A vehicle parking control method and device, computer equipment and storage medium

Abstract

This invention relates to the field of assisted automatic parking technology, and discloses a vehicle parking control method, device, computer equipment, and storage medium. By setting a warning range, when at least one vertex of a moving target is detected to enter the warning range, the relative driving direction relationship between the moving target and the vehicle is determined. The relative speed and coordinates of the first vertex of the moving target and the coordinates of each vertex of the vehicle are obtained. Based on the relative driving direction relationship between the moving target and the vehicle, the relative speed and coordinates of the first vertex of the moving target, and the coordinates of each vertex of the vehicle, the time required for the vehicle to collide with the moving target is calculated. Based on the time required for the collision, the vehicle is controlled to brake. This invention can monitor in real time whether there is a moving target that may collide with the vehicle during the parking process, and judge in real time whether there is a risk of collision between the moving target and the vehicle. It can control the vehicle to yield to the moving target in time, avoid vehicle collision, and improve the safety of vehicle parking.

Description

Technical Field

[0001] This invention relates to the field of assisted automatic parking technology, specifically to a vehicle parking control method, device, computer equipment, and storage medium. Background Technology

[0002] With the continuous development and progress of intelligent parking technology, users are no longer satisfied with the realization of basic functions, but are also more concerned about the safety response to unexpected events during the parking process. For example, during the automatic parking process, it is very common to encounter vehicles, bicycles and pedestrians crossing the road at high speed, which greatly increases the collision risk during the parking process. Summary of the Invention

[0003] In view of this, the present invention provides a vehicle parking control method, device, computer equipment and storage medium to solve the problem that the phenomenon of vehicles suddenly encountering fast-moving vehicles, bicycles and pedestrians crossing the road during automatic parking is extremely common, which increases the risk of collision during vehicle parking.

[0004] In a first aspect, the present invention provides a vehicle parking control method, the method comprising: during automatic parking of the vehicle, monitoring whether a moving target enters a preset warning range corresponding to the vehicle; if at least one vertex of a moving target is detected to enter the warning range, determining the relative driving direction relationship between the moving target and the vehicle; acquiring the lateral relative velocity and longitudinal relative velocity corresponding to the first vertex of the moving target entering the warning range, and acquiring the coordinates corresponding to the first vertex of the moving target and the coordinates of each vertex of the vehicle based on the vehicle's coordinate system; calculating the time required for the vehicle to collide with the moving target based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle; if the time required for the vehicle to collide with the moving target is less than a preset collision time threshold, controlling the vehicle to brake.

[0005] The vehicle parking control method provided by this invention, by setting a warning range, determines the relative driving direction relationship between the moving target and the vehicle when at least one vertex of a moving target is detected to enter the warning range, obtains the relative speed and coordinates of the first vertex of the moving target and the coordinates of each vertex of the vehicle, and calculates the time required for the vehicle to collide with the moving target based on the relative driving direction relationship between the moving target and the vehicle, the relative speed and coordinates of the first vertex of the moving target and the coordinates of each vertex of the vehicle, and controls the vehicle to brake based on the collision time required. It can monitor in real time whether there is a moving target that may collide with the vehicle during the parking process, and judge in real time whether there is a risk of collision between the moving target and the vehicle, and control the vehicle to give way to the moving target in time to avoid vehicle collision, thereby improving the safety of vehicle parking.

[0006] In one optional implementation, when the relative driving direction relationship between the moving target and the vehicle is relatively perpendicular, the step of calculating the time required for the vehicle to collide with the moving target based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle includes: obtaining the x-coordinate and y-coordinate of the second vertex of the vehicle, wherein the second vertex is the rear vertex of the vehicle when it parks out on the side where the moving target is located, or the front vertex of the vehicle when it parks in; and calculating the time required for the vehicle to collide with the moving target based on the x-coordinate of the first vertex of the moving target, the lateral relative velocity, and the x-coordinate of the second vertex.

[0007] This invention calculates the collision time when the relative driving direction of the moving target and the vehicle is perpendicular. It is based on the relative speed and coordinates of the first vertex of the moving target entering the warning range, as well as the coordinates of the rear vertex of the vehicle when it exits or the front vertex when it enters the vehicle on the side with the moving target. The collision time can be calculated based on the corresponding vertex coordinates and relative speeds obtained for different relative driving directions of the moving target and the vehicle. Different coordinates and relative speeds are used for calculation based on different driving scenarios, making vehicle collision monitoring more targeted and improving the accuracy of detecting whether a vehicle has a collision risk.

[0008] In an optional implementation, before calculating the time required for a collision between the vehicle and the moving target based on the abscissa of the first vertex of the moving target, the lateral relative velocity, and the abscissa of the second vertex, the method further includes: calculating the relative velocity of the vertex of the moving target entering the warning range based on the lateral and longitudinal relative velocities of the first vertex of the moving target; calculating an upper boundary of the relative velocity based on the abscissa and ordinate of a third vertex, a preset first safety distance, and the abscissa and ordinate of the first vertex of the moving target, wherein the third vertex is another vertex located on the same side of the vehicle as the second vertex; calculating a lower boundary of the relative velocity based on the abscissa and ordinate of the second vertex and the abscissa and ordinate of the vertex of the moving target entering the warning range; if the relative velocity of the first vertex of the moving target is between the lower boundary and the upper boundary of the relative velocity, then performing the step of calculating the time required for a collision between the vehicle and the moving target based on the abscissa of the first vertex of the moving target, the lateral relative velocity, and the abscissa of the second vertex; if the relative velocity of the first vertex of the moving target is not between the lower boundary and the upper boundary of the relative velocity, then maintaining the current parking operation state of the vehicle.

[0009] When the relative driving direction of a moving target and a vehicle is perpendicular, this invention first calculates the upper and lower boundaries of the relative velocity based on the relative velocity of the apex of the moving target within the warning range, the coordinates of the vehicle's third and fourth apexes, and the vertical safety distance. Then, it compares the relative velocity of the moving target's apex with these upper and lower boundaries. Only when the relative velocity of the moving target's apex is before these boundaries is the collision time calculated. If the relative velocity of the moving target's apex is not between these boundaries, it directly indicates no collision risk between the moving target and the vehicle, eliminating the need to calculate the collision time and saving vehicle calculation time. This allows for more timely responses to situations involving suddenly appearing fast-moving targets, enabling timely braking or maintaining a parked state. Furthermore, this solution considers not only the relative velocity relationship between the vehicle's apex and the moving target's apex but also the time required for a collision, leading to a more accurate assessment of collision risk and improved parking safety.

