An automatic parking control method and device, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose an automatic parking control method and device, electronic equipment and storage medium. The automatic parking control method comprises: detecting parking obstacles in the environment around the vehicle according to a user parking instruction; obtaining a hibernation threshold in the case that the vehicle cannot avoid the parking obstacles; and controlling the vehicle to hibernate and wait for re-parking based on the hibernation threshold. The embodiments of the present application realize automatic wake-up of system hibernation, prevent the vehicle from being parked outside the specified area due to continuous hibernation caused by obstacles, wake up the vehicle for re-parking by continuously detecting obstacles, realize safer automatic parking, reduce the probability of accidents, and improve the driving experience of the user.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile control, and in particular to an automatic parking control method and device, an electronic device and a storage medium. BACKGROUND

[0002] With the increasing number of domestic cars, parking congestion has become a big problem that plagues many car owners. Some novice drivers' driving skills are not mature, often causing problems such as being unable to park normally, scratching surrounding vehicles, or occupying two parking spaces.

[0003] The rapid development of intelligent driving is an inevitable trend of the development of the automobile industry, and the memory parking function greatly improves the driving experience of people, and is also more and more widely used. Memory parking is an optimization process based on automatic parking. The vehicle only needs to manually complete the operation of reaching the specified parking space once to record the completion, and in future driving, when the user starts the memory parking function, the vehicle will automatically start according to the user's preset route and finally complete parking.

[0004] However, the current memory parking function is low in intelligence, and can only travel according to the recorded route. When using the memory parking function to park, the car is queued and blocked by obstacles, and the vehicle cannot avoid obstacles. The car will not be able to reach the designated location to park, which may cause the car to be parked in the middle of the road, which is prone to accidents and has safety hazards. SUMMARY

[0005] The present application provides an automatic parking control method, device, electronic device and storage medium to realize full-automatic memory parking, complete the optimization of memory parking control process, reduce the safety hazards in the parking process, and improve the intelligence of the vehicle.

[0006] In a first aspect, the embodiments of the present application provide an automatic parking control method, wherein the method comprises:

[0007] detecting parking obstacles in the environment around the vehicle according to a user parking instruction;

[0008] obtaining a hibernation threshold in the case that the vehicle cannot avoid the parking obstacles;

[0009] controlling the vehicle to hibernate and wait for re-parking based on the hibernation threshold.

[0010] In a second aspect, the embodiments of the present application provide an automatic parking control device, wherein the device comprises:

[0011] an obstacle detection module configured to detect parking obstacles in the environment around the vehicle according to a user parking instruction;

[0012] The hibernation acquisition module acquires the hibernation threshold when the vehicle cannot avoid the parking obstacle;

[0013] The parking processing module is configured to control the vehicle to hibernate and wait for re-parking based on the hibernation threshold.

[0014] In a third aspect, an embodiment of the present application provides an automatic parking control electronic device, wherein the electronic device comprises:

[0015] at least one processor; and

[0016] a memory in communication with the at least one processor; wherein

[0017] 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 to enable the at least one processor to perform an automatic parking control method according to any one of the embodiments of the present application.

[0018] In a fourth aspect, an embodiment of the present application provides an automatic parking control computer readable storage medium, which stores computer instructions for enabling a processor to perform an automatic parking control method according to any one of the embodiments of the present application.

[0019] The technical scheme of the embodiment of the present application acquires the position relationship between the obstacle and the vehicle by searching for the parking obstacle in the surrounding environment of the vehicle, acquires the hibernation threshold when the vehicle cannot avoid the parking obstacle, restarts the memory parking system based on the hibernation threshold time, and finally enters the parking state, thereby preventing the vehicle from being continuously hibernated and misparked outside the specified area due to the obstacle, achieving automatic wake-up of the system hibernation, more safely achieving automatic parking through continuous detection of the obstacle, and avoiding accidents.

