Automatic parking control method, system and car

Abstract

The application discloses an automatic parking control method, system and car. The method comprises the following steps: obtaining a user's expected shortest distance from a cloud corresponding to a user's driver account, obtaining an actual shortest distance from a historical parking record of a vehicle, then performing weighted average calculation on the two shortest distances to obtain a shortest distance of this time parking, and updating an automatic parking control strategy according to the shortest distance of this time parking, and the vehicle performs automatic parking according to the updated automatic parking control strategy, wherein the shortest distance in the application is the shortest distance between the vehicle's front end and a front obstacle; the application obtains the key index of the shortest distance of this time parking by performing weighted average calculation on the cloud user's expected shortest distance and the local actual shortest distance, realizes that different users have their own automatic parking control strategies, realizes personalized parking for thousands of people, and enhances the safety of automatic parking of the vehicle.

Description

Technical Field

[0001] This invention belongs to the field of autonomous driving technology, and more specifically, relates to an automatic parking control method, system, and vehicle. Background Technology

[0002] Different automatic parking systems use different methods to detect objects around the car. Some have sensors installed around the front and rear bumpers, which act as both transmitters and receivers. These sensors send signals that are reflected back when they encounter obstacles around the vehicle. The car's computer then uses the time it takes to receive the signals to determine the obstacle's location. Other systems use cameras or radar mounted on the bumpers to detect obstacles. But the end result is the same: the car detects parked vehicles, the size of the parking space, and the distance to the curb, then drives into the space. However, existing automatic parking systems only consider the parking space and the obstacles and space on both sides, neglecting obstacles on the opposite side of the road and the road width. Different automatic parking systems consider whether the destination is reachable and whether the planned path is reasonable, but they do not consider the driver's experience during the parking process. Different drivers have different tolerances for the minimum distance between the vehicle and surrounding obstacles (especially when moving to the minimum distance). Existing technology cannot adapt to meet the personalized needs of users and it is difficult to use the parking process data collected by the vehicle for iterative system optimization.

[0003] The information disclosed in the background section of this invention is intended only to enhance the understanding of the general background of this invention and should not be construed as an admission or in any way implying that such information constitutes prior art known to those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to propose an automatic parking control method, system, and vehicle that can achieve personalized parking results for each driver, increase driver confidence in the automatic parking system while ensuring safety, enhance vehicle safety, and increase the frequency and efficiency of automatic parking system use.

[0005] To achieve the above objectives, the present invention proposes an automatic parking control method, system, and vehicle.

[0006] According to a first aspect of the present invention, an automatic parking control method is provided, comprising:

[0007] Obtain the shortest distance expected by the driver account and the actual shortest distance recorded by the vehicle;

[0008] The shortest distance for this automatic parking is obtained by calculating a weighted average of the user's expected shortest distance and the actual shortest distance.

[0009] The automatic parking control strategy of the vehicle is updated based on the shortest distance described in this automatic parking exercise.

[0010] Control the vehicle to automatically park according to the automatic parking control strategy;

[0011] The shortest distance is the shortest distance between the front of the vehicle and the obstacle in front.

[0012] Optionally, obtaining the shortest distance expected by the user corresponding to the driver's account specifically includes:

[0013] After the vehicle is powered on, the driver's account is read, and the shortest distance expected by the user is synchronized from the cloud of the driver's account.

[0014] Optionally, the shortest distance desired by the user is obtained through cloud learning, specifically including:

[0015] Log in to the driver account. When the actual speed of the vehicle is less than the preset automatic parking function activation speed threshold, the automatic parking function will be activated to search for parking spaces.

[0016] After a parking space is found, if the vehicle does not automatically park or the automatic parking fails, the parking data of the user's manual parking process is recorded.

[0017] After parking is completed, the validity of the parking data is determined by preset judgment conditions.

[0018] If so, extract the shortest distance parameter between the front of the vehicle and the obstacle in front, which represents the user's expectation, and upload it to the cloud.