[0010] In one optional implementation, when the relative driving direction relationship between the moving target and the vehicle is that they are traveling towards each other, the step of calculating the time required for the vehicle to collide with the moving target based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle includes: obtaining the ordinate of the fourth vertex of the vehicle, wherein the fourth vertex is the front vertex of the vehicle when it parks out on the side where the moving target is located, or the rear vertex of the vehicle when it parks in; and calculating the time required for the vehicle to collide with the moving target based on the ordinate of the first vertex of the moving target, the longitudinal relative velocity, and the ordinate of the fourth vertex.

[0011] In one optional implementation, when the relative driving direction relationship between the moving target and the vehicle is that they are driving in parallel, the step of calculating the time required for the vehicle to collide with the moving target based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle includes: obtaining the lateral coordinate of the fifth vertex of the vehicle, wherein the fifth vertex is the front vertex of the vehicle when it parks out on the side of the vehicle with the moving target or the rear vertex when it parks in; and calculating the time required for the vehicle to collide with the moving target based on the lateral coordinate and lateral relative velocity of the first vertex of the moving target and the lateral coordinate of the fifth vertex.

[0012] This invention calculates based on different coordinates and relative speeds for different driving scenarios, making vehicle collision monitoring more targeted and improving the accuracy of detecting whether a vehicle has a collision risk.

[0013] In one optional implementation, before monitoring whether a moving target enters the preset warning range corresponding to the vehicle, the method further includes: monitoring the relative positional relationship between the rear axle center point of the vehicle and the target parking space; if the rear axle center point of the vehicle is detected to be outside the target parking space, performing the step of monitoring whether a moving target enters the preset warning range corresponding to the vehicle; or, if the rear axle center point of the vehicle is detected to be inside the target parking space, maintaining the current parking operation state of the vehicle.

[0014] This invention monitors the relative position of the rear axle center point of the vehicle to the target parking space. It only executes the warning function to monitor whether a moving target has entered the vehicle's corresponding warning range when the rear axle center point is detected to be outside the target parking space. This can effectively avoid the sensor misdetecting stationary obstacles around the parking space as dynamic obstacles and triggering false braking, improve the fault tolerance of the sensor, increase the efficiency of vehicle parking, and improve the user experience.

[0015] In one optional implementation, monitoring the relative positional relationship between the rear axle center point of the vehicle and the target parking space includes: forming a first triangle with the first and third parking space angles, a second triangle with the second and fourth parking space angles, and a third triangle with the third and fourth parking space angles; the first and second parking space angles constitute the entrance for the vehicle to park in the target parking space; the third and first parking space angles are located on the same side of the target parking space as the first and fourth parking space angles; calculating the areas of the first, second, and third triangles and summing them to obtain a first area; if the first area is greater than the total area of ​​the target parking space, then the rear axle center point of the vehicle is determined to be outside the target parking space; if the first area is not greater than the total area of ​​the target parking space, then the rear axle center point of the vehicle is determined to be inside the target parking space.

[0016] This invention can determine whether the rear axle center point is located outside the target parking space by forming triangles with the center point of the rear axle and the corners of each parking space of the target parking space, and by calculating and comparing the area of ​​each triangle with the area of ​​the target parking space. This can accurately monitor the relative positional relationship between the rear axle center point and the target parking space, thereby effectively improving the fault tolerance of the sensor.

[0017] Secondly, the present invention provides a vehicle parking control device, the device comprising: a moving target detection module, used to monitor whether a moving target enters a preset warning range corresponding to the vehicle during automatic parking; a relative direction determination module, used to determine the relative driving direction relationship between the moving target and the vehicle if at least one vertex of the moving target is detected to enter the warning range; a coordinate acquisition module, used to acquire the lateral relative velocity and longitudinal relative velocity corresponding to the first vertex of the moving target entering the warning range, and to acquire the coordinates corresponding to the first vertex of the moving target and the coordinates of each vertex of the vehicle based on the vehicle's coordinate system; a collision time calculation module, used to calculate the time required for the vehicle to collide with the moving target based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle; and a vehicle control module, used to control the vehicle to brake if the time required for the vehicle to collide with the moving target is less than a preset collision time threshold.

[0018] Thirdly, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to perform the vehicle parking control method of the first aspect or any corresponding embodiment described above.

[0019] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the vehicle parking control method of the first aspect or any corresponding embodiment described above. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a schematic flowchart of a vehicle parking control method according to an embodiment of the present invention;

[0022] Figure 2 This is an example diagram of a moving target traversing a scene according to an embodiment of the present invention;

[0023] Figure 3 This is an example diagram of a scenario where a moving target crosses the left side of a vehicle when the vehicle is parking, according to an embodiment of the present invention.

[0024] Figure 4 This is an example diagram of a scenario where a moving target crosses directly in front of a vehicle when the vehicle is parking, according to an embodiment of the present invention.

[0025] Figure 5 This is an example diagram of a scenario where a moving target crosses the vehicle in parallel from the left side when the vehicle is parking, according to an embodiment of the present invention.

[0026] Figure 6 This is a schematic flowchart of another vehicle parking control method according to an embodiment of the present invention;

[0027] Figure 7 This is a flowchart illustrating another vehicle parking control method according to an embodiment of the present invention;

[0028] Figure 8 This is a flowchart illustrating another vehicle parking control method according to an embodiment of the present invention;

[0029] Figure 9 This is an example diagram illustrating the positional relationship between a vehicle and a target parking space according to an embodiment of the present invention;

[0030] Figure 10 This is a structural block diagram of a vehicle parking control device according to an embodiment of the present invention;

[0031] Figure 11 This is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] With the continuous development and progress of intelligent parking technology, users are no longer satisfied with the realization of basic functions, but are also more concerned about the safety response to unexpected events during parking. For example, when a vehicle is in D gear moving forward (straight, left turn, right turn) or R gear reversing into a parking space and encounters an obstacle vehicle, if there is no dynamic target warning and braking behavior decision, and the driver of the obstacle vehicle believes that there is enough space to move forward and does not yield to the vehicle, or the vehicle is traveling at a high speed and does not stop in time, there is a risk of collision.

[0034] According to an embodiment of the present invention, a vehicle parking control method embodiment is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0035] This embodiment provides a vehicle parking control method, which can be used in the aforementioned computer equipment. Figure 1 This is a flowchart of a vehicle parking control method according to an embodiment of the present invention, such as... Figure 1 As shown, the process includes the following steps:

[0036] Step S101: During the automatic parking process, monitor whether a moving target enters the preset warning range corresponding to the vehicle.

