Parking method, system, medium and electronic equipment based on micro-collision detection

Abstract

The present invention provides a parking method, system, medium, and electronic device based on micro-collision detection. The method comprises: when a target vehicle is in automatic parking mode and a collision is detected, obtaining collision information and detecting the current motion trajectory, and obtaining a motion planning path corresponding to the motion trajectory; determining the parking safety state of the target vehicle based on the collision information, motion trajectory, and motion planning path; executing a collision parking safety strategy when the parking safety state meets a preset secondary collision condition; and executing a parking strategy when the parking safety state does not meet the preset secondary collision condition. The present invention solves the problem in the prior art of secondary collision damage to pedestrians or other obstacles caused by missed detection by the perception module or limitations of the perception algorithm, thereby improving parking safety and reliability.

Description

Technical Field

[0001] The present application relates to the technical field of collision detection for vehicle automatic parking systems, and in particular to a parking method, system, medium, and electronic device based on micro-collision detection. Background Art

[0002] With the continuous development of intelligent vehicles, automated parking technology has been widely researched and applied, placing higher safety requirements on automated parking. Currently, obstacle collision detection in automated parking is based on ultrasonic radar and surround-view fisheye cameras. These collisions are detected against known obstacles during both the parking search and parking phases. However, these systems cannot completely eliminate the problem of missed obstacle detections, making collisions unavoidable during the parking search and parking processes. Traditional collision recognition sensors can only detect collisions at speeds of 25 km / h or above, while automated parking systems operate at speeds between 0 and 15 km / h. Therefore, secondary crushing and collisions with pedestrians and obstacles after a collision during parking cannot be avoided.

[0003] Currently, research has provided a method, device, and system for detecting obstacles in an automated parking path. The method includes using a path profile, a vehicle profile, and an obstacle profile to geometrically detect obstacles in an arc path and / or a straight path. The system includes a collision detection module for geometrically detecting obstacles in an arc path and / or a straight path using the path profile, the vehicle profile, and the obstacle profile. The device includes a memory and a processor for geometrically detecting obstacles in an arc path and / or a straight path using the path profile, the vehicle profile, and the obstacle profile. By using this method, the efficiency of obstacle collision detection can be improved, the steps can be simplified, and the accuracy can be increased. This invention addresses the detection and collision avoidance of known obstacles during the path planning process. However, it does not address the handling of missed detection situations such as vehicles, pillars, right-angle bends, and pedestrians crossing the parking garage.

[0004] Research has also proposed a redundant vehicle collision safety handling system, comprising a collision sensor that generates a collision signal when a vehicle crashes; an airbag control unit that receives the collision signal from the collision sensor and determines whether to issue a safety control signal based on the collision signal; a body control unit that receives the safety control signal from the airbag control unit and controls the vehicle door controller to unlock the vehicle doors; an engine control unit that receives the safety control signal from the airbag control unit and controls the engine fuel pump to cut off fuel to the vehicle engine; and a power supply that supplies power to each control unit. The vehicle collision safety handling system also includes a collision control unit that controls the vehicle door controller to unlock the vehicle doors and / or the engine fuel pump to cut off fuel to the vehicle engine in the event of failure of the body control unit and / or the engine control unit. While this system addresses collision detection and control issues after the airbag collision system fails, it is only suitable for driving at speeds above 20 km / h. During parking and searching for a parking space, there is a risk of missed obstacles and collisions at speeds below 20 km / h.

[0005] Currently, parking systems based on visual perception and ultrasonic radar have a parking success rate of approximately 85-95%, depending on the perception algorithm. However, there is still a 5% chance of missed collisions. Therefore, a parking method that can identify low-speed collisions and prevent subsequent runover and collisions with pedestrians and obstacles would be beneficial for improving the safety and reliability of automated parking, establishing a final line of defense for automated parking. Summary of the Invention

[0006] In view of the shortcomings of the prior art described above, the present invention provides a parking method, system, medium and electronic device based on micro-collision detection to solve the technical problem that the above-mentioned existing automatic parking systems may cause secondary collision damage to pedestrians or other obstacles after a collision due to missed detection by the perception module or limitations of the perception algorithm.

