle is parked is solved, and the effect of assisting the vehicle to park accurately is achieved.

[0072] Optionally, the obstacle information determination module includes: a reference distance determination unit, configured to scan at least one obstacle information to be referenced in the vicinity of the target vehicle based on a radar device installed on the target vehicle, and obtain a reference distance corresponding to each obstacle information to be referenced;

[0073] The obstacle information determining unit is used to determine the obstacle information to be referenced corresponding to the shortest distance to be referenced as the target obstacle information.

[0074] Optionally, a module for acquiring parameters to be used is used to acquire parameters to be used corresponding to each controller to be used based on a control unit in a target vehicle; wherein the controller to be used includes at least one of a steering wheel controller, a vehicle speed controller and a gear controller.

[0075] Optionally, the to-be-determined distance determination module includes: a historical information determination unit, for determining, for each parameter to be used, historical information to be used corresponding to the to-be-used controller corresponding to the current to-be-used parameter at each historical moment;

[0076] A driving trajectory information determination unit, used to calculate each historical information to be used based on a trajectory simulation model to obtain the driving trajectory information to be used corresponding to the target vehicle;

[0077] The to-be-determined distance determination unit is used to determine the to-be-determined distance between the target vehicle and the target obstacle information at the next moment based on the to-be-used trajectory information.

[0078] Optionally, the to-be-determined distance determination unit includes: a to-be-determined position determination subunit, configured to process the to-be-determined trajectory information based on a prediction function to predict the to-be-determined position of the target vehicle at the next moment;

[0079] The to-be-determined distance determination subunit is used to determine the to-be-determined distance between the to-be-determined position and the target obstacle information according to the distance processing function.

[0080] Optionally, the processing mode determination module includes: a to-be-used distance detection unit, configured to detect the to-be-determined distance based on the distance detection condition, and determine whether the to-be-determined distance increases relative to the to-be-used distance;

[0081] The first unit is used for controlling the target vehicle to continue parking if yes;

[0082] The second unit is used for controlling the target vehicle to perform emergency braking if no.

[0083] Optionally, the parking state of the target vehicle includes a vehicle parking-in state and a vehicle parking-out state.

[0084] The parking obstacle avoidance device provided in the embodiment of the present invention can execute the parking obstacle avoidance method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0085] Embodiment 4

[0086] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0087] like Figure 4 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0088] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0089] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the parking obstacle avoidance method.

[0090] In some embodiments, the parking obstacle avoidance method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the parking obstacle avoidance method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the parking obstacle avoidance method in any other appropriate manner (e.g., by means of firmware).

[0091] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0092] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0093] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0094] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0095] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0096] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0097] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0098] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A parking obstacle avoidance method, characterized in that: include: Determining target obstacle information corresponding to the target vehicle; When the distance to be used between the target vehicle and the target obstacle information is less than a preset distance threshold, obtaining at least one parameter to be used corresponding to the target vehicle; wherein the parameter to be used includes at least one of a steering wheel angle, a vehicle speed, and a gear parameter; For each of the parameters to be used, determining the historical information to be used corresponding to the controller to be used corresponding to the current parameter to be used at each historical moment; Based on the trajectory simulation model, each of the historical information to be used is calculated to obtain the driving trajectory information to be used corresponding to the target vehicle; Determine, based on the driving trajectory information to be used, a distance to be determined between the target vehicle and the target obstacle information at a next moment; Determine a target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method; wherein the target processing method includes emergency braking and continued parking.

2. The method according to claim 1, characterized in that The determining of target obstacle information corresponding to the target vehicle includes: Based on the radar equipment installed on the target vehicle, at least one obstacle information to be referenced in the vicinity of the target vehicle is scanned to obtain a reference distance corresponding to each obstacle information to be referenced; The obstacle information to be referenced corresponding to the shortest distance to be referenced is determined as the target obstacle information.

3. The method according to claim 1, characterized in that The obtaining of at least one parameter to be used corresponding to the target vehicle comprises: Based on the control unit in the target vehicle, parameters to be used corresponding to each controller to be used are obtained; wherein the controller to be used includes at least one of a steering wheel controller, a vehicle speed controller and a gear controller.

4. The method according to claim 3, characterized in that The determining, based on the to-be-used driving trajectory information, a distance to be determined between the target vehicle and the target obstacle information at the next moment, comprises: Processing the to-be-used trajectory information based on a prediction function to predict the to-be-determined position of the target vehicle at the next moment; According to the distance processing function, a distance to be determined between the to-be-determined position and the target obstacle information is determined.

5. The method according to claim 1, characterized in that: The determining of a target processing method corresponding to the distance to be determined, and controlling the target vehicle to perform parking obstacle avoidance based on the target processing method, includes: Detecting the distance to be determined based on a distance detection condition, and determining whether the distance to be determined increases relative to the distance to be used; If yes, controlling the target vehicle to continue parking; If not, emergency braking of the target vehicle is controlled.

6. The method according to claim 1, characterized in that The parking state of the target vehicle includes a vehicle parking-in state and a vehicle parking-out state.

7. A parking obstacle avoidance device, characterized in that: include: An obstacle information determination module, used to determine target obstacle information corresponding to the target vehicle; A parameter acquisition module to be used, used to acquire at least one parameter to be used corresponding to the target vehicle when the distance to be used between the target vehicle and the target obstacle information is less than a preset distance threshold; wherein the parameter to be used includes at least one of a steering wheel angle, a vehicle speed, and a gear parameter; A to-be-determined distance determination module, comprising a history information determination unit, a driving track information determination unit and a to-be-determined distance determination unit; The historical information determination unit is used to determine, for each parameter to be used, the historical information to be used corresponding to the controller to be used corresponding to the current parameter to be used at each historical moment; The driving trajectory information determination unit is used to calculate each of the to-be-used historical information based on the trajectory simulation model to obtain the to-be-used driving trajectory information corresponding to the target vehicle; The to-be-determined distance determination unit is used to determine the to-be-determined distance between the target vehicle and the target obstacle information at the next moment based on the to-be-used driving trajectory information; The processing mode determination module is used to determine the target processing mode corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing mode; wherein the target processing mode includes emergency braking and continued parking.

8. An electronic device, characterized in that: The electronic device comprises: one or more processors; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the parking obstacle avoidance method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the parking obstacle avoidance method according to any one of claims 1 to 6 when executed.

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