[0020] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 is a flowchart of an automatic parking control method according to an embodiment of the present application;

[0023] Figure 2is a flow chart of an automatic parking control method according to the second embodiment of the present application;

[0024] Figure 3 is a flow chart of an automatic parking control method according to the third embodiment of the present application;

[0025] Figure 4 is a structural schematic diagram of an automatic parking control device according to the fourth embodiment of the present application;

[0026] Figure 5 is a structural schematic diagram of an electronic device implementing an automatic parking control method according to the fifth embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0028] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] Embodiment One

[0030] Figure 1 is a flow chart of an automatic parking control method according to the first embodiment of the present application. The present embodiment can be applied to the case of automatic parking of a vehicle. The method can be performed by a device for controlling automatic parking, which can be realized in the form of hardware and / or software, and can be configured in a car provided with an automatic parking function. The method comprises:

[0031] S110, detecting parking obstacles in the environment around the vehicle according to user parking instructions.

[0032] The user parking instruction can be specifically understood as an instruction of the user controlling the vehicle to open a memory parking function, and specific forms of the user parking instruction can be a language instruction, a button operation instruction, a screen touch instruction, etc. The parking obstacle can be an object that hinders normal parking of the vehicle, and the parking obstacle can be a stationary object or a moving object. For example, the parking obstacle can be a walking person or a driving vehicle. The positional relationship between the parking obstacle and the vehicle can not be limited herein, and the parking obstacle can be located in front of, behind, or beside the vehicle, etc.

[0033] In the embodiment of the application, when the parking instruction of the vehicle triggered by the user through the button or the visual interface is acquired, the environment around the vehicle can be detected. For example, sensors can be used to detect the parking obstacle such as the vehicle and the pedestrian in the environment around the vehicle. The sensor for detecting the parking obstacle can include a radar, a camera, or an ultrasonic sensor, etc. The detection of the parking obstacle specifically includes using the radar to detect, emitting an electric wave through the radar, and judging the position of the parking obstacle according to the reflected electric wave. The camera is used to detect, and the camera can monitor the parking obstacle in the surrounding environment based on the image recognition technology. The ultrasonic sensor is used to detect, and the ultrasonic wave can be transmitted to the obstacle through the wave transmitter. The receiver receives the reflected wave. The presence or absence of the obstacle or the distance between the sensor and the obstacle is detected from the relationship between the time required for transmitting the ultrasonic wave and receiving the reflected wave and the speed of the ultrasonic wave. It can be understood that detecting the parking obstacle in the environment around the vehicle can include sensing the information of the obstacle in the environment around the vehicle, which can include position information, shape information, etc.

[0034] S120 acquiring a hibernation threshold in a case where the vehicle cannot avoid the parking obstacle.

[0035] The case where the vehicle cannot avoid the parking obstacle can refer to a positional relationship between the parking obstacle and the vehicle that cannot be avoided. The positional relationship can refer to a relative positional relationship between the parking obstacle and the vehicle that cannot be avoided. The positional relationship can be front, rear, or side, etc. The positional relationship can also include a distance between the obstacle and the vehicle that cannot be avoided. The hibernation threshold can be understood as the maximum hibernation time of the vehicle in the hibernation state each time. The vehicle can wake up abnormally every time the hibernation threshold corresponds to the length of time. The hibernation threshold can be preconfigured in the vehicle system by the vehicle manufacturer according to experience.

[0036] Specifically, a position relationship between the vehicle and the detected parking obstacle can be acquired, which can include a relationship such as a direction and a distance between the vehicle and the parking obstacle, and it is determined whether the position relationship satisfies a preset condition in which the vehicle cannot avoid the parking obstacle. When the position relationship satisfies the condition in which the vehicle cannot avoid the parking obstacle, the vehicle can enter an energy-saving mode, and a sleep threshold stored in the vehicle can be extracted. The sleep threshold time can be a time set by a user according to a requirement or a time set by a vehicle manufacturer according to experience. For example, the sleep threshold stored in the vehicle can be 10 minutes, 20 minutes, 1 hour, or the like, and the sleep threshold can specifically be a time range. In an example embodiment, when the parking obstacle is located 0.5 m or 2 m in front of the vehicle, the position relationship between the vehicle and the parking obstacle satisfies the condition in which the vehicle cannot avoid the parking obstacle, or when the parking obstacle is located 0.5 m or 1 m on the side of the vehicle, it can be determined that the position relationship between the vehicle and the parking obstacle satisfies the condition in which the vehicle cannot avoid the parking obstacle.

[0037] In S130, the vehicle is controlled to sleep based on the sleep threshold and to wait for re-parking.