[0007] To achieve the above and related objectives, the present invention provides, in a first aspect, a parking method based on micro-collision detection, the method comprising:

[0008] When the target vehicle is in automatic parking mode and a collision is detected, the collision information of the target vehicle is obtained, the current motion trajectory of the target vehicle is detected, and the motion planning path corresponding to the motion trajectory is obtained;

[0009] Determine the parking safety status of the target vehicle based on collision information, motion trajectory, and motion planning path;

[0010] When the parking safety status meets the preset secondary collision conditions, the collision parking safety strategy is executed. The collision parking safety strategy includes outputting and executing the stop parking command, issuing a first collision warning prompt to the driver and people outside the vehicle, and exiting the automatic parking mode;

[0011] When the parking safety status does not meet the preset secondary collision conditions, the parking strategy is executed. The parking strategy includes updating the motion planning path based on the parking safety status, issuing a second collision warning prompt to the driver and people outside the vehicle, and parking based on the updated motion planning path.

[0012] In one embodiment of the present application, the collision information includes a collision signal, location information of the target vehicle's current location, and obstacle information; the preset secondary collision conditions include that the target vehicle's current motion trajectory and motion planning path will cause a secondary collision with the current collision obstacle and / or a collision with obstacles around the target vehicle.

[0013] In one embodiment of the present application, the first collision warning prompt includes a request to play a collision animation and / or a collision alarm sound to provide a risk avoidance prompt to the driver and people outside the vehicle; the second collision warning prompt includes a request to play a collision animation and / or a light alarm through the left and right turn signals of the target vehicle to provide a risk avoidance prompt to the driver and people outside the vehicle.

[0014] In one embodiment of the present application, when the collision parking safety strategy is executed, the driver is prompted to exit the automatic parking mode based on the collision information of the target vehicle, and a timer is started. When the timing result reaches a preset first time threshold, the automatic parking mode is exited.

[0015] In one embodiment of the present application, when executing a parking strategy, a micro-collision prompt is given to the driver based on the collision information of the target vehicle. When parking is completed, a timer is started. When the timing result reaches a preset second time threshold, the automatic parking mode is exited, wherein the preset first time threshold is greater than the preset second time threshold.

[0016] A second aspect of the present invention provides a parking system based on micro-collision detection, the system comprising:

[0017] an acquisition module, configured to acquire collision information of the target vehicle when the target vehicle is in automatic parking mode and a collision is detected, detect the current motion trajectory of the target vehicle, and acquire a motion planning path corresponding to the motion trajectory;

[0018] a determination module for determining a parking safety state of a target vehicle based on collision information, motion trajectory, and motion planning path;

[0019] A parking execution module, configured to execute a collision parking safety strategy when the parking safety status meets a preset secondary collision condition. The collision parking safety strategy includes outputting and executing a stop parking instruction, providing a primary collision warning to the driver and persons outside the vehicle, and exiting the automatic parking mode;

[0020] The parking execution module is used to execute the parking strategy when the parking safety status does not meet the preset secondary collision conditions. The parking strategy includes updating the motion planning path based on the parking safety status, issuing a secondary collision warning prompt to the driver and people outside the vehicle, and parking based on the updated motion planning path.

[0021] In one embodiment of the present application, the system further includes a prompt module for executing a first collision warning prompt, a second collision warning prompt, a minor collision prompt, and a prompt for exiting the automatic parking mode.

[0022] In one embodiment of the present application, the acquisition module includes a collision information acquisition module, which is used to obtain the collision information of the target vehicle when the target vehicle collides; a motion trajectory acquisition module, which is used to obtain the current motion trajectory of the target vehicle; and a motion planning path acquisition module, which is used to obtain the motion planning path corresponding to the motion trajectory.

[0023] A third aspect of the present invention provides an electronic device, comprising:

[0024] one or more processors;

[0025] The storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the parking method based on micro-collision detection as described above.

[0026] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer is caused to execute the parking method based on micro-collision detection as claimed in the claims above.

[0027] The present invention's beneficial effects include: When a target vehicle enters automatic parking mode, the system automatically activates micro-collision detection to detect collisions during the automatic parking process in various scenarios. If a collision occurs, the system then examines the collision information and the vehicle's current state, including its trajectory, to determine whether to implement a collision-preventive parking strategy or a parking strategy. This prevents secondary collisions that could cause damage to pedestrians or other obstacles due to low vehicle speed, missed detection by the sensing module, or limitations of the sensing algorithm in existing parking systems.

