An automatic parking control method and device, storage medium and electronic equipment

Abstract

This application relates to an automatic parking control method and apparatus, storage medium, and electronic device, comprising: acquiring parking space line information and vehicle information on the left and right sides of the parking space; determining the width of the parking space based on the parking space line information and vehicle information; acquiring occupant information and determining the required left and right widths of the vehicle based on the occupant information; determining whether the parking space is spacious based on the parking space width, vehicle information, left and right widths of the vehicle, and a preset vehicle width; if spacious, controlling the vehicle to automatically park; if not spacious, stopping the vehicle and outputting a prompt message, the prompt message being used to remind the user to get out of the vehicle in advance, avoiding the inability of occupants to get out of the vehicle due to narrow exit space after parking, thereby automatically recognizing the user's parking needs and improving parking convenience.

Description

Technical Field

[0001] This application relates to the field of automatic parking technology, specifically to automatic parking control methods and devices, storage media, and electronic devices. Background Technology

[0002] Currently, when using automatic parking in narrow spaces, the driver often needs to actively identify the narrow space, get out of the car, and then activate the remote parking function to park. This requires the driver to have a relatively accurate judgment of the distance between parking spaces, which is quite difficult and cumbersome. Summary of the Invention

[0003] The purpose of this application is to provide an automatic parking control method and device, a computer-readable storage medium, and an electronic device to improve parking convenience.

[0004] To achieve the above objectives, embodiments of this application provide an automatic parking control method, comprising:

[0005] Obtain the parking space line information and vehicle information on the left and right sides of the parking space, and determine the width of the parking space based on the parking space line information and vehicle information;

[0006] Obtain information on the occupants inside the vehicle, and determine the width that should be reserved on the left and right sides of the vehicle based on the occupant information;

[0007] The spaciousness of the parking space is determined based on the parking space width, vehicle information, the required left and right widths of the vehicle, and the preset width of the vehicle.

[0008] If the space is wide, control the vehicle to park automatically;

[0009] If the space is not wide enough, the vehicle will stop and display a prompt message to remind the user to get off the vehicle in advance.

[0010] In some specific examples, determining the parking space width based on the parking space line information and vehicle information includes:

[0011] If there are vehicles on both sides of the parking space, then the width of the parking space is the distance between the vehicles on both sides of the parking space;

[0012] If the parking space has parking line information and there is a vehicle on one side of the parking space, then the width of the parking space is the distance between the parking line on the side without a vehicle and the vehicle body on the side with a vehicle.

[0013] If there are no vehicles on either side of the parking space, the width of the parking space will be the preset width value.

[0014] In some specific examples, determining the required width on the left and right sides of the vehicle based on the occupant information includes:

[0015] Based on the occupant information, determine whether there are occupants on the left front row, left rear row, right front row, and right rear row, and their types. Based on whether there are occupants and their types, determine the width to be reserved for the left front row, left rear row, right front row, and right rear row. Select the larger of the left front row width and the left rear row width as the width to be reserved for the left side of the vehicle, and select the larger of the right front row width and the right rear row width as the width to be reserved for the right side of the vehicle.

[0016] In some specific examples, determining the required front left-side width, rear left-side width, front right-side width, and rear right-side width based on whether there are occupants and their types includes:

[0017] If there are passengers on any of the following sides: front left, rear left, front right, and rear right, the width to be reserved on that side shall be determined according to the passenger type. The width to be reserved on that side shall be different for different passenger types.

[0018] If there are no passengers on any of the following sides: front left, rear left, front right, or rear right, the width reserved on that side should be the preset value.

[0019] In some specific examples, the prompt information includes a first prompt information and a second prompt information. The first prompt information is used to remind the user that the parking space is narrow and that the user should get out of the car in advance. The second prompt information is used to remind the user that the parking position may be on the line and that the user should get out of the car in advance.

[0020] The method specifically includes:

[0021] If there are vehicles parked on both sides of the parking space, and (AB)>HL+HR+C1, then the parking space is determined to be spacious; otherwise, the parking space is determined to be narrow, and the first prompt message is output.

[0022] If there is only a vehicle on the left side of the parking space, and (AB) > HL + C2, then the parking space is determined to be spacious; otherwise, the parking space is determined to be narrow, and the second prompt message is output.

[0023] If there is only a vehicle on the right side of the parking space, and (AB) > HR + C3, then the parking space is determined to be spacious; otherwise, the parking space is determined to be cramped, and the second prompt message is output.