[0038] Specifically, the vehicle can be controlled to enter a sleep state, and when a duration in which the vehicle enters the sleep state satisfies the sleep threshold, the vehicle can be woken up to re-park. In the sleep state, the vehicle can turn off part of vehicle functions to reduce power consumption.

[0039] In an example embodiment, when the vehicle sleeps, a timer can be set for the vehicle in the vehicle according to the sleep threshold, and when the timer reaches a timing, the vehicle is woken up and re-executes parking. It can be understood that the vehicle still needs to detect parking obstacles in the surrounding environment during re-parking.

[0040] In the embodiment of the present application, the parking obstacle in the surrounding environment of the vehicle is detected according to the user parking instruction, the position relationship between the vehicle and the parking obstacle is detected, it is determined whether the vehicle can avoid the parking obstacle, and if not, the vehicle is controlled to sleep based on the sleep threshold and to wait for re-parking. The problem that the vehicle enters a sleep state and cannot normally reach an expected position when a user encounters a parking obstacle while using a memory parking function is solved, automatic waking up of the system is achieved, the vehicle is prevented from being mistakenly parked outside a specified area due to obstacles, and the occurrence of accidents can be reduced.

[0041] Embodiment Two

[0042] Figure 2 A flowchart of an automatic parking control method provided in the embodiment two of the present application, the technical solution of the present embodiment is further refined on the basis of the above technical solution, and specifically mainly includes the following steps:

[0043] S210, monitoring a user parking instruction triggering a memory parking mode of the vehicle.

[0044] In the embodiment of the present application, the user can input the user parking instruction to the vehicle to trigger the vehicle to enter the memory parking mode, and the vehicle can perform the memory parking function. It can be understood that the monitoring can be a process of detecting and receiving the user parking instruction, and the vehicle can monitor the user parking instruction in one or more ways. According to different forms of the user parking instruction, different ways can be used to monitor the user parking instruction. For example, when the user parking instruction is a language instruction, the user parking instruction can be collected through the microphone arranged in the vehicle. When the user parking instruction is a button operation signal, the user parking instruction can be determined by monitoring the high and low levels of the button when the level of the button jumps. When the user parking instruction is a screen click operation, the user parking instruction can be monitored by monitoring the interactive control in the screen.

[0045] S220, determining that the user parking instruction is detected, and starting at least one obstacle detection unit to collect parking obstacles.

[0046] The obstacle detection unit can be a sensor for detecting parking obstacles in the surrounding environment, and can detect parking obstacles in the surrounding environment. The number of obstacle detection units can be one or more, and the installation position can be any position of the vehicle, such as the corners, roof, engine cover, etc. of the vehicle. The obstacle detection unit can include radar, depth camera or ultrasonic sensor, etc. In the embodiment of the present application, the type of obstacle detection unit is not limited. The detection frequency of the obstacle detection unit can be set by the vehicle manufacturer according to experience. The detection frequency can be 2 seconds / time, 5 seconds / time, 1 minute / time, etc. The detection frequency can also be a periodic change frequency.

[0047] Further, the positions of the vehicle where the obstacle detection units are arranged respectively include at least one of the following: corners, roof, engine cover.

[0048] Specifically, after the vehicle detects the user parking instruction, one or more obstacle detection units can be controlled to collect obstacles in the surrounding environment. The obstacle detection units can be installed at positions such as the corners, roof, engine cover, etc. of the vehicle. The types of obstacle detection units can be the same or different. For example, multiple radar sensors can be started to collect parking obstacles around the vehicle, or multiple radar sensors can be started to collect the distances of the parking obstacles around the vehicle, and multiple cameras can be started to collect images of the parking obstacles around the vehicle. The obstacle detection units started can be used to collect parking obstacles such as vehicles and pedestrians in the surrounding environment of the vehicle. It can be understood that the collected information can include position information, direction information, etc.

[0049] In an example, the vehicle can start the obstacle detection unit through a microcontroller unit (MCU) after detecting the user parking instruction, and the obstacle detection unit can actively collect parking obstacle data by reading the MCU.

[0050] S230, determine the size relationship between the profile width of the parking obstacle and the obstacle avoidance width threshold.

