An automatic parking control method and device

Abstract

The application discloses an automatic parking control method and device, wherein the automatic parking control method comprises the following steps: acquiring position relationship data of a target parking space and a host vehicle; judging whether the host vehicle has entered a approaching area of the target parking space according to the acquired position relationship data of the target parking space and the host vehicle; if it is judged that the host vehicle has entered the approaching area of the target parking space, reducing a judgment parameter threshold of the host vehicle pressing an obstacle; otherwise, increasing the judgment parameter threshold of the host vehicle pressing the obstacle. The application can make the traditional obstacle crossing control method be simply deformed, without occupying too many computing resources, so as to cover more scenes, reduce the safety risks caused by parking interruption or error crossing of a limiter due to misjudgment of pressing the obstacle. Meanwhile, compared with the traditional automatic parking control method, the host vehicle can be more quickly and less impactfully judged to press the limiter, so that the parking comfort is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent connected vehicles, and particularly relates to an automatic parking control method and an automatic parking system. Background Art

[0002] Automated Parking Assist (APA) is an advanced driver assistance system that automatically detects parking spaces and, upon user confirmation, controls the vehicle's drive, braking, steering, and gear selection to automatically park the vehicle in the user-selected space. While APA can reduce parking costs, it can also encounter limitations that can prevent the system from completing successfully, reducing the user experience and even posing safety risks. Obstacle avoidance is one such limitation.

[0003] Traditional automatic parking system obstacle control methods typically compare the driving force applied by the system to the vehicle's motion feedback (such as acceleration / speed / distance traveled), and calibrate it with actual vehicle parameters. This approach does not incorporate other information such as perception. For example, parking aisles often have speed bumps. When the automatic parking system controls the vehicle's path, it must navigate over these speed bumps. Parking spaces also often have limiters. When the automatic parking system controls the vehicle to park in a space and is about to fully enter or when the wheels have hit the limiter, the vehicle must stop and must not cross the limiter.

[0004] After careful calibration on actual vehicles, this method can meet requirements in more common scenarios. However, it cannot accurately classify obstacles. As a result, the fixed judgment parameter thresholds calibrated for clearing and avoiding specific obstacles may lead to incorrect judgments in some situations with complex conditions, resulting in the failure of the automatic parking function to complete successfully, and even posing a safety risk. For example, if the parking space is located on an uphill path along an aisle, parking requires going uphill and over a speed bump, but the automatic parking system may mistakenly identify the presence of a speed limiter on the path, resulting in parking interruption. In another example, if the speed limiter is damaged and its height is lower than normal, the automatic parking system may mistakenly identify it as a speed bump, causing the vehicle to pass over the speed limiter, posing a risk of collision with the vehicle behind, the parking lot wall, or even pedestrians behind the vehicle. Summary of the Invention

[0005] The technical problem to be solved by the embodiments of the present invention is to provide an automatic parking control method and device to reduce the misjudgment of obstacles during the automatic parking process and improve parking safety.

[0006] To solve the above technical problems, the present invention provides an automatic parking control method, comprising:

[0007] Obtain the position relationship data between the target parking space and the vehicle;

[0008] Determine whether the vehicle has entered the approach area of ​​the target parking space based on the acquired position relationship data between the target parking space and the vehicle;

[0009] If it is determined that the vehicle has entered the approach area of ​​the target parking space, the threshold value of the judgment parameter for whether the vehicle has pressed against an obstacle is lowered; otherwise, the threshold value of the judgment parameter for whether the vehicle has pressed against an obstacle is increased.

[0010] Furthermore, the position relationship data between the target parking space and the vehicle includes: the angle between the target parking space and the current position of the vehicle, the longitudinal distance between the target parking space and the current position of the vehicle, and the lateral distance between the target parking space and the current position of the vehicle.

[0011] Furthermore, the step of determining whether the vehicle has entered the approaching area of ​​the target parking space based on the acquired positional relationship data between the target parking space and the vehicle is as follows:

[0012] When both:

[0013] The angle between the target parking space and the vehicle's current position is less than or equal to the angle threshold for approaching parking;

[0014] The longitudinal distance between the target parking space and the vehicle's current position is less than or equal to the longitudinal distance threshold for approaching parking;

[0015] The lateral distance between the target parking space and the vehicle's current position is less than or equal to the lateral distance threshold for approaching parking;

[0016] It is determined that the vehicle has entered the approaching area of ​​the target parking space; otherwise, it is determined that the vehicle has not entered the approaching area of ​​the target parking space.