[0037] In this embodiment of the invention, the vehicle may encounter various scenarios where moving targets cross the road during automatic parking, posing a collision risk. For example, scenario one considers a moving target crossing the road from the left or right side of the vehicle while it is moving forward or backward, with a relatively high lateral speed. In a specific embodiment, such as... Figure 2As shown, when a vehicle is parking out, a moving target crosses the vehicle from the right side; when a vehicle is parking in, a moving target crosses the vehicle from the right side. This is just an example. Scenario 2 considers a moving target crossing the vehicle from the front or rear while the vehicle is moving forward or backward, with a relatively high longitudinal speed. Scenario 3 considers a moving target crossing the vehicle from both sides while the vehicle is moving forward or backward, with a relatively high longitudinal speed. This is not limited and is just an example; please refer to actual vehicle parking scenarios where a moving target crosses the vehicle.

[0038] The warning range of this invention embodiment can be set to a large warning range for vehicles, and can be applied to the above-mentioned various crossing scenarios. For example, the warning range can be composed of a certain safety distance set for each of the four sides of the vehicle. The safety distance can be set according to actual needs. For example, if you want to monitor the collision risk of the vehicle in time, you can set a larger safety distance, and there is no limitation on the four sides. It can be selected based on the actual application scenario. This is just an example.

[0039] Different warning ranges can be set according to the actual crossing scenario. For example, in scenario one, if the moving target crosses the vehicle from the left or right, a certain safety distance can be set directly behind the vehicle when it is parked or directly in front of the vehicle when it is parked, and then a certain safety distance can be set based on the left or right side of the vehicle. This is just an example. In scenario two, if the moving target crosses the vehicle directly in front or behind, a certain safety distance can be set directly in front of or behind the vehicle, and then a certain safety distance can be extended to the left and right based on the safety distance. This is just an example. In scenario three, if the moving target crosses the vehicle in parallel from both sides, a certain safety distance can be set for each side of the vehicle, and then a certain safety distance can be extended upwards and downwards based on the left and right safety distances. This is just an example.

[0040] In specific embodiments, such as Figure 3 As shown, when the moving target is a vehicle, the vehicle has four vertices A, B, C, and D, with coordinates P1, P2, P3, and P4. Based on the scenario where the moving target crosses the vehicle from the left or right, the warning range of the vehicle can be formed by the left side of the vehicle's boundary P3P4 and the top side of P1P4, or by the right side of the vehicle's boundary P1P2 and the top side of P1P4. When a moving target is crossing the vehicle from the left, as long as there is a moving target on the left side of the vehicle's boundary P3P4 and the top side of P1P4, it indicates that the moving target has entered the warning range. This is just an example.

[0041] like Figure 4As shown, in a scenario where a moving target crosses the road directly in front of or behind a vehicle, when the vehicle is parking and moving forward, the warning range can be extended left and right by a safe distance W1, and upwards by a safe distance L1, using points P2 and P3 as reference points, forming the warning range shown in the shaded area. For example, when the vehicle is parking and reversing, the warning range can be extended left and right by a safe distance W1, and downwards by a safe distance L1, using points P1 and P4 as reference points, forming the warning range shown in the shaded area. This can be represented by x. P3 -W1 <x A <x P4 +W1 and y P4 <y A <y P4 +L1 indicates that this is just an example, and the safety distances W1 and L1 are not limited.

[0042] like Figure 5 As shown, in a scenario where a moving target is traveling parallel to the sides of a vehicle, the warning range can be defined by extending the target vehicle P3 and P4 as reference points, with a safe distance L2 extending upwards and downwards, and a safe distance W2 extending to the left, forming the warning range shown in the shaded area. This can be represented by x. P4 -W2 <x A <x P4 and y P4 -L2 <y A <y P3 +L2 indicates, for example only.

[0043] In this embodiment of the invention, different warning ranges are set according to different cross-traffic scenarios. Based on the warning ranges set according to different actual cross-traffic scenarios, radar, cameras and other monitoring devices are used to determine whether a moving target enters any warning range.

[0044] Step S102: If at least one vertex of a moving target is detected to enter the warning range, determine the relative driving direction relationship between the moving target and the vehicle.

[0045] This invention embodiment can sequentially determine whether a moving target has entered the warning range corresponding to different traversing scenarios as set above. Multiple warning ranges have overlapping location ranges; for example, the warning range corresponding to scenario one and the warning range corresponding to scenario three both include the left or right side of the vehicle. For instance, when monitoring moving targets based on the warning range of scenario one, if it is determined that at least one vertex of the moving target has entered the warning range of scenario one, it may also be a moving target traversing parallel to the left or right side of the vehicle. Therefore, the relative positional relationship between the coordinates of the vertex of the moving target entering the warning range and the coordinates of the vehicle vertex closest to the vertex of the moving target can be determined based on any vertex of the vehicle as the coordinate system. For example, the coordinates of the vertex of the moving target... If the x-coordinate of the target and the nearest vehicle vertex changes significantly during travel, it can be determined that the moving target is crossing from the left or right side of the vehicle. If the y-coordinate of the target's vertex and the nearest vehicle's y-coordinate change significantly during travel, it can be determined that the moving target is crossing from the front or rear of the vehicle. If neither the x-coordinate nor the y-coordinate of the target's vertex and the nearest vehicle's vertex changes significantly, it can be determined that the moving target is crossing from both sides of the vehicle. This is just an example. The relative travel direction between the moving target and the vehicle can be determined. The above warning ranges also have their unique location ranges. When at least one vertex of the moving target enters the unique warning range of scenario one, it can be directly determined that the moving target is crossing from the left or right side of the vehicle. This is just an example.

[0046] In this embodiment of the invention, during the vehicle parking process, the relative speed, direction and relative coordinates of moving targets around the vehicle are first obtained. After determining the relative driving direction relationship between the moving target and the vehicle, it is then monitored whether any vertex of the moving target enters the corresponding warning range. For detailed description, please refer to the above embodiments, which will not be repeated here.

[0047] Step S103: Obtain the lateral relative velocity and longitudinal relative velocity corresponding to the first vertex of the moving target entering the warning range, and obtain the coordinates corresponding to the first vertex of the moving target and the coordinates of each vertex of the vehicle based on the vehicle's coordinate system.

[0048] In this embodiment of the invention, if any vertex of a moving target is detected to enter the warning range, the lateral and longitudinal relative velocities of the vertex of the moving target entering the warning range can be obtained through data acquisition devices such as speed and position sensors and radar installed on the vehicle. If multiple vertices of the moving target enter the warning range, the lateral and longitudinal relative velocities corresponding to the multiple vertices are obtained. A coordinate system can be established based on any vertex of the vehicle, the center point of the vehicle, or the center point of the rear axle of the vehicle as the origin, without limitation. In this embodiment of the invention, the P1 point of the vehicle is used as the origin of the coordinate system, which is only an example. The lateral and longitudinal coordinates of the vertex of the moving target entering the warning range and the coordinates of each vertex of the vehicle are obtained based on the P1 point as the origin. The type of the moving target can also be obtained, such as a four-wheeled vehicle, a motorcycle, a pedestrian, etc., without limitation, which is only an example.

