Parking state sensing control method, system, device, storage medium and equipment

Abstract

The application provides a parking state sensing control method, system, storage medium and equipment. The method comprises the following steps: sensing the distance between the vehicle and the front and rear objects, obtaining the first distance and the second distance, judging whether the first distance and the second distance are less than the pre-set distance threshold value; judging whether the first distance and the second distance are both less than the pre-set distance threshold value; when the first distance and the second distance are both less than the pre-set distance threshold value, identifying the front and rear objects, obtaining the first volume and the second volume, and judging whether the first volume and the second volume are both greater than the pre-set volume threshold value; and when the first volume and the second volume are both greater than the pre-set volume threshold value, controlling the vehicle to start the alarm reminder. The parking state sensing control method improves the user experience.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of vehicle safety, and particularly relates to a parking state sensing control method and system, a storage medium and equipment. BACKGROUND

[0002] With the popularity of automobiles, parking space shortage has become a common situation. After the driver parks the vehicle, sometimes the following vehicle is parked too close, causing the first parked vehicle to be blocked and unable to leave the parking space. The driver can only wait for other vehicles to move out before leaving the parking space, which is time-consuming and very inconvenient.

[0003] At present, patent CN207045299U discloses a parking monitoring remote alarm device, which comprises an in-vehicle processor, a camera around the vehicle body, a vehicle-mounted loudspeaker, a vibration alarm and an infrared alarm, and further comprises a user client in wired or wireless signal transmission with the processor, which can control the vehicle-mounted loudspeaker and the camera. When the vehicle is running or parking, if an abnormal situation or damage occurs, a reminder is sent to the vehicle owner. The vehicle owner can negotiate with the person involved through the vehicle-mounted loudspeaker, and can observe the surroundings of the vehicle through the client to provide evidence for accident handling. The device can respond to abnormal situations of the vehicle at any time and respond to tracking in time.

[0004] However, the device is suitable for monitoring abnormal conditions such as collision or theft of the vehicle during parking, but cannot automatically identify the situation that the vehicle is blocked by an obstacle and cannot be moved. Therefore, it cannot avoid the situation that the vehicle cannot leave the parking space due to being blocked during parking. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a parking state sensing control method and system, a storage medium and equipment, which utilize various sensors and electronic modules of the vehicle to sense the parking state of the vehicle, acquire and judge the distance and volume of the obstacles in front of and behind the vehicle, and control the alarm of the vehicle to be turned on when the obstacles exist and the vehicle cannot be moved, thereby improving the user experience.

[0006] The present application is implemented by the following technical solutions:

[0007] Sensing the distance between the vehicle and the objects in front of and behind the vehicle, acquiring a first distance and a second distance, and judging whether the first distance and the second distance are less than a pre-set distance threshold;

[0008] Judging whether the first distance and the second distance are both less than the pre-set distance threshold;

[0009] When the first distance and the second distance are both less than a preset distance threshold, the front and rear objects are identified, the first volume and the second volume are obtained, and it is determined whether the first volume and the second volume are both greater than a preset volume threshold.

[0010] When the first volume and the second volume are both greater than the preset volume threshold, the vehicle is controlled to start an alarm.

[0011] Optionally,

[0012] The distance between the vehicle and the front and rear objects is perceived, the first distance and the second distance are obtained, and it is determined whether the first distance and the second distance are less than a preset distance threshold, comprising:

[0013] The first distance between the front object of the vehicle and the front part of the vehicle is obtained by the front perception unit, and it is determined whether the first distance is less than a preset distance threshold.

[0014] And / or,

[0015] The second distance between the rear object of the vehicle and the rear part of the vehicle is obtained by the rear perception unit, and it is determined whether the second distance is less than a preset distance threshold.

[0016] Optionally,

[0017] The distance between the vehicle and the front and rear objects is perceived, the first distance and the second distance are obtained, comprising:

[0018] A laser radar is used to scan the surrounding environment by emitting a pulsed laser beam;

[0019] The reflected laser beam is received, the round-trip time of the laser beam is measured, the distance from the vehicle and the front and rear objects to the laser radar is calculated, and the first distance and the second distance are obtained.