[0017] Furthermore, if it is determined that the vehicle has entered the approach area of ​​the target parking space, the judgment parameter threshold for the vehicle pressing against an obstacle is lowered. Specifically, the judgment parameter threshold for the vehicle pressing against an obstacle is multiplied by a first adjustment coefficient to obtain a new judgment parameter threshold; the first adjustment coefficient is less than 1.

[0018] Furthermore, if it is determined that the vehicle has not entered the approach area of ​​the target parking space, the judgment parameter threshold for whether the vehicle has pressed against an obstacle is increased. Specifically, the judgment parameter threshold for whether the vehicle has pressed against an obstacle is multiplied by a second adjustment coefficient to serve as a new judgment parameter threshold; the second adjustment coefficient is greater than 1.

[0019] The present invention also provides an automatic parking control device, comprising:

[0020] An acquisition module is used to obtain the position relationship data between the target parking space and the vehicle;

[0021] A judgment module is used to judge whether the vehicle has entered the approach area of ​​the target parking space based on the acquired position relationship data between the target parking space and the vehicle;

[0022] The adjustment module is used to lower the judgment parameter threshold of the vehicle hitting the obstacle when it is determined that the vehicle has entered the approach area of ​​the target parking space; otherwise, it is used to increase the judgment parameter threshold of the vehicle hitting the obstacle.

[0023] Furthermore, the position relationship data between the target parking space and the vehicle includes: the angle between the target parking space and the current position of the vehicle, the longitudinal distance between the target parking space and the current position of the vehicle, and the lateral distance between the target parking space and the current position of the vehicle.

[0024] Furthermore, the judgment module is specifically used to:

[0025] When both:

[0026] The angle between the target parking space and the vehicle's current position is less than or equal to the angle threshold for approaching parking;

[0027] The longitudinal distance between the target parking space and the vehicle's current position is less than or equal to the longitudinal distance threshold for approaching parking;

[0028] The lateral distance between the target parking space and the vehicle's current position is less than or equal to the lateral distance threshold for approaching parking;

[0029] It is determined that the vehicle has entered the approaching area of ​​the target parking space; otherwise, it is determined that the vehicle has not entered the approaching area of ​​the target parking space.

[0030] Furthermore, when the adjustment module determines that the vehicle has entered the approach area of ​​the target parking space, it lowers the judgment parameter threshold of the vehicle pressing against the obstacle. Specifically, the judgment parameter threshold of the vehicle pressing against the obstacle is multiplied by a first adjustment coefficient as the new judgment parameter threshold; the first adjustment coefficient is less than 1.

[0031] Furthermore, when the adjustment module determines that the vehicle has not entered the approach area of ​​the target parking space, it increases the judgment parameter threshold of the vehicle pressing against the obstacle. Specifically, the judgment parameter threshold of the vehicle pressing against the obstacle is multiplied by a second adjustment coefficient as the new judgment parameter threshold; the second adjustment coefficient is greater than 1.

[0032] The implementation of this invention has the following beneficial effects: it allows traditional obstacle avoidance control methods to be modified through simple means, covering more scenarios without consuming excessive computing resources, and reducing the safety risks associated with parking interruptions caused by misjudgment of hitting an obstacle or mistakenly crossing a stopper. Furthermore, compared to traditional automatic parking control methods, it can detect stopper hitting more quickly and with less impact, thereby improving parking comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 1 is a flow chart of an automatic parking control method according to an embodiment of the present invention.

[0035] Figure 2 Schematic diagram of the positional relationship between the target parking space and the vehicle in an embodiment of the present invention.

[0036] Figure 3 2 is a schematic diagram of adjusting the threshold value of the judgment parameter for determining whether the vehicle has pressed against an obstacle in an embodiment of the present invention.

[0037] Figure 4 3 is a schematic diagram comparing parking control when the vehicle presses the limiter according to the embodiment of the present invention and the traditional method. DETAILED DESCRIPTION

[0038] The following descriptions of the embodiments refer to the accompanying drawings to illustrate specific embodiments in which the present invention may be implemented.

