A parking lot vertical parking space parking-out method and related device

Abstract

The application discloses a parking-out method for a vertical parking space in a parking lot and related equipment. The method comprises the following steps: acquiring lane information within a preset range of a current parking position of a vehicle, and determining a parking-out direction according to the lane information; if the vehicle is located in a parking line and the parking line is not parked by a neighboring vehicle, the width of a lane in front of the vehicle is acquired; if the width of the lane in front of the vehicle is between a first preset width and a second preset width, and there is no obstacle with a collision risk within the preset range, the vehicle is controlled to be parked out vertically by a preset distance along the parking-out direction, and then the vehicle is controlled to be retreated vertically by the preset distance; the distance between the vehicle and a neighboring vehicle or an obstacle, and the angle relationship between the vehicle and the lane are acquired, and the vehicle is controlled to be parked out in a rolling garage manner along the parking-out direction. According to the application, relevant information around the parking space is collected, different parking-out strategies are executed according to the width of the lane, and the safety and reliability of the parking-out operation of intelligent driving in the parking lot environment are improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving assistance technology, and in particular to a parking exit method, system, vehicle, and computer-readable storage medium for vertical parking spaces in a parking lot. Background Technology

[0002] With the rapid development of industrialization and informatization, people's living standards are rising, and the number of cars is increasing. Traffic in some large cities is now under immense pressure due to the growing number of vehicles. This pressure is not only evident in driving scenarios but also increasingly apparent in parking lots. This is mainly due to the increasing number of levels and the larger area of ​​each level in underground parking garages, making them resemble mazes. Even this doesn't solve the problem of too many vehicles, leading to a compression of the area of ​​individual parking spaces. Simultaneously, the width of the garage's aisles is also being reduced to accommodate more cars.

[0003] However, parking lots in busy areas often fill up even with these measures, making automated parking solutions popular for both freeing up drivers' hands and saving them time. Currently, due to limited space, many complex parking scenarios are difficult for novice drivers to navigate manually, easily leading to collisions with other vehicles or obstacles due to improper operation. Automated parking solutions, using a fusion strategy of cameras and radar, can safely park and exit, greatly assisting novice drivers. However, due to the parking environment, the vehicle's sensor deployment location, and the fusion strategy, automated parking solutions also have some limitations.

[0004] Existing technologies can select the parking direction and issue a command to begin parking based on lane information near the vehicle's parking position. However, in reality, there are many uncontrollable factors. For example, lane width determines whether it is necessary to maneuver around the parking space. Furthermore, the sensor fusion solution in this vehicle has a relatively large error in target recognition at the rear door area because the distortion from the surround-view fisheye camera is too large and the ultrasonic sensor does not cover this area.

[0005] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0006] The main objective of this application is to provide a method, system, vehicle, and computer-readable storage medium for parking out of perpendicular parking spaces in a parking lot, aiming to solve the problem in the prior art that automatic parking out of perpendicular parking spaces is affected by uncontrollable factors, resulting in large target recognition errors and the inability to safely and reliably park out of perpendicular parking spaces.

[0007] The first aspect of this application provides a method for parking out of a perpendicular parking space in a parking lot, comprising the following steps: obtaining lane information within a preset range of the vehicle's current parking position, and determining the parking direction based on the lane information; if the vehicle is within the parking space line and the parking space line is not crossed by adjacent vehicles, obtaining the width of the lane in front of the vehicle; if the width of the lane in front of the vehicle is between a first preset width and a second preset width, and there are no obstacles with collision risk within the preset range, controlling the vehicle to park perpendicularly out of the parking direction for a preset distance, and then perpendicularly back to the preset distance; obtaining the distance between the vehicle and adjacent vehicles or obstacles, and the angular relationship between the vehicle and the lane, and controlling the vehicle to perform a zigzag parking out of the parking space along the parking direction.

[0008] Based on the above-mentioned technical means, the embodiments of this application can collect relevant information around the parking space, execute different parking strategies according to different lane widths, and control the vehicle to perform rubbing parking when automatic parking is required, thereby improving the safety and reliability of intelligent driving in parking lot environments.

[0009] Optionally, in one embodiment of this application, the step of determining the parking direction based on the lane information further includes: determining whether the vehicle is within the parking space lines; if the vehicle is not within the parking space lines, prompting the driver to take over the vehicle.

[0010] Based on the above-mentioned technical means, the embodiments of this application can promptly remind the driver to take over the vehicle and control the vehicle to park when the vehicle is not completely within the parking space line, thereby avoiding the risk of collision during automatic parking.

[0011] Optionally, in one embodiment of this application, before obtaining the width of the lane in front of the vehicle if the vehicle is located within the parking space line and the parking space line is not crossed by an adjacent vehicle, the method further includes: determining whether the vehicle's parking space line is crossed by an adjacent vehicle; if the vehicle's parking space line is crossed by an adjacent vehicle, prompting the driver to take over the vehicle.

[0012] Based on the above technical means, the embodiments of this application can promptly remind the driver to take over the vehicle and control the vehicle to park out when the parking space line of the current parking space is crossed by a vehicle, so as to avoid the risk of collision with adjacent vehicles when the vehicle is automatically parked.

[0013] Optionally, in one embodiment of this application, if the vehicle is located within the parking space lines and the parking space lines are not crossed by adjacent vehicles, and the width of the lane in front of the vehicle is obtained, the method further includes: determining whether the width of the lane in front of the vehicle is between a first preset width and a second preset width based on the front radar ranging; if the width of the lane in front of the vehicle is less than or equal to the first preset width, prompting the driver to take over the vehicle; if the width of the lane in front of the vehicle is greater than or equal to the second preset width, determining whether there is an obstacle with a collision risk within a preset range; if there is an obstacle with a collision risk within the preset range, prompting the driver to take over the vehicle; if there is no obstacle with a collision risk within the preset range, controlling the vehicle to automatically park according to the parking direction.