[0028] The present invention reduces the missed detection rate of the prior art through micro-collision detection (collision detection performed when the vehicle speed is low), thereby improving parking safety and reliability.

[0029] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0031] Figure 1 is a flow chart of a parking method based on micro-collision detection according to an exemplary embodiment of the present application;

[0032] Figure 2 is a flow chart of a parking method based on micro-collision detection according to another exemplary embodiment of the present application;

[0033] Figure 3 is a parking system architecture diagram illustrating an exemplary embodiment of the present application;

[0034] Figure 4 1 is a schematic diagram showing the placement of micro-collision sensors on a target vehicle according to an exemplary embodiment of the present application;

[0035] Figure 5 is a working principle diagram of a micro-collision sensor shown in an exemplary embodiment of the present application;

[0036] Figure 6 is a block diagram of a parking system based on micro-collision detection according to an exemplary embodiment of the present application;

[0037] Figure 7 is a block diagram of an acquisition module shown in an exemplary embodiment of the present application;

[0038] Figure 8 A schematic diagram of the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0039] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0040] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0041] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0042] First, it's important to note that an elastic wave sensor typically consists of a piezoelectric material layer and upper and lower electrodes covering its two surfaces. A thin-film sensitive area is ultrasonically machined onto a piezoelectric substrate, onto which a transducer (pressure-sensitive SAW delay line) is engraved. The transducer and circuit combine to form an oscillator. The transducer consists of two metal fingers mounted on a polished piezoelectric substrate. When a signal is applied to the input transducer finger T1, the inverse piezoelectric effect excites a surface elastic wave (SAW) on the substrate surface. This wave propagates to the transducer finger T2, where it is converted into an electrical signal. After amplification, it is fed back to T1 to maintain the oscillation state. The propagation time of the surface elastic wave (SAW) between the two transducer fingers is the resulting delay time, and its magnitude depends on the distance between the two transducer fingers. As the intake manifold pressure acts on the piezoelectric substrate, pressure changes induce strain in the thin-film sensitive area, even if the distance between the transducer fingers changes. Consequently, the delay time of the surface elastic wave propagation varies accordingly. In this way, a pressure signal can be output according to the oscillation frequency which is inversely proportional to the delay time.

[0043] Figure 1 This is a flowchart of a parking method based on micro-collision detection shown in an exemplary embodiment of the present application. Figure 1 As shown, the parking method based on micro-collision detection of the present application includes steps S110 to S140, which are described in detail as follows:

[0044] Step S110 , when the target vehicle is in the automatic parking mode and a collision is detected, the collision information of the target vehicle is obtained, the current motion trajectory of the target vehicle is detected, and a motion planning path corresponding to the motion trajectory is obtained.

[0045] This embodiment performs micro-collision detection for vehicles traveling at low speeds. Therefore, it detects the target vehicle's speed to determine whether it is traveling at a low speed, thereby determining whether the automatic parking function should be activated. When the vehicle speed meets the preset parking conditions, the target vehicle enters automatic parking mode. In this embodiment, the preset parking condition is that the vehicle speed is less than a preset low-speed threshold. The preset low-speed threshold is ≥ 0.1 km / h, or a relative speed ≥ 1 km / h, and the vehicle speed is less than 20 km / h, preferably less than 15 km / h. The preset low-speed threshold is not specifically defined here and should be set based on actual needs. Specifically, the preset low-speed threshold in this embodiment covers multiple driving scenarios. For example, when the vehicle speed is between 2 and 15 km / h, the target vehicle is traveling forward during cruising; when the vehicle speed is between 0 and 3 km / h, it is moving forward into a parking garage; when the vehicle speed is between 0 and 3 km / h, it is parking into a garage; and when the vehicle speed is between 0 and 5 km / h, it is reversing using tracking. When it is detected that the target vehicle speed is less than the preset low-speed threshold, the target vehicle enters the automatic parking mode. In this mode, the target vehicle assists the driver to automatically park, including automatically searching for parking spaces.

[0046] In this embodiment, after the target vehicle enters automatic parking mode, it automatically collects information about whether the target vehicle has collided with the vehicle while searching for a parking space and automatically parking. Because the target vehicle's speed is relatively low, the collision is considered a minor collision, meaning the impact force is significantly reduced compared to a high-speed collision.