[0039] Please refer to Figure 1 As shown, the first embodiment of the present invention provides an automatic parking control method, including:

[0040] Obtain the position relationship data between the target parking space and the vehicle;

[0041] Determine whether the vehicle has entered the approach area of ​​the target parking space based on the acquired position relationship data between the target parking space and the vehicle;

[0042] If it is determined that the vehicle has entered the approach area of ​​the target parking space, the threshold value of the judgment parameter for whether the vehicle has pressed against an obstacle is lowered; otherwise, the threshold value of the judgment parameter for whether the vehicle has pressed against an obstacle is increased.

[0043] As can be seen from the above, the embodiments of the present invention combine the perception and planning control information of the automatic parking system to determine whether the vehicle has entered the approach area of ​​the target parking space. Based on the judgment result, the fixed judgment parameter threshold in the original obstacle collision judgment method based on vehicle dynamics is changed to a parameter threshold that changes according to whether the vehicle has entered the approach area of ​​the target parking space, bringing higher scenario adaptability to the traditional obstacle control method.

[0044] Specifically, if Figure 2 As shown, the position relationship data between the target parking space and the vehicle includes:

[0045] (1) The angle α between the target parking space and the current position of the vehicle: that is, the longitudinal axis of the vehicle (X veh ) and the length axis of the target parking space (X slot )

[0046] (2) The longitudinal distance D between the target parking space and the vehicle's current position x : The longitudinal distance between the center of the vehicle's rear and the center of the end of the target parking space;

[0047] (3) The lateral distance D between the target parking space and the current position of the vehicle y : That is, the horizontal distance between the center of the rear of the vehicle and the center of the end of the target parking space.

[0048] At the same time, in this embodiment, the three parking proximity thresholds for determining whether the vehicle has entered the approach area of ​​the target parking space correspond to the position relationship data between the three target parking spaces and the vehicle, specifically:

[0049] (1) Angle threshold α for approaching parking endlimit , the default value is 3°;

[0050] (2) Longitudinal distance threshold D for approaching parking x_endlimit , the default value is 15cm;

[0051] (3) Lateral distance threshold D for approaching parking y_endlimit , the default value is 50cm.

[0052] Therefore, based on the acquired position relationship data between the target parking space and the vehicle, it is determined whether the vehicle has entered the approaching area of ​​the target parking space. Specifically, when (1) the angle α between the target parking space and the current position of the vehicle is less than or equal to the angle threshold α for parking approach, the vehicle is judged to have entered the approaching area of ​​the target parking space. endlimit (2) The longitudinal distance D between the target parking space and the current position of the vehicle x Less than or equal to the longitudinal distance threshold D for parking approach x endlimit (3) The lateral distance D between the target parking space and the current position of the vehicle y Less than or equal to the lateral distance threshold D for parking approach y_endlimit When abs(α)≤α endlimit And abs(D x )≤D x_endlimit And abs(D y )≤D y_endlimit , it is determined that the vehicle has entered the approaching area of ​​the target parking space; otherwise, it is determined that the vehicle has not entered the approaching area of ​​the target parking space.

[0053] It should be noted that in this embodiment, the approach area of ​​the target parking space refers to the area immediately preceding the target parking space when parking. Typically, there is a certain difference in the positional relationship between the target parking space and the vehicle. If this difference does not exceed a corresponding threshold, it can be determined that the vehicle has entered this area. One of the purposes of setting the approach area of ​​the target parking space in this embodiment is to serve as a criterion for determining whether a vehicle has entered the approach area of ​​the target parking space, thereby triggering a modification of the threshold parameter for determining whether the vehicle has pressed against an obstacle (as previously mentioned, in the prior art, the threshold parameter for determining whether the vehicle has pressed against an obstacle is fixed). In addition, the approach area of ​​the target parking space in this embodiment is set in combination with the general layout of common obstacles in the automatic parking process, such as speed bumps, closed ground locks, and limit switches. For example, speed bumps are generally arranged on the vehicle driving channel, and closed ground locks on the parking space are generally arranged at the front or middle of the parking space. They are usually encountered when the vehicle has not entered the approach area of ​​the target parking space and need to be crossed for parking. The limit switch is generally arranged at the rear of the parking space and is usually encountered when the vehicle has entered the approach area of ​​the target parking space and cannot be crossed for parking.

