A parking method, a control system, an electronic device and a readable storage medium of a vehicle

Abstract

The application relates to the technical field of assisted driving, in particular to a parking method of a vehicle, a control system, an electronic device and a readable storage medium. The method comprises the following steps: obtaining driving data of the vehicle, and determining whether the vehicle triggers a parking condition according to the driving data; when the driving data triggers the parking condition, starting a parking line simulation system, collecting target parking space information, and assisting a driver to drive the vehicle to park in a target parking space according to the target parking space information and driver identity information. The vehicle parking method, the control system, the vehicle and the readable storage medium provided by the application collect the target parking space information around the current position of the vehicle through the parking line simulation system, and assist the driver to control the vehicle to park in the target parking space according to the parking experience of the driver. The problems that the automatic parking function provided by the vehicle cannot be normally used at places without parking line roadsides, and effective auxiliary parking means cannot be taken, and the use cost of the vehicle is increased are solved.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, and more particularly to a parking method, control system, electronic equipment, and readable storage medium for a vehicle. Background Technology

[0002] With the rapid development of science and technology, people are using vehicles more and more in their daily lives. Among them, parking is an essential part of the process. At present, vehicles are usually equipped with automatic parking functions. During the automatic parking process, ultrasonic radar and cameras collect data on the surrounding environment to identify parking space lines and park the vehicle in the identified parking space.

[0003] However, in some typical application scenarios, such as temporary roadside parking where there are no designated parking spaces or parking lines, the vehicle cannot determine the parking space based on the method of recognizing parking lines. This limits or even completely disables the vehicle's automatic parking function. In such cases, users cannot complete the parking process using the automatic parking function, resulting in low parking efficiency and a poor user experience.

[0004] In addition, existing automatic parking systems cannot take effective parking assistance measures based on the driver's parking experience, which increases the operating cost of the automatic parking system. Summary of the Invention

[0005] In view of this, embodiments of this application provide a parking method, control system, electronic device, and readable storage medium for a vehicle, in order to solve the problems in the prior art where the vehicle cannot determine the parking space by recognizing the parking line, thereby limiting or even completely paralyzing the automatic parking function equipped in the vehicle, and the automatic parking system cannot take selective auxiliary parking measures based on the driver's parking experience, thus increasing the cost of using the automatic parking system.

[0006] A first aspect of this application provides a method for parking a vehicle, comprising: acquiring driving data of the vehicle and determining whether the vehicle has triggered parking conditions based on the driving data; when the driving data triggers parking conditions, activating a parking space line simulation system and collecting spatial information around the vehicle at its current location through the parking space line simulation system; determining target parking space information of the vehicle based on the spatial information and determining whether the space meets the parking needs of the vehicle based on the target parking space information; when the target parking space information meets the parking needs of the vehicle, assisting the driver to park the vehicle to the target parking space based on the target parking space information and the driver's identity information.

[0007] A second aspect of this application provides a vehicle parking control system, comprising: a data acquisition module for acquiring vehicle driving data and determining whether the vehicle triggers parking conditions based on the driving data; a parking space line simulation module for acquiring spatial information around the vehicle's current position and simulating parking space lines based on the spatial information; a data processing module for determining the vehicle's target parking space information based on the spatial information and determining whether the space meets the vehicle's parking needs based on the target parking space information; and a driving assistance module for assisting the driver in parking the vehicle to the target parking space.

[0008] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0009] A fourth aspect of this application provides a readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0010] The beneficial effects of this application embodiment compared to the prior art are as follows: It collects target parking space information around the vehicle's current location using a parking space simulation system, and determines whether the vehicle's parking needs are met based on this information. When the target parking space information meets the vehicle's parking needs, it assists the driver in parking the vehicle to the target parking space based on the driver's historical parking data, thus improving parking efficiency. This overcomes the problems of automatic parking functions not working properly in locations without marked parking lines, and the inability to adopt effective auxiliary parking methods, leading to increased vehicle operating costs and low parking efficiency. Attached Figure Description

[0011] 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.

[0012] Figure 1 This is a schematic diagram of a vehicle parking method provided in an embodiment of this application;

[0013] Figure 2 This is a flowchart illustrating a method for obtaining vehicle driving data and determining whether the vehicle has triggered parking conditions based on the driving data in an embodiment of this application.

[0014] Figure 3This is a schematic diagram of the method in this application embodiment for activating the parking space line simulation system and collecting spatial information of the vehicle around its current position through the parking space line simulation system when driving data triggers parking conditions;

[0015] Figure 4 This is a flowchart illustrating the method used in this application embodiment after calculating the length information of the target parking space based on the vertical distance and the shortest distance;

[0016] Figure 5 This is a schematic diagram of the method for calculating the length of the target parking space in an embodiment of this application;

[0017] Figure 6 This is a flowchart illustrating a method in this application for determining the target parking space information of a vehicle based on spatial information and determining whether the target parking space information meets the parking needs of the vehicle.