[0049] Step S104: Based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle, calculate the time required for the vehicle to collide with the moving target.

[0050] This invention embodiment can calculate the time required for a collision between the vehicle and the moving target based on the aforementioned determined relative driving direction relationship between the moving target and the vehicle, the lateral and / or longitudinal relative velocities and coordinates of the vertices of the moving target entering the warning range, and the coordinates of each vertice of the vehicle. The method for calculating the collision time is not limited. For example, the relative distance between the moving target and the vehicle can be calculated based on the coordinates of the vertices of the moving target and the vehicle, the relative velocity between the two can be calculated based on the lateral and / or longitudinal relative velocities of the moving target's vertices and the vehicle's velocity, and the time required for a collision between the vehicle and the moving target can be calculated based on the relative distance and relative velocity. This is not limited and is only an example.

[0051] Step S105: If the time required for the vehicle to collide with the moving target is less than a preset collision time threshold, then control the vehicle to brake.

[0052] In this embodiment of the invention, after calculating the time required for a collision between a vehicle and a moving target, it can be compared with a pre-set collision time threshold. The collision time threshold can be calculated based on multiple experiments or pre-configured by the vehicle manufacturer, and is not limited to any particular threshold; it is merely an example. If the time required for a collision between a vehicle and a moving target is less than the set collision time threshold, it is determined that the vertex of the moving target entering the warning range has a collision risk with the vehicle. At this time, the vehicle controller sends a braking command to stop the vehicle and allow the moving target to pass. If multiple vertices of the moving target enter the warning range, the time required for each vertex to collide with the vehicle is calculated sequentially. As long as the time required for a collision with any vertex of the moving target is less than the collision time threshold, the collision risk flag is triggered, and the moving target is allowed to pass.

[0053] The vehicle parking control method provided by this invention, by setting a warning range, determines the relative driving direction relationship between the moving target and the vehicle when at least one vertex of a moving target is detected to enter the warning range, obtains the relative speed and coordinates of the first vertex of the moving target and the coordinates of each vertex of the vehicle, and calculates the time required for the vehicle to collide with the moving target based on the relative driving direction relationship between the moving target and the vehicle, the relative speed and coordinates of the first vertex of the moving target and the coordinates of each vertex of the vehicle, and controls the vehicle to brake based on the collision time required. It can monitor in real time whether there is a moving target that may collide with the vehicle during the parking process, and judge in real time whether there is a risk of collision between the moving target and the vehicle, and control the vehicle to give way to the moving target in time to avoid vehicle collision, thereby improving the safety of vehicle parking.

[0054] This embodiment provides a vehicle parking control method, which can be used in the aforementioned computer equipment. Figure 6 This is a flowchart of a vehicle parking control method according to an embodiment of the present invention, such as... Figure 6 As shown, the process includes the following steps:

[0055] Step S601: During the automatic parking process, monitor whether a moving target enters the preset warning range corresponding to the vehicle. For details, please refer to... Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0056] Step S602: If at least one vertex of a moving target is detected to enter the warning range, determine the relative driving direction relationship between the moving target and the vehicle. For details, please refer to [link to relevant documentation]. Figure 1 Step S102 of the illustrated embodiment will not be described again here.

[0057] Step S603: Obtain the lateral and longitudinal relative velocities corresponding to the first vertex of the moving target entering the warning range, and obtain the coordinates of the first vertex of the moving target and the coordinates of each vertex of the vehicle based on the vehicle's coordinate system. For details, please refer to [link to relevant documentation]. Figure 1 Step S103 of the illustrated embodiment will not be described again here.

[0058] Step S604: Based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle, calculate the time required for the vehicle to collide with the moving target.

[0059] Specifically, when the relative travel direction of the moving target and the vehicle is perpendicular, step S604 includes:

[0060] Step S6041: Calculate the relative velocity of the vertices of the moving target that have entered the warning range based on the lateral and longitudinal relative velocities of the first vertex of the moving target.

[0061] like Figure 3 As shown, if a moving target crosses the vehicle from the left, when the vehicle is parked, the second vertex is the vehicle's P4 vertex and the third vertex is the vehicle's P3 vertex. When the vehicle is parked, the second vertex is the vehicle's P3 vertex and the third vertex is the vehicle's P4 vertex. This is just an example. In this embodiment of the invention, when the vehicle is parked, if the moving target crosses the vehicle from the left, the second vertex is P4 and the third vertex is P3. When the vehicle is parked or the moving target crosses the vehicle from the right, the vertices are either vertically or horizontally mirrored.

[0062] This invention calculates the relative velocity of the vertices of a moving target entering the warning range using the following formula:

[0063]

[0064] Where V_a is the relative velocity of point A, and A is the vertex of the moving target entering the warning range; long_relative_v is the longitudinal relative velocity of the obstacle vehicle; and Lateral_relative_v is the lateral relative velocity of the obstacle vehicle.

[0065] Step S6042: Calculate the upper boundary of relative velocity based on the x and y coordinates of the third vertex, the preset first safety distance, and the x and y coordinates of the first vertex of the moving target. The third vertex is another vertex located on the same side of the vehicle as the second vertex.

[0066] like Figure 3 As shown, if a moving target crosses the vehicle from the left, when the vehicle exits, the second vertex is the vehicle's P4 vertex and the third vertex is the vehicle's P3 vertex. When the vehicle re-enters, the second vertex is the vehicle's P3 vertex and the third vertex is the vehicle's P4 vertex. This is just an example. The upper boundary of the relative velocity can be calculated using the following formula:

[0067]

[0068] Among them, Limit_up is the upper boundary of the relative speed; y p3 is the ordinate of the P3 vertex of the vehicle; L is a preset predicted safety distance, which can be set according to actual needs. For example, if you want to ensure the parking safety of the vehicle, a relatively large first safety distance can be set, and there is no limit; y A is the ordinate of point A; x P3 is the abscissa of the P3 vertex of the vehicle; x A is the abscissa of point A.

[0069] Step S6043: Calculate the lower boundary of the relative speed based on the abscissa and ordinate of the second vertex and the abscissa and ordinate of the vertex of the moving target entering the warning range.

[0070] As Figure 3 shown, the embodiment of the present invention calculates the lower boundary of the relative speed through the following steps:

[0071]

[0072] Among them, Limit_down is the lower boundary of the relative speed; y p4 is the ordinate of the P4 vertex of the vehicle; x P4 is the abscissa of the P4 vertex of the vehicle;

[0073] Step S6044: If the relative speed of the first vertex of the moving target is between the lower boundary and the upper boundary of the relative speed, obtain the abscissa and ordinate of the second vertex of the vehicle.