[0054] Please refer to Figure 3 As shown, when it is determined that the vehicle has entered the approaching area of ​​the target parking space, the judgment parameter threshold of the vehicle pressing the obstacle is lowered, specifically, the judgment parameter threshold of the vehicle pressing the obstacle is multiplied by the first adjustment coefficient G reduce , as the new judgment parameter threshold; increase the judgment parameter threshold of the vehicle pressing the obstacle, specifically, the judgment parameter threshold of the vehicle pressing the obstacle is multiplied by the second adjustment coefficient G enlarge , as the new judgment parameter threshold; wherein the first adjustment coefficient G reduce Less than 1, the second adjustment coefficient G enlarge Greater than 1. The first adjustment coefficient G reduce and the second adjustment coefficient G enlarge These are dimensionless values ​​used to adjust the thresholds of the automatic parking system's judgment parameters for when the vehicle hits an obstacle.

[0055] Multiply the judgment parameter threshold of the vehicle hitting the obstacle by the first adjustment coefficient G reduce , as the new judgment parameter threshold, as shown in the following table:

[0056]

[0057]

[0058] Please combine Figure 4 As shown, for example, the judgment parameter threshold for the vehicle hitting an obstacle - the maximum driving force F dlimitFor example, it is used to determine whether the vehicle has pressed against an insurmountable obstacle (it is understandable that in the process of automatic parking, the insurmountable obstacle is generally a limiter encountered during parking). When the current driving force of the vehicle is greater than the maximum driving force F dlimit , but the vehicle still does not move, it is considered that it has encountered an insurmountable obstacle and the automatic parking is interrupted. Otherwise, parking is carried out normally. According to the traditional automatic parking method, the maximum driving force F dlimit The threshold value is set to 100N, then when the current driving force of the vehicle is greater than 100N, it is determined that the vehicle is pressed to an obstacle that cannot be crossed; and through the maximum driving force F dlimit Threshold adjustment - F dlimit Multiply by the first adjustment coefficient G reduce , that is, F dlimit ×G reduce , with G reduce =50% as an example, the product 1.5m / s^2 is used as the new judgment parameter threshold, which is equivalent to lowering the original judgment parameter threshold;

[0059] The threshold value of the judgment parameter for the vehicle hitting an obstacle - the longitudinal acceleration a generated during the vehicle's movement crash For example, it is used to represent the size / height of the obstacle. When the longitudinal acceleration generated during the movement of the vehicle is greater than the threshold, it is considered that the obstacle cannot be crossed and the automatic parking is interrupted. Otherwise, parking is carried out normally. According to the traditional automatic parking method, the longitudinal acceleration a crash The threshold value is set to 3m / s^2. When the longitudinal acceleration generated during the movement of the vehicle is greater than 3m / s^2, it is determined that the vehicle is pressed to an obstacle that cannot be crossed. crash The threshold adjustment of a crash Multiply by the first adjustment coefficient G reduce , that is, a crash ×G reduce , with G reduce =50% as an example, the product 1.5m / s^2 is used as the new judgment parameter threshold, which is equivalent to lowering the original judgment parameter threshold; under some complex conditions, such as the limiter is damaged and its height is reduced, the current longitudinal acceleration of the vehicle a crash If the speed is 2m / s^2, the traditional method will mistakenly judge that the limiter is not pressed, causing the vehicle to pass over the limiter when parking, resulting in a collision risk. After the judgment parameter threshold is lowered to 1.5m / s^2, this embodiment will recognize this situation and determine that the vehicle has pressed against an obstacle that cannot be passed over, avoiding the collision risk caused by erroneously passing over the limiter, thereby improving the safety of automatic parking.