[0024] If there are no vehicles on either side of the parking space, it is determined that the parking space is spacious.

[0025] Where A is the width of the parking space, B is the width of the vehicle, HL is the width of the left side of the vehicle that should be reserved, HR is the width of the right side of the vehicle that should be reserved, and C1, C2, and C3 are all preset values.

[0026] In some specific examples, the output prompt message may also include:

[0027] When vehicles are parked on both sides of the parking space and the user command to continue automatic parking is received, the occupant information inside the vehicle is re-acquired. Based on the re-acquired occupant information, the width of the front left side, front right side, rear left side, and rear right side that should be reserved is re-determined. The width of the left side and right side of the vehicle that should be reserved is recalculated. Based on the recalculated width of the left side and right side of the vehicle and the width of the parking space, it is determined whether the parking space is spacious.

[0028] If the parking space is determined to be wide, the system will continue to automatically park the vehicle based on the distance between the vehicle and the vehicle on the left and the distance between the vehicle and the vehicle on the right.

[0029] If it is determined that the parking space is not wide, and the difference between the width of the parking space and the width of the vehicle meets the first preset condition, and the distance between the vehicle and the vehicles on both sides is greater than the distance between the corresponding vehicle and the inner side of the parking space line, then the vehicle will stop and output a third prompt message, and respond to the user's command to control the vehicle to continue automatic parking or exit automatic parking; the third prompt message is used to remind that the parking space is narrow, and please get out of the car carefully after parking.

[0030] If it is determined that the parking space is not wide, and the difference between the width of the parking space and the width of the vehicle meets the first preset condition, and the distance between the vehicle and the vehicles on both sides is less than the distance between the corresponding vehicle and the inner side of the parking space line, then the vehicle will stop and output the fourth prompt message, and respond to the user's command to control the vehicle to continue automatic parking or exit automatic parking; the fourth prompt message is used to indicate that the parking position may be on the line, please confirm parking;

[0031] Otherwise, the vehicle will stop and output a fifth prompt message, and control the vehicle to park in the middle of the parking space; the fifth prompt message is used to indicate that it may be impossible to get out of the vehicle after parking.

[0032] In some specific examples, the vehicle continues to park automatically in response to user commands, including:

[0033] If there is an elderly person on the left or right side of the front row, the corresponding left and right widths of the vehicle should be obtained according to the occupant type. The distance between the vehicle and the vehicles on both sides is calculated based on the left and right widths of the vehicle, the width of the parking space, and the width of the vehicle. The vehicle is then parked in the parking space according to the distance between the vehicle and the vehicles on both sides.

[0034] If there are people on the left and right sides of the front row but they are not elderly or infants, then the corresponding left and right widths of the vehicle should be determined according to the body size of the front row occupants. Based on the left and right widths of the vehicle, the parking space width, and the width of the vehicle, the distance between the vehicle and the vehicles on both sides is calculated, and the vehicle is parked in the parking space according to the distance between the vehicle and the vehicles on both sides.

[0035] In some specific examples, responding to user commands to control the vehicle to continue or disengage from automatic parking includes:

[0036] When there is a vehicle on the left or right side of the parking space and the user command to continue automatic parking is received, the occupant information is re-acquired, and the width of the front left, front right, rear left, and rear right that should be reserved is re-determined based on the re-acquired occupant information. The width of the left and right sides of the vehicle that should be reserved is also recalculated.

[0037] If there is someone on either the front or rear side, the distance between this vehicle and the vehicle on that side shall be determined according to the width of this vehicle that should be reserved on that side, and the vehicle shall be parked in the parking space according to the distance between this vehicle and the vehicle on that side.

[0038] If there is someone in either the front or rear row and the distance between this vehicle and the vehicle on the other side is less than zero, then the vehicle stops and outputs the sixth prompt message, and obtains the user's instruction; if the obtained user instruction is to park without crossing the line, then the distance between this vehicle and the vehicle on that side is determined based on the width of this vehicle and the width of the parking space, and the vehicle is controlled to park in the parking space based on the distance between this vehicle and the vehicle on that side; if the obtained user instruction is to confirm parking on the line, then the distance between this vehicle and the vehicle on that side is determined based on the width of this vehicle on that side that should be reserved, and the vehicle is controlled to park in the parking space based on the distance between this vehicle and the vehicle on that side; wherein, the sixth prompt message is used to indicate that the parking position may cross the line, please confirm parking;

[0039] Otherwise, the distance between this vehicle and the vehicle on that side is determined based on the width of the parking space and the distance between this vehicle and the inner side of the parking space line, and the vehicle is parked in the parking space based on the distance between this vehicle and the vehicle on that side.