[0014] Based on the aforementioned technical means, this application embodiment can promptly remind the driver to take over and control the vehicle to park when the width of the lane in front of the vehicle is too narrow, making automatic parking impossible, thus avoiding the risk of collision during automatic parking. If the width of the lane in front of the vehicle is relatively large, the driver will be promptly reminded to take over and control the vehicle to park when there is an obstacle posing a collision risk, and the vehicle will automatically park when there is no obstacle posing a collision risk. Different parking schemes are selected according to the width of the lane in front of the vehicle, making it more intelligent and improving the user's driving experience to meet user needs.

[0015] Optionally, in one embodiment of this application, the controlled vehicle is parked perpendicularly a preset distance along the parking direction, and then perpendicularly retracted a preset distance. The method further includes: determining whether there are obstacles posing a collision risk within a preset range; if there are obstacles posing a collision risk within the preset range, prompting the driver to take over the vehicle.

[0016] Based on the above-mentioned technical means, the embodiments of this application can promptly remind the driver to take over the vehicle and control the vehicle to park when obstacles with collision risk are detected around the vehicle, thereby avoiding the risk of collision during automatic parking.

[0017] Optionally, in one embodiment of this application, obtaining the distance between the vehicle and adjacent vehicles or obstacles, and the angular relationship between the vehicle and the lane, and controlling the vehicle to perform a zigzag parking maneuver along the parking direction specifically includes: if there are no obstacles with collision risk within a preset range, obtaining the distance between the vehicle and adjacent vehicles or obstacles, and the angular relationship between the vehicle and the lane, and controlling the vehicle to perform a zigzag parking maneuver along the parking direction; detecting the number of zigzag parking maneuvers, and determining whether the number of zigzag parking maneuvers is greater than a preset number of zigzag parking maneuvers; if the number of zigzag parking maneuvers is less than or equal to the preset number of zigzag parking maneuvers, then controlling the vehicle to automatically park; after determining whether the number of zigzag parking maneuvers is greater than the preset number of zigzag parking maneuvers, the method further includes: if the number of zigzag parking maneuvers is greater than the preset number of zigzag parking maneuvers, then indicating a parking failure and prompting the driver to take over the vehicle.

[0018] Based on the above technical means, this application embodiment can control the vehicle to perform parking maneuvers when no obstacle is detected or the obstacle does not affect parking. The maneuvering is based on the distance between the vehicle and the adjacent vehicle or obstacle, and the angle between the vehicle and the lane. Under the premise of ensuring safety, parking can be performed more comfortably. If the number of parking maneuvers exceeds the preset number, a parking failure message will be displayed, and the driver will be prompted to take over the vehicle to avoid excessive parking maneuvers that reduce the user's driving experience.

[0019] Optionally, in one embodiment of this application, the automatic parking control of the vehicle specifically includes: sending a steering angle request signal to the electric power steering system based on the parking process and vehicle parking-related data obtained through perception fusion; the electric power steering system, upon receiving the steering angle request signal, controls the vehicle to perform steering operations as needed; sending a torque request signal to the engine management system based on the parking process and vehicle parking-related data obtained through perception fusion; the engine management system, upon receiving the torque request signal, controls the vehicle to perform forward and reverse operations as needed; sending a gear shift request signal to the auxiliary control module based on the parking process and vehicle parking-related data obtained through perception fusion; the auxiliary control module, upon receiving the gear shift request signal, controls the vehicle to perform gear shift operations as needed; and performing multiple forward and reverse maneuvers based on the steering operation, forward and reverse operations, and gear shift operations to calculate the distance required for each maneuver, and calculate the acceleration / deceleration and steering angle based on the distance to complete the automatic parking of the vehicle.

[0020] Based on the aforementioned technical means, the embodiments of this application can calculate the distance required for each parking maneuver by comprehensively controlling the electric power steering system, engine management system, and auxiliary control module, as well as by using camera and radar perception and recognition. This distance is then used to calculate acceleration, deceleration, and steering angle. By performing several forward and backward maneuvers, the vehicle can be parked out. This approach is beneficial for dealing with many difficult parking situations in perpendicular parking scenarios, improving the experience for novice drivers, and also enhancing the safety and reliability of parking in such scenarios.

[0021] A second aspect of this application provides a parking exit system for perpendicular parking spaces in a parking lot. The system includes: a data acquisition module for acquiring lane information within a preset range of the vehicle's current parking position and determining the parking direction based on the lane information; a lane width acquisition module for acquiring the width of the lane in front of the vehicle if the vehicle is within the parking space lines and the lines are not crossed by adjacent vehicles; a blind spot elimination control module for controlling the vehicle to perpendicularly park a preset distance along the parking direction and then perpendicularly return the vehicle a preset distance if the width of the lane in front of the vehicle is between a first preset width and a second preset width, and there are no obstacles posing a collision risk within the preset range; and a rubbing-in-the-garage parking exit control module for acquiring the distance between the vehicle and adjacent vehicles or obstacles, as well as the angular relationship between the vehicle and the lane, and controlling the vehicle to rub-in-the-garage parking exit along the parking direction.

[0022] Optionally, in one embodiment of this application, the system of this application embodiment further includes: a first parking space line determination unit, used to determine whether the vehicle is located within the parking space line, and if the vehicle is not located within the parking space line, prompting the driver to take over the vehicle.