[0019] The cloud platform learns from all the shortest distance parameters in historical records to obtain the shortest distance desired by the user.

[0020] Optionally, the expression for calculating the weighted average includes:

[0021] d = a * d p +b*d c ;

[0022] Where d is the shortest distance for this parking maneuver. p d represents the shortest distance desired by the user. c The actual shortest distance recorded by the vehicle is a+b=1, where the standard value of a is 0.8 and the standard value of b is 0.2.

[0023] Optionally, the determination criteria include:

[0024] The vehicle was parked in the parking space within 2 minutes;

[0025] The vehicle was turned off and powered down.

[0026] The recording time exceeds 10 minutes.

[0027] Optionally, determining whether the parking data is valid based on preset criteria specifically includes:

[0028] The parking data is valid when the vehicle has been parked in the parking space for 2 minutes, or when the vehicle is turned off or the recording time exceeds 10 minutes.

[0029] Optionally, the preset automatic parking function activation speed threshold includes:

[0030] 15km / h.

[0031] Optionally, it also includes:

[0032] If the vehicle fails to park automatically, the reason for the failure and the operating data are recorded and uploaded to the cloud.

[0033] According to a second aspect of the present invention, an automatic parking control system is provided, comprising:

[0034] The acquisition module is used to obtain the shortest distance expected by the user corresponding to the driver account and the actual shortest distance recorded by the vehicle;

[0035] The calculation module is used to calculate the shortest distance for this parking by performing a weighted average of the user's expected shortest distance and the actual shortest distance;

[0036] The update module is used to update the automatic parking control strategy of the vehicle based on the shortest distance of this automatic parking.

[0037] The control module is used to control the vehicle to automatically park according to the automatic parking control strategy;

[0038] The shortest distance is the shortest distance between the front of the vehicle and the obstacle in front.

[0039] According to a third aspect of the invention, an automobile is provided, the automobile comprising an automatic parking control system as described in the second aspect.

[0040] The beneficial effects of this invention are as follows: By calculating the weighted average of the user's expected shortest distance and the locally recorded shortest distance, the key indicator of the current automatic parking distance is determined. The shortest distance is the shortest distance between the front of the vehicle and the obstacle in front. Based on this shortest distance, the automatic parking control strategy is updated, and the vehicle is controlled to park automatically according to the updated strategy. This invention can provide different automatic parking control strategies for different users, achieving a personalized parking effect. While ensuring safety, it increases driver confidence in the automatic parking system, enhances vehicle safety, and increases the frequency and efficiency of automatic parking system usage.

[0041] The system of the present invention has other features and advantages that will be apparent from or will be set forth in detail in the accompanying drawings and following detailed description, which together serve to explain the particular principles of the invention. Attached Figure Description

[0042] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally denote like parts.

[0043] Figure 1 A flowchart illustrating the steps of an automatic parking control method according to the present invention is shown.

[0044] Figure 2 A flowchart illustrating the steps of obtaining the shortest distance desired by the user through cloud learning in an automatic parking control method according to the present invention is shown.

[0045] Figure 3 A schematic diagram of an automatic parking control system according to Embodiment 2 of the present invention is shown. Detailed Implementation

[0046] The invention will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0047] like Figure 1 As shown, an automatic parking control method according to the present invention includes:

[0048] Obtain the shortest distance expected by the driver account and the actual shortest distance recorded by the vehicle;

[0049] The shortest distance for this automatic parking is calculated by weighting the user's expected shortest distance and the actual shortest distance.

[0050] The automatic parking control strategy of the vehicle is updated based on the shortest distance of this automatic parking operation;

[0051] Control the vehicle to park automatically according to the automatic parking control strategy;

[0052] The shortest distance is the shortest distance between the front of the vehicle and the obstacle in front.

