Parking method, device, vehicle and storage medium

Abstract

The application discloses a parking method and device, a vehicle and a readable storage medium. The method comprises the following steps: in the case that the vehicle is in a parking mode, in response to an obstacle entering a blind area of a side clearance radar, acquiring first relative position information of the obstacle relative to the vehicle collected by a door radar; if second relative position information of the obstacle relative to the vehicle is acquired before the obstacle enters the blind area of the side clearance radar and the first relative position information is a relative distance, predicting predicted relative position information of the obstacle relative to the vehicle in the blind area according to the second relative position information and driving parameters of the vehicle after the obstacle enters the blind area of the side clearance radar; and controlling the vehicle to park and avoid the obstacle according to the predicted relative position information and the relative distance. In the application, the detection capability of the vehicle for the obstacle located in the blind area of the side clearance radar is improved, and the vehicle is controlled to park and avoid the obstacle in combination with the relative distance and the predicted position information, so that the safety of parking is improved.

Description

Technical Field

[0001] This application relates to the field of parking technology, and more specifically, to a parking method, apparatus, vehicle, and computer-readable storage medium. Background Technology

[0002] Currently, during vehicle parking, side radar and panoramic cameras can detect obstacles around the vehicle and adjust the parking path or control the vehicle to stop based on the location of the detected obstacles to ensure vehicle safety.

[0003] However, the vehicle's side distance radar has blind spots, and the panoramic camera's distance detection of obstacles is inaccurate, which makes it easy for the vehicle to collide with obstacles during parking, resulting in a high risk of parking safety. Summary of the Invention

[0004] This application proposes a parking method, apparatus, vehicle, and computer-readable storage medium to improve upon the aforementioned deficiencies.

[0005] In a first aspect, embodiments of this application provide a parking method for a vehicle including side distance radar and door radar, the method comprising:

[0006] When the vehicle is in parking mode, in response to obstacles around the vehicle entering the blind spot of the side distance radar, the first relative position information of the obstacle relative to the vehicle collected by the door radar is obtained.

[0007] If the second relative position information of the obstacle relative to the vehicle is obtained before the obstacle enters the blind zone of the side distance radar, and the first relative position information is the relative distance of the obstacle relative to the vehicle, then based on the second relative position information and the vehicle's driving parameters after the obstacle enters the blind zone of the side distance radar, the predicted relative position information of the obstacle relative to the vehicle after the obstacle enters the blind zone of the side distance radar is predicted.

[0008] Based on predicted relative position information and relative distance, the vehicle is controlled to avoid obstacles and park.

[0009] Secondly, embodiments of this application also provide a parking device for a vehicle including side distance radar and door radar, the device comprising:

[0010] The acquisition module is used to acquire the first relative position information of the obstacle relative to the vehicle collected by the door radar when the vehicle is in parking mode, in response to the obstacle around the vehicle entering the blind spot of the side distance radar.

[0011] The prediction module is used to predict the relative position information of the obstacle relative to the vehicle after the obstacle enters the blind zone of the side distance radar if the second relative position information of the obstacle relative to the vehicle is obtained before the obstacle enters the blind zone of the side distance radar and the first relative position information is the relative distance of the obstacle relative to the vehicle. Based on the second relative position information and the vehicle's driving parameters after the obstacle enters the blind zone of the side distance radar, the module predicts the relative position information of the obstacle relative to the vehicle after the obstacle enters the blind zone of the side distance radar.

[0012] The control module is used to control the vehicle to avoid obstacles and park based on predicted relative position information and / or relative distance.

[0013] Thirdly, embodiments of this application also provide a vehicle, characterized in that it includes: one or more processors; a memory; one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to perform the above-described methods.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium storing processor-executable program code, which, when executed by the processor, causes the processor to perform the above-described method.