[0023] Optionally, in one embodiment of this application, the system of this application embodiment further includes: a second parking space line judgment unit, used to judge whether the parking space line of the vehicle is crossed by an adjacent vehicle; if the parking space line of the vehicle is crossed by an adjacent vehicle, the driver is prompted to take over the vehicle.

[0024] Optionally, in one embodiment of this application, the system further includes: a lane width determination unit, configured to determine whether the width of the lane in front of the vehicle is between a first preset width and a second preset width based on front radar ranging; a first control unit, configured to prompt the driver to take over the vehicle if the width of the lane in front of the vehicle is less than or equal to the first preset width; a first obstacle determination unit, configured to determine whether there is an obstacle with collision risk within a preset range if the width of the lane in front of the vehicle is greater than or equal to the second preset width; a second control unit, configured to prompt the driver to take over the vehicle if there is an obstacle with collision risk within the preset range; and a third control unit, configured to control the vehicle to automatically park according to the parking direction if there is no obstacle with collision risk within the preset range.

[0025] Optionally, in one embodiment of this application, the system of this application embodiment further includes: a second obstacle judgment unit, used to judge whether there is an obstacle with collision risk within a preset range; and a fourth control unit, used to prompt the driver to take over the vehicle if there is an obstacle with collision risk within the preset range.

[0026] Optionally, in one embodiment of this application, the parking control module includes: a fifth control unit, used to obtain the distance between the vehicle and adjacent vehicles or obstacles, and the angular relationship between the vehicle and the lane, if there are no obstacles posing a collision risk within a preset range, and control the vehicle to perform parking maneuvers along the parking direction; a parking maneuver count determination unit, used to detect the number of parking maneuvers of the vehicle and determine whether the number of parking maneuvers is greater than a preset number of parking maneuvers; and a sixth control unit, used to control the vehicle to automatically park if the number of parking maneuvers is less than or equal to the preset number of parking maneuvers.

[0027] Optionally, in one embodiment of this application, the system of this application embodiment further includes: a seventh control unit, used to prompt a parking failure and prompt the driver to take over the vehicle if the number of parking rubbing attempts is greater than the preset number of parking rubbing attempts.

[0028] Optionally, in one embodiment of this application, the system further includes: a steering operation control unit, configured to send a steering angle request signal to an electric power steering system based on the parking process and vehicle parking-related data obtained through perception fusion, wherein the electric power steering system, upon receiving the steering angle request signal, controls the vehicle to perform steering operations as needed; a forward and reverse operation control unit, configured to send a torque request signal to an engine management system based on the parking process and vehicle parking-related data obtained through perception fusion, wherein the engine management system, upon receiving the torque request signal, controls the vehicle to perform forward and reverse operations as needed; a gear shift operation control unit, configured to send a gear shift request signal to an auxiliary control module based on the parking process and vehicle parking-related data obtained through perception fusion, wherein the auxiliary control module, upon receiving the gear shift request signal, controls the vehicle to perform gear shift operations as needed; and an automatic parking control unit, configured to perform multiple forward and reverse maneuvers based on steering operations, forward and reverse operations, and gear shift operations, calculate the distance required for each maneuver, and calculate acceleration / deceleration and steering angle based on the distance to complete the automatic parking of the vehicle.

[0029] A third aspect of this application provides a vehicle, the vehicle including: a memory, a processor, and a parking exit program for a vertical parking space stored in the memory and executable on the processor, wherein when the parking exit program for a vertical parking space is executed by the processor, it implements the steps of the parking exit method for a vertical parking space as described in the above embodiments.

[0030] A fourth aspect of this application provides a computer-readable storage medium storing a parking exit program for a vertical parking space in a parking lot. When executed by a processor, the parking exit program for the vertical parking space in a parking lot implements the steps of the parking exit method for the vertical parking space in a parking lot as described in the above embodiments.

[0031] The beneficial effects of this application are:

[0032] (1) The embodiments of this application can promptly prompt the driver to take over the vehicle when the vehicle is not within the parking space line, the parking space line of the vehicle is crossed by a neighboring vehicle, or there is an obstacle within the preset range of the vehicle that poses a collision risk. This can avoid collision accidents caused by automatic parking when automatic parking is not possible, thereby improving the intelligence of intelligent assisted driving.

[0033] (2) The embodiments of this application can be used to automatically park the vehicle according to the parking direction when the width of the lane in front of the vehicle is large enough and there are no obstacles that pose a collision risk. There will be no collision risk.

[0034] (3) In this embodiment, when the width of the lane in front of the vehicle is not large enough within a certain range, the vehicle is first controlled to park vertically out a preset distance in the parking direction, and then vertically back a preset distance to cover the existing blind spot. Then the vehicle is controlled to perform a rubbing parking maneuver in the parking direction, which improves the safety and reliability of intelligent driving in parking lot environments, while enhancing the user's driving experience and meeting the user's needs.

[0035] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart of a preferred embodiment of the parking exit method for perpendicular parking spaces in the parking lot of this application;

[0038] Figure 2 This is a schematic diagram of the parking surround view camera and the ultrasonic sensing coverage area in a preferred embodiment of the parking exit method for vertical parking spaces in this application.

[0039] Figure 3 This is a schematic diagram of the parking surround view camera and ultrasonic sensing coverage after the vehicle moves forward one meter in a preferred embodiment of the parking method for perpendicular parking spaces in this application.

[0040] Figure 4 This is a flowchart illustrating the specific implementation steps of the entire execution process in a preferred embodiment of the parking exit method for vertical parking spaces in this application.

[0041] Figure 5 This is a schematic diagram of a preferred embodiment of the parking exit system for vertical parking spaces in the parking lot of this application.

[0042] Figure 6 This is a structural schematic diagram of a preferred embodiment of the vehicle described in this application.