[0053] Specifically, the system obtains the user's desired shortest distance from the cloud associated with the driver's account and the actual shortest distance from the vehicle's historical parking records. In this invention, the shortest distance refers to the shortest distance between the front of the vehicle and an obstacle in front. Then, a weighted average of the user's desired and actual shortest distances is calculated to obtain the shortest distance for the current parking maneuver. The automatic parking control strategy is then updated based on this shortest distance, and the vehicle automatically parks according to the updated strategy. Different users have varying tolerances for the minimum distance between the vehicle and surrounding obstacles during driving (especially when approaching the minimum distance). Therefore, the desired shortest distances obtained from the cloud associated with different users' driver accounts are also inconsistent, leading to inconsistent updated automatic parking control strategies. In other words, different users can obtain different automatic parking control strategies through the method of this invention, achieving a personalized parking effect.

[0054] In one example, obtaining the shortest distance expected by the user corresponding to the driver's account specifically includes:

[0055] After the vehicle is powered on, the driver's account is read, and the shortest distance expected by the user is synchronized from the cloud based on the driver's account.

[0056] Specifically, the shortest distance expected by the user is obtained through cloud learning. Different driver accounts correspond to their respective cloud platforms, meaning that the shortest distance expected by the user for each driver account can be obtained through the cloud platform corresponding to that driver account.

[0057] like Figure 2 As shown, in one example, the shortest distance expected by the user is obtained through cloud learning, specifically including:

[0058] Log in to the driver's account. When the vehicle's actual speed is less than the preset automatic parking function activation speed threshold, the automatic parking function will be activated to search for parking spaces.

[0059] After a parking space is found, if the vehicle does not automatically park or the automatic parking fails, the parking data of the user's manual parking process will be recorded.

[0060] After parking is completed, the validity of the parking data is determined by preset criteria.

[0061] If so, extract the shortest distance parameter between the front of the vehicle and the obstacle in front, representing the user's expectation, and upload it to the cloud;

[0062] The cloud-based system learns from all the shortest distance parameters in historical records to obtain the shortest distance expected by the user.

[0063] Specifically, the system first logs into the user's driver account to ensure that the parking data from the user's manual parking process is uploaded to the cloud platform corresponding to the driver's account. Then, it continuously checks if the real-time vehicle speed is below the preset threshold for activating the automatic parking function. If the real-time speed is below this threshold, the automatic parking function is activated, and a parking space search is initiated. If a parking space is found but the vehicle does not automatically park or the automatic parking fails, the parking data from the user's manual parking process is recorded. After parking is completed, the system checks the validity of the recorded parking data based on preset criteria. If valid, it extracts the shortest distance parameter representing the user's desired distance between the front of the vehicle and the obstacle in front, and uploads this parameter to the cloud platform corresponding to the driver's account. The cloud platform learns from all the shortest distance parameters in the historical records to obtain the user's desired shortest distance. If invalid, the recorded parking data is deleted to prevent invalid data from affecting the accuracy of the learned shortest distance.

[0064] In one example, the expression for calculating the weighted average includes:

[0065] d = a * d p +b*d c ;

[0066] Where d is the shortest distance for this parking maneuver. p d represents the shortest distance desired by the user. c The actual shortest distance recorded by the vehicle is a+b=1, where the standard value of a is 0.8 and the standard value of b is 0.2.

[0067] Specifically, the standard value for a is 0.8, and the standard value for b is 0.2, but the values ​​of a and b are variable, and different values ​​can be selected for a and b depending on different driving modes.

[0068] In one example, the decision criteria include:

[0069] The vehicle was parked in the parking space within 2 minutes;

[0070] The vehicle is turned off and powered down.

[0071] The recording time exceeds 10 minutes.

[0072] In one example, determining the validity of parking data based on preset criteria specifically includes:

[0073] Parking data is valid when the vehicle has been parked in the parking space for 2 minutes, or when the vehicle is turned off or the recorded time exceeds 10 minutes.

