Limiting device detection method, parking method, device, medium, equipment and vehicle

Abstract

The present disclosure relates to a limiting device detection method, a parking method, a device, a medium, an equipment and a vehicle. The limiting device detection method comprises: for each of a plurality of stages of a vehicle parking process, obtaining detection information of the limiting device, wherein the limiting device is detected in different ways in at least two stages respectively; and determining the position of the limiting device according to the detection information obtained in the parking process. In this way, suitable detection methods can be adopted according to the characteristics of different stages. Moreover, the position of the limiting device is updated after the detection method is changed in the parking process, so that the updated position of the detected limiting device is more accurate, thereby making the parking more reliable.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicle control, in particular, to a limiting device detection method, a parking method, a device, a medium, an equipment and a vehicle. BACKGROUND

[0002] In recent years, vehicle automatic driving technology has developed rapidly, and more and more new vehicles are equipped with automatic parking functions. The mainstream automatic parking system on the market can detect information such as parking spaces and obstacles in the parking spaces, determine whether the parking space is available, and plan a parking path according to the available parking space selected by the driver, and control the vehicle to park to the target position according to the path trajectory.

[0003] Automatic parking trajectory planning relies on the position information of the limiting device in the parking space, and the target parking position and the parking path are determined according to the position information of the limiting device. If the target parking position is at the rear, it will cause the tire to repeatedly collide with the limiting device when the vehicle is parked, and the driving experience is poor. In severe cases, the vehicle will cross the limiting device and collide with the rear vehicle or obstacle, so it is very important to accurately detect the position of the limiting device in the parking space. SUMMARY

[0004] The purpose of the present disclosure is to provide a method, a parking method, a device, a medium, an equipment and a vehicle capable of quickly and accurately detecting a limiting device.

[0005] In order to achieve the above-mentioned purpose, the present disclosure provides a limiting device detection method, which comprises:

[0006] For each of a plurality of stages of a vehicle parking process, detection information of the limiting device is obtained, wherein the limiting device is detected in different ways in at least two stages;

[0007] The position of the limiting device is determined according to the detection information obtained during the parking process.

[0008] Optionally, the plurality of stages include a parking space search stage, a vehicle parking-in stage and a target approach stage; the limiting device is detected by a side-view camera of the vehicle in the parking space search stage; the limiting device is detected by a rear-view camera of the vehicle in the vehicle parking-in stage; and the limiting device is detected by a rear radar of the vehicle in the target approach stage.

[0009] Optionally, the position of the limiting device is determined according to the detection information obtained during the parking process, comprising:

[0010] In the parking space search stage, the position of the limiting device is determined according to the first detection information, and the first detection information is the detection information obtained from the side-view camera.

[0011] In the vehicle parking-in stage, the position of the limiting device is determined according to the first detection information and second detection information, the second detection information being detection information obtained from the rear-view camera;

[0012] In the approaching target stage, the position of the limiting device is determined according to the first detection information, the second detection information and third detection information, the third detection information being detection information obtained from the rear radar.

[0013] Optionally, the determining of the position of the limiting device according to the first detection information comprises: determining the position of the limiting device according to effective detection information in the first detection information, the effective detection information being detection information when the two end points of the limiting device are simultaneously detected by the side-view camera;

[0014] The determining of the position of the limiting device according to the first detection information and the second detection information comprises: in a case where the position of the limiting device can be determined according to the second detection information, determining the position of the limiting device according to the second detection information; in a case where the position of the limiting device cannot be determined according to the second detection information, determining the position of the limiting device according to the first detection information;

[0015] The determining of the position of the limiting device according to the first detection information, the second detection information and the third detection information comprises: in a case where the position of the limiting device can be determined according to the second detection information, determining the position of the limiting device according to the second detection information; in a case where the position of the limiting device cannot be determined according to the second detection information, determining the position of the limiting device according to the first detection information; in a case where the position of the limiting device cannot be determined according to the first detection information and the second detection information, determining the position of the limiting device according to the third detection information.

[0016] Optionally, the parking process enters the approaching target stage if the following conditions are met:

[0017] dy < dy1; dx < dx1; dθ < dθ1

[0018] wherein dy is a longitudinal distance between the position of the vehicle and the target position of the parking path, dx is a lateral distance between the position of the vehicle and the target position of the parking path, dθ is an included angle between the longitudinal axis of the vehicle and the longitudinal axis of the parking space, dy1 is a predetermined first longitudinal distance threshold, dx1 is a predetermined first lateral distance threshold, and dθ1 is a predetermined first included angle threshold.

[0019] Optionally, the method further comprises:

[0020] If the parking process enters the target approach phase, the threshold parameter of the rear radar is modified so that the minimum obstacle height that the rear radar can detect is reduced to a predetermined height threshold.

[0021] This disclosure also provides a parking method, the method comprising:

[0022] According to the detection method provided in this disclosure, the position of the limit device in the parking space is detected during the vehicle parking process;

[0023] Plan the parking path according to the position of the limiting device;

[0024] The vehicle is controlled to park according to the planned parking path.

[0025] Optionally, the method further includes:

[0026] During the parking process, the system determines whether the vehicle has collided with the limiting device based on the vehicle's current speed and the variance of the vehicle's longitudinal acceleration.

[0027] If it is determined that the vehicle has collided with the limiting device, the parking path will be replanned.