[0051] The profile width can refer to the width of the outer edge line of the parking obstacle, which can reflect whether the parking obstacle affects the vehicle; the obstacle avoidance width threshold can be understood as the maximum width that the vehicle can avoid, and the obstacle avoidance width threshold can be a width size set by the vehicle manufacturer according to experience. In an example, the obstacle avoidance width threshold of the vehicle can be 1 meter, 2 meters, 5 meters, etc., and the obstacle avoidance width threshold can also be a specific width range. For example, when the profile width of the parking obstacle is greater than the obstacle avoidance width threshold, the vehicle does not meet the condition of avoiding the parking obstacle, or when the profile width of the parking obstacle is less than or equal to the obstacle avoidance width threshold, the vehicle meets the condition of avoiding the parking obstacle.

[0052] In an example embodiment, the profile width of the parking obstacle collected by the obstacle detection unit can be read. When the obstacle detection unit detects the parking obstacle, the obstacle detection unit detects the profile width of the parking obstacle, and the detection can be performed once or multiple times, and can continue to be detected in the subsequent parking process to improve the safety of automatic parking.

[0053] S240, collect at least two position distances between the vehicle and the parking obstacle at different times.

[0054] The different times can be at least two times, and the more times the position distance is detected, the higher the accuracy of the vehicle detecting the obstacle. The position distance of the parking obstacle collected by the obstacle detection unit in a continuous period of time can be read, and the different position distances can correspond to different times; the position distance can be understood as the distance between the vehicle and the parking obstacle detected by the obstacle detection unit, and the change of the position distance can reflect whether the parking obstacle affects the vehicle parking, for example, the position distance becomes smaller and smaller with time, and the parking obstacle gradually approaches the vehicle, so that the vehicle parking has a risk.

[0055] Specifically, the position distance between the vehicle and the parking obstacle at different time points collected by the obstacle detection unit can be read. After being turned on, the position distance between the vehicle and the parking obstacle will be continuously collected. When the obstacle detection unit detects the parking obstacle, the obstacle detection unit will continuously detect the position distance between the vehicle and the parking obstacle. By comparing the distance difference of the position distance detected at any two time points with the distance traveled by the vehicle in the corresponding time, it can be determined whether the vehicle can avoid the parking obstacle.

[0056] In S250, if the distance difference of the position distance of any two position distances is greater than the distance traveled by the vehicle in the corresponding time or the size relationship is that the profile width is greater than the obstacle avoidance width threshold, it is determined that the vehicle cannot avoid the parking obstacle, and the stored hibernation threshold is extracted.

[0057] The distance difference of the position distance of any two position distances can be the distance difference between the position distances collected at any two collection time points. The distance difference can be used to determine the positional relationship between the vehicle and the parking obstacle and determine whether the vehicle can avoid the parking obstacle. In an exemplary embodiment, if the distance difference of the position distance of any two position distances is not equal to the distance traveled by the vehicle in the corresponding time, it can be considered that the obstacle is moving; if the distance difference of the position distance of any two position distances is less than the distance traveled by the vehicle in the corresponding time, it can be considered that the parking obstacle travels in the same direction, and in this case the parking obstacle will not affect the parking of the vehicle; if the distance difference of the position distance of any two position distances is greater than the distance traveled by the vehicle in the corresponding time, it can be considered that the parking obstacle travels in the opposite direction, and in this case the parking obstacle will affect the parking of the vehicle.

[0058] Specifically, the obstacle detection unit continuously detects the position distance between the vehicle and the parking obstacle. When the distance difference between the position distances collected by the obstacle detection unit at any two consecutive time points is greater than the distance traveled by the vehicle in the corresponding time, it can be determined that the vehicle and the parking obstacle are gradually approaching, and in this case the vehicle enters the waiting mode and the stored hibernation threshold is extracted when it is determined that the vehicle cannot avoid the parking obstacle. The obstacle detection unit can also detect the profile width of the parking obstacle, and the detection method can be continuous detection or single detection. When the profile width of the parking obstacle is greater than the obstacle avoidance width threshold, it can be understood that the vehicle cannot avoid the parking obstacle. When it is determined that the vehicle cannot avoid the parking obstacle, the vehicle enters the waiting mode and the stored hibernation threshold is extracted. The hibernation threshold time can be a time set by the user according to the needs or a time set by the vehicle manufacturer according to experience. The hibernation threshold can be 10 minutes, 20 minutes, 1 hour, etc. The hibernation threshold can also be a specific time range.