[0047] In this embodiment, when a collision between a target vehicle and an obstacle is detected, specific information about the obstacle is immediately collected to obtain collision information. Specifically, the obstacle includes a stationary obstacle and a moving obstacle. This embodiment obtains a collision signal through a micro-collision sensor or other means, and locates the current latitude and longitude position of the target vehicle through a GPS global positioning system or other means. At the same time, this embodiment performs obstacle search and detection within a certain range around the target vehicle to avoid missed obstacles, and obtains specific information such as the location, obstacle image, number of obstacles, and obstacle size parameters of the obstacle that collided with the target vehicle. It even includes obtaining information such as the location of other obstacles within a certain range that may pose a collision risk. After a collision with the target vehicle, this embodiment detects its current motion trajectory by detecting the direction of movement of the target vehicle's wheels and other means. At the same time, it retrieves a preset motion planning path based on the motion trajectory from an on-board system such as the vehicle-side navigation system. The motion planning path includes at least one.

[0048] Step S120 : determining the parking safety state of the target vehicle based on the collision information, the motion trajectory, and the motion planning path.

[0049] This embodiment determines whether the target vehicle is suitable for continued parking based on the target vehicle's collision information, motion trajectory, and planned motion path. It then determines whether the target vehicle's parking safety status is safe or dangerous, with the potential for further collision risk. The collision information in this embodiment includes a collision signal, the target vehicle's current location, and obstacle information.

[0050] Step S130: When the parking safety state meets the preset secondary collision condition, the collision parking safety strategy is executed. The collision parking safety strategy includes outputting and executing a stop parking instruction, issuing a first collision warning prompt to the driver and people outside the vehicle, and exiting the automatic parking mode.

[0051] In this embodiment, the preset secondary collision conditions include the target vehicle's current trajectory and planned motion path causing a secondary collision with the current collision obstacle and / or collisions with obstacles surrounding the target vehicle. The first collision warning prompt includes a request to play a collision animation and / or a collision warning sound to warn the driver and occupants of the vehicle to avoid danger.

[0052] In one embodiment of this application, if the target vehicle, after an initial collision, determines that its parking safety state meets preset secondary collision conditions, and if there is a high risk of a secondary collision with an obstacle or a potential significant collision with other obstacles surrounding the vehicle, a pause parking command is issued to park the target vehicle and maintain a safe state. Simultaneously, the onboard human-machine interface is requested to play a collision animation and voice warning to prompt the driver and any people or animals outside the vehicle to make an emergency evasive maneuver. At this point, the target vehicle adopts a safe parking mechanism, exits automatic parking mode, and immediately parks.

[0053] In step S140, when the parking safety status does not meet the preset secondary collision condition, the parking strategy is executed. The parking strategy includes updating the motion planning path based on the parking safety status, providing a secondary collision warning to the driver and people outside the vehicle, and parking based on the updated motion planning path.

[0054] In a specific embodiment of the present application, the second collision warning prompt includes a request to play a collision animation and / or use the left and right turn signals of the target vehicle to issue a light alarm to warn the driver and people outside the vehicle to avoid danger. If, after the initial collision, the target vehicle determines that continuing along the current motion trajectory and motion planning path will not cause secondary collision damage to the obstacle, nor will it collide with other obstacles, the path is replanned and a parking collision warning prompt is output through the left and right turn signal light alarm prompts and the on-board human-computer interaction interface to play a collision animation, text prompts, etc., to remind people or animals outside the vehicle to avoid, so that the target vehicle continues to park according to the replanned path and parks in the target position. The parking strategy of this embodiment updates the motion planning path to further reduce the probability of secondary collisions and ensure safe and reliable parking of the vehicle.

[0055] In one specific embodiment of the present application, when a collision parking safety strategy is executed, the driver is prompted to exit automatic parking mode based on the target vehicle's collision information and a timer is started. Automatic parking mode is exited when the timer reaches a preset first time threshold. When the parking strategy is executed, the driver is prompted to exit automatic parking mode based on the target vehicle's collision information. When parking is completed, a timer is started. Automatic parking mode is exited when the timer reaches a preset second time threshold, where the preset first time threshold is greater than the preset second time threshold. More specifically, the preset first time threshold may be 30 seconds. This is not specifically set here and may be set based on actual needs. When the collision parking safety strategy is executed, this embodiment immediately parks the vehicle, notifies the driver that parking has ended abnormally due to a collision, and exits automatic parking mode after 30 seconds. This ensures that the driver is promptly and accurately informed of the vehicle's current collision status, preventing the driver from misjudging the current collision status and making unnecessary vehicle controls that could cause a secondary collision. The preset second time threshold in this embodiment may be 3 seconds. This is not specifically set here and may be set based on actual needs. The micro-collision prompt in this embodiment includes prompting the driver that there is an abnormal minor collision during parking.