[0018] Figure 7 This is a schematic diagram of the vehicle parking action breakdown in the embodiments of this application;

[0019] Figure 8 This is a schematic diagram of the calculation method for calculating the closest distance between a parked vehicle and the vehicle in front, using similar triangles and RGB three-channel coefficient correction in this embodiment of the application.

[0020] Figure 9 This is a flowchart illustrating a method for assisting a driver to park a vehicle in a target parking space based on the target parking space information and the driver's identity information, when the target parking space information meets the vehicle's parking needs, according to an embodiment of this application.

[0021] Figure 10 This is a flowchart illustrating a method in this application embodiment for assisting the driver to park the vehicle in the target parking space based on the driver's historical parking data when the target parking space information meets the vehicle's parking needs.

[0022] Figure 11 This is a schematic diagram of a vehicle parking control system provided in an embodiment of this application;

[0023] Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0024] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0025] Currently, vehicles are typically equipped with automatic parking functions. During automatic parking, ultrasonic radar and cameras collect data on the surrounding environment and, based on the recognition of parking space lines, park the vehicle in the identified parking space. However, in some typical application scenarios, such as temporary parking on the roadside where there are no designated parking spaces or parking lines, the vehicle cannot determine the parking space based on the method of recognizing parking lines. This limits or even completely disables the automatic parking function. In such cases, users cannot complete the parking process using the automatic parking function, resulting in a very poor user experience. Furthermore, existing automatic parking systems cannot selectively employ assisted parking methods based on the driver's historical parking data, which increases the operating cost of the automatic parking system.

[0026] Therefore, embodiments of this application provide a parking method, a control system, a vehicle, and a readable storage medium to solve the above-mentioned problems.

[0027] Current passenger car designs place greater emphasis on functionality, intelligence, and driving comfort, with these aspects being particularly evident in new energy vehicles. Vehicles typically incorporate multiple functional modules to achieve automatic control, such as body controllers, mobile data centers, vehicle information units, and advanced driver assistance systems. A brief introduction to the relevant concepts involved in the embodiments of this application is as follows:

[0028] The Body Control Module (BCM), also known as the vehicle's computer, is an electronic control unit used in automotive engineering to control the vehicle's electrical systems and is a crucial component of a car. Common functions of the BCM include controlling power windows, power mirrors, air conditioning, headlights, turn signals, anti-theft locking systems, central locking, and defrosting devices. The BCM can connect to other vehicle control systems via a bus.

[0029] Controller Area Network (CAN) is a serial communication protocol bus used for real-time applications. It uses twisted-pair cables to transmit signals and is one of the most widely used fieldbuses in the world. The CAN protocol is used for communication between various components in automobiles, replacing expensive and bulky wiring harnesses.

[0030] The Mobile Data Center (MDC) is an open platform developed by Huawei, featuring component-based services, standardized interfaces, and development tools. Based on this platform, autonomous driving algorithms and functions can be rapidly developed, tested, and run. This application's embodiment is positioned as a computing platform for intelligent driving.

[0031] The Vehicle Information Unit (VIU) is the "neuron" of a vehicle, a controller responsible for processing vehicle task commands. Its main function is to collect and process various vehicle information. The VIU possesses functions such as a regional data center, intelligent power distribution, and intelligent zone control, enabling advanced driver assistance redundancy backup and real-time fault monitoring and remote diagnostics. The VIU is a crucial component of the automotive electronic system and one of the core components of vehicle intelligence. The VIU can consist of numerous different sensors, actuators, and microcontrollers, which work individually or in combination to monitor and analyze various vehicle data from different perspectives. Sensors can detect parameters such as engine status, temperature, humidity, oil pressure, and fuel consumption; actuators control various vehicle components such as the engine, seats, and doors; and microcontrollers control the transmission and processing of various data. The VIU can analyze and process data using preset algorithms and then transmit the results to various internal systems and to the owner's terminal.

[0032] Advanced Driving Assistance Systems (ADAS) utilize various sensors installed on the vehicle (millimeter-wave radar, lidar, monocular / dual-lens cameras, and satellite navigation) to continuously sense the surrounding environment while the car is in motion, collect data, identify, detect, and track static and dynamic objects, and combine this data with navigation map data to perform system calculations and analysis, providing driving decisions for the driver.

[0033] An image generation method and apparatus according to an embodiment of this application will now be described in detail with reference to the accompanying drawings.

[0034] Figure 1 This is a schematic diagram of a vehicle parking method provided in an embodiment of this application. Figure 1 As shown, parking methods include:

[0035] Step S101: Obtain the vehicle's driving data and determine whether the vehicle has triggered parking conditions based on the driving data.

[0036] Step S102: When the driving data triggers the parking condition, the parking line simulation system is activated, and the spatial information of the vehicle around its current position is collected through the parking line simulation system.

[0037] Step S103: Based on the spatial information, determine the target parking space information for the vehicle, and determine whether the target parking space information meets the vehicle's parking needs.

[0038] Step S104: When the target parking space information meets the vehicle's parking needs, assist the driver in parking the vehicle to the target parking space based on the target parking space information and the driver's identity information.