[0074] Specifically, if any of the preset judgment conditions are met, the parking data is deemed valid. That is, the parking data is valid when the vehicle has been parked in the parking space for 2 minutes, or the vehicle is turned off or the recording time exceeds 10 minutes.

[0075] In one example, the preset speed threshold for activating the automatic parking function includes:

[0076] 15km / h.

[0077] Specifically, the preset automatic parking function activation speed threshold of the present invention is 15km / h. When the real-time vehicle speed is <15km / h, the automatic parking function is activated. The preset automatic parking function activation speed threshold of the present invention can be adjusted by the user according to the actual situation. For example, the preset automatic parking function activation speed threshold can be adjusted to 20km / h.

[0078] In one example, it also includes:

[0079] If the vehicle fails to park automatically, the reason for the failure and the operation data are recorded and uploaded to the cloud.

[0080] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present invention can be combined with each other.

[0081] Example 1

[0082] This embodiment provides an automatic parking control method, including:

[0083] After the vehicle is powered on, the driver's account is read, the shortest distance expected by the user is obtained from the cloud corresponding to the driver's account, and the actual shortest distance is obtained from the vehicle's historical parking records.

[0084] In this embodiment, all shortest distances refer to the shortest distance between the front of the vehicle and the obstacle in front. The user's desired shortest distance is obtained through cloud learning. First, the user's driver account is logged in to ensure that the parking data of the user's manual parking process can be uploaded to the cloud corresponding to the user's driver account. Then, it is determined in real time whether the real-time vehicle speed is less than the preset automatic parking function activation speed threshold of 15km / h. When the real-time vehicle speed is less than the preset automatic parking function activation speed threshold, the automatic parking function is activated to search for parking spaces. When a parking space is found, if the vehicle does not automatically park or the automatic parking fails, the parking data of the user's manual parking process is recorded. After parking, the system determines the validity of the recorded parking data based on preset criteria. Valid parking data is defined as follows: the vehicle must be parked in the space for at least 2 minutes, the vehicle must be turned off, or the recording time must exceed 10 minutes. If valid, the system extracts the shortest distance parameter representing the user's desired distance between the vehicle's front and the obstacle in front, and uploads this parameter to the cloud platform corresponding to the driver's account. The cloud platform then learns from all shortest distance parameters in the historical records to obtain the user's desired shortest distance. If invalid, the recorded parking data is deleted to prevent uploading invalid data to the cloud from affecting the accuracy of the learned shortest distance.

[0085] The shortest parking distance is calculated by weighting the user's expected shortest distance with the actual shortest distance. The expression for this weighted average calculation includes:

[0086] d = a * d p +b*d c ;

[0087] Where d is the shortest distance for this parking maneuver. p d represents the shortest distance desired by the user. c The actual shortest distance recorded by the vehicle is a+b=1, where the standard value of a is 0.8 and the standard value of b is 0.2.

[0088] The automatic parking control strategy is then updated based on the shortest distance for this parking maneuver, and the vehicle performs automatic parking according to the updated strategy. If the vehicle fails to park automatically, the reason for the failure and the operating data are recorded and uploaded to the cloud.

[0089] Example 2

[0090] like Figure 3 As shown, this embodiment provides an automatic parking control system, including:

[0091] The acquisition module is used to obtain the shortest distance expected by the user corresponding to the driver account and the actual shortest distance recorded by the vehicle;

[0092] The calculation module is used to calculate the shortest distance for this parking by performing a weighted average of the user's expected shortest distance and the actual shortest distance;

[0093] The update module is used to update the vehicle's automatic parking control strategy based on the shortest distance of this automatic parking operation.

[0094] The control module is used to control the vehicle to park automatically according to the automatic parking control strategy;

[0095] All of these shortest distances refer to the shortest distance between the front of the vehicle and the obstacle in front of it.

[0096] Example 3

[0097] This embodiment provides a car, which includes the automatic parking control system described in Embodiment 2.