[0015] This application provides a parking method, apparatus, vehicle, and computer-readable storage medium. In this application, when the vehicle is in parking mode, in response to an obstacle entering the blind zone of the side-mounted radar, the first relative position information of the obstacle relative to the vehicle is acquired by the side-mounted radar. If a second relative position information of the obstacle relative to the vehicle is acquired before the obstacle enters the blind zone of the side-mounted radar, and the first relative position information is the relative distance of the obstacle relative to the vehicle, the predicted relative position information of the obstacle relative to the vehicle after entering the blind zone of the side-mounted radar is predicted based on the second relative position information and the vehicle's driving parameters after the obstacle enters the blind zone of the side-mounted radar. Based on the predicted relative position information and the relative distance, the vehicle is controlled to avoid obstacles and park. Through the above process, door radar is used to detect obstacles in the blind spot of the side distance radar, realizing the positioning of obstacles in the blind spot of the side distance radar. This improves the vehicle's ability to detect obstacles in the blind spot of the side distance radar, solves the problems of inaccurate obstacle position information detected by camera during parking and the inability to locate obstacles when there is a blind spot of the side distance radar. Furthermore, by combining relative distance and predicted position information to control the vehicle's parking obstacle avoidance, the accuracy of controlling the vehicle's parking obstacle avoidance is improved, thereby improving parking safety.

[0016] Other features and advantages of the embodiments of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the embodiments of this application. The objects and other advantages of the embodiments of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic diagram of a vehicle hardware environment applicable to embodiments of this application is shown.

[0019] Figure 2 A flowchart of a parking method according to an embodiment of this application is shown.

[0020] Figure 3 A schematic diagram of the blind zone of a side-range radar according to an embodiment of this application is shown.

[0021] Figure 4 A schematic diagram of the detection area of ​​a gate radar according to an embodiment of this application is shown.

[0022] Figure 5 It shows Figure 4 The diagram shows a region within the detection area where relative coordinates and relative distances can be detected.

[0023] Figure 6 This illustration shows a scenario where an obstacle approaches a vehicle, according to an embodiment of this application.

[0024] Figure 7 This illustration shows a scenario where an obstacle approaches a vehicle, as described in another embodiment of this application.

[0025] Figure 8 This illustration shows a scenario where an obstacle approaches or moves away from a vehicle, according to an embodiment of this application.

[0026] Figure 9 A schematic diagram illustrating the application process of a parking method according to an embodiment of this application is shown.

[0027] Figure 10 A structural block diagram of a parking device according to an embodiment of this application is shown. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. The components of the embodiments of the present application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without inventive effort are within the scope of protection of the present application.

[0029] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] Please see Figure 1 , Figure 1 A schematic diagram of a vehicle hardware environment applicable to an embodiment of this application is shown. The vehicle 100 includes a lane keeping assist system 110, a processor 111, and a memory 112.

[0031] The integrated parking system 110 detects obstacles using side-range radars deployed on the vehicle and performs parking obstacle avoidance based on the first relative position information of the obstacles.

[0032] The processor 111 may be a microcontroller unit (MCU) with a built-in memory 112 that stores a program that can execute the contents of the following embodiments, and the processor 111 can execute the program stored in the memory 112.

[0033] The processor 111 may include one or more processors. The processor 111 connects to various parts of the vehicle 100 using various interfaces and lines, and performs various functions of the vehicle 100 and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 112, and calling data stored in the memory 112.

[0034] The memory 112 may include random access memory (RAM) or read-only memory (ROM). The memory 112 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 112 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method embodiments described below.

[0035] Please see Figure 2 , Figure 2 A flowchart of a parking method according to an embodiment of this application is shown, for a vehicle including side distance radar and door radar. The method includes:

[0036] S101. When the vehicle is in parking mode, in response to an obstacle around the vehicle entering the blind spot of the side distance radar, the first relative position information of the obstacle relative to the vehicle collected by the door radar is obtained.