[0039] This method uses a parking space simulation system to collect information on target parking spaces around the vehicle's current location and determines whether the vehicle's parking needs are met based on this information. When the target parking space matches the vehicle's length, the method assists the driver in parking the vehicle to the target space based on their parking experience, thus improving parking efficiency. This overcomes the problems of unusable automatic parking functions in locations without marked parking lines, the inability to employ effective parking assistance methods, and the resulting increased vehicle operating costs and low parking efficiency.

[0040] In some embodiments, vehicle driving data includes vehicle gear information. When the vehicle gear controller detects that the driver has shifted the gear to reverse, it sends the vehicle's current gear information (i.e., reverse gear information) to the BCM. After receiving the reverse gear information, the BCM reports the reverse gear information to the MDC via the CAN bus. The MDC then activates the reversing radar and reversing camera to collect information about the environment around the rear of the vehicle based on the received reverse gear information. If the environment around the rear of the vehicle meets preset parking conditions, it determines that the driver intends to park.

[0041] In some embodiments, collecting spatial information about the vehicle's current location can involve collecting environmental information around the rear of the vehicle. For example, collecting this information includes, but is not limited to, acquiring rear-view images and information about the distance between the vehicle and surrounding obstacles. The rear-view image information obtained through the reversing camera can be used to extract features via an image recognition network, extracting multiple feature images. These extracted feature images are then compared with preset trigger conditions. If one or more feature images match a preset trigger condition, the driver's parking intention can be determined. For example, when the driver puts the vehicle in reverse, the MDC controls the reversing camera to activate and acquires images of the area around the rear of the vehicle. Feature images such as roadside, other vehicles, or obstacles are extracted from these images. These extracted feature images are then compared with preset trigger conditions. If the extracted feature images match the preset trigger conditions, the driver's parking intention can be determined. Understandably, the preset condition triggering information includes information such as the roadside, other vehicles, or obstacles. This condition triggering information is used to determine whether the vehicle has triggered the parking condition.

[0042] Based on the aforementioned embodiments, when parking conditions are triggered, the MDC sends the above information to the VIU. The VIU determines that the driver is about to perform temporary parking. At this time, the VIU controls the activation of the parking space simulation system to collect spatial information around the vehicle's current location. Based on this spatial information, the target parking space information for the vehicle is determined, and based on the target parking space information, it is determined whether the space meets the vehicle's parking needs.

[0043] In some embodiments, the spatial information surrounding the vehicle's current location includes the spatial information in front of and behind the target parking space where the vehicle is about to temporarily park, as well as the length information of the target parking space. First, the reversing camera system collects the spatial information in front of and behind the target parking space to determine whether the space in front of and behind the target parking space is occupied. When both the space in front of and behind the target parking space are occupied, the reversing radar measures the vertical distance from an object in front of the target parking space to the rear of the vehicle, and the shortest distance from an object in behind the target parking space to the rear of the vehicle. The length information of the target parking space is then calculated based on these vertical and shortest distances.

[0044] The calculated length of the target parking space is compared with the vehicle's length. If the calculated length of the target parking space is greater than the vehicle's length, it is determined that the space around the vehicle's current location theoretically meets the vehicle's parking needs. When the target parking space information meets the vehicle's parking needs, the system assists the driver in parking the vehicle in the target parking space based on the target parking space information and the driver's identity information.

[0045] Specifically, the in-vehicle facial recognition system can identify the driver's identity. When the driver's historical parking data meets the length requirements of the target parking space, it can be understood that when the driver is an experienced driver, only the vehicle's posture after parking is monitored for significant deviation. If no significant deviation is detected, the vehicle's posture is correct, and no prompting is needed. If a significant deviation is detected, the vehicle's posture is incorrect, and a voice or visual alarm is issued to prompt the driver to correct the vehicle's position. When the driver's historical parking data does not meet the length requirements of the target parking space, i.e., when the driver is a new driver, the VIU (Vehicle Identity Utility) activates the reversing assist system to assist the new driver in parking.

[0046] It should be noted that, in this embodiment, the experienced driver is a driver who frequently drives the vehicle. The vehicle database stores the driver's facial image information and driving data, including the experienced driver's parking data. This embodiment can determine the experienced driver's parking ability based on their parking data. The new driver is a driver who has not driven the vehicle for the first time or within a specific period prior to that moment, meaning the vehicle database does not store their facial image information and driving data. Generally, experienced drivers have better parking abilities than new drivers.

[0047] In one embodiment, when the current driver is identified as a new driver, the system can be trained based on the data of the driver's vehicle to predict the driver's driving data, including the driver's parking data, in order to determine whether the historical parking data that the new driver can enter meets the length of the target parking space, that is, to determine the new driver's parking ability, and then to make a further judgment on whether to activate the reversing assist system to assist the new driver in parking the vehicle to the target parking space.