[0028] Optionally, determining whether the vehicle has collided with the limiting device based on the vehicle's current speed and the variance of the vehicle's longitudinal acceleration includes:

[0029] The vehicle is determined to have collided with the limiting device if the following conditions are met:

[0030] dy<dy2; dx<dx2; dθ<dθ2; Ay_var>A0; V>V0

[0031] Wherein, dy is the longitudinal distance between the vehicle's position and the target position of the parking path, dx is the lateral distance between the vehicle's position and the target position of the parking path; dθ is the angle between the vehicle's longitudinal axis and the parking space's longitudinal axis; Ay_var is the variance of the vehicle's longitudinal acceleration, where multiple longitudinal accelerations of the vehicle obtained within the most recent predetermined time period are used as all samples, V is the vehicle's current speed, dy2 is a predetermined second longitudinal distance threshold, dx2 is a predetermined second lateral distance threshold, dθ2 is a predetermined second angle threshold, A0 is a predetermined first variance threshold, and V0 is a predetermined speed threshold, V0 > 0, where the vehicle speed is positive in the forward direction of the vehicle.

[0032] Optionally, the method further includes:

[0033] In the vehicle parking process, whether the vehicle has crossed the limiting device is determined according to the vehicle speed, the variance of the roll angle speed of the vehicle.

[0034] If it is determined that the vehicle has crossed the limiting device, the vehicle brake is controlled to end parking.

[0035] Optionally, the determination of whether the vehicle has crossed the limiting device according to the vehicle speed and the variance of the roll angle speed of the vehicle comprises:

[0036] If the following conditions are met, it is determined that the vehicle has crossed the limiting device:

[0037] dy < dy2; dx < dx2; dθ < dθ2; AngRate x var > AngRate0; V < 0

[0038] Wherein, dy is the longitudinal distance between the position of the vehicle and the target position of the parking path, dx is the lateral distance between the position of the vehicle and the target position of the parking path; dθ is the included angle between the longitudinal axis of the vehicle and the longitudinal axis of the parking space; AngRate x var is the variance of the roll angle speed of the vehicle, wherein a plurality of roll angle speeds of the vehicle obtained within a predetermined time period are taken as all samples, V is the current speed of the vehicle, wherein the speed is positive in the forward direction of the vehicle, dy2 is a predetermined second longitudinal distance threshold, dx2 is a predetermined second lateral distance threshold, dθ2 is a predetermined second included angle threshold, and AngRate0 is a predetermined second variance threshold.

[0039] The present disclosure also provides a limiting device detection device, which comprises:

[0040] An acquisition module is configured to acquire detection information of the limiting device for each of a plurality of stages of a vehicle parking process, wherein the limiting device is detected in different ways in at least two stages respectively;

[0041] A determination module is configured to determine the position of the limiting device according to the detection information acquired in the parking process.

[0042] The present disclosure also provides a parking device, which comprises:

[0043] A detection module is configured to detect the position of the limiting device in a parking space in a vehicle parking process according to the detection method provided by the present disclosure;

[0044] A planning module is configured to plan a parking path according to the position of the limiting device;

[0045] A first control module is configured to control the vehicle to park according to the planned parking path.

[0046] The present disclosure also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the detection method provided by the present disclosure, or implements the steps of the parking method provided by the present disclosure.

[0047] The present disclosure also provides an electronic device comprising:

[0048] a memory having stored thereon a computer program;

[0049] a processor configured to execute the computer program in the memory to implement the steps of the detection method provided by the present disclosure, or implement the steps of the parking method provided by the present disclosure.

[0050] The present disclosure also provides a vehicle comprising a processor configured to implement the steps of the limit device detection method provided by the present disclosure, or implement the steps of the parking method provided by the present disclosure.

[0051] By the above technical solution, in at least two of the multiple stages of the vehicle parking process, different ways are used to detect the limit device respectively, and the detection information of the limit device is obtained. In this way, suitable detection methods can be taken according to the scene characteristics of different stages. Moreover, the position of the limit device is updated after the detection method is changed in the parking process, so that the position of the limit device detected is more accurate, thereby making the parking more reliable.

[0052] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0053] The accompanying drawings are included to provide a further understanding of the present disclosure and constitute a part of the specification, and are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation of the present disclosure. In the drawings:

[0054] Figure 1 FIG. 1 is a flowchart of a limit device detection method provided by an exemplary embodiment.

[0055] Figure 2 FIG. 2 is a scene schematic diagram of a parking space search stage provided by an exemplary embodiment.

[0056] Figure 3 FIG. 3 is a scene schematic diagram of a vehicle parking-in stage provided by an exemplary embodiment.

[0057] Figure 4 FIG. 4 is a scene schematic diagram of a target approaching stage provided by an exemplary embodiment.

[0058] Figure 5FIG. 1 is a flowchart of a parking method provided by an example embodiment.

[0059] Figure 6 FIG. 2 is a block diagram of a limit device detection device provided by an example embodiment.

[0060] Figure 7 FIG. 3 is a block diagram of a parking device provided by an example embodiment.

[0061] Figure 8 FIG. 4 is a block diagram of an electronic device according to an example embodiment. DETAILED DESCRIPTION

[0062] The specific embodiments of the present disclosure will be described below in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely intended to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0063] It should be noted that all actions of acquiring signals, information or data in the present disclosure are performed in compliance with the corresponding data protection regulations and policies of the country where the device is located, and with the authorization of the corresponding device owner.

[0064] In the present disclosure, unless otherwise stated, the orientation words such as "front", "rear", "transverse", "longitudinal" are generally relative to the direction when the vehicle is normally running.

[0065] The present disclosure provides a limit device detection method. Figure 1 FIG. 1 is a flowchart of a limit device detection method provided by an example embodiment. As shown in FIG. 1, the method includes steps S101-S102. Figure 1

[0066] In step S101, detection information of the limit device is acquired for each of a plurality of stages of a parking process of the vehicle, wherein the limit device is detected in different ways in at least two stages.

[0067] In step S102, the position of the limit device is determined according to the detection information acquired in the parking process.

[0068] The parking process can be divided into multiple stages according to different vehicle poses (relative to the parking space), vehicle speed direction, gear position, etc. The detection of the position of the limit device is performed in each stage. The detection methods can include side-view camera detection, rear-view camera detection, radar detection, etc. One or more methods can be used for detection in each stage.