[0074] The second vertex is the tail vertex of the vehicle when it parks out or the head vertex of the vehicle when it parks in on the side of the vehicle where there is a moving target.

[0075] The embodiment of the present invention can judge the relationship between V_a and Limit_up, Limit_down. If Limit_down < V_a < Limit_up, the speed direction of the vertex A of the moving target is within the predicted range. As Figure 3 shown, the abscissa and ordinate of the second vertex of the vehicle, that is, the P4 point, can be obtained when the vehicle parks out.

[0076] When the relative driving direction of a moving target and a vehicle is perpendicular, this invention first calculates the upper and lower boundaries of the relative velocity based on the relative velocity of the apex of the moving target within the warning range, the coordinates of the vehicle's third and fourth apexes, and the vertical safety distance. Then, it compares the relative velocity of the moving target's apex with these upper and lower boundaries. Only when the relative velocity of the moving target's apex is before these boundaries is the collision time calculated. If the relative velocity of the moving target's apex is not between these boundaries, it directly indicates no collision risk between the moving target and the vehicle, eliminating the need to calculate the collision time and saving vehicle calculation time. This allows for more timely responses to situations involving suddenly appearing fast-moving targets, enabling timely braking or maintaining a parked state. Furthermore, this solution considers not only the relative velocity relationship between the vehicle's apex and the moving target's apex but also the time required for a collision, leading to a more accurate assessment of collision risk and improved parking safety.

[0077] Step S6045: Calculate the time required for the vehicle to collide with the moving target based on the x-coordinate of the first vertex of the moving target, the lateral relative velocity, and the x-coordinate of the second vertex.

[0078] The embodiments of the present invention can calculate the time required for a vehicle to collide with a moving target using the following formula:

[0079]

[0080] Where t is the time required for the vehicle to collide with the moving target.

[0081] Step S6046: If the relative velocity of the first vertex of the moving target is not between the lower boundary and the upper boundary of the relative velocity, then maintain the current parking operation state of the vehicle.

[0082] In this embodiment of the invention, if it is determined that V_a is less than or equal to Limit_down or greater than or equal to Limit_up, it means that the speed of the vertex of the moving target entering the warning range is not within the predicted range. In this case, the current parking operation state of the vehicle can be maintained, that is, the vehicle can be controlled to continue parking.

[0083] This invention calculates the collision time when the relative driving direction of the moving target and the vehicle is perpendicular. It is based on the relative speed and coordinates of the first vertex of the moving target entering the warning range, as well as the coordinates of the rear vertex of the vehicle when it exits or the front vertex when it enters the vehicle on the side with the moving target. The collision time can be calculated based on the corresponding vertex coordinates and relative speeds obtained for different relative driving directions of the moving target and the vehicle. Different coordinates and relative speeds are used for calculation based on different driving scenarios, making vehicle collision monitoring more targeted and improving the accuracy of detecting whether a vehicle has a collision risk.

[0084] Step S605: If the time required for the vehicle to collide with the moving target is less than a preset collision time threshold, then the vehicle is controlled to brake. For details, please refer to [link to relevant documentation]. Figure 1 Step S105 of the illustrated embodiment will not be described again here.

[0085] This embodiment provides a vehicle parking control method, which can be used in the aforementioned computer equipment. Figure 7 This is a flowchart of a vehicle parking control method according to an embodiment of the present invention, such as... Figure 7 As shown, the process includes the following steps:

[0086] Step S701: During the automatic parking process, monitor whether a moving target enters the preset warning range corresponding to the vehicle. For details, please refer to [link to relevant documentation]. Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0087] Step S702: If at least one vertex of a moving target is detected to enter the warning range, determine the relative driving direction relationship between the moving target and the vehicle. For details, please refer to [link to relevant documentation]. Figure 1 Step S102 of the illustrated embodiment will not be described again here.

[0088] Step S703: Obtain the lateral and longitudinal relative velocities corresponding to the first vertex of the moving target entering the warning range, and obtain the coordinates of the first vertex of the moving target and the coordinates of each vertex of the vehicle based on the vehicle's coordinate system. For details, please refer to [link to relevant documentation]. Figure 1 Step S103 of the illustrated embodiment will not be described again here.

[0089] Step S704: Based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle, calculate the time required for the vehicle to collide with the moving target.

[0090] Specifically, when the relative driving direction relationship between the moving target and the vehicle is that they are traveling towards each other, the above step S704 includes:

[0091] Step S7041: Obtain the ordinate of the fourth vertex of the vehicle. The fourth vertex is the front vertex of the vehicle when it leaves the side with the moving target or the rear vertex of the vehicle when it enters the parking space.

[0092] Step S7042: Based on the ordinate of the first vertex and the longitudinal relative velocity of the moving target, and the ordinate of the fourth vertex, calculate the time required for the vehicle to collide with the moving target.

[0093] like Figure 4 As shown, this embodiment of the invention takes a scenario where a moving target crosses the scene from the left front as the vehicle parks out. When the vehicle parks in, the rear and right sides are mirror images of the front and left sides. At this time, the moving target travels at a speed of V1. The longitudinal relative speed V_Ay, i.e., long_relative_v, of the moving target varies significantly relative to the vehicle, while the lateral relative speed is negligible. The longitudinal coordinate of the vehicle's point P3 can be obtained first. The time required for the collision between the vehicle and the moving target can then be calculated using the following formula:

[0094]

[0095] Step S705: If the time required for the vehicle to collide with the moving target is less than a preset collision time threshold, then the vehicle is controlled to brake. For details, please refer to [link to relevant documentation]. Figure 1 Step S105 of the illustrated embodiment will not be described again here.

[0096] This invention calculates based on different coordinates and relative speeds for different driving scenarios, making vehicle collision monitoring more targeted and improving the accuracy of detecting whether a vehicle has a collision risk.

[0097] This embodiment provides a vehicle parking control method, which can be used in the aforementioned computer equipment. Figure 8 This is a flowchart of a vehicle parking control method according to an embodiment of the present invention, such as... Figure 8 As shown, the process includes the following steps:

[0098] Step S801: Monitor the relative positional relationship between the rear axle center point of the vehicle and the target parking space.

[0099] Specifically, step S801 includes:

[0100] Step S8011: The center point of the rear axle forms a first triangle with the first parking angle and the third parking angle, forms a second triangle with the second parking angle and the fourth parking angle, and forms a third triangle with the third parking angle and the fourth parking angle.

[0101] Among them, the first parking space corner and the second parking space corner form an entrance for the vehicle to park in the target parking space. The third parking space corner and the first parking space corner are on the same side of the target parking space, and the fourth parking space corner and the second parking space corner are on the same side of the target parking space.