[0020] Optionally,

[0021] When the first distance and the second distance are both less than a preset distance threshold, the front and rear objects are identified, the first volume and the second volume are obtained, and it is determined whether the first volume and the second volume are both greater than a preset volume threshold, comprising:

[0022] The front object is identified, the first volume is obtained, and it is determined whether the first volume is greater than a preset volume threshold;

[0023] And / or,

[0024] The rear object is identified, the second volume is obtained, and it is determined whether the second volume is greater than a preset volume threshold.

[0025] Optionally,

[0026] The identifying the front and rear objects, obtaining the first volume and the second volume, comprises:

[0027] The image data of the front and rear objects is obtained, and the first volume and the second volume are obtained through an instance segmentation algorithm.

[0028] Optionally,

[0029] The control vehicle to start the alarm prompt, comprising:

[0030] The acoustic alarm unit is used to emit sound, and acoustic alarm prompt is performed;

[0031] And / or,

[0032] The ambient light intensity is perceived, and when the ambient light intensity is lower than a preset brightness threshold, the optical alarm unit is used to control the light to be turned on and flickered, and optical alarm prompt is performed.

[0033] Optionally,

[0034] The method further comprises:

[0035] When the first distance or the second distance is less than a preset risk distance threshold, the corresponding image data is sent to the user terminal.

[0036] The application also provides a parking state perception control system for implementing the foregoing method, and the system comprises:

[0037] A perception module is used to perceive the distance between the vehicle and the front and rear objects, obtain the first distance and the second distance, and judge whether the first distance and the second distance are less than a preset distance threshold;

[0038] A judgment module is used to judge whether the first distance and the second distance are both less than a preset distance threshold;

[0039] An identification module is used to identify the front and rear objects, obtain the first volume and the second volume, and judge whether they are greater than a preset volume threshold when the first distance and the second distance are both less than a preset distance threshold;

[0040] A vehicle body control module is used to control the vehicle to start the alarm prompt when the first volume and the second volume are both greater than a preset volume threshold.

[0041] Optionally,

[0042] The control vehicle to start the alarm prompt, comprising:

[0043] The acoustic alarm unit is used to emit sound, and acoustic alarm prompt is performed;

[0044] And / or,

[0045] Sensing ambient light intensity, when the ambient light intensity is lower than a preset brightness threshold, the light is turned on and flashes to perform optical alarm reminding.

[0046] Optionally,

[0047] The identification module is further configured to:

[0048] Obtaining image data of the front and rear objects, when the first distance or the second distance is less than a preset risk distance threshold, sending the corresponding image data to a user terminal.

[0049] The application further provides a computer readable storage medium, which stores one or more programs, and when the one or more programs are executed, the aforementioned parking state sensing control method can be implemented.

[0050] The application further provides a device, which comprises a processor, a communication interface, a computer readable storage medium and a communication bus; wherein the processor, the communication interface and the computer readable storage medium communicate with each other through the communication bus.

[0051] The processor is used for executing the program stored in the computer readable storage medium.

[0052] Compared with the prior art, the application has the following advantages:

[0053] 1. The parking state sensing control method provided by the application utilizes various sensors and modules of a vehicle to sense the parking state of the vehicle, obtains and judges the distance and volume of the front and rear obstacles of the vehicle, and controls the alarm of the vehicle to be turned on when the obstacles cause the vehicle to be unable to move, so that the phenomenon that the vehicle is unable to move due to the obstacles is reduced, and the user experience is improved.

[0054] 2. The distance between the object and the front and rear parts of the vehicle is comprehensively analyzed, the object is identified only when there are close objects in front and behind, the object is not identified when the identified object is small and cannot affect the movement of the vehicle, and thus the probability of false alarm of the acoustic alarm unit and the optical alarm unit is reduced.

[0055] 3. When the distance between the object and the front or rear part of the vehicle is too close, the image data obtained by identifying the object is transmitted to the user terminal through the wireless communication module, the vehicle owner is reminded that the parked vehicle has a risk of scratching, and the safety of the parked vehicle is improved.