[0048] This application embodiment collects target parking space information around the vehicle's current location using a parking space simulation system, and determines whether the vehicle's parking needs are met based on this information. When the target parking space information meets the vehicle's parking needs, the system assists the driver in parking the vehicle to the target parking space based on the driver's parking experience. This overcomes the problem of automatic parking functions not working properly in locations without marked parking spaces, and the need for selective auxiliary parking methods, thus reducing the operating costs of the automatic parking system. It also solves the problem in existing technologies where users cannot complete parking using the automatic parking function in situations where there are no designated parking spaces or no parking lines on the roadside, and where effective auxiliary parking methods cannot be adopted based on the driver's parking experience, leading to increased vehicle operating costs.

[0049] Figure 2 This is a flowchart illustrating a method for obtaining vehicle driving data and determining whether the vehicle has triggered parking conditions based on the driving data, as described in this application embodiment. Figure 2 As shown, step S101 may specifically include:

[0050] Step S201: Detect the vehicle's gear information at the current moment.

[0051] Step S202 involves identifying images around the vehicle using a reversing camera system, including: extracting image information about the vehicle's surroundings from the images; comparing the image information about the vehicle's surroundings with preset image information to determine whether there is parking space around the vehicle's current location.

[0052] Step S203: When the vehicle's gear information at the current moment is reverse gear, and the image around the vehicle meets the preset conditions, it is determined that the vehicle triggers parking conditions.

[0053] This method can determine whether a vehicle has triggered parking conditions by detecting the vehicle's current gear information and recognizing the image around the vehicle through the reversing camera. Compared to judging whether a vehicle is about to park solely by detecting gear information, the prediction results are more accurate.

[0054] Specifically, in this embodiment, the gear position controller can detect the vehicle's current gear information. The gear position controller can detect the vehicle's currently set gear, including drive, park, neutral, and reverse. In this embodiment, the gear position controller is used to detect whether the vehicle's current gear is reverse. When the gear position controller detects that the vehicle's current gear is reverse, it sends the reverse gear information to the BCM (Balance Module). The BCM then reports the received reverse gear information to the MDC (Moving Data Center) via the CAN bus. The MDC activates the reversing camera to acquire images of the vehicle's surroundings based on the received reverse gear information.

[0055] The vehicle surrounding image meeting preset conditions means comparing multiple extracted feature image information with multiple preset condition triggering information to determine whether the vehicle surrounding image matches the preset condition triggering information. If one or more feature image information matches a preset condition triggering information, it can be determined that the vehicle surrounding image meets the preset conditions, indicating that the driver intends to park. For example, if the acquired vehicle surrounding image includes the roadside, shoulder, unmarked open space, vehicles, or obstacles, it can be determined that the current driver intends to park temporarily. Based on the acquired reverse gear information and the vehicle surrounding image meeting the preset conditions, the VIU determines that the current vehicle has triggered parking conditions. The VIU can then activate the reversing assist system to assist the driver in parking operations based on the triggered parking conditions.

[0056] When the VIU obtains the reverse gear information but the image around the vehicle does not meet the preset conditions, it determines that the current vehicle has not triggered the parking conditions and does not activate the reversing assist system to assist the driver in parking.

[0057] In this embodiment, the images of the vehicle's surroundings acquired by the reversing camera system can be used for feature extraction via an image recognition network to extract multiple feature image information. These extracted feature image information are then compared with preset trigger conditions to determine whether the images of the vehicle's surroundings match these conditions. Based on the acquired images of the vehicle's surroundings, such as roadside, shoulder stones, unmarked open spaces, vehicles, or obstacles, it is determined whether there is parking space around the vehicle's current location.

[0058] Figure 3 This is a schematic diagram of a method in this application embodiment for activating a parking space line simulation system and collecting spatial information about the vehicle around its current location when driving data triggers parking conditions.

[0059] like Figure 3 As shown, step S102 may specifically include:

[0060] Step S301: Use the reversing camera system to collect data on whether the space in front of and behind the target parking space is occupied.

[0061] Step S302: When both the space in front of and behind the target parking space is occupied, the vertical distance between the object in front of the target parking space and the rear of the vehicle, and the shortest distance between the object in the space behind the target parking space and the rear of the vehicle are measured by the reversing radar.

[0062] Step S303: Calculate the length information of the target parking space based on the vertical distance and the shortest distance.

[0063] This method calculates the length of the target parking space by collecting the distances between objects in the space in front of and behind the target parking space and the vehicle waiting to park. The calculated length of the target parking space can provide a theoretical basis for further determining whether the parking space matches the vehicle waiting to park.

[0064] Specifically, in this embodiment, when parking conditions are triggered, the MDC sends the above information to the VIU. The VIU determines that the driver is about to temporarily park. At this time, the VIU controls the activation of the parking space simulation system. The parking space simulation system collects spatial information around the vehicle's current position, including whether the space in front of and behind the target parking space is occupied. In this embodiment, a camera can be used to collect whether there are other vehicles or obstacles in the space in front of and behind the target parking space. When both the space in front of and behind the target parking space are occupied, the reversing radar measures the vertical distance from the object in front of the target parking space to the rear of the vehicle, and the shortest distance from the object in the space behind the target parking space to the rear of the vehicle. The length of the target parking space is calculated based on trigonometric relationships.