[0060] Multiply the judgment parameter threshold of the vehicle hitting the obstacle by the second adjustment coefficient G enlarge, as the new judgment parameter threshold, as shown in the following table:

[0061]

[0062]

[0063] Similarly, for the judgment parameter threshold of the vehicle hitting the obstacle - the maximum driving force F dlimit For example, it is used to determine whether the vehicle has pressed against an insurmountable obstacle (it is understandable that in the process of automatic parking, the insurmountable obstacle is generally a limiter encountered during parking). When the current driving force of the vehicle is greater than the maximum driving force F dlimit , but the vehicle still does not move, it is considered that it has encountered an insurmountable obstacle and the automatic parking is interrupted. Otherwise, parking is carried out normally. According to the traditional automatic parking method, the maximum driving force F dlimit The threshold value is set to 100N, then when the current driving force of the vehicle is greater than 100N, it is determined that the vehicle is pressed to an obstacle that cannot be crossed; and through the maximum driving force F dlimit Threshold adjustment - F dlimit Multiply by the second adjustment coefficient G enlarge , that is, F dlimit ×G enlarge , with G enlarge =120% as an example, the product 120N is used as the new judgment parameter threshold, which is equivalent to raising the original judgment parameter threshold. That is, the vehicle is judged to have pressed against an insurmountable obstacle only when the current driving force of the vehicle is greater than 120N. Under some complex conditions, such as when the parking path is on an uphill section with a speed bump, the current driving force of the vehicle is greater than 100N. According to the traditional method, it will be misjudged as pressing against an insurmountable obstacle (limiter), resulting in unnecessary interruption of the parking process. By raising the judgment parameter threshold to 120N, this embodiment can effectively avoid such misjudgment and broaden the scenario adaptability of automatic parking.

[0064] Corresponding to the automatic parking control method described in the first embodiment of the present invention, the second embodiment of the present invention provides an automatic parking control device, including:

[0065] An acquisition module is used to obtain the position relationship data between the target parking space and the vehicle;

[0066] A judgment module is used to judge whether the vehicle has entered the approach area of ​​the target parking space based on the acquired position relationship data between the target parking space and the vehicle;

[0067] The adjustment module is used to lower the judgment parameter threshold of the vehicle hitting the obstacle when it is determined that the vehicle has entered the approach area of ​​the target parking space; otherwise, it is used to increase the judgment parameter threshold of the vehicle hitting the obstacle.

[0068] Furthermore, the position relationship data between the target parking space and the vehicle includes: the angle between the target parking space and the current position of the vehicle, the longitudinal distance between the target parking space and the current position of the vehicle, and the lateral distance between the target parking space and the current position of the vehicle.

[0069] Furthermore, the judgment module is specifically used to:

[0070] When both:

[0071] The angle between the target parking space and the vehicle's current position is less than or equal to the angle threshold for approaching parking;

[0072] The longitudinal distance between the target parking space and the vehicle's current position is less than or equal to the longitudinal distance threshold for approaching parking;

[0073] The lateral distance between the target parking space and the vehicle's current position is less than or equal to the lateral distance threshold for approaching parking;

[0074] It is determined that the vehicle has entered the approaching area of ​​the target parking space; otherwise, it is determined that the vehicle has not entered the approaching area of ​​the target parking space.

[0075] Furthermore, when the adjustment module determines that the vehicle has entered the approach area of ​​the target parking space, it lowers the judgment parameter threshold of the vehicle pressing against the obstacle. Specifically, the judgment parameter threshold of the vehicle pressing against the obstacle is multiplied by a first adjustment coefficient as the new judgment parameter threshold; the first adjustment coefficient is less than 1.

[0076] Furthermore, when the adjustment module determines that the vehicle has not entered the approach area of ​​the target parking space, it increases the judgment parameter threshold of the vehicle pressing against the obstacle. Specifically, the judgment parameter threshold of the vehicle pressing against the obstacle is multiplied by a second adjustment coefficient as the new judgment parameter threshold; the second adjustment coefficient is greater than 1.

[0077] For the working principle and process of this embodiment, please refer to the description of the first embodiment of the present invention, which will not be repeated here.

[0078] As can be seen from the above description, compared with existing technologies, the present invention offers the following advantages: it can simply transform traditional obstacle avoidance control methods, covering more scenarios without consuming excessive computing resources, and reducing the safety risks associated with parking interruptions caused by misjudgment of hitting an obstacle or mistakenly crossing a stopper. Furthermore, compared with traditional automatic parking control methods, it can more quickly and less jarringly determine when a stopper has been hit, thereby improving parking comfort.

[0079] The above disclosure is merely a preferred embodiment of the present invention and is not intended to limit the scope of the present invention. Therefore, equivalent changes made according to the claims of the present invention are still within the scope of the present invention.