[0098] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An automatic parking control method, characterized in that, include: Obtain the shortest distance expected by the driver account and the actual shortest distance recorded by the vehicle; The shortest distance for this automatic parking is obtained by calculating a weighted average of the user's expected shortest distance and the actual shortest distance. The automatic parking control strategy of the vehicle is updated based on the shortest distance described in this automatic parking exercise. Control the vehicle to automatically park according to the automatic parking control strategy; Wherein, the shortest distance is the shortest distance between the front of the vehicle and the obstacle in front; The specific shortest distance expected by the user corresponding to the driver's account includes: After the vehicle is powered on, the driver's account is read, and the shortest distance expected by the user is synchronized from the cloud of the driver's account. The shortest distance desired by the user is obtained through cloud learning, specifically including: Log in to the driver account. When the actual speed of the vehicle is less than the preset automatic parking function activation speed threshold, the automatic parking function will be activated to search for parking spaces. After a parking space is found, if the vehicle does not automatically park or the automatic parking fails, the parking data of the user's manual parking process is recorded. After parking is completed, the validity of the parking data is determined by preset judgment conditions. If so, extract the shortest distance parameter between the front of the vehicle and the obstacle in front, which represents the user's expectation, and upload it to the cloud. The cloud platform learns from all the shortest distance parameters in historical records to obtain the shortest distance desired by the user.

2. The automatic parking control method according to claim 1, characterized in that, The expression for calculating the weighted average includes: ； in, This is the shortest distance for this parking maneuver. For the shortest distance expected by the user, The actual shortest distance recorded by the vehicle. , The standard value is 0.

8. The standard value is 0.

2.

3. The automatic parking control method according to claim 1, characterized in that, The determination criteria include: The vehicle was parked in the parking space within 2 minutes; The vehicle was turned off and powered down. The recording time exceeds 10 minutes.

4. The automatic parking control method according to claim 3, characterized in that, The step of determining whether the parking data is valid by using preset judgment conditions specifically includes: The parking data is valid when the vehicle has been parked in the parking space for 2 minutes, or when the vehicle is turned off or the recording time exceeds 10 minutes.

5. The automatic parking control method according to claim 1, characterized in that, The preset automatic parking function activation speed threshold includes: 15km / h.

6. The automatic parking control method according to claim 1, characterized in that, Also includes: If the vehicle fails to park automatically, the reason for the failure and the operating data are recorded and uploaded to the cloud.

7. An automatic parking control system, characterized in that, include: The acquisition module is used to obtain the shortest distance expected by the user corresponding to the driver account and the actual shortest distance recorded by the vehicle; The calculation module is used to calculate the shortest distance for this parking by performing a weighted average of the user's expected shortest distance and the actual shortest distance; The update module is used to update the automatic parking control strategy of the vehicle based on the shortest distance of this automatic parking. The control module is used to control the vehicle to automatically park according to the automatic parking control strategy; Wherein, the shortest distance is the shortest distance between the front of the vehicle and the obstacle in front; The specific shortest distance expected by the user corresponding to the driver's account includes: After the vehicle is powered on, the driver's account is read, and the shortest distance expected by the user is synchronized from the cloud of the driver's account. The shortest distance desired by the user is obtained through cloud learning, specifically including: Log in to the driver account. When the actual speed of the vehicle is less than the preset automatic parking function activation speed threshold, the automatic parking function will be activated to search for parking spaces. After a parking space is found, if the vehicle does not automatically park or the automatic parking fails, the parking data of the user's manual parking process is recorded. After parking is completed, the validity of the parking data is determined by preset judgment conditions. If so, extract the shortest distance parameter between the front of the vehicle and the obstacle in front, which represents the user's expectation, and upload it to the cloud. The cloud platform learns from all the shortest distance parameters in historical records to obtain the shortest distance desired by the user.

8. A car, characterized in that, The vehicle includes the parking control system as described in claim 7.

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