[0069] ​At least two stages have different detection manners. In the two stages, if multiple detection manners are used respectively, at least one detection manner is different. For example, in the first stage, a side-view camera detection and radar detection fusion manner is used, and in the second stage, a radar detection manner is used. Therefore, in the first stage and the second stage, there is a difference in the side-view camera detection manner, and thus different manners are used to detect the limiting device in the first stage and the second stage.

[0070] According to the detection information obtained in the parking process, the position of the limiting device is determined. If multiple manners are used for detection, the position of the limiting device can be determined through data fusion.

[0071] According to the technical solution, in at least two stages of the vehicle parking process, different manners are used to detect the limiting device, and detection information of the limiting device is obtained. In this way, suitable detection manners can be adopted according to the scene characteristics of different stages. Moreover, the position of the limiting device is updated after the detection manner is changed in the parking process, so that the position of the limiting device detected is more accurate, and thus the parking is more reliable.

[0072] In yet another embodiment, the multiple stages include a parking space searching stage, a vehicle parking-in stage, and a target approaching stage. The parking space searching stage can be a stage when the vehicle is driving on a driving lane and searching for a parking space, in which the vehicle longitudinal direction can be perpendicular or parallel to the longitudinal direction of the parking space. The vehicle parking-in stage can be a stage from when the vehicle starts to turn from the driving lane to a predetermined distance from the target parking position. The target approaching stage can be a stage from when the vehicle is at a predetermined distance from the target parking position to when the vehicle reaches the target parking position.

[0073] In the parking space searching stage, the limiting device is detected by the side-view camera of the vehicle; in the vehicle parking-in stage, the limiting device is detected by the rear-view camera of the vehicle; and in the target approaching stage, the limiting device is detected by the rear radar of the vehicle.

[0074] Figure 2 FIG. 1 is a schematic diagram of a scene of the parking space searching stage provided by an example embodiment. As shown in FIG. 1, the vehicle is driving on a driving lane, and the vehicle longitudinal direction is parallel to the longitudinal direction of the parking space. Figure 2The vehicle can detect the limit device 1 by the side-view camera installed on the side of the vehicle when the vehicle is driving on the lane. The angle of the sector can represent the angle range that the side-view camera can detect. The coordinates of the limit device detected by the side-view camera can be converted from the vehicle coordinate system X'O'Y' to the coordinates in the global coordinate system XOY, and the coordinate information is stored. The mean value of the limit device coordinates stored for the parkable space can be calculated. When the driver selects the parkable space as the target parking space, the mean value is taken as the input of the automatic parking trajectory planning, and the target parking position 2 and the parking path are calculated. The target parking position 2 can be the target position reached by the midpoint of the rear wheels of the vehicle.

[0075] Figure 3 The figure is a schematic diagram of the vehicle parking-in stage provided by the example embodiment. When the vehicle turns from the lane and backs into the parking space, the limit device 1 can be detected by the rear-view camera installed at the back of the vehicle. The coordinates of the limit device detected by the rear-view camera can be converted from the vehicle coordinate system X'O'Y' to the coordinates in the global coordinate system XOY, and the coordinate information is stored. The mean value of the limit device coordinates stored for the parkable space can be calculated. When the position information detected by the rear-view camera can determine the position of the limit device, the position of the limit device is updated (the position of the limit device is calculated by using the limit device position information detected by the rear-view camera, or the position of the limit device is calculated by using the fusion of the position information detected by the side-view camera and the rear-view camera), which is taken as the input of the automatic parking trajectory planning, and the target parking position 2 and the parking path are recalculated to update the target parking position 2 and the parking path in real time.

[0076] Figure 4 The figure is a schematic diagram of the approach target stage provided by the example embodiment. From the time when the vehicle is at a predetermined distance from the target parking position to the time when the vehicle reaches the target parking position, the position of the limit device detected by the rear radar of the vehicle can be taken as the input of the automatic parking trajectory planning, and the target parking position 2 and the parking path are recalculated. The coordinates of the limit device detected by the rear radar can be converted from the vehicle coordinate system X'O'Y' to the coordinates in the global coordinate system XOY, and the coordinate information is stored. The mean value of the limit device coordinates stored for the parkable space can be calculated. When the position information detected by the rear-view camera can determine the position of the limit device, the position of the limit device is updated (the position of the limit device is calculated by using the limit device position information detected by the rear radar, or the position of the limit device is calculated by using the fusion of the position information detected by the rear radar, the side-view camera and the rear-view camera), which is taken as the input of the automatic parking trajectory planning, and the target parking position 2 and the parking path are recalculated to update the target parking position 2 and the parking path in real time.

[0077] For example, when the vehicle gear is in reverse, the vehicle parking process starts from the parking space searching stage, and enters the vehicle parking-in stage when the longitudinal distance between the vehicle and the target parking position reaches a predetermined distance threshold (e.g., 1.5 m), and enters the approaching target stage from the vehicle parking-in stage.

[0078] In this embodiment, the vehicle parking process is divided into the above three stages, and different position detection methods are applied to the three stages respectively, so that the updated target parking position and parking path are more accurate, and the parking reliability is high.

[0079] In yet another embodiment, the position of the limiting device is determined according to the detection information obtained during the parking process, comprising:

[0080] In the parking space searching stage, the position of the limiting device is determined according to the first detection information, and the first detection information is the detection information obtained from the side-view camera.

[0081] In the vehicle parking-in stage, the position of the limiting device is determined according to the first detection information and the second detection information, and the second detection information is the detection information obtained from the rear-view camera.

[0082] In the approaching target stage, the position of the limiting device is determined according to the first detection information, the second detection information and the third detection information, and the third detection information is the detection information obtained from the rear radar.