[0043] Among them, 10-parking exit system for vertical parking spaces; 100-data acquisition module, 200-lane width acquisition module, 300-blind spot elimination control module and 400-parking exit control module; 501-memory, 502-processor and 503-communication interface. Detailed Implementation

[0044] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0045] The following description, with reference to the accompanying drawings, describes a parking method and related equipment for exiting perpendicular parking spaces in a parking lot, according to embodiments of this application. Addressing the problem mentioned in the background art where automatic exiting of perpendicular parking spaces is affected by uncontrollable factors, resulting in large target recognition errors and an inability to safely and reliably exit perpendicular parking spaces, this application provides a parking method for exiting perpendicular parking spaces. In this method, when the width of the lane in front of the vehicle is detected to be insufficient within a certain range, the vehicle is first controlled to exit perpendicularly a preset distance in the parking direction, then vertically retreats a preset distance to cover the blind spot, and then the vehicle is controlled to perform a zigzag parking maneuver in the parking direction. This improves the safety and reliability of intelligent driving parking operations in parking lot environments, while also enhancing the user's driving experience and meeting user needs. Therefore, this solves the technical problem in related technologies where automatic exiting of perpendicular parking spaces is affected by uncontrollable factors, resulting in large target recognition errors and an inability to safely and reliably exit perpendicular parking spaces.

[0046] Specifically, Figure 1 This is a flowchart illustrating a method for parking out of a vertical parking space in a parking lot, as provided in an embodiment of this application.

[0047] like Figure 1 As shown, the parking exit method for perpendicular parking spaces in this parking lot includes the following steps:

[0048] In step S101, lane information within a preset range of the vehicle's current parking position is obtained, and the parking direction is determined based on the lane information.

[0049] It is understood that the embodiments of this application first determine the state of the vehicle (this vehicle), such as whether the working status of each sensor is normal, whether the function of the actuator is normal, and whether the association between the actuator and each sensor is normal. When all the devices are functioning normally, the parking processing function is then entered. After entering the function, the perception module obtains lane information near the parking position (e.g., within a preset range of 10-20 meters) to determine the parking direction of the vehicle. The perception module mainly outputs information about the distance in front of the vehicle, the lane width, and the nearby lanes through the fusion of the front-view camera and the front radar. It also outputs environmental information about the vehicle's surroundings through the fusion of the surround-view camera, the panoramic camera, and the ultrasonic radar, identifying whether there are obstacles, pedestrians, vehicles, etc., as well as information about obstacles (such as pillars, vehicles), such as their position, length, width, attitude angle, and timestamp (to maintain time synchronization, because the recognition times of multiple cameras are inconsistent, timestamps need to be added to maintain time synchronization).

[0050] In other words, this application requires the acquisition of various environmental information through cameras and radar, including: parking line information (to avoid adjacent vehicles), the width of the adjacent lanes of the vehicle, obstacle target information (whether there are obstacles in the vicinity that pose a collision risk), pedestrian target information (whether there are pedestrians around the vehicle), vehicle target information (whether there are vehicles around the vehicle), and information such as the vehicle's speed, acceleration, position, and heading angle.

[0051] Furthermore, the collected data is fused to fit relevant coefficients. This primarily involves fusion of data from surround-view cameras and ultrasonic radar to output an image of obstacles around the vehicle, particularly around the rear doors where surround-view recognition accuracy is low and ultrasonic radar cannot detect certain areas. Surround-view cameras can also be fused with surround-view cameras to obtain more reliable data. This process acquires parking line information, lane line information, pedestrian and vehicle movement trajectory information, and information on other static and dynamic obstacles.

[0052] In step S102, if the vehicle is located within the parking space line and the parking space line is not crossed by adjacent vehicles, the width of the lane in front of the vehicle is obtained.

[0053] Understandably, this application embodiment first determines whether the vehicle is within the parking space lines. If the vehicle is not within the parking space lines, the conditions for automatic parking are not met, and the driver is prompted to take over the vehicle. Further, if the vehicle is within the parking space lines, it continues to determine whether the vehicle's parking space lines are crossed by adjacent vehicles. If the vehicle's parking space lines are crossed by adjacent vehicles, the conditions for automatic parking are still not met, and the driver is prompted to take over the vehicle. If the vehicle's parking space lines are not crossed by adjacent vehicles, the width of the lane in front of the vehicle is obtained by measuring distance using the front radar.

[0054] This application can promptly remind the driver to take over the vehicle and park it when the vehicle is not completely within the parking space lines or when the parking space lines are crossed by adjacent vehicles, thus avoiding the risk of collision during automatic parking.

[0055] In step S103, if the width of the lane in front of the vehicle is between the first preset width and the second preset width, and there are no obstacles with collision risk within the preset range, the vehicle is controlled to park vertically out a preset distance along the parking direction, and then vertically back to the preset distance.

[0056] It is understood that, in this embodiment of the application, the width of the lane in front of the vehicle (e.g., represented by L) is determined based on the distance measurement of the front radar to determine whether it is between a first preset width (e.g., the first preset width is 3 meters) and a second preset width (e.g., the second preset width is 5 meters).

[0057] If the width of the lane in front of the vehicle is less than or equal to the first preset width (i.e., L≤3 meters), the driver is prompted to take over the vehicle. That is, when the lane width is less than 3 meters, the distance to the parking space is already very narrow, so the function is directly discontinued to allow the driver to take over.

[0058] If the width of the lane in front of the vehicle is greater than or equal to the second preset width (i.e., L≥5 meters), it is determined whether there is an obstacle with a collision risk within the preset range; if there is an obstacle with a collision risk within the preset range, the driver is prompted to take over the vehicle; if there is no obstacle with a collision risk within the preset range, the vehicle is controlled to automatically park according to the parking direction, and there is no risk of collision.