[0037] The vehicle can be an electric vehicle or a gasoline-powered vehicle, and can be a sedan, SUV, bus, or truck, etc. The vehicle being in parking mode can be in automatic parking mode or in driver-controlled parking mode. The obstacle can be a moving obstacle, such as other vehicles or pedestrians, or a stationary obstacle, such as a pillar or wall.

[0038] Side-mounted radar refers to the radar on the front and rear bumpers of a vehicle, and can be ultrasonic radar, millimeter-wave radar, etc. Typically, both the front and rear bumpers have six radars. In this case, the detection area of ​​the side-mounted radar is as follows: Figure 3 As shown in regions 310 and 320, the blind spots are as follows: Figure 3 Regions 330 and 340 are shown in the diagram.

[0039] Therefore, when an obstacle enters the blind spot of the side-mounted radar, a door radar can be used for obstacle detection. This door radar is applied to electric door systems or gull-wing door systems, and is positioned on or beside the door. During the electric opening of the door, it detects the initial relative position information of the obstacle, instructing the electric door to brake and avoid a collision. The detection area of ​​the door radar is as follows: Figure 4 As shown in regions 410 and 420.

[0040] The first relative position information refers to the position information of the obstacle in the vehicle coordinate system. The origin of the vehicle coordinate system can be set according to requirements, such as the center of the front axle of the vehicle, the center of the rear axle of the vehicle, etc. The first relative position information can be relative coordinates and / or relative distance.

[0041] In some implementations, the door radar sends first relative position information to the vehicle's parking ECU (Electronic Control Unit) via bus messages at preset intervals.

[0042] The preset cycle duration can be set according to requirements, such as 100ms. The left door radar distance signals in the bus message are POD_DSMRawDi sFL1, POD_DSMRawDi sFL2, POD_DSMRawDi sRL1, and POD_DSMRawDi sRL2 (four radars on one side of the vehicle); the left door radar sensor coordinate signals are POD_DSMLeftCoord i nateX and POD_DSMLeftCoord i nateY; the right door radar sensor distance signals are POD_DSMRawDi sFR1, POD_DSMRawDi sFR2, POD_DSMRawDi sRR1, and POD_DSMRawDi sRR2; and the right door radar sensor coordinate signals are POD_DSMRightCoord i nateX and POD_DSMRightCoord i nateY.

[0043] Taking a vehicle with four door radars on one side as an example, Figure 4 The detection area 410 in the middle Figure 5 As shown, when the obstacle is located in region 510 and region 520 of the detection area 410 of the door radar, the first relative position information is the relative distance. When the obstacle is located in region 530, region 540, region 550 and region 560 of the detection area 410, the first relative position information includes the relative distance and the relative coordinates.

[0044] That is, the obstacle is simultaneously located within the detection area of ​​at least two gate radars (e.g. Figure 5 When the obstacle is located in the detection area of ​​a gate radar (e.g., area 530, area 540, area 550, and area 560), the first relative position information includes relative distance and relative coordinates. Figure 5 When referring to regions 510 and 520, the first relative position information includes the relative distance.

[0045] In some implementations, the echo distance of an obstacle can be calculated by the time difference between the time the door radar sends an ultrasonic wave and the time it receives the reflected wave from the obstacle, and the first relative position information can be determined based on the echo distance.

[0046] In some implementations, the door radar can continuously detect obstacles during parking to determine the first relative position information of the obstacles.

[0047] In other embodiments, S101 includes: activating the door radar in response to an obstacle around the vehicle entering the blind spot of the side distance radar; and acquiring first relative position information of the obstacle relative to the vehicle via the door radar in response to the door radar entering the activated state.

[0048] In other words, the door radar only activates during parking when an obstacle enters the blind spot of the side distance radar, detecting the obstacle and determining its first relative position information.

[0049] In some implementations, when an obstacle around the vehicle enters the blind zone of the side-range radar, that is, when the side-range radar of the vehicle cannot detect the obstacle, a request message is sent to the door radar, and the door radar is activated in response to the request message.