[0040] This application embodiment also provides an automatic parking control device for implementing the automatic parking control method described above, including:

[0041] The information acquisition module is used to acquire parking space line information and vehicle information on the left and right sides of the parking space, and to determine the width of the parking space based on the parking space line information and vehicle information.

[0042] The reserved space acquisition module is used to acquire occupant information and determine the width of the left and right sides of the vehicle to be reserved based on the occupant information.

[0043] The width determination module is used to determine whether the parking space is wide based on the parking space width, vehicle information, the width to be reserved on the left and right sides of the vehicle, and the preset width of the vehicle.

[0044] The first control module is used to control the vehicle to park automatically if there is enough space.

[0045] The second control module is used to stop the vehicle and output a prompt message if the space is not wide enough, the prompt message being used to remind the user to get off the vehicle in advance.

[0046] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the automatic parking control method described above.

[0047] This application also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the automatic parking control method as described above.

[0048] The embodiments of this application have at least the following beneficial effects:

[0049] This application embodiment determines the width of the parking space based on the parking space line information and the vehicle information on the left and right sides of the parking space. It also determines the width of the left and right sides of the vehicle to be reserved based on the occupant information. Different types of occupants (e.g., the elderly, infants, strong / obese individuals, thin individuals, and individuals of normal weight) require different widths of space to exit the vehicle. Before parking the vehicle, the system determines whether the parking space is spacious based on the parking space width, vehicle information, left and right width of the vehicle, and the vehicle's width. If the space is spacious, the system controls the vehicle to park automatically. If the space is not spacious, the system stops the vehicle and outputs a prompt message to remind the user to get out of the vehicle in advance. This avoids situations where occupants cannot get out of the vehicle due to narrow exit space after parking, thereby automatically recognizing the user's parking needs and improving parking convenience.

[0050] Other features and advantages of the embodiments of this application will be set forth in the following description. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0052] Figure 1 This is a flowchart of an automatic parking control method according to an embodiment of this application.

[0053] Figure 2 This is a schematic diagram of a parking space scenario in an embodiment of this application.

[0054] Figure 3This is a schematic diagram of parameters A, E1, E2, F1, F2, etc. in the embodiments of this application.

[0055] Figure 4 An automatic parking control flowchart is shown in one specific embodiment of this application.

[0056] Figure 5 This is a flowchart illustrating the specific process of controlling the vehicle to continue automatic parking in a specific embodiment of this application.

[0057] Figure 6 This is a schematic diagram of an automatic parking control device according to an embodiment of this application. Detailed Implementation

[0058] The various exemplary embodiments, features, and aspects of this application will be described in detail below with reference to the accompanying drawings. Furthermore, numerous specific details are set forth in the following detailed embodiments to better illustrate this application. Those skilled in the art will understand that this application can be practiced without certain specific details. In some instances, means well-known to those skilled in the art have not been described in detail in order to highlight the main points of this application.

[0059] One embodiment of this application proposes an automatic parking control method. Before starting the process of the method in this embodiment, the user can set whether to enable the function of prioritizing users to get off the vehicle outside the parking space. When the function of prioritizing users to get off the vehicle outside the parking space is enabled, the vehicle executes the method steps of this embodiment and can identify the current occupant situation and the situation of the parking space to be parked. When automatically parking, if it is identified that the elderly, infants, or strong / obese people cannot conveniently get off the vehicle in the target parking space, the vehicle can automatically stop outside the parking space.

[0060] See Figure 1 The method in this embodiment includes the following steps:

[0061] Step S1: Obtain the parking space line information and vehicle information on the left and right sides of the parking space, and determine the width of the parking space based on the parking space line information and vehicle information.

[0062] Specifically, the vehicle information on the left and right sides of the parking space includes whether there are vehicles on the left and right sides of the parking space to be parked, and the location information of the vehicles; for example, the parking space line information and vehicle information can be obtained by installing a camera on the vehicle body to collect images of the external environment and performing image recognition on the external environment.

[0063] Step S2: Obtain occupant information and determine the required width on the left and right sides of the vehicle based on the occupant information.