[0059] S260, if the distance difference of the two position distances is less than the driving distance of the vehicle in the corresponding time and the size relationship is that the profile width is less than the obstacle avoidance width threshold, an obstacle avoidance route corresponding to the parking obstacle is generated, and the vehicle is parked according to the obstacle avoidance route.

[0060] The obstacle avoidance route can be a route for the vehicle to park while avoiding the parking obstacle, and the generation manner of the obstacle avoidance route is not limited herein. For example, the obstacle avoidance route can be generated based on a deep neural network or the existing parking route can be corrected based on the obstacle position to serve as the obstacle avoidance route. The distance difference of the two position distances being less than the driving distance of the vehicle in the corresponding time and the size relationship being that the profile width is less than the obstacle avoidance width threshold can be understood as follows: when the difference between the position distances collected by the obstacle detection unit at any two continuous time points is less than the driving distance of the vehicle in the corresponding time, and at the same time, the profile width of the parking obstacle is less than the set obstacle avoidance width threshold, it can be considered that the vehicle can avoid the parking obstacle, and an obstacle avoidance route corresponding to the parking obstacle is generated, and the vehicle is parked automatically according to the obstacle avoidance route to reach the specified parking location. For example, the vehicle travels in the same direction as the parking obstacle or the parking obstacle is relatively stationary with the vehicle, and the profile width of the parking obstacle is less than the obstacle avoidance width threshold, so the parking obstacle will not affect the parking of the vehicle. In this case, the vehicle generates an avoidance route corresponding to the parking obstacle, and reaches the specified location according to the avoidance route.

[0061] Further, when the vehicle cannot be parked according to the obstacle avoidance route within the set obstacle avoidance threshold time, the vehicle enters a waiting mode, and the stored hibernation waiting threshold is extracted.

[0062] The obstacle avoidance threshold time can be understood as the maximum waiting time for the vehicle to enter the expected parking space. When the vehicle cannot be parked according to the obstacle avoidance route within the obstacle avoidance threshold time, the vehicle does not enter the obstacle avoidance route, and the vehicle can be controlled to start the hibernation low-power-consumption mode, and the stored hibernation waiting threshold is extracted.

[0063] S270, a Telematics BOX (T-BOX) communication interface of the vehicle is started to monitor parking control information of a user, and the vehicle is parked according to the parking control information.

[0064] The T-BOX communication interface is a remote vehicle mobile terminal, communicates with the mobile terminal through a Controller Area Network (CAN), realizes the transmission of instructions and information, and realizes the display and control of vehicle information by a mobile terminal application (APP). The mobile terminal can be a mobile phone or a tablet computer.

[0065] Specifically, before the vehicle is put into hibernation and waits for re-parking based on the hibernation threshold value, the T-BOX remote mode, i.e., the hibernation low-power mode, is started, so that the user can know the parking condition of the vehicle in real time, the user receives the hibernation signal of the vehicle, and the next parking operation is performed according to the feedback condition of the user. If the user does not timely feedback, i.e., does not have any operation, the system extracts the stored hibernation threshold value to restart the memory parking mode. If the user timely operates and feeds back the reply signal, the system keeps awake, the obstacle detection unit continues to monitor the positional relationship between the parking obstacle in the surrounding environment and the vehicle, and the memory parking function is continuously completed until the expected parking position is reached.

[0066] S280, control the vehicle to enter the hibernation low-power mode, and wake up the vehicle according to the hibernation threshold value to re-detect the parking obstacle to re-park.

[0067] The hibernation low-power mode can be understood as a power-saving mode in which the vehicle enters when the positional relationship between the vehicle and the parking obstacle meets the hibernation waiting scenario, and the vehicle cannot perform parking. In this scenario, the vehicle can turn off the power supply of some functions and cannot continue the automatic parking function.

[0068] Specifically, when the positional relationship between the vehicle and the parking obstacle meets the hibernation waiting scenario, the hibernation low-power mode is entered, the system extracts the stored hibernation threshold value, the memory parking mode is restarted, the obstacle detection unit continues to monitor the positional relationship between the parking obstacle in the surrounding environment and the vehicle, and the memory parking function is restarted until the vehicle reaches the expected parking position.