[0065] Figure 4 This is a flowchart illustrating the method used in this application embodiment after calculating the length information of the target parking space based on the vertical distance and the shortest distance. Figure 4 As shown, the method specifically includes:

[0066] Step S401: Compare the length information of the target parking space with the length information of the vehicle.

[0067] Step S402: When the length information of the target parking space is greater than the length information of the vehicle, it is determined that the vehicle is allowed to enter the target parking space.

[0068] Specifically, in this embodiment, the predicted length of the target parking space is compared with the length of the vehicle to be parked. If the length of the target parking space is greater than the length of the vehicle, the target parking space is deemed to meet the parking conditions, and the vehicle is allowed to enter the target parking space. If the length of the target parking space is less than the length of the vehicle, the target parking space is deemed not to meet the parking conditions, and the vehicle is not allowed to enter. In this case, if the driver continues to park, an audible and visual alarm will be triggered to prompt the driver to stop parking.

[0069] refer to Figure 5 In one embodiment, when there are other vehicles in front of and behind the target parking space, when the rear of the target vehicle is parallel to the rear of the vehicle in front of the target parking space (i.e., the front vehicle), the lidar ranging at the rear of the car is activated. The distance between the leftmost rear of the front vehicle and the rightmost rear of the parked vehicle is measured as X2, and the distance between the rightmost front of the parked vehicle and the front right of the vehicle behind the target parking space (i.e., the rear vehicle) is measured as X1. Based on trigonometric relationships, the theoretical length of the target parking space is obtained as... According to urban parking space planning standards, a small car space is 2.4 meters wide and 6 meters long. This embodiment uses a small car space as an example, but is not limited to this. Therefore, Figure D2 is assumed to represent the width of a standard parking space. For ease of understanding, in this embodiment, the vehicle in front of the parked vehicle is called the front vehicle, and the vehicle behind the parked vehicle is called the rear vehicle.

[0070] Figure 6 This is a flowchart illustrating a method in this application for determining the target parking space information of a vehicle based on spatial information, and determining whether the space meets the vehicle's parking needs based on the target parking space information. Figure 6 As shown, step S103 may specifically include:

[0071] Step S601: Simulate the parking trajectory of the vehicle through the driver assistance system, and determine the theoretical shortest passing distance information based on the simulated trajectory.

[0072] Step S602: Determine whether the target parking space information meets the vehicle's parking needs based on the length information of the target parking space and the theoretical shortest passing distance information.

[0073] This method can improve the accuracy of prediction results by simulating the parking trajectory of a vehicle and judging whether the target parking space information meets the parking needs of the vehicle based on the theoretical shortest passing distance.

[0074] like Figure 7-8As shown, θ is the maximum steering angle of the car tires when the steering wheel is turned all the way to the left (the same applies to parking on the right). X4 is the closest distance between the left side of the target vehicle and the parked vehicle when the target vehicle enters the parking space. Given the length of the rearview mirror, the condition for the target vehicle to enter the target parking space is: X4 ≥ rearview mirror length. X3 is the longitudinal movement distance of the target vehicle, which can be obtained in real time by the ADAS system during the vehicle parking process. As shown in the figure, connect the closest points between the two vehicles, draw the extension line of the vehicle's attitude steering point, and connect the lines to form a rectangle. By using the method of similar triangles and RGB three-channel coefficient correction, the four similar triangles are equivalent to four regions. The objective function is to minimize the sum of the differences between regions A, B, C, and D. By calculating the correction coefficients, the equivalent calculation of X4 is achieved. The calculation formula is as follows:

[0075] F = (F1A1 - F3A3) 2 +(F1B1-F4B4) 2 +(F3C3-F4C4) 2 +(F4D4-F2D2) 2

[0076] In the formula, F is the objective function, F1 is the reference triangle, and the coefficients A1 and B1 are 1. A3 represents the direct proportionality coefficient between triangle F3 and F1, B4 is the direct proportionality coefficient between triangle F4 and F1, C3 is the inverse proportionality coefficient between triangle F3 and F4, C4 is the direct proportionality coefficient between triangle F4 and F3, D4 is the direct proportionality coefficient between triangle F4 and F2, and D2 is the inverse proportionality coefficient between triangle F2 and F4.

[0077] By taking the partial derivatives with respect to coefficients F1-F4 and simplifying, we obtain:

[0078]

[0079] F1-F4 can be obtained by singular value decomposition of the matrix above. We only need to solve for the coefficients of each of the three channels of the RGB image according to the above formula, and then use the coefficients to multiply by one right-angled side of the similar triangle corresponding to the RGB channel to complete the numerical correction, that is, to obtain the shortest distance between the left side of the vehicle and the car in front when the vehicle is parked: X4=F4X3', where X4 is the shortest distance between the left side of the vehicle and the car in front, and X3' is the length of the parked vehicle.

[0080] In one embodiment, when the space in front of and behind the target parking space is occupied, that is, when other vehicles are parked in the space in front of and behind the target parking space, and X4 < the length of the rearview mirror, the system determines that the target parking space cannot be entered.