[0056] Figure 2 is a flowchart of a parking method based on micro-collision detection shown in another exemplary embodiment of the present application. Figure 2 As shown, it includes steps S201 to S210, which are described in detail as follows:

[0057] Step S201, entering automatic parking mode.

[0058] When it is detected that the target vehicle's speed is lower than a preset threshold, the target vehicle activates the automatic parking function, enters the automatic parking mode, starts the parking space self-search and automatic control to park.

[0059] Step S202: detecting the collision state.

[0060] The target vehicle detects the collision state and obtains the collision information.

[0061] Step S203: Check whether there is a collision.

[0062] The collision signal is used to determine whether the target vehicle has collided. If so, the process proceeds to the next step; if not, the process jumps to step S209.

[0063] Step S204: whether to adopt collision parking safety processing.

[0064] If the target vehicle has collided, the collision information, the current motion trajectory of the target vehicle, and the motion planning path corresponding to the current motion trajectory are obtained. Based on the above information, its parking safety status is determined and whether a collision parking safety process is required.

[0065] If the target vehicle's parking safety status meets the preset secondary collision conditions and a collision parking safety procedure is determined to be necessary, the collision parking safety strategy is executed, and step S205 is executed to stop parking. After the target vehicle stops parking, step S206 is executed, and a parking micro-collision alarm sound is sounded. Specifically, a collision animation is played through the vehicle's human-computer interface and an alarm sound and micro-collision prompt voice are played through the vehicle's speakers. After the prompt ends, step S207 is executed to exit the automatic parking function. Specifically, after the target vehicle stops parking, the driver is simultaneously notified that the automatic parking mode is about to be exited. After reaching a preset first time threshold, such as 30 seconds, the automatic parking function is exited. After step S207 is executed, step S210 is directly executed.

[0066] If the parking safety status of the target vehicle does not meet the preset secondary collision conditions and it is determined that no collision parking safety treatment is required, the parking strategy is executed, the movement path of the target vehicle is replanned and / or the parking warning animation and collision animation are played through the on-board human-computer interaction interface, and the left and right turn signals are turned on to provide parking risk avoidance reminders, and then step S208 is entered to continue parking. Specifically, the target vehicle continues to park based on the replanned movement path, and after parking is completed, step S209 is entered.

[0067] Step S209: the automatic parking function is completed.

[0068] The driver is notified that an unusual minor collision occurred during parking and that parking has been completed by replanning the route. Once the target vehicle is safely parked, the automatic parking function is complete, and after reaching a preset second time threshold, the system proceeds to step S210, where parking is concluded. This preset second time threshold can be 3 seconds, which is not specifically defined here and is set based on actual circumstances. Furthermore, if step S203 determines that the target vehicle has not collided, automatic parking is completed with the assistance of the automatic parking mode, and the system proceeds to step S209, notifying the driver that parking is complete.

[0069] Step S210: Parking is completed.

[0070] In this embodiment, after exiting the automatic parking mode and reaching the preset first time threshold or the preset second time threshold, the detection of the collision state and other operations are stopped to complete parking.

[0071] Figure 3 This is a parking system architecture diagram shown in an exemplary embodiment of the present application. Figure 3 As shown, the parking system of this embodiment includes a micro-collision sensor, a visual perception module, an ultrasonic perception module, a parking control module, a parking execution module, and a parking collision warning module. This embodiment incorporates a micro-collision sensor into the automated parking system to provide redundancy in the event of a collision due to missed obstacle detection. This addresses the issue of existing parking systems causing secondary collision injuries to pedestrians or other obstacles after a collision due to missed detection by the perception module or limitations in the perception algorithm.