[0083] In the parking space searching stage, the vehicle drives on the driving lane, and the parking space is located at the side of the vehicle, so the first detection information obtained by the side-view camera of the vehicle can be used to determine the position of the limiting device.

[0084] In the vehicle parking-in stage, the vehicle turns from the driving lane and backs into the parking space, and during the backing, the second detection information can be obtained by the rear-view camera installed at the rear of the vehicle, and the first detection information has been obtained by the side-view camera of the vehicle in the parking space searching stage, so the first detection information and the second detection information can be fused, or only the second detection information is used to determine the position of the limiting device.

[0085] In the approaching target stage, the third detection information can be obtained by the rear radar of the vehicle, the first detection information has been obtained by the side-view camera of the vehicle in the parking space searching stage, and the second detection information has been obtained by the rear-view camera of the vehicle in the vehicle parking-in stage, so the first detection information, the second detection information and the third detection information can be fused, or only the third detection information is used to determine the position of the limiting device.

[0086] In the embodiment, the position of the limiting device is determined by fusing the detection information obtained by one or more of the side-view camera, the rear-view camera and the rear radar in three stages, so that the position detection of the limiting device is more accurate, and the parking is more reliable.

[0087] In another embodiment, the position of the limiting device is determined according to the first detection information, including: determining the position of the limiting device according to the effective detection information in the first detection information, the effective detection information being the detection information when the two end points of the limiting device are simultaneously detected by the side-view camera.

[0088] In the parking space searching stage, the vehicle drives on the driving lane, and the parking space is located at the side of the vehicle. When the side-view camera is used for detection, the two end points of the limiting device cannot be simultaneously detected at times (for example, a vehicle blocks, or one end point enters the field of view of the camera first). In the case of vehicle blocking, if the two end points of the limiting device can be simultaneously detected by the side-view camera, it can be considered that the side-view camera is basically opposite to the limiting device, and the vehicle is close to the parking space, so the detection accuracy of the camera is high. In the case of no vehicle blocking, if the two end points of the limiting device can be simultaneously detected by the side-view camera, it can also be considered that the vehicle is close to the parking space. The position of the limiting device can be determined according to these effective information. The neural network and visual machine learning in the related art can be used to determine whether the two end points of the limiting device can be simultaneously detected.

[0089] In the embodiment, more accurate detection data can be screened out, the data processing amount is reduced, and accurate positioning is facilitated.

[0090] In another embodiment, the position of the limiting device is determined according to the first detection information and the second detection information, including: in the case that the position of the limiting device can be determined according to the second detection information, the position of the limiting device is determined according to the second detection information; in the case that the position of the limiting device cannot be determined according to the second detection information, the position of the limiting device is determined according to the first detection information.

[0091] That is, in the vehicle parking-in stage, the position of the limiting device is determined according to the detection information (second detection information) obtained from the rear-view camera, and in the case that the first detection information and the second detection information are both effective (the position of the limiting device can be determined), the position determined by the second detection information is selected as the finally determined position. In the case that the second detection information is invalid, the position determined by the first detection information is selected as the finally determined position. This is because, in the vehicle parking-in stage, the vehicle is closer to the limiting device, and the detection information obtained by the rear-view camera is more accurate.

[0092] In yet another embodiment, the position of the limiting device is determined according to the first detection information, the second detection information and the third detection information, comprising: in the case that the position of the limiting device can be determined according to the second detection information, determining the position of the limiting device according to the second detection information; in the case that the position of the limiting device cannot be determined according to the second detection information, determining the position of the limiting device according to the first detection information; in the case that the position of the limiting device cannot be determined according to the first detection information and the second detection information, determining the position of the limiting device according to the third detection information.

[0093] That is, in the approaching target stage, the position of the limiting device is determined according to the detection information (third detection information) obtained from the rear radar, and if the first detection information, the second detection information and the third detection information are all valid (the position of the limiting device can be determined), the position determined by the second detection information is selected as the final determined position. In the case that the second detection information is invalid, the position determined by the first detection information is selected as the final determined position.

[0094] In this embodiment, there are multiple optional detection information in the same stage, and the final position of the limiting device is determined according to the priority of the detection information, so that more accurate detection information can be screened out, and the position of the limiting device determined is more accurate.

[0095] In yet another embodiment, if the following conditions are met, the parking process enters the approaching target stage:

[0096] dy < dy1; dx < dx1; dθ < dθ1 (1)

[0097] Wherein, dy is the longitudinal distance between the position of the vehicle and the target position of the parking path, dx is the lateral distance between the position of the vehicle and the target position of the parking path; dθ is the included angle between the longitudinal axis of the vehicle and the longitudinal axis of the parking space; dy1 is a predetermined first longitudinal distance threshold, dx1 is a predetermined first lateral distance threshold, and dθ1 is a predetermined first included angle threshold.

[0098] If the above formula (1) is met, it can be considered that the vehicle has approached the target position of the parking path, and this state can be determined as the condition for determining the vehicle from the parking-in stage and the approaching target stage. dy1, dx1 and dθ1 can be obtained in advance according to experiments or experience.

[0099] In this embodiment, a simple and reliable method for dividing stages is provided, and a suitable scenario for switching detection methods is provided.

[0100] In the foregoing embodiment, the rear radar can be a dedicated radar capable of detecting lower height obstacles. In yet another embodiment, the method further comprises: if the parking process enters the approaching target stage, modifying the threshold parameter of the rear radar so that the minimum obstacle height that can be detected by the rear radar is lowered to a predetermined height threshold.

[0101] That is, the existing rear radar of the vehicle can be used for other purposes when not parking, and in the approaching target stage of parking, the existing rear radar of the vehicle can be reused by modifying the threshold parameter of the rear radar. The threshold parameter of the rear radar can be modified to match the height of the limiting device, for example, the minimum obstacle height that can be detected is lowered from 30 cm to 5 cm (a predetermined height threshold).