[0102] As Figure 9 shown, in the embodiment of the present invention, there are four parking space corners in the target parking space, which respectively correspond to the first parking space corner P01, the second parking space corner P11, the third parking space corner P21, and the fourth parking space corner P31. The center point of the rear axle of the vehicle can be represented by point O. A first triangle can be formed by the center point of the rear axle and the first parking space corner and the third parking space corner, which can be represented by △O - P01 - P21. A second triangle can be formed by the center point of the rear axle and the second parking space corner and the fourth parking space corner, which can be represented by △O - P11 - P31. A third triangle can be formed by the center point of the rear axle and the third parking space corner and the fourth parking space corner, which can be represented by △O - P21 - P31.

[0103] Step S8012, calculate the areas of the first triangle, the second triangle, and the third triangle, and perform an addition process to obtain the first area.

[0104] In the embodiment of the present invention, the areas of △O - P01 - P21, △O - P11 - P31, and △O - P21 - P31 are calculated respectively, and are denoted as S1, S2, and S3. Given the coordinates of the three points, the area can be obtained from the formula as follows:

[0105]

[0106] Among them, S represents the area of S1 or S2 or S3, x1, y1 represent the horizontal and vertical coordinates of the first point in the triangle, x2, y2 represent the horizontal and vertical coordinates of the second point in the triangle, and x3, y3 represent the horizontal and vertical coordinates of the third point in the triangle.

[0107] Then the first area can be represented by S1 + S2 + S3.

[0108] Step S8013, if the first area is greater than the total area of the target parking space, it is determined that the center point of the rear axle of the vehicle is outside the target parking space.

[0109] Step S8014, if the first area is not greater than the total area of the target parking space, it is determined that the center point of the rear axle of the vehicle is inside the target parking space.

[0110] In the embodiment of the present invention, the area of the target parking space can be obtained by adding the area S4 corresponding to △P01 - P21 - P31 and the area S5 corresponding to △P01 - P11 - P31, or can also be directly calculated based on the length and width of the target parking space, without limitation. When S1 + S2 + S3 > S4 + S5, the center point of the rear axle of the vehicle is outside the target parking space; when S1 + S2 + S3 < S4 + S5, the center point of the rear axle of the vehicle is inside the target parking space.

[0111] This invention can determine whether the rear axle center point is located outside the target parking space by forming triangles with the center point of the rear axle and the corners of each parking space of the target parking space, and by calculating and comparing the area of ​​each triangle with the area of ​​the target parking space. This can accurately monitor the relative positional relationship between the rear axle center point and the target parking space, thereby effectively improving the fault tolerance of the sensor.

[0112] Step S802: If the rear axle center point of the vehicle is detected to be inside the target parking space, the current parking operation state of the vehicle is maintained.

[0113] This invention monitors the relative position of the rear axle center point of the vehicle to the target parking space. It only executes the warning function to monitor whether a moving target has entered the vehicle's corresponding warning range when the rear axle center point is detected to be outside the target parking space. This can effectively avoid the sensor misdetecting stationary obstacles around the parking space as dynamic obstacles and triggering false braking, improve the fault tolerance of the sensor, increase the efficiency of vehicle parking, and improve the user experience.

[0114] In this embodiment of the invention, when a vehicle is reversing into a parking space, the dynamic target crossing warning decision is activated when the center point of the rear axle is outside the target parking space; and the dynamic target crossing warning decision is deactivated when the center point of the rear axle enters the parking space, thus maintaining the vehicle's current parking operation state.

[0115] Step S803: If the rear axle center point of the vehicle is detected to be outside the target parking space, during the automatic parking process, monitor whether a moving target enters the preset warning range corresponding to the vehicle. For details, please refer to... Figure 1 Step S101 of the illustrated embodiment will not be described again here.

[0116] Step S804: If at least one vertex of a moving target is detected to enter the warning range, determine the relative driving direction relationship between the moving target and the vehicle. For details, please refer to [link to relevant documentation]. Figure 1 Step S102 of the illustrated embodiment will not be described again here.

[0117] Step S805: Obtain the lateral and longitudinal relative velocities corresponding to the first vertex of the moving target entering the warning range, and obtain the coordinates of the first vertex of the moving target and the coordinates of each vertex of the vehicle based on the vehicle's coordinate system. For details, please refer to [link to relevant documentation]. Figure 1 Step S103 of the illustrated embodiment will not be described again here.

[0118] Step S806: Based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle, calculate the time required for the vehicle to collide with the moving target.

[0119] Specifically, when the relative driving directions of the moving target and the vehicle are parallel, step S806 includes:

[0120] Step S8061: Obtain the x-coordinate of the fifth vertex of the vehicle. The fifth vertex is the front vertex of the vehicle when it leaves the parking area on the side where the vehicle has a moving target, or the rear vertex of the vehicle when it enters the parking area.

[0121] Step S8062: Calculate the time required for the vehicle to collide with the moving target based on the x-coordinate and lateral relative velocity of the first vertex of the moving target and the x-coordinate of the fifth vertex.

[0122] like Figure 5 As shown in the example, this embodiment of the invention takes a scenario where a moving target crosses the vehicle's side parallel to its left as the vehicle parks out. When the vehicle parks in, the rear and right sides are mirror images of the front and left sides. At this time, the moving target travels at a speed of V1. The lateral relative velocity V_Ax of the moving target, i.e., lateral_relative_v, varies significantly relative to the vehicle. The x-coordinate of the vehicle's point P3 can be obtained first. The time required for the collision between the vehicle and the moving target can then be calculated using the following formula:

[0123]

[0124] Step S807: If the time required for the vehicle to collide with the moving target is less than a preset collision time threshold, then the vehicle is controlled to brake. For details, please refer to [link to relevant documentation]. Figure 1 Step S105 of the illustrated embodiment will not be described again here.

[0125] In this embodiment of the invention, when the vehicle is moving forward or turning forward, moving targets behind the rear of the vehicle are not considered; when the vehicle is reversing or turning backward, moving targets above the front of the vehicle are not considered, thus saving computation time and cost. This embodiment of the invention can sequentially judge according to scenario one, scenario two, and scenario three to see if any moving target enters the warning range. After detecting a moving target entering the warning range, it is determined whether the vehicle braking conditions are met. The vehicle braking conditions are as described in the above embodiment and will not be repeated here. If the vehicle braking conditions are met, the relevant flag position is 1; otherwise, the relevant flag position is 0.