[0059] If the width of the lane in front of the vehicle is between the first preset width and the second preset width (i.e., 3≤L≤5 meters), determine whether there is an obstacle with a collision risk within the preset range; if there is an obstacle with a collision risk within the preset range, prompt the driver to take over the vehicle; if there is no obstacle with a collision risk within the preset range, control the vehicle to park perpendicularly out a preset distance (e.g., the preset distance is 1 meter) along the parking direction, and then vertically back to the preset distance, and determine whether there is an obstacle with a collision risk within the preset range; if there is an obstacle with a collision risk within the preset range, prompt the driver to take over the vehicle.

[0060] When the lane width is greater than 3 meters but less than 5 meters, i.e., the scenario is as follows: Figure 2 As shown. Because the distance required for perpendicular parking is insufficient, it is necessary to perform "parking maneuvers" (parking maneuvers involve repeatedly moving forward and backward to adjust the car's posture and achieve the goal of exiting the parking space). However, due to sensor deployment issues near the rear door area (represented by area S1, which is the blind spot of the surround-view camera and ultrasonic recognition area, roughly the location of the rear door), the target recognition error can be relatively large. Therefore, this application sets up a method to first park perpendicularly for 1 meter (at which point the ultrasonic radar deployed at the rear of the vehicle can cover area S1), and then reverse perpendicularly back into the parking space (reverse perpendicularly for 1 meter). Because of the blind spot, driving forward 1 meter allows the ultrasonic radar recognition area to cover part of the previous blind spot, thus solving the recognition error problem.

[0061] like Figure 3 As shown, Figure 3 The scene representation can cover Figure 2 A blind spot is created by the fusion of the surround-view camera and ultrasonic sensors. If the sensing module detects an obstacle nearby that prevents parking, the function will exit and the driver will take over. If the sensing module does not detect an obstacle or the obstacle does not affect parking, the vehicle will perform a maneuver around the parking space. The control module uses the distance between the vehicle and adjacent vehicles or obstacles, and the angle between the vehicle and the lane, provided by the sensing module, to perform this maneuver, ensuring safety and a more comfortable parking experience.

[0062] In step S104, the distance between the vehicle and adjacent vehicles or obstacles, as well as the angular relationship between the vehicle and the lane, are obtained, and the vehicle is controlled to perform a rubbing-out parking maneuver along the parking direction.

[0063] Understandably, in this embodiment of the application, if there are no obstacles posing a collision risk within a preset range, the distance between the vehicle and adjacent vehicles or obstacles, as well as the angular relationship between the vehicle and the lane, are obtained, and the vehicle is controlled to perform a parking maneuver along the parking direction; the number of parking maneuvers is detected, and it is determined whether the number of parking maneuvers is greater than a preset number of parking maneuvers (e.g., the preset number of parking maneuvers is 5 times); if the number of parking maneuvers is greater than the preset number of parking maneuvers (i.e., the number of parking maneuvers is greater than 5 times), a parking failure is indicated, and the driver is prompted to take over the vehicle, because a user experience is poor when the number of parking maneuvers is greater than 5 times, or there is a high probability that parking may not be completed; if the number of parking maneuvers is less than or equal to the preset number of parking maneuvers (the number of parking maneuvers is less than or equal to 5 times), the vehicle is controlled to automatically park.

[0064] Furthermore, the kneading process specifically includes:

[0065] (1) Based on the vehicle parking-related data obtained from the parking process and perception fusion (i.e., the vehicle-related data collected by various sensors, cameras and radars on the vehicle during parking), a steering angle request signal is sent to the electric power steering system (ESP). After receiving the steering angle request signal, the electric power steering system controls the vehicle to perform steering operations as needed.

[0066] (2) Based on the parking process and the vehicle parking-related data obtained by perception fusion, a torque request signal is sent to the engine management system (EMS). After receiving the torque request signal, the engine management system controls the vehicle to perform forward and reverse operations as needed.

[0067] (3) Based on the parking process and the vehicle parking-related data obtained by perception fusion, a gear shift request signal is sent to the auxiliary control module (ACM). After receiving the gear shift request signal, the auxiliary control module controls the vehicle to perform gear shifting operation as needed (mainly P gear shifting).

[0068] This application achieves automatic parking by comprehensively controlling EPS, EMS, and ACM, and using camera and radar perception and recognition. Based on steering, forward and reverse operations, and gear shifting operations, the system performs multiple forward and reverse maneuvers to navigate the parking space, calculates the distance required for each maneuver, and calculates acceleration / deceleration and steering angle based on the distance, thereby completing the automatic parking of the vehicle.

[0069] This application can control the vehicle to maneuver around parking spaces when no obstacles are detected or the obstacles do not affect parking. It maneuvers based on the distance to adjacent vehicles or obstacles and the angle between the vehicle and the lane, making parking more comfortable while ensuring safety. This is beneficial for dealing with many difficult parking situations in perpendicular parking scenarios, improving the experience for novice drivers, and enhancing the safety and reliability of vehicle parking in this scenario. It also improves the safety and reliability of automatic parking and reduces the risk of vehicle collisions.

[0070] The following describes the entire implementation process in accordance with the steps of the parking exit method for perpendicular parking spaces in this application, as follows: Figure 4 As shown:

[0071] Step S1: Obtain lane information within a preset range of the vehicle's current parking location;

[0072] Step S2: Determine the parking direction based on the lane information;

[0073] Step S3: Determine whether the vehicle is within the parking space lines; if the vehicle is within the parking space lines, proceed to step S4; if the vehicle is not within the parking space lines, proceed to step S6.