[0102] In this embodiment, the space of the vehicle is saved by reusing the rear radar of the vehicle.

[0103] Based on the same inventive concept, the disclosure also provides a parking method. Figure 5 is a flowchart of the parking method provided by an exemplary embodiment. As shown in Figure 5 , the method comprises the following steps.

[0104] In step S201, the position of the limiting device in the parking space is detected during the parking process of the vehicle according to the detection method provided by the disclosure.

[0105] In step S202, the parking path is planned according to the position of the limiting device.

[0106] In step S203, the vehicle is controlled to park according to the planned parking path.

[0107] In each stage of parking, the position of the limiting device is updated in real time, and the parking path is planned according to the updated position. Since the detected position of the limiting device is updated more accurately, the parking is more reliable.

[0108] In yet another embodiment, the method further comprises: during the parking process of the vehicle, determining whether the vehicle hits the limiting device according to the current speed of the vehicle and the variance of the longitudinal acceleration of the vehicle; if it is determined that the vehicle hits the limiting device, re-planning the parking path.

[0109] If the position of the limiting device is not accurate, the parking path is not planned accurately, and if the target position of parking is behind, the vehicle may hit the limiting device. Whether the vehicle hits the limiting device can be determined according to the speed and the variance of the longitudinal acceleration. On the one hand, the vehicle will rebound after hitting the limiting device, and the direction of the speed will change from backward to forward. On the other hand, the variance of the longitudinal acceleration of the vehicle reflects the mutation of the longitudinal acceleration of the vehicle, which can be used to determine whether the vehicle hits the limiting device.

[0110] In this embodiment, whether the vehicle has hit the limiting device is determined by the vehicle speed and the variance of the vehicle longitudinal acceleration, which is simple and fast in data processing.

[0111] In another embodiment, whether the vehicle has hit the limiting device is determined according to the current vehicle speed, the variance of the vehicle longitudinal acceleration, including: if the following conditions are met, it is determined that the vehicle has hit the limiting device:

[0112] dy < dy2; dx < dx2; dθ < dθ2; Ay_var > A0; V > V0 (2)

[0113] Wherein, dy is the longitudinal distance between the position of the vehicle and the target position of the parking path, dx is the lateral distance between the position of the vehicle and the target position of the parking path; dθ is the included angle between the longitudinal axis of the vehicle and the longitudinal axis of the parking space; Ay_var is the variance of the longitudinal acceleration of the vehicle, wherein the plurality of longitudinal accelerations of the vehicle obtained within the predetermined time length are taken as all samples; V is the current vehicle speed, dy2 is a predetermined second longitudinal distance threshold; dx2 is a predetermined second lateral distance threshold; dθ2 is a predetermined second included angle threshold; A0 is a predetermined first variance threshold; V0 is a predetermined vehicle speed threshold; V0 > 0, wherein the vehicle speed is positive in the forward direction.

[0114] For Ay_var, for example, 200ms can be taken as the predetermined time length, and the vehicle longitudinal acceleration is obtained every 10ms, so there are 20 samples of longitudinal acceleration. If the vehicle has hit the limiting device, the longitudinal acceleration of the vehicle will have a large mutation, and the variance of the sample will exceed the predetermined first variance threshold. The first variance threshold can be obtained according to experiments or experience.

[0115] And V > V0, it can be considered that the vehicle has a forward speed, combined with Ay_var > A0, and according to dy < dy2; dx < dx2; dθ < dθ2, it is determined that the vehicle is very close to the target position, and it can be determined that the vehicle has hit the limiting device.

[0116] dy2, dx2, dθ2, V0 can be obtained according to experiments or experience. For example, dy2 = 0.4m, dx2 = 0.3m, dθ2 = 0.1 rad.

[0117] In this embodiment, whether the vehicle has hit the limiting device is determined by simple threshold comparison, which is simple, fast in data processing, and good in accuracy.

[0118] In yet another embodiment, the method further comprises: determining whether the vehicle has crossed the limiting device according to the vehicle speed and the variance of the roll angle speed of the vehicle during the parking process of the vehicle; and controlling the vehicle to brake to end the parking if it is determined that the vehicle has crossed the limiting device.

[0119] If the limiting device is not positioned accurately, the parking path planning is inaccurate, and if the vehicle speed is fast and the target position of the parking is at the rear, the vehicle may cross the limiting device. The vehicle speed and the variance of the roll angle speed of the vehicle can be used to determine whether the vehicle has crossed the limiting device. On the one hand, the direction of the vehicle speed is rearward after crossing the limiting device, and on the other hand, the variance of the roll angle speed of the vehicle reflects the mutation of the roll angle speed of the vehicle, which can be used to determine whether the vehicle has crossed the limiting device.

[0120] In yet another embodiment, determining whether the vehicle has crossed the limiting device according to the vehicle speed and the variance of the roll angle speed of the vehicle comprises: determining that the vehicle has crossed the limiting device if the following conditions are met:

[0121] dy < dy2; dx < dx2; dθ < dθ2; AngRate x var > AngRate0; V < 0 (3)

[0122] wherein dy is the longitudinal distance between the position of the vehicle and the target position of the parking path, dx is the lateral distance between the position of the vehicle and the target position of the parking path, dθ is the included angle between the longitudinal axis of the vehicle and the longitudinal axis of the parking space, AngRate x var is the variance of the roll angle speed of the vehicle, wherein a plurality of roll angle speeds of the vehicle obtained within a predetermined time length are used as all samples, V is the current vehicle speed, wherein the vehicle speed is positive in the forward direction of the vehicle, dy2 is a predetermined second longitudinal distance threshold, dx2 is a predetermined second lateral distance threshold, dθ2 is a predetermined second included angle threshold, and AngRate0 is a predetermined second variance threshold.