[0056] Other features and advantages of the present application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The purposes and other advantages of the present application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0058] Figure 1 A flowchart of a parking state sensing control method is shown;

[0059] Figure 2 A structural schematic block diagram of a parking state sensing control system is shown;

[0060] Figure 3 A principle schematic diagram of a parking state sensing control method of an embodiment of the present application is shown;

[0061] Figure 4 A structural schematic diagram of an apparatus of an embodiment of the present application is shown. DETAILED DESCRIPTION

[0062] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will combine the drawings in the embodiments of the present application to clearly and completely explain the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the present application.

[0063] Referring to the drawings, Figure 1 The method of the present application comprises:

[0064] S1, sensing the distance between the vehicle and the front and rear objects, obtaining a first distance and a second distance, and judging whether the first distance and the second distance are less than a pre-set distance threshold;

[0065] The first distance between the front object of the vehicle and the front part of the vehicle is obtained by the front sensing unit, and it is judged whether the first distance is less than a pre-set distance threshold;

[0066] And / or,

[0067] A second distance between the object behind the vehicle and the rear of the vehicle is obtained by the rear sensing unit, and it is determined whether the second distance is less than a preset distance threshold.

[0068] The laser radar is used to scan the surrounding environment by emitting a pulsed laser beam;

[0069] The reflected laser beam is received, the round-trip time of the laser beam is measured, the distance between the vehicle and the front and rear objects to the laser radar is calculated, and the first distance and the second distance are obtained.

[0070] S2, it is determined whether the first distance and the second distance are both less than a preset distance threshold;

[0071] S3, when the first distance and the second distance are both less than a preset distance threshold, the front and rear objects are identified, the first volume and the second volume are obtained, and it is determined whether they are greater than a preset volume threshold;

[0072] The front object is identified, the first volume is obtained, and it is determined whether the first volume is greater than a preset volume threshold;

[0073] And / or,

[0074] The rear object is identified, the second volume is obtained, and it is determined whether the second volume is greater than a preset volume threshold.

[0075] The image data of the front and rear objects is obtained, and the first volume and the second volume are obtained by an instance segmentation algorithm.

[0076] S4, when the first volume and the second volume are both greater than a preset volume threshold, the vehicle is controlled to start an alarm reminder.

[0077] The acoustic alarm unit is used to emit a sound for acoustic alarm reminder;

[0078] And / or,

[0079] The ambient light intensity is perceived, and when the ambient light intensity is lower than a preset brightness threshold, the optical alarm unit is used to control the light to be turned on and flicker for optical alarm reminder.

[0080] When the first distance or the second distance is less than a preset risk distance threshold, the corresponding image data is sent to the user terminal.

[0081] Specifically,

[0082] I. Obtain the distance between the object and the vehicle.

[0083] When the car is off, the distance between the vehicle and the front and rear objects is perceived, and the first distance and the second distance are obtained. The distance threshold is set in advance according to the need, and it is judged whether the obtained first distance and second distance are less than the pre-set distance threshold.

[0084] 1. Obtain the distance between the vehicle and the front and rear objects.

[0085] The distance between the front object of the vehicle and the front part of the car is obtained by the front perception unit, recorded as the first distance; the distance between the rear object of the vehicle and the rear part of the car is obtained by the rear perception unit, recorded as the second distance.

[0086] In this embodiment, laser radar technology can be used to obtain the first distance and the second distance, including:

[0087] Using laser radar, a pulsed laser beam is emitted to scan the surrounding environment;

[0088] The reflected laser beam is received, the round-trip time of the laser beam is measured, and the distance between the vehicle and the front and rear objects to the laser radar is calculated to obtain the first distance and the second distance.

[0089] According to the measurement of the round-trip time of the laser beam, the distance of the object to the laser radar can be calculated by the speed of light and the time difference. Compared with commonly used ultrasonic and millimeter wave radars, laser radars have higher spatial resolution and measurement accuracy, and can detect smaller objects and farther distance obstacles. In complex environmental conditions, such as strong light, rain and snow, the performance is relatively stable and not easy to be disturbed by the outside world.

[0090] 2. Distance judgment.

[0091] The distance threshold is set in advance according to the need, and it is judged whether the first distance and the second distance are less than the pre-set distance threshold.