[0050] S102. If the second relative position information of the obstacle relative to the vehicle is obtained before the obstacle enters the blind zone of the side distance radar, and the first relative position information is the relative distance of the obstacle relative to the vehicle, based on the second relative position information and the vehicle's driving parameters after the obstacle enters the blind zone of the side distance radar, the predicted relative position information of the obstacle relative to the vehicle after the obstacle enters the blind zone of the side distance radar is predicted.

[0051] The second relative position information of the obstacle relative to the vehicle also includes relative distance and relative coordinates. When the obstacle is located in the intersection area of ​​the detection areas of at least two side-range radars, the second relative position information includes relative distance and relative coordinates. When the obstacle is located in the detection area of ​​one side-range radar, the second relative position information includes relative distance.

[0052] Furthermore, the process of determining the second relative position information is as described above: obtaining the time difference between the time when the side-range radar sends ultrasonic waves and the time when it receives the reflected waves from the obstacle, calculating the echo distance of the obstacle, and determining the second relative position information based on the echo distance.

[0053] The first relative position information is the relative distance between the obstacle and the vehicle, i.e., the obstacle is located in the blind spot of the side-range radar. Figure 5 In regions 510 and 520 shown.

[0054] It should be noted that determining the relative distance to an obstacle can determine its location within the detection area of ​​the door radar that detected it, even if the distance to the door radar is relative to that radar. This method can determine the location of obstacles in blind spots, but the accuracy of the determined location is not high.

[0055] Therefore, it is necessary to obtain the predicted relative position information. Before obtaining the predicted relative position information, it is necessary to determine whether the second relative position information includes relative coordinates. If the second relative position information does not include relative coordinates, the predicted relative position information cannot be determined based on the second relative position information and the vehicle's driving parameters when the obstacle is in the blind spot. In this case, parking and obstacle avoidance are controlled based on the relative distance included in the first relative position information.

[0056] For example Figure 6 In the scene shown, the obstacle comes from Figure 6 The direction indicated by the middle arrow leads into the blind zone of the side-range radar, at which point only one side-range radar is present. Figure 6 The side-mounted radar (within area 610) can detect obstacles, but cannot obtain the relative coordinates of the obstacle relative to the vehicle. That is, the second relative position information only includes relative distance, not relative coordinates. When an obstacle enters the blind spot of the side-mounted radar, the side-mounted radar warning function (SDW) may be unable to track the obstacle. In the blind spot, the door radar collects the first relative position information. Therefore, the vehicle is controlled to avoid obstacles and park based on the first relative position information collected by the door radar. The detection area of ​​the door radar is as follows: Figure 6 As shown in regions 620 and 630.

[0057] If the second relative position information includes relative coordinates, the predicted relative position information is determined based on the relative coordinates included in the second relative position information and the vehicle's driving parameters when the obstacle is in the blind spot.

[0058] For example in Figure 7 In the scenario shown, if the obstacle comes from... Figure 7 The direction indicated by the middle arrow leads into the blind spot of the side-mounted radar. At this point, at least two side-mounted radars will detect the obstacle and obtain the obstacle's second relative position information relative to the vehicle, including relative coordinates and relative distance. After the obstacle enters the blind spot of the side-mounted radar, the SDW (Side-by-Side Vehicle) cannot track the obstacle, and the door radar collects the first relative position information. The detection area of ​​the door radar is as follows: Figure 7 As shown in area 720 and area 720, the detection area of ​​the side-range radar is as follows: Figure 7 As shown in regions 730 and 740.

[0059] The predicted relative position information is the position information of the obstacle in the blind spot, which is predicted based on the second relative position information collected by the side distance radar when the vehicle has not entered the blind spot and the vehicle's driving parameters when the obstacle is in the blind spot. That is, the obstacle is assumed to be stationary, and the position information of the obstacle relative to the vehicle in the blind spot is predicted based on the vehicle's driving parameters.