[0081] If there is an unoccupied space in front of or behind the target parking space, the value of X4 will no longer be calculated. Based on the judgment of new and experienced drivers, only the vehicle's posture will be monitored after parking to see if it deviates significantly or if the reversing assist system is activated.

[0082] In one embodiment, whether the vehicle's posture has significantly deviated is determined by reference to standard parking space parameters: the front and rear of the vehicle are parallel to the width parking space lines on both sides and perpendicular to the length parking space lines, with the front and rear of the vehicle 0.6 meters from the parking space lines and the left side 0.6 meters from the wall. This standard model can be embedded in the system during the aforementioned distance measurement calculation as a judgment basis, or it can be simulated on the vehicle's large screen or HOD display as an auxiliary parking method while the driver is reversing. When the angle of deviation of the front and rear of the vehicle reaches a threshold, or when the distance of the vehicle from the parking space lines in the four directions (front, rear, left, and right) is less than a threshold, the driver is given a verbal reminder or a pop-up window / audio-visual alarm, indicating that the vehicle's posture has significantly deviated and requiring adjustment.

[0083] When the target parking space is occupied both in front and behind, and X4 is greater than or equal to the length of the rearview mirror, the system identifies the driver (new or experienced). Based on 360-degree surround view technology, it obtains the target parking space's parameters, including length and width. If the driver is an experienced driver and the target parking space's dimensions match their ability to enter, the system only monitors whether the vehicle's posture has significantly deviated after parking.

[0084] When the driver is a novice and the length and width of the target parking space do not meet the driver's ability to drive in, but are theoretically possible, the reversing assist system is activated. The system includes: monitoring the driver's operating behavior (steering wheel, brake pedal, gear control), standard parking space line assist lines, and standard parallel parking voice guidance when the rear of the target vehicle is parallel to the rear of the vehicle parked in front. If the driver makes an error (incorrect steering wheel direction, incorrect gear selection, incorrect brake or accelerator pedal, etc.), the voice prompt will remind the driver to correct it immediately.

[0085] Figure 9 This is a flowchart illustrating a method in this application embodiment for assisting the driver in parking the vehicle to the target parking space based on the target parking space information and the driver's identity information, when the target parking space information meets the vehicle's parking needs. Figure 9 As shown, step S104 may specifically include:

[0086] Step S901: Obtain driver identity information and retrieve the driver's historical parking data based on the driver identity information.

[0087] Step S902: When the target parking space information meets the vehicle's parking needs, the driver is assisted in parking the vehicle to the target parking space based on the driver's historical parking data.

[0088] This method can identify the driver's identity information using a facial recognition system, obtain the driver's historical driving data, and determine the driver's parking ability based on the historical driving data. Then, based on the driver's parking ability, it controls the driver assistance system to assist the driver in parking. This overcomes the problems of automatic parking functions not working properly in locations without marked parking spaces or on the side of the road, as well as the inability to adopt effective parking assistance methods, which increases vehicle operating costs and reduces parking efficiency.

[0089] Specifically, in this embodiment, the driver's identity information can be identified through an in-vehicle facial recognition system. The database in the in-vehicle facial recognition system records the identity information of the vehicle's driver, and the ADAS system records the historical driving data of each driver, including parking data. Based on the recorded historical driving data, the driver's parking ability can be predicted. When the driver is an experienced driver, only monitoring whether the vehicle's body posture deviates significantly after parking is activated. When the driver is a new driver, the reversing assist system is activated to assist the driver in parking operations.

[0090] Figure 10 This is a flowchart illustrating a method in this application where, when the target parking space information meets the vehicle's parking needs, the driver is assisted in parking the vehicle to the target parking space based on the driver's historical parking data.

[0091] like Figure 10 As shown, step S602 may specifically include:

[0092] Step S1001: When the driver's historical parking data meets the length information of the target parking space, monitor whether the vehicle body posture deviates significantly after parking.

[0093] Step S1002: When the driver's historical parking data does not meet the length information of the target parking space, the reversing assist system assists the driver in parking the vehicle to the target parking space.

[0094] This method can adopt corresponding auxiliary parking measures according to the driver's driving ability, thereby reducing vehicle use costs and increasing parking efficiency.

[0095] Specifically, in this embodiment, when the driver's historical parking data meets the length information of the target parking space (i.e., when the driver is an experienced driver), their driving data shows that the driver has the ability to park in the current target parking space. In this case, only the vehicle's posture after parking is monitored for significant deviation. If no significant deviation is detected, it indicates the vehicle's posture is correct, and no prompting is needed. If a significant deviation is detected, it indicates an incorrect vehicle posture, and a voice or visual alarm is issued to prompt the driver to correct the vehicle's position.

[0096] When the facial recognition system does not record the driver's identity information, the driver is identified as a new driver. Correspondingly, the ADAS system does not record the driver's driving data. The ADAS system can continuously collect the driver's driving data during the driving process and train a deep learning network on this data to predict the parking spaces the driver can enter. Based on the predicted parking data, the driver's parking ability is assessed. When the driver's available parking spaces do not meet the length information of the target parking space, the VIU control activates the reversing assist system to assist the new driver in parking.