[0074] Step S4: Determine whether the vehicle's parking space line is crossed by an adjacent vehicle; if the vehicle's parking space line is not crossed by an adjacent vehicle, proceed to step S5; if the vehicle's parking space line is crossed by an adjacent vehicle, proceed to step S6.

[0075] Step S5: Determine if the width of the lane in front of the vehicle is greater than 3 meters; if the width of the lane in front of the vehicle is greater than 3 meters, proceed to step S7; if the width of the lane in front of the vehicle is not greater than 3 meters, proceed to step S6.

[0076] Step S6: Do not enter the function; prompt the driver to take over the vehicle.

[0077] Step S7: Determine whether the width of the lane in front of the vehicle is greater than 5 meters; if the width of the lane in front of the vehicle is greater than 5 meters, proceed to step S8; if the width of the lane in front of the vehicle is not greater than 5 meters, proceed to step S11.

[0078] Step S8: Determine if there are any obstacles around the vehicle that pose a collision risk; if there are obstacles around the vehicle that pose a collision risk, proceed to step S9; if there are no obstacles around the vehicle that pose a collision risk, proceed to step S10.

[0079] Step S9: Exit the function and prompt the driver to take over the vehicle;

[0080] Step S10: Control the vehicle to automatically park according to the parking direction;

[0081] Step S11: Determine if there are any obstacles around the vehicle that pose a collision risk; if there are obstacles around the vehicle that pose a collision risk, proceed to step S12; if there are no obstacles around the vehicle that pose a collision risk, proceed to step S13.

[0082] Step S12: Exit the function and prompt the driver to take over the vehicle;

[0083] Step S13: Control the vehicle to park 1 meter perpendicularly in the parking direction, and then move back 1 meter perpendicularly to complete the ultrasonic coverage;

[0084] Step S14: Determine if there are any obstacles around the vehicle that pose a collision risk; if there are obstacles around the vehicle that pose a collision risk, proceed to step S12; if there are no obstacles around the vehicle that pose a collision risk, proceed to step S15.

[0085] Step S15: Control the vehicle to perform a gliding parking maneuver along the parking exit direction;

[0086] Step S16: Determine if the number of times the tuck is rubbed is greater than 5; if the number of times the tuck is rubbed is greater than 5, proceed to step S17; if the number of times the tuck is rubbed is less than 5, proceed to step S18.

[0087] Step S17: Exit the function and prompt the driver to take over the vehicle;

[0088] Step S18: Control the vehicle to complete the automatic parking maneuver.

[0089] In summary, the embodiments of this application can promptly prompt the driver to take over the vehicle when it is detected that the vehicle is not within the parking space line, the parking space line is crossed by an adjacent vehicle, or there is an obstacle within the vehicle's preset range that poses a collision risk. This avoids collisions caused by automatic parking when automatic parking is not possible, thus improving the intelligence of intelligent assisted driving. When the width of the lane in front of the vehicle is sufficiently large and there are no obstacles posing a collision risk, the vehicle can be directly used to automatically park according to the parking direction without any collision risk. When the width of the lane in front of the vehicle is not sufficiently large, within a certain range, the vehicle can first be controlled to park perpendicularly out a preset distance in the parking direction, then vertically back a preset distance to cover the existing blind spot, and then the vehicle can be controlled to perform a zigzag parking maneuver in the parking space in the parking direction. This improves the safety and reliability of intelligent driving in parking lot environments, while also enhancing the user's driving experience and meeting user needs.

[0090] Next, referring to the accompanying drawings, a parking exit system for vertical parking spaces in a parking lot according to an embodiment of this application is described.

[0091] Figure 5 This is a block diagram of a parking exit system for vertical parking spaces in a parking lot, according to an embodiment of this application.

[0092] like Figure 5 As shown, the parking system 10 for vertical parking spaces in this parking lot includes: a data acquisition module 100, a lane width acquisition module 200, a blind spot elimination control module 300, and a parking control module 400.

[0093] Specifically, the data acquisition module 100 is used to acquire lane information within a preset range of the vehicle's current parking position and determine the parking direction based on the lane information.

[0094] Lane width acquisition module 200 is used to acquire the width of the lane in front of the vehicle if the vehicle is located within the parking space line and the parking space line is not crossed by adjacent vehicles.

[0095] The blind spot elimination control module 300 is used to control the vehicle to park perpendicularly a preset distance along the parking direction and then vertically back to the preset distance if the width of the lane in front of the vehicle is between a first preset width and a second preset width, and there are no obstacles posing a collision risk within the preset range.

[0096] The parking control module 400 is used to obtain the distance between the vehicle and adjacent vehicles or obstacles, as well as the angular relationship between the vehicle and the lane, and control the vehicle to perform parking maneuvers along the parking direction.

[0097] Optionally, in one embodiment of this application, the parking exit system 10 for vertical parking spaces in the parking lot of this application embodiment further includes: a first parking space line judgment unit, a second parking space line judgment unit, a lane width judgment unit, a first control unit, a first obstacle judgment unit, a second control unit, a third control unit, a second obstacle judgment unit, and a fourth control unit.

[0098] The first parking space line judgment unit is used to determine whether the vehicle is within the parking space line. If the vehicle is not within the parking space line, the driver is prompted to take over the vehicle.

[0099] The second parking space line judgment unit is used to determine whether the vehicle's parking space line is crossed by an adjacent vehicle. If the vehicle's parking space line is crossed by an adjacent vehicle, the driver is prompted to take over the vehicle.

[0100] The lane width determination unit is used to determine whether the width of the lane in front of the vehicle is between a first preset width and a second preset width based on the distance measured by the front radar.