[0060] The driving parameters include vehicle speed, yaw angle, yaw rate, lateral angular velocity, longitudinal acceleration, and steering wheel angle.

[0061] For obstacles in motion, motion parameters of the obstacle can be obtained, and the predicted relative position information of the obstacle can be predicted based on the second relative position information, driving parameters, and motion parameters.

[0062] In some embodiments, the method further includes: responding to an obstacle around the vehicle entering the blind zone of the side-mounted radar, if the side-mounted radar does not acquire first relative position information of the obstacle; predicting the predicted relative position information of the obstacle relative to the vehicle after the obstacle enters the blind zone of the side-mounted radar based on the second relative position information and the vehicle's driving parameters after the obstacle enters the blind zone of the side-mounted radar; and controlling the vehicle to avoid the obstacle and park based on the predicted relative position information.

[0063] Specifically, when the door radar fails to collect the first relative position information of the obstacle and the second relative position information is the relative distance, the vehicle is controlled to avoid the obstacle and park based on the second relative position information.

[0064] In some implementations, controlling the vehicle to avoid obstacles and park based on the second relative position information includes: controlling the vehicle to avoid obstacles and park if the relative distance is not less than a distance threshold, and controlling the vehicle to stop if the relative distance is less than the distance threshold. The distance threshold is the sum of the collision distance and the distance margin.

[0065] If the relative distance is less than the distance threshold but not less than the collision distance, it indicates a high risk of collision between the vehicle and the obstacle; if the relative distance is less than the collision distance, it indicates that the vehicle and the obstacle have already collided.

[0066] S103. Based on the predicted relative position information and relative distance, control the vehicle to avoid obstacles and park.

[0067] When the exact location of an obstacle cannot be accurately determined by relative distance, and thus the vehicle cannot be accurately controlled to avoid obstacles and park, the relative position information and relative distance are comprehensively predicted, and then the vehicle is controlled to avoid obstacles and park.

[0068] For example in Figure 7In the scenario shown, after determining the predicted relative position information based on the second relative position information and the vehicle's driving parameters when the obstacle is in the blind spot, the vehicle is controlled to avoid obstacles and park based on the predicted relative position information and the relative distance.

[0069] Specifically, in some implementations, S103 includes: if the predicted relative position of the obstacle is not within the safe profile of the vehicle and the relative distance is not less than a distance threshold, planning an obstacle avoidance parking path based on the predicted relative position and the relative distance; and controlling the vehicle to avoid the obstacle and park according to the obstacle avoidance parking path.

[0070] The safety profile can be considered as an extension of the vehicle's profile outwards, ensuring that the predicted relative position is not within the vehicle's safety profile, thus preventing collisions with obstacles. For example, the profile obtained by extending the vehicle's profile outwards by 3cm can be considered the safety profile.

[0071] In some implementations, determining that the predicted relative position of an obstacle is not within the vehicle's safe profile includes: obtaining the outline coordinates of the vehicle in the vehicle coordinate system; determining the coordinates of the safe profile based on the outline coordinates and coordinate margins; and determining whether the predicted relative position of the obstacle is within the vehicle's safe profile based on the coordinates of the safe profile and the predicted relative coordinates.

[0072] If the predicted relative position of the obstacle is within the vehicle's safe profile or the relative distance is less than a distance threshold, control the vehicle to stop parking.

[0073] When there is a high risk of collision between the vehicle and an obstacle, the vehicle's fusion parking system determines whether to suspend or end parking.

[0074] The parking interface and / or panoramic interface will display predicted relative position information and relative distance indicators to indicate the risk of collision between obstacles and the vehicle. The more obvious the indicator, the higher the risk of collision. For example, a flashing red light indicates a higher risk of collision than a flashing yellow light.