[0097] In one embodiment, when the driver's parking ability is not predicted, i.e., the driver's parking ability cannot be determined, the VIU controls the activation of the reversing assist system to assist the new driver in parking.

[0098] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0099] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0100] Figure 11 This is a schematic diagram of a vehicle parking control system provided in an embodiment of this application. Figure 11 As shown in the figure, this application embodiment also provides a vehicle parking control system 1100, including: a data acquisition module 1101, a parking space line simulation module 1102, a data processing module 1103, and an auxiliary driving module 1104.

[0101] Specifically, the data acquisition module 1101 is used to acquire the vehicle's driving data and determine whether the vehicle has triggered parking conditions based on the driving data.

[0102] The parking line simulation module 1102 is used to collect spatial information about the vehicle's current location and simulate parking lines based on the spatial information.

[0103] The data processing module 1103 is used to determine the target parking space information of the vehicle based on the spatial information, and to determine whether the target parking space information meets the parking needs of the vehicle.

[0104] The driver assistance module 1104 is used to assist the driver in parking the vehicle to the target parking space.

[0105] In some embodiments, the data acquisition module 1101 is used to detect the vehicle's gear position information at the current moment. The reversing camera system identifies the image around the vehicle. When the vehicle's gear position information at the current moment is reverse, and the image around the vehicle meets preset conditions, it is determined that the vehicle triggers parking conditions.

[0106] Based on the above embodiments, the data acquisition module 1101 can also extract vehicle surrounding image information from images surrounding the vehicle. It then compares the vehicle surrounding image information with preset image information to determine whether there is parking space around the vehicle's current location.

[0107] When driving data triggers parking conditions, the parking space simulation module 1102 activates the parking space simulation system. This system collects spatial information about the vehicle's current location, specifically including: using the reversing camera system to determine if the space in front of and behind the target parking space is occupied. If both the space in front of and behind the target parking space are occupied, the reversing radar measures the vertical distance from objects in front of the target parking space to the rear of the vehicle, and the shortest distance from objects behind the target parking space to the rear of the vehicle. The length of the target parking space is then calculated based on these vertical and shortest distances.

[0108] The data processing module 1103 can determine the target parking space information for the vehicle based on spatial information, and determine whether the target parking space information meets the vehicle's parking needs. Specifically, this includes: simulating the vehicle's parking trajectory through the driver assistance system, and determining the theoretical rearview mirror length information based on the simulated trajectory. Finally, it determines whether the parking space information meets the vehicle's parking needs based on the length information of the target parking space and the theoretical rearview mirror length information.

[0109] Based on the above embodiments, when the target parking space information meets the vehicle's parking needs, the data processing module 1103 can also assist the driver in parking the vehicle to the target parking space based on the target parking space information and the driver's identity information. Specifically, this includes: obtaining the driver's identity information and obtaining the driver's historical parking data based on the driver's identity information. When the target parking space information meets the vehicle's parking needs, the driver is assisted in parking the vehicle to the target parking space based on the driver's historical parking data.

[0110] When the target parking space information meets the vehicle's parking needs, the driver assistance module 1104 can assist the driver in controlling the vehicle to park in the target parking space based on the driver's parking ability. Specifically, this may include: when the driver's historical parking data meets the length information of the target parking space (i.e., when the driver is an experienced driver), monitoring whether the vehicle's posture deviates significantly after parking; when the driver's historical parking data does not meet the length information of the target parking space (i.e., when the driver is a new driver), using the reversing assist system to assist the driver in controlling the vehicle to park in the target parking space.

[0111] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0112] Figure 12 This is a schematic diagram of an electronic device provided in an embodiment of this application. Figure 12 As shown, the electronic device 12 of this embodiment includes: a processor 1201, a memory 1202, and a computer program 1203 stored in the memory 1202 and executable on the processor 1201. When the processor 1201 executes the computer program 1203, it implements the steps in the various method embodiments described above. Alternatively, when the processor 1201 executes the computer program 1203, it implements the functions of each module / unit in the various device embodiments described above.

[0113] Electronic device 12 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 12 may include, but is not limited to, processor 1201 and memory 1202. Those skilled in the art will understand that... Figure 12 This is merely an example of electronic device 12 and does not constitute a limitation on electronic device 12. It may include more or fewer components than shown, or different components.

[0114] The processor 1201 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0115] The memory 1202 can be an internal storage unit of the electronic device 12, such as a hard disk or RAM of the electronic device 12. The memory 1202 can also be an external storage device of the electronic device 12, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, FlashCard, etc., equipped on the electronic device 12. The memory 1202 can also include both internal and external storage units of the electronic device 12. The memory 1202 is used to store computer programs and other programs and data required by the electronic device.

[0116] This application also provides a vehicle, including a vehicle body and the aforementioned electronic equipment, wherein the vehicle implements the parking method described above using the electronic equipment.