[0069] The embodiment of the present application compares the distance difference of the distance between any two positions of the parking obstacle with the size relationship between the driving distance of the vehicle in the corresponding time and the width threshold value of the parking obstacle contour and the obstacle avoidance width, to determine whether the vehicle can avoid the obstacle. If the vehicle cannot avoid the obstacle, the T-BOX communication interface is started to request the user to intervene in parking, the intelligent interaction with the user is realized, the user can remotely know the parking condition of the vehicle in real time, and the user is more convenient when controlling the automatic parking system. The hibernation low-power mode is entered, the situation that the vehicle cannot avoid the obstacle and continuously opens the memory parking function with excessive power consumption is effectively avoided, the hibernation threshold value is effectively obtained to prevent the vehicle from being always in the hibernation low-power mode, the problem that the vehicle is mistakenly parked outside the preset parking position is solved, and the experience of the user is improved.

[0070] Further, before the vehicle is put into hibernation and waits for re-parking based on the hibernation threshold value, the T-BOX communication interface of the vehicle is called to request the user to intervene in parking when it is determined that the current position of the vehicle is located at an intersection.

[0071] Specifically, when the obstacle detection unit detects that the vehicle cannot avoid the obstacle, that is, the distance difference of any two position distances is greater than the driving distance of the vehicle within the corresponding time or the size relationship is that the profile width is greater than the obstacle avoidance width threshold, it is determined that the vehicle cannot avoid the parking obstacle, and it is determined that the current position of the vehicle is in the intersection, the system will start the T-BOX remote mode, and will send a signal to the user mobile terminal, requesting the user to operate. If the user does not have any operation, the system will extract the stored hibernation threshold; when the user timely feedback, reply operation, the system will continue to keep the wake-up state, and continuously detect the position relationship between the parking obstacle in the surrounding environment and the vehicle.

[0072] Embodiment three

[0073] Figure 3 The flowchart of an automatic parking control method provided by Embodiment Three of the application, the technical scheme of the present embodiment is further refined on the basis of the above technical scheme, and specifically mainly includes the following steps:

[0074] S1, determine whether the vehicle is in the memory parking mode through the memory parking control unit. If yes, go to S2; if no, end the process.

[0075] S2, when it is determined that the vehicle is in the memory parking mode, monitor whether there is an obstacle in front during parking through the obstacle detection unit. If yes, go to S3; if no, go to S5.

[0076] S3, when it is monitored that there is a parking obstacle in front, determine whether the parking obstacle can be avoided within the set obstacle avoidance threshold T1 to reach the expected position through the obstacle avoidance unit. If yes, go to S4; if no, go to S6.

[0077] S4, avoid the parking obstacle within the set time T1, and reach the expected position according to the avoidance route, and go to S11.

[0078] S5, when it is monitored that there is no parking obstacle in front, reach the expected position according to the memory route, and go to S11.

[0079] S6, fail to avoid the parking obstacle within the set time T1, and enter the T-BOX remote mode, that is, the hibernation low-power mode. Send information to the user mobile terminal through the remote vehicle communication terminal T-BOX, and request the user to operate.

[0080] S7, after entering the T-BOX remote mode, determine whether the user operates. If yes, go to S8; if no, go to S9.

[0081] S8, when the user timely feedbacks and replies the operation, the system keeps awake.

[0082] S9, when the user does not feedback in time, does not have any operation, the system defaults to wake up 1 time / 20 minutes (set).

[0083] S10, after the memory parking system wakes up, the parking obstacle state is continuously detected and monitored, and S2 is entered to judge whether there is an obstacle in front of the vehicle.

[0084] S11, when the vehicle goes to the expected position according to the memory route or the avoidance route, it is judged whether the vehicle reaches the expected position. If yes, S12 is entered; if no, S1 is entered to rejudge whether the vehicle is in the memory parking mode.

[0085] S12, when the vehicle reaches the expected position, the memory parking mode is exited.

[0086] The embodiment of the application helps the driver to quickly and safely complete the parking operation by starting the memory parking function, thereby reducing the burden of the driver. By adding the T-BOX remote mode, the user can realize the effect of real-time understanding of the parking condition of the vehicle. By adding the system default wake-up function, the effect that the memory parking process can accurately complete the parking process is realized, and it is ensured that the user can avoid the situation of parking timeout, vehicle stopping in the middle of the road, and danger.