[0075] In this embodiment, when the vehicle is in parking mode, in response to an obstacle around the vehicle entering the blind spot of the side distance radar, the first relative position information of the obstacle relative to the vehicle collected by the door radar is acquired; if the second relative position information of the obstacle relative to the vehicle is acquired before the obstacle enters the blind spot of the side distance radar and the first relative position information is the relative distance of the obstacle relative to the vehicle, based on the second relative position information and the vehicle's driving parameters after the obstacle enters the blind spot of the side distance radar, the predicted relative position information of the obstacle relative to the vehicle after the obstacle enters the blind spot of the side distance radar is predicted; based on the predicted relative position information and the relative distance, the vehicle is controlled to avoid obstacles and park. Through the above process, door radar is used to detect obstacles in the blind spot of the side distance radar, realizing the positioning of obstacles in the blind spot of the side distance radar. This improves the vehicle's ability to detect obstacles in the blind spot of the side distance radar, solves the problems of inaccurate obstacle position information detected by camera during parking and the inability to locate obstacles when there is a blind spot of the side distance radar. Furthermore, by combining relative distance and predicted position information to control the vehicle's parking obstacle avoidance, the accuracy of controlling the vehicle's parking obstacle avoidance is improved, thereby improving parking safety.

[0076] In one embodiment, if the first relative position information includes the relative coordinates of the obstacle relative to the vehicle, the vehicle is controlled to avoid the obstacle and park based on the relative coordinates.

[0077] The first relative position information includes the relative coordinates of the obstacle relative to the vehicle, i.e., the obstacle is located in the blind spot of the side-mounted radar. Figure 5 When referring to regions 530, 540, 550, and 560.

[0078] The first relative position information also includes relative distance, but relative coordinates can more accurately locate obstacles than relative distance, so relative distance is not considered.

[0079] In this embodiment, the second relative position information of the obstacle relative to the vehicle is obtained before the obstacle enters the blind zone of the side distance radar. If the relative coordinates of the obstacle relative to the vehicle collected by the door radar in the blind zone can accurately locate the obstacle, there is no need to consider the second relative position information. The vehicle can be controlled to avoid obstacles and park directly based on the relative coordinates, thereby improving the accuracy of controlling the vehicle to park and avoid obstacles, and thus improving the safety of parking.

[0080] In one embodiment, if the second relative position information of the obstacle relative to the vehicle is not obtained before the obstacle enters the blind zone of the side distance radar, the vehicle is controlled to avoid the obstacle and park based on the first relative position information.

[0081] exist Figure 7 In the scenario shown, if the obstacle comes from... Figure 7When entering or moving away from the blind spot of the side-mounted radar in the direction indicated by the middle arrow, the obstacle remains within the blind spot. Therefore, the vehicle is controlled to park based on the first relative position information collected by the door radar. The detection area of ​​the door radar is as follows: Figure 7 As shown in area 720 and area 720, the detection area of ​​the side-range radar is as follows: Figure 7 As shown in regions 730 and 740.

[0082] When the vehicle is stationary, the SDW strategy is not triggered. When an obstacle enters the blind spot of the side distance radar, the position of the obstacle cannot be determined. Therefore, the vehicle is controlled to park based on the first pair of position information collected by the door radar.

[0083] Similarly, in scenarios where obstacles and vehicles are moving relatively fast, the SDW may be unable to track obstacles after they enter the blind spot of the side distance radar. Therefore, the vehicle is controlled to park based on the first relative position information collected by the door radar.

[0084] It should be understood that the parking method proposed in this application can be used in scenarios including, but not limited to, the scenarios mentioned above.

[0085] In this embodiment, before the obstacle enters the blind zone of the side distance radar, the second relative position information of the obstacle relative to the vehicle is not obtained. Regardless of whether the first relative position information is relative distance or relative coordinates, the vehicle is controlled to avoid obstacles and park directly based on the first relative position information, thereby improving the accuracy of controlling the vehicle to park and avoid obstacles, and thus improving the safety of parking.