[0092] If the first distance is less than the pre-set distance threshold, it is judged that the front object of the vehicle is close to the front part of the car, and vice versa. If the second distance is less than the pre-set distance threshold, it is judged that the rear object of the vehicle is close to the rear part of the car, and vice versa.

[0093] II. Determine whether the distance of the front and rear objects is less than the pre-set distance threshold.

[0094] The judgment results of the first distance and the second distance are analyzed to determine whether the first distance and the second distance are less than the pre-set distance threshold.

[0095] If the judgment result is that the first distance and the second distance are less than the pre-set distance threshold, object recognition is performed.

[0096] III. Object recognition.

[0097] When the first distance and the second distance are both less than a pre-set distance threshold, the objects in front of and behind the vehicle are recognized, the first volume and the second volume are obtained, and it is determined whether they are greater than a pre-set volume threshold.

[0098] 1. Recognize objects and obtain object volumes.

[0099] The object in front of the vehicle is recognized, the volume of the object in front of the vehicle is obtained, and recorded as the first volume; the object behind the vehicle is recognized, the volume of the object behind the vehicle is obtained, and recorded as the second volume.

[0100] In this embodiment, the objects in front of and behind the vehicle can be detected and classified by a convolutional neural network (CNN) model: through a camera or a sensor, image data of the objects in front of and behind the vehicle is obtained, and the CNN model is used to process and analyze the image, thereby detecting and classifying various objects on the road, such as vehicles, pedestrians, bicycles, etc.; the image can also be segmented into pixel-level semantic regions by a semantic segmentation model (FCN), thereby identifying the detailed contours and positions of different categories of objects in front of and behind the vehicle.

[0101] Further, the image data of the objects in front of and behind the vehicle is obtained, and the first volume and the second volume are obtained by an instance segmentation algorithm, including: using an instance segmentation algorithm to process the image data, detecting and segmenting the objects in front of and behind the vehicle, and generating a pixel-level segmentation mask for each object; according to the segmentation mask, the number of pixels or the pixel area of the corresponding object can be calculated; according to the number of pixels or the area, combined with the scale information of the object, the volume of the object is obtained.

[0102] The scale information of the object can be based on the parameters of the camera, and the actual size of the object is obtained by geometric calculation; or other sensors (such as depth sensors) or scale estimation algorithms can be used for size estimation.

[0103] Through an instance segmentation algorithm such as Mask R-CNN, accurate bounding boxes and masks can be generated for the objects in front of and behind the vehicle, for more detailed object segmentation and recognition.

[0104] Mask R-CNN is an instance segmentation algorithm that extends the target detection algorithm, combines the convolutional neural network model and the semantic segmentation model, and can generate accurate segmentation masks for each object while detecting the object. By using a target detection algorithm, the object in the image data is detected, and a bounding box of the object is generated.

[0105] In this embodiment, the motion patterns of pixels in the image sequence can also be analyzed by an optical flow algorithm to estimate the motion trajectories of vehicles and pedestrians, thereby better understanding the dynamic scene and behavior.

[0106] Object recognition is detected through multi-sensor fusion, which combines data from multiple sensors such as cameras, lidar, millimeter wave radar, etc., for comprehensive analysis and fusion, which can improve the overall perception ability of the environment and enhance the recognition accuracy and robustness.

[0107] 2. Volume judgment

[0108] Determine whether the first volume and the second volume are greater than the pre-set volume threshold value: if the first volume and the second volume are both greater than the pre-set volume threshold value, it is determined that the objects in front of and behind the vehicle are large objects that will affect the movement of the vehicle; if either the first volume or the second volume is less than the pre-set volume threshold value, it is determined that it will not affect the movement of the vehicle.

[0109] 3. Risk reminder.

[0110] According to the acquired image data of the objects in front of and behind the vehicle, when the first distance or the second distance is less than the pre-set risk distance threshold value, the corresponding image data is sent to the user terminal.

[0111] The risk distance threshold value is pre-set as needed, and when the distance between the object and the vehicle is less than the risk distance threshold value, it means that the current object is very close to the vehicle, and there is a risk of scratching. When the first distance or the second distance is less than the pre-set risk distance threshold value, the corresponding image data is sent to the user terminal through the wireless communication module.