[0072] In a specific embodiment of the present application, the micro-collision sensor of this embodiment is used to perform micro-collision detection when the vehicle speed meets the preset parking condition. Figure 4 As shown, Figure 4 This is a schematic diagram of the placement of micro-collision sensors on a target vehicle, as shown in an exemplary embodiment of the present application. In this embodiment, 16 micro-collision sensors are arranged around the vehicle body, including 7 on the front bumper, 5 on the rear bumper, 2 on each of the left and right sides of the vehicle body, and 1 on each of the four doors of the vehicle, so as to perform targeted micro-collision detection on common collision positions of the vehicle and universal micro-collision detection on the entire vehicle. The number and location of the micro-collision sensors in this embodiment are not limited to Figure 4 As shown, Figure 4 This is just a preferred method. The micro-collision sensor of this embodiment is preferably an elastic wave sensor, such as Figure 5 As shown, Figure 5This is a working principle diagram of a micro-collision sensor shown in an exemplary embodiment of the present application. This embodiment uses the elastic wave principle to detect collision signals. When a slight collision occurs on the surface of the vehicle body, the voltage signal fluctuates, and the high-level (S+) and low-level (S-) input and output voltages of the micro-collision sensor change. The voltage signal is then transmitted to the parking control module. The parking control module processes and analyzes the voltage signal to extract the collision signal, perform parking control and pause parking, and avoid secondary collisions.

[0073] In a specific embodiment of the present application, this embodiment is based on Figure 4 The micro-collision sensor is arranged in a vehicle as shown, and a low-speed collision detection test is conducted on a target vehicle. This embodiment selects common scenarios for micro-collision detection. The test results show that the collision detection accuracy of this embodiment is ≥99%, and the collision false detection rate is less than 1%. Some test data are as follows:

[0074]

[0075] It can be seen from the above test data that the present embodiment significantly reduces the missed detection rate of collisions of the target vehicle traveling at low speeds, and can effectively improve the parking safety and reliability of the target vehicle.

[0076] In a specific embodiment of the present application, the visual perception module includes multiple fisheye cameras, specifically four, which are arranged in the middle of the front bumper, the rear bumper, and the left and right exterior mirrors of the vehicle, respectively, for detecting parking space and obstacle image information, location information, etc. The ultrasonic perception module includes multiple ultrasonic radars, specifically twelve, six of which are arranged on the front and rear bumpers of the vehicle, respectively, for detecting the distance between obstacles and the target vehicle within 4 meters. This embodiment uses the visual perception module and the ultrasonic perception module to detect parking spaces and obstacles around the target vehicle during parking, solving the problem of blind spots in obstacle perception due to the limited position of the entire vehicle and missed obstacles due to algorithm limitations, thereby accurately detecting parking space information and obstacle information, and sending them to the parking control module for decision-making.

[0077] In one embodiment of the present application, the parking control module includes path planning, lateral control, and longitudinal control. Specifically, it receives parking space and obstacle information from the visual perception module and the ultrasonic perception module, and combines this information with the vehicle's own motion state, current motion trajectory, and planned motion path to control the target vehicle's lateral and longitudinal movement, automatically parking in or out of a parking space. Furthermore, it receives collision signals from micro-collision sensors and, based on the target vehicle's current parking safety status, stops parking, issues a collision warning, or replans the path to continue parking. More specifically, when the target vehicle enters automatic parking mode, the micro-collision sensors detect whether a collision has occurred and transmit the collision location and signal to the parking control module. If a collision signal is detected, the parking control module determines whether to implement a collision parking safety strategy based on the current motion trajectory and planned motion path. If so, the parking control module executes the collision parking safety strategy, outputting a pause parking command and a corresponding control command to the parking execution module to stop parking, parking the vehicle and maintaining a safe state. Furthermore, the parking control module requests a graphical user interface, for example, to play a collision animation and a collision warning sound to alert the driver and those outside the vehicle. If the collision parking strategy is not adopted, the parking control module replans the path and outputs the parking warning to the parking collision alarm module to play the collision animation with the left and right turn signal lights and the graphical user interface, and continues parking and stops at the target position according to the updated motion planning path.

[0078] In a specific embodiment of the present application, the parking execution module includes a braking control module, a power control module, a steering control module and a parking control module. Among them, the braking module executes the longitudinal motion control command of the parking control module to achieve deceleration and braking of the target vehicle. The power control module is used to control the power torque output and execute the acceleration control of the parking control module. The steering control module controls the steering of the vehicle by making the target vehicle turn left and right according to the angle control command of the parking control module. The parking module parks according to the parking request of the parking control module to ensure that the vehicle is parked safely. Specifically, the parking control module fuses the perception signals received from the visual perception module and the ultrasonic perception module, and outputs signals to the parking execution module through the CAN bus to execute the horizontal and longitudinal control commands to complete parking.