[0087] Embodiment four

[0088] Figure 4 A structural schematic diagram of an automatic parking control device provided by the embodiment of the application is shown in the figure. Figure 4 As shown in the figure, the device comprises: an obstacle detection module 41, a hibernation acquisition module 42, and a parking processing module 43.

[0089] The obstacle detection module 41 is used to detect parking obstacles in the environment around the vehicle according to the user parking instruction.

[0090] The hibernation acquisition module 42 is used to acquire a hibernation threshold value when the vehicle cannot avoid the parking obstacle.

[0091] The parking processing module 43 is used to control the vehicle to hibernate and wait for re-parking based on the hibernation threshold value.

[0092] In the embodiment of the application, the obstacle detection module 41 detects parking obstacles in the environment around the vehicle, detects the positional relationship between the vehicle and the parking obstacle, judges whether the vehicle can avoid the parking obstacle, acquires the hibernation threshold value through the hibernation acquisition module 42 when it is impossible to avoid, controls the vehicle to hibernate based on the hibernation threshold value, and waits for re-parking through the parking processing module 43, thereby solving the problem that the vehicle cannot normally reach the expected position when the vehicle enters the hibernation state after the user encounters the parking obstacle when using the memory parking function, realizing the system hibernation automatic wake-up, continuously detecting the obstacle to make the vehicle re-park, and reducing the occurrence of accidents.

[0093] Further, on the basis of the above-mentioned embodiments, the obstacle detection module 41 comprises:

[0094] A parking instruction monitoring unit is configured to monitor the user parking instruction triggering the memory parking mode of the vehicle.

[0095] An obstacle collecting unit is configured to determine that the user parking instruction is detected, and then start at least one obstacle detection unit to collect the parking obstacle, wherein the obstacle detection unit is respectively arranged at a position of the vehicle, and the position comprises at least one of the following: four corners, roof, and engine cover.

[0096] Further, on the basis of the above-mentioned embodiments, the hibernation acquisition module 42 comprises:

[0097] A first condition collecting unit is configured to determine the size relationship between the profile width of the parking obstacle and the obstacle avoidance width threshold.

[0098] A second condition collecting unit is configured to collect at least two position distances between the vehicle and the parking obstacle at different moments.

[0099] A condition determining unit is configured to determine that the vehicle cannot avoid the parking obstacle if the distance difference of any two position distances is greater than the driving distance of the vehicle within the corresponding time or the size relationship is that the profile width is greater than the obstacle avoidance width threshold, and extract the stored hibernation threshold.

[0100] Further, on the basis of the above-mentioned embodiments, the automatic parking control device further comprises:

[0101] An intersection detection module is configured to call the T-BOX communication interface of the vehicle to request user intervention parking if it is determined that the current position of the vehicle is located at an intersection.

[0102] Further, on the basis of the above-mentioned embodiments, the automatic parking control device further comprises:

[0103] An obstacle avoidance processing module is configured to generate an obstacle avoidance route corresponding to the parking obstacle and park according to the obstacle avoidance route if the distance difference of any two position distances is less than the driving distance of the vehicle within the corresponding time and the size relationship is that the profile width is less than the obstacle avoidance width threshold.

[0104] Further, on the basis of the above-mentioned embodiments, the parking processing module 43 comprises:

[0105] A hibernation control unit is configured to control the vehicle to enter a hibernation low-power consumption mode.

[0106] The vehicle wake-up unit is configured to wake up the vehicle to re-detect the parking obstacle and re-park according to the sleep threshold.

[0107] Further, on the basis of the above-mentioned embodiment, the automatic parking control device further comprises:

[0108] The remote control module is configured to start the T-BOX communication interface of the vehicle to monitor the parking control information of the user, and control the parking of the vehicle according to the parking control information.

[0109] The automatic parking control device provided by the embodiment of the present application can execute the automatic parking control method provided by any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0110] Embodiment five

[0111] Figure 5 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0112] As shown in Figure 5 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which are in communication with the at least one processor 11, wherein the memory stores a computer program that can be executed by the 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 loaded from the storage unit 18 into 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.

[0113] A plurality 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 magnetic 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.

[0114] The processor 11 can be various general and / or special purpose 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-purpose 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 performs various methods and processes described above, such as an automatic parking control method.