[0112] Four, alarm reminder.

[0113] Determine whether the first volume and the second volume are both greater than the pre-set volume threshold value. When the first volume and the second volume are both greater than the pre-set volume threshold value, it is determined that there are objects with large volumes in the positions close to the front and rear of the vehicle, which will affect the movement of the vehicle, and at this time the vehicle is controlled to start the alarm reminder.

[0114] The vehicle alarm reminder includes: using the acoustic alarm unit to emit sound for acoustic alarm reminder, and sensing the ambient light intensity, when the ambient light intensity is lower than the pre-set brightness threshold value, using the optical alarm unit to control the light to turn on and flash for optical alarm reminder.

[0115] When the alarm reminder is turned on, the acoustic alarm unit of the vehicle is controlled to emit sound to remind others to move the objects that will affect the movement of the vehicle.

[0116] Meanwhile, the ambient light is sensed by the light sensing unit, if the sensed ambient light intensity is lower than the pre-set brightness threshold, the optical alarm unit controls the light to turn on and constantly flicker, reminding others to move the object affecting the movement of the car away, the flickering of the light can have better reminding effect in the night, and has certain illumination effect.

[0117] In the embodiment, the light sensing unit adopts a high-sensitivity photocell, an amplifier and a filter are used to process the electrical signal, the strength and stability of the signal are enhanced, and the measurement accuracy and anti-interference ability can be improved. Through the digital signal processing DSP algorithm, the environmental data obtained from the sensor are analyzed in real time, compared with the traditional light intensity sensing technology, the accuracy is higher and the response speed is faster.

[0118] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0119] Referring to the accompanying drawings and specific embodiments Figure 2 , the structure of the parking state sensing control system for implementing the above method is shown, including a sensing module, a judgment module, an identification module and a vehicle body control module.

[0120] The sensing module is used to sense the distance between the vehicle and the front and rear objects, obtain the first distance and the second distance, and judge whether the first distance and the second distance are less than the pre-set distance threshold;

[0121] The judgment module is used to judge whether the first distance and the second distance are both less than the pre-set distance threshold;

[0122] The identification module, when the first distance and the second distance are both less than the pre-set distance threshold, identifies the front and rear objects, obtains the first volume and the second volume, and judges whether they are greater than the pre-set volume threshold;

[0123] The vehicle body control module, when the first volume and the second volume are both greater than the pre-set volume threshold, controls the vehicle to turn on the alarm reminder.

[0124] Figure 3 The principle diagram of the parking state sensing control method of the embodiment of the application.

[0125] In the embodiment, the transmission of data and control instructions between various modules can be realized through can signals. The can signal is a kind of serial communication protocol widely used in automobile electronic system, which is used to transmit data and commands between different electronic control units of the vehicle, and can transmit different types of information, including sensor data, control commands, error codes and diagnostic information, etc.

[0126] The perception module comprises a front perception unit and a rear perception unit. The perception obtains a first distance of an object in front of the vehicle from the front of the vehicle and a second distance of an object behind the vehicle from the rear of the vehicle, and compares the first distance and the second distance with a pre-set distance threshold value respectively: when the first distance is less than the pre-set threshold value, the front perception unit sends "00: Near" in the front perception signal to the judgment module; when the first distance is greater than the pre-set threshold value, "01: Far" in the front perception signal is sent to the judgment module; when the second distance is less than the pre-set threshold value, the rear perception unit sends "00: Near" in the rear perception signal to the judgment module; when the second distance is greater than the pre-set threshold value, "01: Far" in the rear perception signal is sent to the judgment module.

[0127] The judgment module analyzes the perception signals sent by the front perception unit and the rear perception unit, and when the first distance and the second distance are both less than the pre-set distance threshold value, "00: Active" in the judgment signal is sent to control the recognition module to be turned on, otherwise "01: Not Active" in the judgment signal is sent to control the recognition module to be not turned on.