[0086] like Figure 8 As shown, when parking begins, the fusion parking system is first activated. When the side distance radar detects an obstacle, it outputs the second relative position information of the obstacle to the fusion parking system. After the obstacle enters the blind spot of the side distance radar, it requests the door radar to operate. Then, when the door radar sensor detects an obstacle, it outputs the first relative position information of the obstacle to the fusion parking system. The fusion parking system performs parking control based on the first relative position information and / or the second relative position information. After parking is completed, the fusion parking system exits and requests the door radar to stop operating.

[0087] See appendix Figure 9 , Figure 9 This illustration shows a structural block diagram of a parking device according to one embodiment of the present application. For a vehicle including side distance radar and door radar, the parking device 1200 includes:

[0088] The acquisition module 1210 is used to acquire the first relative position information of the obstacle relative to the vehicle collected by the door radar when the vehicle is in parking mode, in response to the obstacle around the vehicle entering the blind spot of the side distance radar.

[0089] The prediction module 1220 is used to predict the relative position information of the obstacle relative to the vehicle after the obstacle enters the blind zone of the side distance radar if the second relative position information of the obstacle relative to the vehicle is obtained before the obstacle enters the blind zone of the side distance radar and the first relative position information is the relative distance of the obstacle relative to the vehicle, based on the second relative position information and the driving parameters of the vehicle after the obstacle enters the blind zone of the side distance radar.

[0090] The control module 1230 is used to control the vehicle to avoid obstacles and park based on the predicted relative position information and / or relative distance.

[0091] Optionally, the control module 1230 is further configured to, if the predicted relative position of an obstacle is not within the safe contour of the vehicle and the relative distance is not less than a distance threshold, plan an obstacle avoidance parking path based on the predicted relative position and relative distance; and control the vehicle to avoid obstacles and park based on the obstacle avoidance parking path.

[0092] Optionally, the control module 1230 is also used to control the vehicle to stop parking if the predicted relative position of the obstacle is within the safe outline of the vehicle or the relative distance is less than a distance threshold.

[0093] Optionally, the control module 1230 is further configured to control the vehicle to avoid obstacles and park based on the relative coordinates if the first relative position information includes the relative coordinates of the obstacle relative to the vehicle.

[0094] Optionally, the control module 1230 is further configured to control the vehicle to avoid obstacles and park based on the first relative position information if the second relative position information of the obstacle relative to the vehicle is not obtained before the obstacle enters the blind spot of the side distance radar.

[0095] Optionally, the acquisition module 1210 is also configured to activate the door radar in response to an obstacle around the vehicle entering the blind spot of the side distance radar; and to acquire the first relative position information of the obstacle relative to the vehicle through the door radar in response to the door radar entering the activated state.

[0096] Optionally, the prediction module 1220 is further configured to respond to an obstacle around the vehicle entering the blind zone of the side distance radar if the side distance radar does not collect the first relative position information of the obstacle; based on the second relative position information and the vehicle's driving parameters after the obstacle enters the blind zone of the side distance radar, predict the predicted relative position information of the obstacle relative to the vehicle after the obstacle enters the blind zone of the side distance radar; and control the vehicle to avoid obstacles and park based on the predicted relative position information.

[0097] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0098] Furthermore, the functions in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module.

[0099] This application also provides a computer-readable storage medium storing program code that can be called by a processor to execute the methods described in the above method embodiments.

[0100] Computer-readable storage media can be electronic storage devices such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or a cluster of ROMs. Optionally, computer-readable storage media include non-volatile computer-readable storage media. The computer-readable storage media has storage space for program code that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code can be compressed, for example, in a suitable form.