Claims

1. An automatic parking control method, characterized in that: include: Obtain the position relationship data between the target parking space and the vehicle; Determine whether the vehicle has entered the approach area of ​​the target parking space based on the acquired position relationship data between the target parking space and the vehicle; The position relationship data between the target parking space and the vehicle include: the angle between the target parking space and the current position of the vehicle, the longitudinal distance between the target parking space and the current position of the vehicle, and the lateral distance between the target parking space and the current position of the vehicle; If it is determined that the vehicle has entered the approach area of ​​the target parking space, the threshold of the judgment parameter for the vehicle hitting an obstacle is lowered; otherwise, the threshold of the judgment parameter for the vehicle hitting an obstacle is increased; The method of determining whether the vehicle has entered the approaching area of ​​the target parking space based on the acquired positional relationship data between the target parking space and the vehicle is as follows: When both: The angle between the target parking space and the vehicle's current position is less than or equal to the angle threshold for approaching parking; The longitudinal distance between the target parking space and the vehicle's current position is less than or equal to the longitudinal distance threshold for approaching parking; The lateral distance between the target parking space and the vehicle's current position is less than or equal to the lateral distance threshold for approaching parking; It is determined that the vehicle has entered the approaching area of ​​the target parking space; otherwise, it is determined that the vehicle has not entered the approaching area of ​​the target parking space.

2. The automatic parking control method according to claim 1, characterized in that: If it is determined that the vehicle has entered the approach area of ​​the target parking space, the judgment parameter threshold for the vehicle pressing against an obstacle is lowered. Specifically, the judgment parameter threshold for the vehicle pressing against an obstacle is multiplied by a first adjustment coefficient to obtain a new judgment parameter threshold; the first adjustment coefficient is less than 1.

3. The automatic parking control method according to claim 2, characterized in that: If it is determined that the vehicle has not entered the approach area of ​​the target parking space, the judgment parameter threshold for the vehicle hitting an obstacle is increased. Specifically, the judgment parameter threshold for the vehicle hitting an obstacle is multiplied by a second adjustment coefficient to serve as the new judgment parameter threshold; the second adjustment coefficient is greater than 1.

4. An automatic parking control device, characterized in that: include: An acquisition module is used to obtain the position relationship data between the target parking space and the vehicle; A judgment module is used to judge whether the vehicle has entered the approach area of ​​the target parking space based on the acquired position relationship data between the target parking space and the vehicle; The position relationship data between the target parking space and the vehicle include: the angle between the target parking space and the current position of the vehicle, the longitudinal distance between the target parking space and the current position of the vehicle, and the lateral distance between the target parking space and the current position of the vehicle; an adjustment module, configured to lower a threshold value of a judgment parameter for determining that the vehicle has hit an obstacle when it is determined that the vehicle has entered an approaching area of ​​the target parking space; otherwise, increase the threshold value of a judgment parameter for determining that the vehicle has hit an obstacle; The judgment module is specifically used for: When both: The angle between the target parking space and the vehicle's current position is less than or equal to the angle threshold for approaching parking; The longitudinal distance between the target parking space and the vehicle's current position is less than or equal to the longitudinal distance threshold for approaching parking; The lateral distance between the target parking space and the vehicle's current position is less than or equal to the lateral distance threshold for approaching parking; It is determined that the vehicle has entered the approaching area of ​​the target parking space; otherwise, it is determined that the vehicle has not entered the approaching area of ​​the target parking space.

5. The automatic parking control device according to claim 4, characterized in that: When the adjustment module determines that the vehicle has entered the approach area of ​​the target parking space, it lowers the judgment parameter threshold of the vehicle pressing against the obstacle. Specifically, the judgment parameter threshold of the vehicle pressing against the obstacle is multiplied by a first adjustment coefficient to obtain a new judgment parameter threshold; the first adjustment coefficient is less than 1.

6. The automatic parking control device according to claim 5, characterized in that: When the adjustment module determines that the vehicle has not entered the approach area of ​​the target parking space, it increases the judgment parameter threshold of the vehicle pressing against the obstacle. Specifically, the judgment parameter threshold of the vehicle pressing against the obstacle is multiplied by a second adjustment coefficient to obtain a new judgment parameter threshold; the second adjustment coefficient is greater than 1.

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