[0128] The recognition module identifies the objects in front of and behind the vehicle, obtains a first volume of the object in front of the vehicle and a second volume of the object behind the vehicle, and judges whether the first volume and the second volume are greater than a pre-set volume threshold value; when the first volume and the second volume are both greater than the pre-set volume threshold value, it is judged that the vehicle movement will be affected, "00: Active" in the object recognition signal is sent to notify the vehicle body control module to be turned on, otherwise "01: Not Active" in the object recognition signal is sent, and at this time the vehicle body control module is not turned on.

[0129] The recognition module obtains image data of the objects in front of and behind the vehicle when identifying the objects; when the first distance or the second distance is less than a pre-set risk distance threshold value, it is judged that the object in front of or behind the vehicle is too close to the vehicle and has a risk of scratching, "00: Active" in the data transmission signal is sent to control the wireless communication module to be turned on, and the corresponding image data is transmitted to the user terminal, otherwise "01: Not Active" in the data transmission signal is sent, and the wireless communication module does not work.

[0130] The body control module comprises an acoustic alarm unit and an optical alarm unit. After the body control module is turned on, the acoustic alarm signal "00: Active" is sent to control the acoustic alarm unit to sound to perform acoustic alarm reminding, reminding others to move the object affecting the movement of the automobile; the light perception unit control signal "00: Active" is sent to control the light perception unit to perceive the ambient brightness, and when the light perception unit perceives that the environment is dark, the light perception unit transmits the light perception signal "01: Dark" to control the optical alarm unit to turn on the light to flash continuously, reminding others to move the object affecting the movement of the automobile.

[0131] In the embodiment, the definition of the can signal is shown in Table 1.

[0132] Table 1

[0133]

[0134]

[0135] In addition, the embodiment of the application also provides a parking state perception control device, comprising:

[0136] The perception module is configured to perceive the distance between the vehicle and the front and rear objects, obtain the first distance and the second distance, and determine whether the first distance and the second distance are less than a pre-set distance threshold; wherein the laser radar is used to scan the surrounding environment by emitting a pulsed laser beam, measure the time of the laser beam reflected back, and calculate the distance from the object to the laser radar through the speed of light and the time difference.

[0137] The recognition module is configured to recognize the front and rear objects when the first distance and the second distance are both less than the pre-set distance threshold, obtain the first volume and the second volume, and determine whether the first volume and the second volume are greater than a pre-set volume threshold; wherein recognizing the front and rear objects to obtain the first volume and the second volume comprises: obtaining image data of the front and rear objects, and obtaining the first volume and the second volume through an instance segmentation algorithm.

[0138] The body control module is configured to control the vehicle to turn on alarm reminding when the first volume and the second volume are both greater than the pre-set volume threshold; wherein controlling the vehicle to turn on alarm reminding comprises: using the acoustic alarm unit to sound to perform acoustic alarm reminding, and / or using the optical alarm unit to perceive the ambient light intensity, and when the ambient light intensity is lower than a pre-set brightness threshold, controlling the light to turn on and flash to perform optical alarm reminding.

[0139] Based on the same inventive concept, the application also provides a computer readable storage medium storing one or more programs, which, when executed, can implement the aforementioned parking state perception control method.

[0140] As Figure 4 shown in the above embodiments, the present application also provides a device comprising a processor, a communication interface, a memory and a communication bus. Wherein the processor, the communication interface and the memory communicate with each other through the communication bus.

[0141] The memory is a computer readable storage medium, used for storing one or more programs.

[0142] The processor is used for executing the program stored in the computer readable storage medium.

[0143] The computer readable storage medium can be contained in the device / apparatus described in the above embodiments; or can exist separately without being assembled into the device / apparatus.

[0144] Although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A parking state sensing control method characterized by comprising: The method comprises the following steps: After the engine of the vehicle is turned off, the distance between the vehicle and the front and rear objects is perceived, the first distance and the second distance are obtained, and it is determined whether the first distance and the second distance are less than a pre-set distance threshold value; It is determined whether the first distance and the second distance are both less than the pre-set distance threshold value; When the first distance and the second distance are both less than the pre-set distance threshold value, the front and rear objects are identified, the first volume and the second volume are obtained, and it is determined whether the first volume and the second volume are both greater than a pre-set volume threshold value; When the first volume and the second volume are both greater than the pre-set volume threshold value, the movement of the vehicle will be affected, and the vehicle is controlled to start an alarm reminder; when either the first volume or the second volume is less than the pre-set volume threshold value, the movement of the vehicle will not be affected.