[0117] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0118] If integrated modules / units are implemented as software functional units and sold or used as independent products, they can be stored in a readable storage medium (e.g., a computer-readable storage medium). Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0119] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for parking a vehicle, characterized in that, include: Acquire the driving data of the vehicle, and determine whether the vehicle has triggered parking conditions based on the driving data; When the driving data triggers the parking condition, the parking line simulation system is activated, and the spatial information of the vehicle around its current position is collected through the parking line simulation system. Based on the spatial information, the target parking space information of the vehicle is determined, and based on the length information of the target parking space, the length information of the vehicle, and the parking trajectory of the vehicle simulated by the driver assistance system, it is determined whether the target parking space information meets the parking needs of the vehicle. When the target parking space information meets the parking requirements of the vehicle, the driver is assisted in parking the vehicle to the target parking space based on the target parking space information and the driver's identity information. Specifically, based on the historical parking ability data corresponding to the driver's identity information, an assisted driving strategy is determined for the driver. When the driver's historical parking ability data meets the parking requirements of the target parking space, the assisted driving strategy includes: monitoring only the vehicle's posture during the parking process and providing a prompt when the vehicle's posture deviates beyond a preset range; when the driver's historical parking ability data does not meet the parking requirements of the target parking space, the assisted driving strategy includes activating a reversing assist system to assist the driver in parking.

2. The method according to claim 1, characterized in that, Determining whether the vehicle has triggered parking conditions based on the driving data includes: Detect the gear information of the vehicle at the current moment; The reversing camera system identifies images around the vehicle, including: extracting image information around the vehicle from the images around the vehicle; comparing the image information around the vehicle with preset image information to determine whether there is parking space around the current location of the vehicle. If the vehicle is in reverse gear at the current moment, and the image around the vehicle meets preset conditions, then the vehicle is determined to trigger parking conditions.

3. The method according to claim 1, characterized in that, When the driving data triggers the parking condition, the parking line simulation system is activated, and the spatial information of the vehicle around its current location is collected through the parking line simulation system, including: The reversing camera system collects data on whether the space in front of and behind the target parking space is occupied. When the space in front of and behind the target parking space is occupied, the reversing radar measures the vertical distance from the object in front of the target parking space to the rear of the vehicle, and the shortest distance from the object in the space behind the target parking space to the rear of the vehicle. The length information of the target parking space is calculated based on the vertical distance and the shortest distance.

4. The method according to claim 3, characterized in that, The step of determining the target parking space information of the vehicle based on the spatial information, and determining whether the target parking space information meets the parking needs of the vehicle, includes: The length information of the target parking space is compared with the length information of the vehicle; When the length of the target parking space is greater than the length of the vehicle, it is determined that the vehicle is allowed to enter the target parking space; The vehicle's parking trajectory is simulated by the driver assistance system, and the theoretical shortest passing distance is determined based on the parking trajectory. Based on the length information of the target parking space and the theoretical shortest passing distance information, it is determined whether the target parking space information meets the parking needs of the vehicle.

5. The method according to claim 4, characterized in that, When the target parking space information meets the parking needs of the vehicle, assisting the driver in parking the vehicle to the target parking space based on the target parking space information and the driver's identity information includes: Obtain the driver's identity information, and obtain the driver's historical parking data based on the driver's identity information; When the target parking space information meets the parking needs of the vehicle, the driver is assisted in parking the vehicle to the target parking space based on the driver's historical parking data.

6. The method according to claim 5, characterized in that, When the target parking space information meets the parking needs of the vehicle, assisting the driver in parking the vehicle to the target parking space based on the driver's historical parking data includes: When the driver's historical parking data meets the length information of the target parking space, the system monitors whether the vehicle's body posture deviates significantly after parking. If a significant deviation in the vehicle's body posture is detected, the system displays a 360° panoramic surround view image to assist the driver in correcting the vehicle's body posture. When the driver's historical parking data does not meet the length information of the target parking space, the reversing assist system assists the driver in parking the vehicle to the target parking space.

7. A parking control system for a vehicle, characterized in that, include: The data acquisition module is used to acquire the vehicle's driving data and determine whether the vehicle has triggered parking conditions based on the driving data. The parking line simulation module is used to collect spatial information about the vehicle around its current location and to simulate parking lines based on that spatial information. The data processing module is used to determine the target parking space information of the vehicle based on the spatial information, and to determine whether the target parking space information meets the parking needs of the vehicle based on the length information of the target parking space, the length information of the vehicle, and the parking trajectory of the vehicle simulated by the assisted driving system. An assisted driving module is used to assist the driver in parking the vehicle in the target parking space when the target parking space information meets the vehicle's parking requirements, based on the target parking space information and the driver's identity information. Specifically, based on the driver's historical parking ability data corresponding to the driver's identity information, an assisted driving strategy is determined for the driver. When the driver's historical parking ability data meets the parking requirements of the target parking space, the assisted driving strategy includes: monitoring only the vehicle's posture during the parking process and providing a warning when the vehicle's posture deviates beyond a preset range; when the driver's historical parking ability data does not meet the parking requirements of the target parking space, the assisted driving strategy includes activating a reversing assist system to assist the driver in parking.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 6.

9. A readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 6.

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