[0115] In some embodiments, an automatic parking control method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of an automatic parking control method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform an automatic parking control method by any other appropriate means, such as by means of firmware.

[0116] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0117] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package and partially on a remote machine or entirely on a remote machine or server.

[0118] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0119] To provide for interaction with a user, the systems and techniques described here can 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 a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0120] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0121] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0122] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0123] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An automatic parking control method characterized by, The method comprises: detecting a parking obstacle in a surrounding environment of a vehicle according to a user parking instruction; acquiring a hibernation threshold value in a case where the vehicle cannot avoid the parking obstacle; controlling the vehicle to hibernate and wait for re-parking based on the hibernation threshold value; the acquiring of the hibernation threshold value in the case where the vehicle cannot avoid the parking obstacle comprises: determining a size relationship between a profile width of the parking obstacle and an obstacle avoidance width threshold value; collecting at least two position distances between the vehicle and the parking obstacle at different times; if a distance difference of any two position distances is greater than a driving distance of the vehicle within a corresponding time or the size relationship is that the profile width is greater than the obstacle avoidance width threshold value, determining that the vehicle cannot avoid the parking obstacle, and extracting the stored hibernation threshold value; the controlling of the vehicle to hibernate and wait for re-parking based on the hibernation threshold value comprises: controlling the vehicle to enter a hibernation low-power consumption mode; controlling the vehicle to wake up according to the hibernation threshold value to re-detect the parking obstacle for re-parking; wherein the hibernation low-power consumption mode is a power saving energy saving mode in which the vehicle cannot perform parking.

2. The method of claim 1, wherein, the detecting of the parking obstacle in the surrounding environment of the vehicle according to the user parking instruction comprises: monitoring the user parking instruction for triggering a memory parking mode of the vehicle; determining that the user parking instruction is detected to start at least one obstacle detection unit to collect the parking obstacle, wherein the obstacle detection unit is arranged at a position of the vehicle, and the position comprises at least one of the following: four corners, a roof, and a hood.

3. The method of claim 1, wherein, before the controlling of the vehicle to hibernate and wait for re-parking based on the hibernation threshold value, the method further comprises: in a case where a current position of the vehicle is located at an intersection, calling a T-BOX communication interface of the vehicle to request user intervention in parking.

4. The method of claim 1, wherein, the method further comprises: if a distance difference of any two position distances is less than a driving distance of the vehicle within a corresponding time and the size relationship is that the profile width is less than the obstacle avoidance width threshold value, generating an obstacle avoidance route corresponding to the parking obstacle, and parking according to the obstacle avoidance route.

5. The method of claim 1, wherein, before the controlling of the vehicle to hibernate and wait for re-parking based on the hibernation threshold value, the method further comprises: starting a T-BOX communication interface of the vehicle to monitor parking control information of a user, and controlling the vehicle to park according to the parking control information.

6. An automatic parking control device, characterized by comprising: The device comprises: an obstacle detection module configured to detect a parking obstacle in a surrounding environment of a vehicle according to a user parking instruction; a hibernation acquisition module configured to acquire a hibernation threshold value in a case where the vehicle cannot avoid the parking obstacle; a parking processing module configured to control the vehicle to hibernate and wait for re-parking based on the hibernation threshold value; the hibernation acquisition module comprises: a first condition collection unit configured to determine a size relationship between a profile width of the parking obstacle and an obstacle avoidance width threshold value; a second condition collection unit configured to collect at least two position distances between the vehicle and the parking obstacle at different times; The condition judging unit is configured to determine that the vehicle cannot avoid the parking obstacle if any two of the distance difference values of the distances between the positions are greater than the driving distance of the vehicle in the corresponding time or the size relationship is that the profile width is greater than the obstacle avoidance width threshold value, and extract the stored hibernation threshold value; The parking processing module comprises: A hibernation control unit configured to control the vehicle to enter a hibernation low-power consumption mode; A vehicle wake-up unit configured to wake up the vehicle according to the hibernation threshold value to re-detect the parking obstacle to re-park; and wherein the hibernation low-power consumption mode is a power-saving mode in which the vehicle cannot perform parking.

7. An electronic device, comprising: The electronic device comprises: At least one processor; and A memory connected in communication with 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 to enable the at least one processor to execute the automatic parking control method of any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the automatic parking control method of any one of claims 1-5 when executed.

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