2. The method of claim 1, wherein, The distance between the vehicle and the front and rear objects is perceived, the first distance and the second distance are obtained, and it is determined whether the first distance and the second distance are less than a pre-set distance threshold value, comprising: The first distance between the front object of the vehicle and the front part of the vehicle is obtained by a front perception unit, and it is determined whether the first distance is less than a pre-set distance threshold value; and / or, The second distance between the rear object of the vehicle and the rear part of the vehicle is obtained by a rear perception unit, and it is determined whether the second distance is less than a pre-set distance threshold value.

3. The method of claim 2, wherein, The distance between the vehicle and the front and rear objects is perceived, and the first distance and the second distance are obtained, comprising: A laser radar is used to scan the surrounding environment by emitting a pulsed laser beam; The reflected laser beam is received, the round-trip time of the laser beam is measured, the distance between the vehicle and the front and rear objects to the laser radar is calculated, and the first distance and the second distance are obtained.

4. The method of claim 1, wherein, When the first distance and the second distance are both less than the pre-set distance threshold value, the front and rear objects are identified, the first volume and the second volume are obtained, and it is determined whether the first volume and the second volume are both greater than a pre-set volume threshold value, comprising: The front object is identified, the first volume is obtained, and it is determined whether the first volume is greater than a pre-set volume threshold value; and / or, The rear object is identified, the second volume is obtained, and it is determined whether the second volume is greater than a pre-set volume threshold value.

5. The method of claim 4, wherein, The front and rear objects are identified, and the first volume and the second volume are obtained, comprising: Image data of the front and rear objects is obtained, and the first volume and the second volume are obtained by an instance segmentation algorithm.

6. The method according to any one of claims 1 to 5, characterized in that, The vehicle is controlled to start an alarm reminder, comprising: An acoustic alarm unit is used to emit a sound for acoustic alarm reminder; and / or, The ambient light intensity is perceived, and when the ambient light intensity is lower than a pre-set brightness threshold value, a light alarm unit is used to control the light to be turned on and to flash for optical alarm reminder.

7. The method according to any one of claims 1 to 5, characterized in that, The method further comprises: When the first distance or the second distance is less than a pre-set risk distance threshold value, the corresponding image data is sent to a user terminal.

8. A parking state sensing control system characterized by comprising: The system comprises: A perception module is used to perceive the distance between the vehicle and the front and rear objects after the engine of the vehicle is turned off, obtain the first distance and the second distance, and determine whether the first distance and the second distance are less than a pre-set distance threshold value. a judging module, configured to judge whether the first distance and the second distance are both less than a preset distance threshold value; an identifying module, configured to identify the front and rear objects, and obtain a first volume and a second volume when the first distance and the second distance are both less than the preset distance threshold value, and judge whether the first volume and the second volume are both greater than a preset volume threshold value; a vehicle body control module, configured to affect vehicle movement and control the vehicle to start an alarm prompt when the first volume and the second volume are both greater than the preset volume threshold value, and not to affect vehicle movement when either the first volume or the second volume is less than the preset volume threshold value.

9. The system of claim 8, wherein, the control of the vehicle to start the alarm prompt comprises: issuing a sound by using an acoustic alarm unit to perform acoustic alarm prompting; and / or, sensing ambient light intensity, and controlling a light to be turned on and to flash by using an optical alarm unit to perform optical alarm prompting when the ambient light intensity is lower than a preset brightness threshold value.

10. The system of claim 8, wherein, the identifying module is further configured to: obtain image data of the front and rear objects, and send corresponding image data to a user terminal when the first distance or the second distance is less than a preset risk distance threshold value. 11.A computer readable storage medium, storing one or more programs, wherein when the one or more programs are executed, the parking state sensing control method in any one of claims 1-7 is implemented. a processor, a communication interface, and a computer readable storage medium are in electronic communication with each other through a communication bus, and the processor is configured to execute the programs stored in the computer readable storage medium. 12.An electronic device comprising a processor, a communication interface, the computer readable storage medium of claim 11, and a communication bus; wherein, ​ ​

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