[0123] For AngRate x var, for example, 200 ms can be used as the predetermined time length, and the roll angle speed of the vehicle is obtained every 10 ms, so there are 20 samples of the roll angle speed. If the vehicle has crossed the limiting device, the roll angle speed of the vehicle will have a large mutation, and the variance of the sample will exceed the predetermined second variance threshold. The second variance threshold can be obtained according to experiments or experience.

[0124] In addition, V < 0, which can be considered as the vehicle having a rearward speed, in combination with AngRate x var > AngRate0, and according to dy < dy2; dx < dx2; dθ < dθ2, it is determined that the vehicle is close to the target position, and it can be determined that the vehicle has crossed the limiting device.

[0125] In the embodiment, whether the vehicle crosses the limiting device is determined by simple threshold comparison, the method is simple, the data processing speed is fast, and the accuracy is good.

[0126] The present disclosure also provides a limiting device detection device. Figure 6 Fig. 1 is a block diagram of a limiting device detection device provided by an example embodiment. As shown in the figure, the limiting device detection device 300 includes: Figure 6

[0127] The acquisition module 301 is configured to acquire detection information of the limiting device for each of a plurality of stages of a vehicle parking process, wherein the limiting device is detected in different ways in at least two stages.

[0128] The determination module 302 is configured to determine the position of the limiting device according to the detection information acquired in the parking process.

[0129] Optionally, the plurality of stages include a parking space searching stage, a vehicle parking-in stage, and a target approaching stage; the limiting device is detected by a side-view camera of the vehicle in the parking space searching stage; the limiting device is detected by a rear-view camera of the vehicle in the vehicle parking-in stage; and the limiting device is detected by a rear radar of the vehicle in the target approaching stage.

[0130] Optionally, the determination module 302 includes a first determination sub-module, a second determination sub-module, and a third determination sub-module.

[0131] The first determination sub-module is configured to determine the position of the limiting device according to first detection information in the parking space searching stage, the first detection information being detection information acquired from the side-view camera.

[0132] The second determination sub-module is configured to determine the position of the limiting device according to the first detection information and second detection information in the vehicle parking-in stage, the second detection information being detection information acquired from the rear-view camera.

[0133] The third determination sub-module is configured to determine the position of the limiting device according to the first detection information, the second detection information, and third detection information in the target approaching stage, the third detection information being detection information acquired from the rear radar.

[0134] Optionally, the first determination sub-module is further configured to determine the position of the limiting device according to effective detection information in the first detection information, the effective detection information being detection information when the side-view camera simultaneously detects two end points of the limiting device.

[0135] ​The second determining sub-module is further configured to: in a case where the position of the limiting device can be determined according to the second detection information, determine the position of the limiting device according to the second detection information; in a case where the position of the limiting device cannot be determined according to the second detection information, determine the position of the limiting device according to the first detection information.

[0136] The third determining sub-module is further configured to: in a case where the position of the limiting device can be determined according to the second detection information, determine the position of the limiting device according to the second detection information; in a case where the position of the limiting device cannot be determined according to the second detection information, determine the position of the limiting device according to the first detection information; in a case where the position of the limiting device cannot be determined according to the first detection information and the second detection information, determine the position of the limiting device according to the third detection information.

[0137] Optionally, if the following conditions are met, the parking process enters the approaching target stage:

[0138] dy < dy1; dx < dx1; dθ < dθ1

[0139] wherein dy is a longitudinal distance between the position of the vehicle and the target position of the parking path, dx is a lateral distance between the position of the vehicle and the target position of the parking path, dθ is an included angle between the longitudinal axis of the vehicle and the longitudinal axis of the parking space, dy1 is a predetermined first longitudinal distance threshold, dx1 is a predetermined first lateral distance threshold, and dθ1 is a predetermined first included angle threshold.

[0140] Optionally, the limiting device detection device 300 further comprises a modifying module.

[0141] The modifying module is configured to, if the parking process enters the approaching target stage, modify the threshold parameter of the rear radar so that the minimum obstacle height that can be detected by the rear radar is reduced to a predetermined height threshold.

[0142] As to the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments related to the method, and will not be described in detail here.

[0143] By the above technical solutions, in at least two stages of the vehicle parking process, the limiting device is detected in different ways to obtain detection information of the limiting device. In this way, suitable detection methods can be adopted according to the characteristics of different stages. Moreover, the position of the limiting device is updated after the detection method is changed during the parking process, so that the position of the limiting device is updated more accurately, thereby making the parking more reliable.

[0144] The present disclosure also provides a parking device. Figure 7 is a block diagram of a parking device provided by an example embodiment. As shown in Figure 7As shown, the parking device 400 comprises a detection module 401, a planning module 402 and a first control module 403.

[0145] The detection module 401 is configured to detect the position of the limiting device in the parking space during the parking process of the vehicle according to the detection method provided in the present disclosure.

[0146] The planning module 402 is configured to plan a parking path according to the position of the limiting device.

[0147] The first control module 403 is configured to control the vehicle to park according to the planned parking path.

[0148] Optionally, the parking device 400 further comprises a first judgment module and a re-planning module.

[0149] The first judgment module is configured to determine whether the vehicle has collided with the limiting device according to the current speed of the vehicle and the variance of the longitudinal acceleration of the vehicle during the parking process of the vehicle.

[0150] The re-planning module is configured to re-plan the parking path if it is determined that the vehicle has collided with the limiting device.