[0079] In one embodiment of the present application, the parking warning module includes a flashing light alarm, a collision warning sound, and a collision warning animation. Specifically, after a collision occurs, the parking control module detects the collision signal and requests the parking execution module to flash the turn signals and play a collision animation and a collision warning sound to alert the driver, the object being collided, and people outside the vehicle.

[0080] Figure 6 FIG is a block diagram of a parking system based on micro-collision detection, shown in an exemplary embodiment of the present application. Figure 6 As shown, the system includes:

[0081] an acquisition module 610 for acquiring collision information of the target vehicle when the target vehicle is in the automatic parking mode and a collision is detected, detecting the current motion trajectory of the target vehicle, and acquiring a motion planning path corresponding to the motion trajectory;

[0082] a determination module 620 for determining a parking safety state of the target vehicle based on the collision information, the motion trajectory, and the motion planning path;

[0083] The parking execution module 630 is configured to execute a collision parking safety strategy when the parking safety status satisfies a preset secondary collision condition. The collision parking safety strategy includes outputting and executing a stop parking instruction, providing a primary collision warning to the driver and persons outside the vehicle, and exiting the automatic parking mode.

[0084] A parking execution module 640 is configured to execute a parking strategy when the parking safety status does not meet a preset secondary collision condition. The parking strategy includes updating a motion plan path based on the parking safety status, providing a secondary collision warning to the driver and persons outside the vehicle, and performing parking based on the updated motion plan path.

[0085] The prompt module 650 is used to execute the first collision warning prompt, the second collision warning prompt, the minor collision prompt and the prompt for exiting the automatic parking mode.

[0086] Figure 7 is a block diagram of an acquisition module shown in an exemplary embodiment of the present application, such as Figure 7 As shown, the acquisition module 610 includes a collision information acquisition module 611, which is used to obtain the collision information of the target vehicle when the target vehicle collides; a motion trajectory acquisition module 612, which is used to obtain the current motion trajectory of the target vehicle; and a motion planning path acquisition module 613, which is used to obtain the motion planning path corresponding to the motion trajectory.

[0087] It should be noted that the micro-collision detection-based parking system provided in the above-described embodiment and the micro-collision detection-based parking method provided in the above-described embodiment share the same concept. The specific manner in which each module and unit performs operations has been described in detail in the method embodiments and will not be repeated here. In actual applications, the micro-collision detection-based parking system provided in the above-described embodiment can, as needed, allocate the aforementioned functions to different functional modules, i.e., divide the system's internal structure into different functional modules to perform all or part of the aforementioned functions, and this is not a limitation herein.

[0088] An embodiment of the present application further provides an electronic device, comprising: one or more processors; and a storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the electronic device implements the parking method based on micro-collision detection provided in each of the above embodiments.

[0089] Figure 8 The following is a schematic diagram showing the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application. Figure 8 The computer system 800 of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0090] like Figure 8 As shown, the computer system 800 includes a central processing unit (CPU) 801, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 802 or the program loaded from the storage part 808 into the random access memory (RAM) 803, such as executing the method described in the above embodiment. Various programs and data required for system operation are also stored in the RAM 803. The CPU 801, ROM 802 and RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0091] The following components are connected to the I / O interface 805: an input section 806 including a keyboard, a mouse, and the like; an output section 807 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and a speaker; a storage section 808 including a hard disk and the like; and a communication section 809 including a network interface card such as a LAN (Local Area Network) card or a modem. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. Removable media 811, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 810 as needed, so that computer programs read therefrom can be installed into the storage section 808 as needed.

[0092] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 809, and / or installed from a removable medium 811. When the computer program is executed by the central processing unit (CPU) 801, the various functions defined in the system of the present application are executed.

[0093] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a 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 above. In the present application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0094] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0095] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. In some cases, the names of these units do not constitute limitations on the units themselves.

[0096] Another aspect of the present application provides a computer-readable storage medium storing a computer program. When executed by a computer processor, the computer program causes the computer to perform the aforementioned micro-collision detection-based parking method. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device.