[0101] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A parking method, characterized in that, For a vehicle including side-range radar and door radar, the method includes: When the vehicle is in parking mode, in response to an obstacle around the vehicle entering the blind spot of the side distance radar, the first relative position information of the obstacle relative to the vehicle collected by the door radar is obtained; If, before the obstacle enters the blind zone of the side distance radar, the second relative position information of the obstacle relative to the vehicle is obtained, and the first relative position information is the relative distance of the obstacle relative to the vehicle, then, based on the second relative position information and the vehicle's driving parameters after the obstacle enters the blind zone of the side distance radar, the predicted relative position information of the obstacle relative to the vehicle after the obstacle enters the blind zone of the side distance radar is predicted. Based on the predicted relative position information and the relative distance, the vehicle is controlled to avoid obstacles and park.

2. The method according to claim 1, characterized in that, The step of controlling the vehicle to avoid obstacles and park based on the predicted relative position information and the relative distance includes: If the predicted relative position of the obstacle is not within the safe profile of the vehicle and the relative distance is not less than the distance threshold, an obstacle avoidance parking path is planned based on the predicted relative position and the relative distance. The vehicle is controlled to avoid obstacles and park according to the obstacle avoidance parking path.

3. The method according to claim 1, characterized in that, The step of controlling the vehicle to avoid obstacles and park based on the predicted relative position information and the relative distance includes: If the predicted relative position of the obstacle is within the safe profile of the vehicle or the relative distance is less than a distance threshold, the vehicle is controlled to stop parking.

4. The method according to claim 1, characterized in that, When the vehicle is in parking mode, after acquiring the first relative position information of the obstacle relative to the vehicle collected by the door radar in response to an obstacle entering the blind spot of the side distance radar, the method further includes: If the first relative position information includes the relative coordinates of the obstacle relative to the vehicle, the vehicle is controlled to avoid the obstacle and park based on the relative coordinates.

5. The method according to claim 1, characterized in that, When the vehicle is in parking mode, after acquiring the first relative position information of the obstacle relative to the vehicle collected by the door radar in response to an obstacle entering the blind spot of the side distance radar, the method further includes: If the second relative position information of the obstacle relative to the vehicle is not obtained before the obstacle enters the blind zone of the side distance radar, the vehicle is controlled to avoid the obstacle and park based on the first relative position information.

6. The method according to claim 1, characterized in that, The method of responding to an obstacle around the vehicle entering the blind zone of the side-range radar and acquiring the first relative position information of the obstacle relative to the vehicle collected by the door radar includes: The door radar is activated in response to an obstacle around the vehicle entering the blind zone of the side distance radar; In response to the door radar entering an active state, the door radar acquires the first relative position information of the obstacle relative to the vehicle.

7. The method according to claim 1, characterized in that, The method further includes: In response to an obstacle around the vehicle entering the blind zone of the side distance radar, if the door radar does not acquire the first relative position information of the obstacle; Based on the second relative position information and the vehicle's driving parameters after the obstacle enters the blind zone of the side distance radar, the predicted relative position information of the obstacle relative to the vehicle after the obstacle enters the blind zone of the side distance radar is predicted. Based on the predicted relative position information, the vehicle is controlled to avoid obstacles and park.

8. A parking device, characterized in that, For vehicles including side-range radar and door radar, including: The acquisition module is used to acquire, when the vehicle is in parking mode, the first relative position information of the obstacle relative to the vehicle collected by the door radar in response to the obstacle entering the blind zone of the side distance radar. The prediction module is configured to, if it acquires second relative position information of the obstacle relative to the vehicle before the obstacle enters the blind zone of the side distance radar and the first relative position information is the relative distance of the obstacle relative to the vehicle, predict the predicted relative position information of the obstacle relative to the vehicle after the obstacle enters the blind zone of the side distance radar based on the second relative position information and the driving parameters of the vehicle after the obstacle enters the blind zone of the side distance radar; The control module is used to control the vehicle to avoid obstacles and park based on the predicted relative position information and / or the relative distance.

9. A vehicle, characterized in that, include: One or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, the one or more applications being configured to perform the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores processor-executable program code, which, when executed by the processor, causes the processor to perform the method according to any one of claims 1-7.

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