[0101] The first control unit is configured to prompt the driver to take over the vehicle if the width of the lane in front of the vehicle is less than or equal to the first preset width.

[0102] The first obstacle determination unit is used to determine whether there is an obstacle with collision risk within a preset range if the width of the lane in front of the vehicle is greater than or equal to the second preset width.

[0103] The second control unit is used to prompt the driver to take over the vehicle if there is an obstacle with a collision risk within a preset range.

[0104] The third control unit is used to control the vehicle to automatically park according to the parking direction if there are no obstacles posing a collision risk within a preset range.

[0105] Optionally, in one embodiment of this application, the kneading and blotting control module 400 of this application embodiment includes: a fifth control unit, a kneading count judgment unit, and a sixth control unit.

[0106] The fifth control unit is used to obtain the distance between the vehicle and the adjacent vehicle or obstacle, as well as the angular relationship between the vehicle and the lane, if there are no obstacles with collision risk within the preset range, and control the vehicle to perform rubbing parking along the parking direction.

[0107] The vehicle rubbing count determination unit is used to detect the number of times the vehicle rubs against the road and determine whether the number of rubbing counts is greater than a preset number of rubbing counts.

[0108] The sixth control unit is used to control the vehicle to automatically park if the number of times the vehicle is rubbed is less than or equal to the preset number of times the vehicle is rubbed.

[0109] Optionally, in one embodiment of this application, the parking system 10 for vertical parking spaces in the parking lot of this application embodiment further includes: a seventh control unit.

[0110] The seventh control unit is used to indicate a parking failure and prompt the driver to take over the vehicle if the number of parking maneuvers exceeds the preset number of parking maneuvers.

[0111] Optionally, in one embodiment of this application, the parking system 10 for vertical parking spaces in the parking lot of this application embodiment further includes: a steering operation control unit, a forward and reverse operation control unit, a gear shift operation control unit, and a vehicle automatic parking control unit.

[0112] The steering operation control unit is used to send a steering angle request signal to the electric power steering system based on the parking process and vehicle parking-related data obtained by perception fusion. After receiving the steering angle request signal, the electric power steering system controls the vehicle to perform steering operations as needed.

[0113] The forward and reverse operation control unit is used to send a torque request signal to the engine management system based on the parking process and vehicle parking-related data obtained by perception fusion. After receiving the torque request signal, the engine management system controls the vehicle to perform forward and reverse operations as needed.

[0114] The gear shifting operation control unit is used to send a gear shifting request signal to the auxiliary control module based on the vehicle parking-related data obtained from the parking process and perception fusion. After receiving the gear shifting request signal, the auxiliary control module controls the vehicle to perform gear shifting operations as needed.

[0115] The vehicle automatic parking control unit is used to perform multiple forward and backward maneuvers based on steering, forward and reverse operations, and gear shifting operations. It calculates the distance required for each maneuver and calculates acceleration / deceleration and steering angle based on the distance to complete the automatic parking maneuver.

[0116] The parking system for vertical parking spaces proposed in this application can, when it detects that the width of the lane in front of the vehicle is not wide enough within a certain range, first control the vehicle to vertically exit a preset distance in the parking direction, then vertically retreat a preset distance to cover the existing blind spot, and then control the vehicle to perform a zigzag parking maneuver in the parking direction. This improves the safety and reliability of intelligent driving in parking lot environments, while also enhancing the user's driving experience and meeting user needs.

[0117] This solves the technical problem in related technologies where automatic parking out of perpendicular parking spaces is affected by uncontrollable factors, resulting in large target recognition errors and an inability to safely and reliably park out of perpendicular parking spaces.

[0118] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0119] The memory 501, the processor 502, and the computer program stored on the memory 501 and capable of running on the processor 502.

[0120] When processor 502 executes the program, it implements the parking exit method for vertical parking spaces in the parking lot provided in the above embodiments.

[0121] Furthermore, the vehicle also includes:

[0122] Communication interface 503 is used for communication between memory 501 and processor 502.

[0123] The memory 501 is used to store computer programs that can run on the processor 502.

[0124] The memory 501 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0125] If the memory 501, processor 502, and communication interface 503 are implemented independently, then the communication interface 503, memory 501, and processor 502 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EIS) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0126] Optionally, in a specific implementation, if the memory 501, processor 502, and communication interface 503 are integrated on a single chip, then the memory 501, processor 502, and communication interface 503 can communicate with each other through an internal interface.

[0127] Processor 502 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0128] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for parking out of vertical parking spaces.

[0129] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0130] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0131] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0132] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable storage medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable storage medium could be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0133] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0134] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0135] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0136] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

[0137] It should be understood that the application of this application is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for parking out of a perpendicular parking space in a parking lot, characterized in that, The parking exit methods for perpendicular parking spaces in the parking lot include: Obtain lane information within a preset range of the vehicle's current parking position, and determine the parking direction based on the lane information; The acquisition of lane information within a preset range of the vehicle's current parking position specifically includes: Obtain environmental information through cameras and radar; The environmental information is fused by surround-view cameras and ultrasonic radar, and surround-view cameras and panoramic cameras to output the obstacles around the vehicle; Obtain parking space line information and lane line information; Acquire the movement trajectory information of pedestrians and vehicles, and acquire information on other static and dynamic obstacles; If the vehicle is within the parking space line and the parking space line is not crossed by adjacent vehicles, obtain the width of the lane in front of the vehicle; If the width of the lane in front of the vehicle is between the first preset width and the second preset width, and there are no obstacles within the preset range that pose a collision risk, control the vehicle to park perpendicularly a preset distance along the parking direction, and then vertically return to the preset distance. The vehicle is controlled to park perpendicularly out a preset distance along the parking direction, and then perpendicularly back out a preset distance, so that the ultrasonic radar recognition area exactly covers the blind spot, thus solving the recognition error problem. The distance between the vehicle and adjacent vehicles or obstacles, as well as the angular relationship between the vehicle and the lane, are obtained, and the vehicle is controlled to perform a gliding parking maneuver along the parking direction. If the vehicle is located within the parking space lines and the parking space lines are not crossed by adjacent vehicles, the width of the lane in front of the vehicle is obtained, and then the process further includes: The system determines whether the width of the lane in front of the vehicle is between the first and second preset widths based on the distance measured by the front radar. If the width of the lane in front of the vehicle is less than or equal to the first preset width, the driver is prompted to take over the vehicle. If the width of the lane in front of the vehicle is greater than or equal to the second preset width, then determine whether there is an obstacle with a collision risk within the preset range; If there are obstacles posing a collision risk within the preset range, the driver will be prompted to take over the vehicle. If there are no obstacles posing a collision risk within the preset range, the vehicle will automatically exit the parking area according to the parking direction.