[0151] Optionally, the first judgment module is further configured to determine that the vehicle has collided with the limiting device if the following conditions are met:

[0152] dy < dy2; dx < dx2; dθ < dθ2; Ay_var > A0; V > V0

[0153] wherein dy is the longitudinal distance between the position of the vehicle and the target position of the parking path, dx is the lateral distance between the position of the vehicle and the target position of the parking path; dθ is the included angle between the longitudinal axis of the vehicle and the longitudinal axis of the parking space; Ay_var is the variance of the longitudinal acceleration of the vehicle, wherein the plurality of longitudinal accelerations of the vehicle obtained within the predetermined time length are taken as all samples, V is the current speed of the vehicle, dy2 is a predetermined second longitudinal distance threshold, dx2 is a predetermined second lateral distance threshold, dθ2 is a predetermined second included angle threshold, A0 is a predetermined first variance threshold, V0 is a predetermined speed threshold, and V0 > 0, wherein the speed is positive in the forward direction of the vehicle.

[0154] Optionally, the parking device 400 further comprises a second judgment module and a second control module.

[0155] The second judgment module is configured to determine whether the vehicle has crossed the limiting device according to the speed of the vehicle and the variance of the roll angular velocity of the vehicle during the parking process of the vehicle.

[0156] The second control module is configured to control the vehicle to brake to end the parking if it is determined that the vehicle has crossed the limiting device.

[0157] Optionally, the second judging module is further configured to determine that the vehicle has crossed the limiting device if the following conditions are met:

[0158] dy < dy2; dx < dx2; dθ < dθ2; AngRate x_var > AngRate0; V < 0

[0159] wherein dy is a longitudinal distance between the position of the vehicle and the target position of the parking path, dx is a lateral distance between the position of the vehicle and the target position of the parking path; dθ is an included angle between the longitudinal axis of the vehicle and the longitudinal axis of the parking space; AngRate x_var is a variance of the roll angle speed of the vehicle, wherein a plurality of roll angle speeds of the vehicle obtained within a predetermined time length are taken as all samples, V is a current speed of the vehicle, wherein the speed is positive in the forward direction of the vehicle, dy2 is a second predetermined longitudinal distance threshold, dx2 is a second predetermined lateral distance threshold, dθ2 is a second predetermined included angle threshold, and AngRate0 is a second predetermined variance threshold.

[0160] As to the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments of the method, and will not be described in detail here.

[0161] By the above technical solutions, the position of the limiting device is updated after the detection mode is changed during the parking process, so that the position of the limiting device detected is more accurate, and thus the parking is more reliable.

[0162] The present disclosure also provides a non-transitory computer readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the detection method provided by the present disclosure, or implements the steps of the parking method provided by the present disclosure.

[0163] The present disclosure also provides an electronic device, comprising:

[0164] a memory having a computer program stored thereon;

[0165] a processor configured to execute the computer program in the memory to implement the steps of the detection method provided by the present disclosure, or implement the steps of the parking method provided by the present disclosure.

[0166] The present disclosure also provides a vehicle comprising a processor configured to execute the steps of the limiting device detection method provided by the present disclosure, or execute the steps of the parking method provided by the present disclosure.

[0167] Figure 8 is a block diagram of an example embodiment of an electronic device 700. As shown in FIG. 7, the electronic device 700 includes a processor 710, a memory 720, and a communication interface 730. Figure 8As shown, the electronic device 700 can include a processor 701, a memory 702. The electronic device 700 can further include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0168] The processor 701 is configured to control overall operations of the electronic device 700 to complete all or part of the steps of the limit device detection method or the parking method described above. The memory 702 is configured to store various types of data to support operations of the electronic device 700, which can include, for example, instructions for operating any application or method on the electronic device 700, and application-related data, such as contact data, sent and received messages, pictures, audio, video, and the like. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic storage, a flash memory, a magnetic disk, or an optical disk. The multimedia component 703 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 702 or transmitted through the communication component 705. The audio component further includes at least one speaker configured to output audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 705 is configured to perform wired or wireless communication between the electronic device 700 and other devices. The wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, and the like, or a combination of one or more of them, is not limited herein. Therefore, the communication component 705 can include, for example, a Wi-Fi module, a Bluetooth module, an NFC module, and the like.

[0169] In an exemplary embodiment, the electronic device 700 can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements for performing the above-described limit device detection method or parking method.

[0170] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the above-described limit device detection method or parking method. For example, the computer-readable storage medium can be the above-described memory 702 including program instructions, which can be executed by the processor 701 of the electronic device 700 to complete the above-described limit device detection method or parking method.

[0171] In another exemplary embodiment, a computer program product is also provided, which contains a computer program capable of being executed by a programmable device, and the computer program has code portions for executing the above-described limit device detection method or parking method when executed by the programmable device.

[0172] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details of the above-described embodiments. Within the technical concept range of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0173] In addition, it should be noted that each specific technical feature described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again in the present disclosure.

[0174] Furthermore, any combination of the various different embodiments of the present disclosure can also be made, as long as it does not deviate from the idea of the present disclosure, and it should also be considered as disclosed by the present disclosure.

Claims

1. A method for detecting a limiting device, characterized in that, The method includes: For each of the multiple stages of the vehicle parking process, the detection information of the limiting device is obtained, wherein the limiting device is detected in different ways in at least two stages; The position of the limiting device is determined based on the detection information obtained during the parking process; The multiple stages include a parking space search stage, a vehicle parking stage, and a target approach stage; in the parking space search stage, the limiting device is detected by the vehicle's side-view camera; in the vehicle parking stage, the limiting device is detected by the vehicle's rear-view camera; and in the target approach stage, the limiting device is detected by the vehicle's rear-mounted radar.

2. The method according to claim 1, characterized in that, Determining the position of the limiting device based on detection information obtained during parking includes: During the parking space search phase, the position of the limiting device is determined based on the first detection information, which is the detection information obtained from the side-view camera. During the vehicle parking phase, the position of the limiting device is determined based on the first detection information and the second detection information, wherein the second detection information is the detection information obtained from the rearview camera; During the approach phase, the position of the limiting device is determined based on the first detection information, the second detection information, and the third detection information, wherein the third detection information is the detection information obtained from the rear radar.