[0064] Specifically, the occupant information includes whether each seat in the vehicle is occupied, and the type of the occupant. The occupant type includes, but is not limited to, the elderly, infants, robust / obese individuals, thin individuals, and individuals of normal weight. In this embodiment, different types of occupants have different requirements for exit space. For example, robust / obese individuals require more exit space than individuals of normal weight or thinness. Therefore, in this embodiment, different widths of exit space to be reserved are preset according to different types of occupants. Based on this, the width of the left side and the right side of the vehicle to be reserved can be determined according to the occupant information. For example, the occupant information can be obtained by installing a camera in the vehicle to collect images inside the vehicle and performing image recognition on the images.

[0065] Step S3: Determine whether the parking space is spacious based on the parking space width, vehicle information, the required left and right widths of the vehicle, and the preset width of the vehicle.

[0066] Specifically, the process mainly involves calculating whether the width of the left and right sides of the vehicle meets the required left and right widths after the vehicle is parked in the parking space. If the width does not meet the requirements, the parking space is considered too narrow; if it does meet the requirements, the parking space is considered too wide.

[0067] Step S4: If the space is wide, control the vehicle to perform automatic parking;

[0068] Step S5: If the space is not wide enough, stop the vehicle and output a prompt message, which is used to remind the user to get off the vehicle in advance.

[0069] Specifically, the steps can be displayed by outputting the prompt information to the vehicle system or user mobile terminal (e.g., mobile phone), or by using the vehicle system to interact with the user via voice to prompt and receive user instructions, or by using the vehicle system or user mobile terminal to receive user instructions by the user manually inputting information. In this embodiment, there are no limitations on the prompting method or the method of obtaining user instructions.

[0070] The method in this embodiment determines the width of the parking space based on the parking line information and vehicle information on the left and right sides of the parking space. It also determines the width of the left and right sides of the vehicle to be reserved based on the occupant information. Different types of occupants (e.g., elderly, infants, robust / obese individuals, thin individuals, and individuals of normal weight) require different widths of space to exit the vehicle. Before parking the vehicle, the method determines whether the parking space is spacious based on the parking space width, vehicle information, left and right width of the vehicle, and the width of the vehicle itself. If the space is spacious, the vehicle is automatically parked. If the space is not spacious, the vehicle stops and a prompt message is output to remind the user to get out of the vehicle in advance. This avoids situations where occupants cannot get out of the vehicle due to narrow exit space after parking, thereby automatically recognizing the user's parking needs and improving parking convenience.

[0071] In some embodiments, see Figures 2-3 In step S1, determining the parking space width based on the parking space line information and vehicle information specifically includes:

[0072] If there are vehicles on both sides of the parking space, then the width of the parking space is the distance between the vehicles on both sides of the parking space;

[0073] If the parking space has parking line information and there is a vehicle on one side of the parking space, then the width of the parking space is the distance between the parking line on the side without a vehicle and the vehicle body on the side with a vehicle.

[0074] If there are no vehicles on either side of the parking space, the width of the parking space is a preset width value; specifically, the preset width value is, for example, 2, 3 or 4 times the width of the vehicle.

[0075] In some embodiments, determining the required width on the left and right sides of the vehicle based on the occupant information in step S2 includes:

[0076] Based on the occupant information, determine whether there are occupants and their types on the front left (driver's seat), rear left, front right (passenger's seat), and rear right. Based on the presence and type of occupants, determine the required widths for the front left, rear left, front right, and rear right. Select the larger of the front left and rear left widths as the required width for the left side of the vehicle, and select the larger of the front right and rear right widths as the required width for the right side of the vehicle.

[0077] Specifically, the passenger types include, but are not limited to, one or more of the following: elderly people, infants, obese people, thin people, and people of normal weight.

[0078] In some embodiments, determining the required front left width, rear left width, front right width, and rear right width based on whether there are occupants and their types includes:

[0079] If there are passengers on any of the following sides: front left, rear left, front right, and rear right, the width to be reserved on that side shall be determined according to the passenger type. The width to be reserved on that side shall be different for different passenger types.

[0080] If there are no passengers on any of the following sides: front left, rear left, front right, or rear right, the width reserved on that side should be the preset value.