[0126] This embodiment also provides a vehicle parking control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0127] This embodiment provides a vehicle parking control device, such as... Figure 10 As shown, the system includes: a moving target detection module 1001, used to monitor whether a moving target enters a preset warning range corresponding to the vehicle during automatic parking; a relative direction determination module 1002, used to determine the relative driving direction relationship between the moving target and the vehicle if at least one vertex of the moving target is detected to enter the warning range; a coordinate acquisition module 1003, used to acquire the lateral relative velocity and longitudinal relative velocity corresponding to the first vertex of the moving target entering the warning range, and to acquire the coordinates of the first vertex of the moving target and the coordinates of each vertex of the vehicle based on the vehicle's coordinate system; a collision time calculation module 1004, used to calculate the time required for the vehicle to collide with the moving target based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates of the first vertex of the moving target, and the coordinates of each vertex of the vehicle; and a vehicle control module 1005, used to control the vehicle to brake if the time required for the vehicle to collide with the moving target is less than a preset collision time threshold.

[0128] In some optional embodiments, when the relative driving direction relationship between the moving target and the vehicle is relatively perpendicular, the collision time calculation module 1004 includes: a second vertex coordinate acquisition unit, used to acquire the horizontal and vertical coordinates of the second vertex of the vehicle, wherein the second vertex is the rear vertex of the vehicle when it parks out on the side where the moving target is located, or the front vertex of the vehicle when it parks in; and a first collision time calculation unit, used to calculate the time required for the vehicle to collide with the moving target based on the horizontal coordinate of the first vertex of the moving target, the lateral relative velocity, and the horizontal coordinate of the second vertex.

[0129] In some optional implementations, the collision time calculation module 1004 includes: a relative speed calculation unit, used to calculate the relative speed of the vertex of the moving target entering the warning range based on the lateral and longitudinal relative speeds of the first vertex of the moving target; a speed upper boundary calculation unit, used to calculate the relative speed upper boundary based on the x and y coordinates of the third vertex, a preset first safety distance, and the x and y coordinates of the first vertex of the moving target, wherein the third vertex is another vertex located on the same side of the vehicle as the second vertex; a speed lower boundary calculation unit, used to calculate the relative speed lower boundary based on the x and y coordinates of the second vertex and the x and y coordinates of the vertex of the moving target entering the warning range; a speed comparison unit, used to perform the step of calculating the time required for the vehicle to collide with the moving target based on the x and y coordinates of the first vertex of the moving target, the lateral relative speed, and the x and y coordinates of the second vertex if the relative speed of the first vertex of the moving target is between the relative speed lower boundary and the relative speed upper boundary; and a parking maintenance unit, used to maintain the current parking operation state of the vehicle if the relative speed of the first vertex of the moving target is not between the relative speed lower boundary and the relative speed upper boundary.

[0130] In some optional implementations, when the relative driving direction relationship between the moving target and the vehicle is that they are traveling towards each other, the collision time calculation module 1004 includes: a fourth vertex coordinate acquisition unit, used to acquire the longitudinal coordinate of the fourth vertex of the vehicle, wherein the fourth vertex is the front vertex of the vehicle when it parks out on the side where the moving target is located, or the rear vertex of the vehicle when it parks in; and a second collision time calculation unit, based on the longitudinal coordinate of the first vertex of the moving target, the longitudinal relative velocity, and the longitudinal coordinate of the fourth vertex, used to calculate the time required for the vehicle to collide with the moving target.

[0131] In some optional implementations, when the relative driving direction relationship between the moving target and the vehicle is relatively parallel, the collision time calculation module 1004 includes: a fifth vertex coordinate acquisition unit, used to acquire the abscissa of the fifth vertex of the vehicle, wherein the fifth vertex is the front vertex of the vehicle when it parks out on the side where the moving target is located, or the rear vertex of the vehicle when it parks in; and a third collision time calculation unit, used to calculate the time required for the vehicle to collide with the moving target based on the abscissa of the first vertex of the moving target, the lateral relative velocity, and the abscissa of the fifth vertex.

[0132] In some optional implementations, the vehicle parking control device includes: a position relationship monitoring module for monitoring the relative position relationship between the rear axle center point of the vehicle and the target parking space; a step execution module for executing the step of monitoring whether a moving target has entered the preset warning range corresponding to the vehicle if the rear axle center point of the vehicle is detected to be outside the target parking space; or, a parking state maintenance module for maintaining the current parking operation state of the vehicle if the rear axle center point of the vehicle is detected to be inside the target parking space.

[0133] In some optional implementations, the positional relationship monitoring module includes: a triangle construction unit, used to form a first triangle with the rear axle center point, a first parking space angle, and a third parking space angle; a second triangle with the second parking space angle and a fourth parking space angle; and a third triangle with the third parking space angle and the fourth parking space angle. The first and second parking space angles constitute the entrance for the vehicle to park in the target parking space. The third and first parking space angles are located on the same side of the target parking space as the first and fourth parking space angles. The fourth and second parking space angles are located on the same side of the target parking space as the second. An area calculation unit is used to calculate the areas of the first, second, and third triangles and sum them to obtain a first area. An area comparison unit is used to determine that the rear axle center point of the vehicle is located outside the target parking space if the first area is greater than the total area of ​​the target parking space. An area comparison unit is used to determine that the rear axle center point of the vehicle is located inside the target parking space if the first area is not greater than the total area of ​​the target parking space.

[0134] Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0135] In this embodiment, the vehicle parking control device is presented in the form of a functional unit. Here, a unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0136] This invention also provides a computer device having the above-described features. Figure 10 The vehicle parking control device shown.

[0137] Please see Figure 11 , Figure 11 This is a schematic diagram of the structure of a computer device provided in an optional embodiment of the present invention, such as... Figure 11As shown, the computer device includes one or more processors 10, memory 20, and interfaces for connecting the components, including high-speed interfaces and low-speed interfaces. The components communicate with each other via different buses and can be mounted on a common motherboard or otherwise installed as needed. The processors can process instructions executed within the computer device, including instructions stored in or on memory to display graphical information of a GUI on external input / output devices (such as display devices coupled to the interfaces). In some alternative implementations, multiple processors and / or multiple buses can be used with multiple memories and multiple memory modules, if desired. Similarly, multiple computer devices can be connected, each providing some of the necessary operations (e.g., as a server array, a group of blade servers, or a multiprocessor system). Figure 11 Take a processor 10 as an example.

[0138] Processor 10 may be a central processing unit, a network processor, or a combination thereof. Processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The programmable logic device may be a complex programmable logic device (CAMP), a field-programmable gate array (FPGA), a general-purpose array logic (GDA), or any combination thereof.

[0139] The memory 20 stores instructions executable by at least one processor 10 to cause the at least one processor 10 to perform the method shown in the above embodiments.

[0140] The memory 20 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the computer device. Furthermore, the memory 20 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some alternative embodiments, the memory 20 may optionally include memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0141] The memory 20 may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as flash memory, hard disk or solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0142] The computer device also includes an input device 30 and an output device 40. The processor 10, memory 20, input device 30, and output device 40 can be connected via a bus or other means. Figure 11 Taking the example of a connection between China and Israel via a bus.