3. The method according to claim 2, characterized in that, Determining the position of the limiting device based on the first detection information includes: determining the position of the limiting device based on the valid detection information in the first detection information, wherein the valid detection information is the detection information when the side-view camera simultaneously detects both ends of the limiting device; Determining the position of the limiting device based on the first detection information and the second detection information includes: determining the position of the limiting device based on the second detection information when the position of the limiting device can be determined based on the second detection information; and determining the position of the limiting device based on the first detection information when the position of the limiting device cannot be determined based on the second detection information. Determining the position of the limiting device based on the first detection information, the second detection information, and the third detection information includes: determining the position of the limiting device based on the second detection information if the position of the limiting device can be determined based on the second detection information; determining the position of the limiting device based on the first detection information if the position of the limiting device cannot be determined based on the second detection information; and determining the position of the limiting device based on the third detection information if the position of the limiting device cannot be determined based on either the first or the second detection information.

4. The method according to claim 2, characterized in that, The parking process enters the approach-to-target phase if the following conditions are met: dy<dy1; dx<dx1; dθ<dθ1 Wherein, dy is the longitudinal distance between the vehicle's position and the target position of the parking path, dx is the lateral distance between the vehicle's position and the target position of the parking path; dθ is the angle between the longitudinal axis of the vehicle and the longitudinal axis of the parking space; dy1 is a predetermined first longitudinal distance threshold, dx1 is a predetermined first lateral distance threshold, and dθ1 is a predetermined first angle threshold.

5. The method according to claim 4, characterized in that, The method further includes: If the parking process enters the target approach phase, the threshold parameter of the rear radar is modified so that the minimum obstacle height that the rear radar can detect is reduced to a predetermined height threshold.

6. A parking method, characterized in that, The method includes: The detection method according to any one of claims 1 to 5 detects the position of the limiting device in the parking space during vehicle parking. Plan the parking path according to the position of the limiting device; The vehicle is controlled to park according to the planned parking path.

7. The method according to claim 6, characterized in that, The method further includes: During the parking process, the system determines whether the vehicle has collided with the limiting device based on the vehicle's current speed and the variance of the vehicle's longitudinal acceleration. If it is determined that the vehicle has collided with the limiting device, the parking path will be replanned.

8. The method according to claim 7, characterized in that, The step of determining whether the vehicle has collided with the limiting device based on the vehicle's current speed and the variance of the vehicle's longitudinal acceleration includes: The vehicle is determined to have collided with the limiting device if the following conditions are met: dy<dy2; dx<dx2; dθ<dθ2; Ay_var>A0; V>V0 Wherein, dy is the longitudinal distance between the vehicle's position and the target position of the parking path, dx is the lateral distance between the vehicle's position and the target position of the parking path; dθ is the angle between the vehicle's longitudinal axis and the parking space's longitudinal axis; Ay_var is the variance of the vehicle's longitudinal acceleration, where multiple longitudinal accelerations of the vehicle obtained within the most recent predetermined time period are used as all samples, V is the vehicle's current speed, dy2 is a predetermined second longitudinal distance threshold, dx2 is a predetermined second lateral distance threshold, dθ2 is a predetermined second angle threshold, A0 is a predetermined first variance threshold, and V0 is a predetermined speed threshold, V0 > 0, where the vehicle speed is positive in the forward direction of the vehicle.

9. The method according to claim 6, characterized in that, The method further includes: During the parking process, the vehicle speed and the variance of the vehicle's roll rate are used to determine whether the vehicle has passed the limit device. If it is determined that the vehicle has crossed the limit device, the vehicle is controlled to brake to end the parking process.

10. The method according to claim 9, characterized in that, The step of determining whether the vehicle has passed the limit device based on the vehicle speed and the variance of the vehicle's roll rate includes: The vehicle is determined to have passed the limiting device if the following conditions are met: dy<dy2; dx<dx2; dθ<dθ2; AngRatex_var>AngRate0; V<0 Wherein, dy is the longitudinal distance between the vehicle's position and the target position of the parking path, dx is the lateral distance between the vehicle's position and the target position of the parking path; dθ is the angle between the vehicle's longitudinal axis and the parking space's longitudinal axis; AngRatex_var is the variance of the vehicle's roll rate, where multiple roll rates of the vehicle obtained within the most recent predetermined time period are used as all samples; V is the vehicle's current speed, where the vehicle speed is positive in the forward direction; dy2 is a predetermined second longitudinal distance threshold; dx2 is a predetermined second lateral distance threshold; dθ2 is a predetermined second angle threshold; and AngRate0 is a predetermined second variance threshold.

11. A limit device detection device, characterized in that, The device includes: The acquisition module is used to acquire detection information of the limiting device for each of the multiple stages of the vehicle parking process, wherein the limiting device is detected in different ways in at least two stages. The determining module is used to determine the position of the limiting device based on the detection information obtained during the parking process; The multiple stages include a parking space search stage, a vehicle parking stage, and a target approach stage; in the parking space search stage, the limiting device is detected by the vehicle's side-view camera; in the vehicle parking stage, the limiting device is detected by the vehicle's rear-view camera; and in the target approach stage, the limiting device is detected by the vehicle's rear-mounted radar.

12. A parking device, characterized in that, The device includes: The detection module is used to detect the position of the limiting device in the parking space during the vehicle parking process according to the detection method of any one of claims 1 to 5. The planning module is used to plan a parking path based on the position of the limiting device; The first control module is used to control the vehicle to park according to the planned parking path.

13. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method described in any one of claims 1 to 10.

14. An electronic device, characterized in that, include: A memory on which computer programs are stored; A processor for executing the computer program in the memory to implement the steps of the method according to any one of claims 1 to 10.

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