[0097] Another aspect of the present application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the micro-collision detection-based parking method provided in each of the above-described embodiments.

[0098] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, any equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A parking method based on micro-collision detection, characterized in that: The method comprises: When a target vehicle is in an automatic parking mode and a collision is detected, obtaining collision information of the target vehicle, detecting a current motion trajectory of the target vehicle, and obtaining a motion planning path corresponding to the motion trajectory; determining a parking safety state of the target vehicle based on the collision information, the motion trajectory, and the motion planning path; When the parking safety state satisfies a preset secondary collision condition, executing a collision parking safety strategy, the collision parking safety strategy including outputting and executing a stop parking instruction, providing a first collision warning prompt to the driver and persons outside the vehicle, and exiting the automatic parking mode; when the collision parking safety strategy is executed, prompting the driver to exit the automatic parking mode based on the collision information of the target vehicle, and starting a timer, and exiting the automatic parking mode when the timer reaches a preset first time threshold; When the parking safety status does not meet the preset secondary collision condition, a parking strategy is executed. The parking strategy includes updating the motion planning path based on the parking safety status, providing a secondary collision warning prompt to the driver and people outside the vehicle, and parking based on the updated motion planning path. When the parking strategy is executed, a micro-collision prompt is provided to the driver based on the collision information of the target vehicle. When parking is completed, a timer is started. When the timer reaches a preset second time threshold, the automatic parking mode is exited, wherein the preset first time threshold is greater than the preset second time threshold.

2. The parking method based on micro-collision detection according to claim 1, characterized in that: The collision information includes a collision signal, location information of the target vehicle's current location, and obstacle information; the preset secondary collision condition includes whether the target vehicle's current motion trajectory and the motion planning path will cause a secondary collision with the current collision obstacle and / or a collision with obstacles around the target vehicle.

3. The parking method based on micro-collision detection according to claim 1, characterized in that: The first collision warning prompt includes a request to play a collision animation and / or a collision alarm sound to provide risk avoidance prompts to the driver and people outside the vehicle; the second collision warning prompt includes a request to play a collision animation and / or a light alarm through the left and right turn signals of the target vehicle to provide risk avoidance prompts to the driver and people outside the vehicle.

4. A parking system based on micro-collision detection, characterized in that: The system comprises: an acquisition module, configured to, when a target vehicle is in an automatic parking mode and a collision is detected, acquire collision information of the target vehicle, detect a current motion trajectory of the target vehicle, and acquire a motion planning path corresponding to the motion trajectory; a determination module, configured to determine a parking safety state of the target vehicle based on the collision information, the motion trajectory, and the motion planning path; a parking execution module, configured to, when the parking safety state satisfies a preset secondary collision condition, execute a collision parking safety strategy, the collision parking safety strategy including outputting and executing a stop parking instruction, providing a first collision warning prompt to the driver and persons outside the vehicle, and exiting the automatic parking mode; when the collision parking safety strategy is executed, providing the driver with an exit from the automatic parking mode based on the collision information of the target vehicle, and starting a timer, and exiting the automatic parking mode when the timer reaches a preset first time threshold; a parking execution module configured to, when the parking safety status does not satisfy the preset secondary collision condition, execute a parking strategy, the parking strategy including updating the planned motion path based on the parking safety status, providing a secondary collision warning to the driver and persons outside the vehicle, and performing parking based on the updated planned motion path; and, when executing the parking strategy, providing a minor collision warning to the driver based on the collision information of the target vehicle, starting a timer upon completion of parking, and exiting the automatic parking mode when the timer reaches a preset second time threshold, wherein the preset first time threshold is greater than the preset second time threshold.

5. The parking system based on micro-collision detection according to claim 4, characterized in that: The system further includes a prompt module for executing the first collision warning prompt, the second collision warning prompt, a minor collision prompt, and a prompt for exiting the automatic parking mode.

6. The parking system based on micro-collision detection according to claim 4, characterized in that: The acquisition module includes a collision information acquisition module for acquiring collision information of the target vehicle when the target vehicle collides; A motion trajectory acquisition module, used to obtain the current motion trajectory of the target vehicle; The motion planning path acquisition module is used to acquire the motion planning path corresponding to the motion trajectory.

7. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the parking method based on micro-collision detection as described in any one of claims 1 to 3.

8. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the parking method based on micro-collision detection according to any one of claims 1 to 3.

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