2. The parking exit method for vertical parking spaces in a parking lot according to claim 1, characterized in that, The step of determining the parking direction based on the lane information further includes: The system determines whether the vehicle is within the parking space lines. If the vehicle is not within the parking space lines, the driver is prompted to take over the vehicle.

3. The parking exit method for vertical parking spaces in a parking lot according to claim 1, characterized in that, If the vehicle is located within the parking space lines and the parking space lines are not crossed by adjacent vehicles, the width of the lane in front of the vehicle is obtained. This process also includes: The system determines whether a vehicle's parking space line is crossed by an adjacent vehicle. If the vehicle's parking space line is crossed by an adjacent vehicle, the system prompts the driver to take over the vehicle.

4. The parking exit method for perpendicular parking spaces in a parking lot according to claim 1, characterized in that, The control vehicle is parked perpendicularly a preset distance along the parking direction, and then perpendicularly retracted a preset distance, and then the process further includes: Determine if there are obstacles within the preset range that pose a collision risk; If there are obstacles within the preset range that pose a collision risk, the driver will be prompted to take over the vehicle.

5. The parking exit method for perpendicular parking spaces in a parking lot according to claim 4, characterized in that, The process of acquiring the distance between the vehicle and adjacent vehicles or obstacles, as well as the angular relationship between the vehicle and the lane, and controlling the vehicle to perform a zigzag parking maneuver along the parking direction, specifically includes: If there are no obstacles posing a collision risk within the preset range, the distance between the vehicle and the adjacent vehicle or obstacle, as well as the angular relationship between the vehicle and the lane, are obtained, and the vehicle is controlled to perform a zigzag parking maneuver along the parking direction. The number of times the vehicle tumbles into the parking space is detected, and it is determined whether the number of tumbles into the parking space is greater than the preset number of tumbles into the parking space; If the number of times the vehicle is tucked into the parking space is less than or equal to the preset number of times the vehicle is tucked into the parking space, then the vehicle is controlled to automatically exit the parking space. The step of determining whether the number of kneading cycles is greater than the preset number of kneading cycles further includes: If the number of times the vehicle is tucked into the parking space exceeds the preset number of times it is tucked into the parking space, a parking failure message will be displayed, and the driver will be prompted to take over the vehicle.

6. The parking exit method for vertical parking spaces in a parking lot according to claim 5, characterized in that, The automatic parking control of the vehicle specifically includes: Based on the vehicle parking-related data obtained from the parking process and perception fusion, a steering angle request signal is sent to the electric power steering system. After receiving the steering angle request signal, the electric power steering system controls the vehicle to perform steering operations as needed. Based on the vehicle parking-related data obtained from the parking process and perception fusion, a torque request signal is sent to the engine management system. After receiving the torque request signal, the engine management system controls the vehicle to perform forward and reverse operations as needed. Based on the vehicle parking-related data obtained from the parking process and perception fusion, a gear shift request signal is sent to the auxiliary control module. After receiving the gear shift request signal, the auxiliary control module controls the vehicle to perform gear shifting operations as needed. The system performs multiple forward and backward maneuvers based on steering, forward and reverse operations, and gear shifting, calculating the distance required for each maneuver and determining acceleration, deceleration, and steering angle to automatically park the vehicle.

7. A parking system for vertical parking spaces in a parking lot, the parking system for vertical parking spaces being used to implement the parking method for vertical parking spaces according to any one of claims 1-6, characterized in that, The parking system for vertical parking spaces in the parking lot includes: The data acquisition module is used to acquire lane information within a preset range of the vehicle's current parking position and determine the parking direction based on the lane information. The lane width acquisition module is used to acquire the width of the lane in front of the vehicle if the vehicle is located within the parking space line and the parking space line is not crossed by adjacent vehicles. The blind spot elimination control module is used to control the vehicle to park perpendicularly out a preset distance along the parking direction and then vertically back to the preset distance if the width of the lane in front of the vehicle is between a first preset width and a second preset width, and there are no obstacles with collision risk within the preset range. The parking control module is used to obtain the distance between the vehicle and adjacent vehicles or obstacles, as well as the angular relationship between the vehicle and the lane, and control the vehicle to perform parking maneuvers along the parking direction.

8. A vehicle, characterized in that, The vehicle includes: a memory, a processor, and a parking exit program for a vertical parking space stored in the memory and executable on the processor, wherein when the parking exit program for a vertical parking space is executed by the processor, it implements the steps of the parking exit method for a vertical parking space as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a parking exit program for a vertical parking space, which, when executed by a processor, implements the steps of the parking exit method for a vertical parking space as described in any one of claims 1-6.

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