[0143] Input device 30 can receive input numerical or character information, and generate signal inputs related to user settings and function control of the computer device, such as a touchscreen, keypad, mouse, trackpad, touchpad, joystick, one or more mouse buttons, trackball, joystick, etc. Output device 40 may include display devices, auxiliary lighting devices (e.g., LEDs), and haptic feedback devices (e.g., vibration motors). The aforementioned display devices include, but are not limited to, liquid crystal displays, light-emitting diodes, displays, and plasma displays. In some alternative embodiments, the display device may be a touchscreen.

[0144] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code, which, when accessed and executed by the computer, processor, or hardware, implements the methods shown in the above embodiments.

[0145] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A vehicle parking control method, characterized in that, The method includes: During the automatic parking process, monitor whether any moving targets enter the vehicle's preset warning range; If at least one vertex of a moving target is detected to enter the warning range, the relative driving direction relationship between the moving target and the vehicle is determined; The lateral relative velocity and longitudinal relative velocity of the first vertex of the moving target entering the warning range are obtained, and the coordinates of the first vertex of the moving target and the coordinates of each vertex of the vehicle are obtained based on the vehicle's coordinate system. Based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle, the time required for the vehicle to collide with the moving target is calculated. If the time required for the vehicle to collide with the moving target is less than a preset collision time threshold, the vehicle will be controlled to brake.

2. The method of claim 1, wherein, When the relative driving direction relationship between the moving target and the vehicle is relatively perpendicular, the calculation of the time required for the collision between the vehicle and the moving target based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle includes: Obtain the x-coordinate and y-coordinate of the vehicle's second vertex, which is the rear vertex of the vehicle when it leaves the side with the moving target or the front vertex of the vehicle when it enters the parking area. The time required for the vehicle to collide with the moving target is calculated based on the x-coordinate of the first vertex of the moving target, the lateral relative velocity, and the x-coordinate of the second vertex.

3. The method of claim 2, wherein, Before calculating the time required for a collision between the vehicle and the moving target based on the x-coordinate of the first vertex of the moving target, the lateral relative velocity, and the x-coordinate of the second vertex, the method further includes: The relative velocities of the vertices of the moving target entering the warning range are calculated based on the lateral and longitudinal relative velocities of the first vertex of the moving target. The upper boundary of relative velocity is calculated based on the x and y coordinates of the third vertex, the preset first safety distance, and the x and y coordinates of the first vertex of the moving target. The third vertex is another vertex located on the same side of the vehicle as the second vertex. The lower boundary of relative velocity is calculated based on the x and y coordinates of the second vertex and the x and y coordinates of the vertex of the moving target that has entered the warning range. If the relative velocity of the first vertex of the moving target is between the lower boundary and the upper boundary of the relative velocity, then the step of calculating the time required for the vehicle to collide with the moving target based on the x-coordinate of the first vertex of the moving target, the lateral relative velocity, and the x-coordinate of the second vertex is performed. If the relative velocity of the first vertex of the moving target is not between the lower and upper boundaries of the relative velocity, the current parking operation state of the vehicle is maintained.

4. The method of claim 1, wherein, When the relative driving direction relationship between the moving target and the vehicle is that they are traveling towards each other, the calculation of the time required for the collision between the vehicle and the moving target based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle includes: Obtain the ordinate of the fourth vertex of the vehicle, where the fourth vertex is the front vertex of the vehicle when it leaves the side with the moving target or the rear vertex of the vehicle when it enters the parking area. The time required for the vehicle to collide with the moving target is calculated based on the ordinate of the first vertex of the moving target, the longitudinal relative velocity, and the ordinate of the fourth vertex.

5. The method of claim 1, wherein, When the relative driving directions of the moving target and the vehicle are parallel, the calculation of the time required for a collision between the vehicle and the moving target, based on the relative driving directions of the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle, includes: Obtain the x-coordinate of the fifth vertex of the vehicle, where the fifth vertex is the front vertex of the vehicle when it leaves the parking area on the side where the vehicle has a moving target, or the rear vertex of the vehicle when it enters the parking area. The time required for the vehicle to collide with the moving target is calculated based on the x-coordinate and lateral relative velocity of the first vertex of the moving target and the x-coordinate of the fifth vertex.

6. The method according to any one of claims 1 to 5, characterized in that, Before monitoring whether a moving target enters the preset warning range corresponding to the vehicle, the method further includes: Monitor the relative position of the rear axle center point of the vehicle to the target parking space; If the rear axle center point of the vehicle is detected to be outside the target parking space, the step of monitoring whether a moving target has entered the preset warning range corresponding to the vehicle is executed. Alternatively, if the rear axle center point of the vehicle is detected to be inside the target parking space, the vehicle's current parking status will be maintained.

7. The method of claim 6, wherein, The relative positional relationship between the rear axle center point of the monitored vehicle and the target parking space includes: The center point of the rear axle forms a first triangle with the first parking angle and the third parking angle, a second triangle with the second parking angle and the fourth parking angle, and a third triangle with the third parking angle and the fourth parking angle. The first parking angle and the second parking angle form the entrance for the vehicle to park in the target parking space. The third parking angle and the first parking angle are located on the same side of the target parking space, and the fourth parking angle and the second parking angle are located on the same side of the target parking space. Calculate the areas of the first triangle, the second triangle, and the third triangle, and sum them to obtain the first area; If the first area is greater than the total area of ​​the target parking space, then the rear axle center point of the vehicle is determined to be outside the target parking space; If the first area is not greater than the total area of ​​the target parking space, then the rear axle center point of the vehicle is determined to be located inside the target parking space.

8. A vehicle parking control device characterized by comprising: The device includes: The moving target detection module is used to monitor whether a moving target enters the preset warning range corresponding to the vehicle during the automatic parking process. The relative direction determination module is used to determine the relative driving direction relationship between the moving target and the vehicle if at least one vertex of a moving target is detected to enter the warning range. The coordinate acquisition module is used to acquire the lateral relative velocity and longitudinal relative velocity corresponding to the first vertex of the moving target entering the warning range, and to acquire the coordinates of the first vertex of the moving target and the coordinates of each vertex of the vehicle based on the vehicle's coordinate system. The collision time calculation module is used to calculate the time required for the vehicle to collide with the moving target based on the relative driving direction relationship between the moving target and the vehicle, the lateral relative velocity and / or longitudinal relative velocity corresponding to the first vertex of the moving target, the coordinates corresponding to the first vertex of the moving target, and the coordinates of each vertex of the vehicle. The vehicle control module is used to control the vehicle to brake if the time required for the vehicle to collide with the moving target is less than a preset collision time threshold.

9. A computer device, comprising: include: A memory and a processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the vehicle parking control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to perform the vehicle parking control method according to any one of claims 1 to 7.

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