[0081] Specifically, the width of the left front row, the width of the left rear row, the width of the right front row, and the width of the right rear row that should be reserved can be determined according to the following (1)~(4);

[0082] (1) If there is an elderly person on the right side of the front row, the required width (HFR) on the right side of the front row should be set to H1, where H1 can be set to D, and D is a preset value; if there is an obese person on the right side of the front row, the required width (HFR) on the right side of the front row should be set to H3, where H3 can be set to 0.9. D; If there are people of normal weight on the right side of the front row, then set the required width (HFR) on the right side of the front row to H4, where H4 can be set to 0.8. D; If there is a slender person on the right side of the front row, then set the required width (HFR) on the right side of the front row to H5, where H5 can be set to 0.7. D; If there is no one on the right side of the front row, set the width HFR to be reserved on the right side of the front row to H6;

[0083] (2) If there is an elderly person on the left side of the front row, the required width HFL for the left side of the front row should be set to H1, where H1 can be set to D, and D is a preset value; if there is an obese person on the left side of the front row, the required width HFL for the left side of the front row should be set to H3, where H3 can be set to 0.9. D; If there are people of normal weight on the left side of the front row, then set the required width (HFL) for the left side of the front row to H4, where H4 can be set to 0.8. D; If there is a slender person on the left side of the front row, then set the required width (HFL) on the left side of the front row to H5, where H5 can be set to 0.7. D; If there is no one on the left side of the front row, set the width HFL that should be reserved on the left side of the front row to H6;

[0084] (3) If there is an elderly person on the right side of the rear row, the required width (HRR) on the right side of the rear row should be set to H1, where H1 can be set to D, and D is a preset value; if there is an infant or toddler on the right side of the rear row, the required width (HRR) on the right side of the rear row should be set to H2, where H2 can be set to 0.95. D; If there is an obese person on the right side of the rear row, then the required width (HRR) for the right side of the rear row should be set to H3, where H3 can be set to 0.9. D; If there are people of normal weight on the right side of the rear row, then set the required width (HRR) for the right side of the rear row to H4, where H4 can be set to 0.8. D; If there is a slender person on the right side of the rear row, then set the required width (HRR) for the right side of the rear row to H5, where H5 can be set to 0.7. D; If there is no one on the right side of the rear row, set the width HRR that should be reserved on the right side of the rear row to H6;

[0085] (4) If there is an elderly person on the left side of the rear row, set the required width HRL for the left side of the rear row to H1, where H1 can be set to D, and D is a preset value; if there is an infant or toddler on the left side of the rear row, set the required width HRL for the left side of the rear row to H2, where H2 can be set to 0.95. D; If there is an obese person on the left side of the rear row, then the required width (HRL) for the left side of the rear row should be set to H3, where H3 can be set to 0.9. D; If there are people of normal weight on the left side of the rear row, then set the required width (HRL) for the left side of the rear row to H4, where H4 can be set to 0.8. D; If there is a slender person on the left side of the rear row, then set the required width (HRL) for the left side of the rear row to H5, where H5 can be set to 0.7. D; If there is no one on the left side of the rear row, set the width HRL to be reserved on the left side of the rear row to H6; It should be noted that the parameter values ​​of H1 to H6 can be customized and adjusted. Among them, H1 to H5 should be set appropriately according to the body shape parameters of the person, and H6 can be, but is not limited to, 0.

[0086] Furthermore, since the front and rear space on the left or right side of the vehicle should be the same after parking, in this embodiment, let HL=max(HFL,HRL) and HR=max(HFR,HRR), where HL is the width of the left side of the vehicle that should be reserved and HR is the width of the right side of the vehicle that should be reserved.

[0087] In some embodiments, the prompt information includes a first prompt information and a second prompt information. The first prompt information is used to remind the user that the parking space is narrow and that the user should get out of the car in advance. The second prompt information is used to remind the user that the parking position may be on the line and that the user should get out of the car in advance.

[0088] The method in this embodiment specifically includes:

[0089] If there are vehicles parked on both sides of the parking space, and (AB)>HL+HR+C1, E1≥F1, E2≥F2, then the parking space is considered spacious; otherwise, the parking space is considered narrow, and the first prompt message is output. It should be noted that when the situation of parking beyond the parking space line is not considered, the conditions E1≥F1 and E2≥F2 can be ignored, and only (AB)>HL+HR+C1 is considered, that is, if there are vehicles parked on both sides of the parking space, and (AB)>HL+HR+C1, then the parking space is considered spacious.

[0090] If there is only a vehicle on the left side of the parking space, and (AB) > HL + C2, then the parking space is determined to be spacious; otherwise, the parking space is determined to be narrow, and the second prompt message is output.

[0091] If there is only a vehicle on the right side of the parking space, and (AB) > HR + C3, then the parking space is determined to be spacious; otherwise, the parking space is determined to be cramped, and the second prompt message is output.

[0092] If there are no vehicles on either side of the parking space, it is determined that the parking space is spacious; in this case, no prompting is required.

[0093] Where A is the parking space width, B is the vehicle width, HL is the required width on the left side of the vehicle, HR is the required width on the right side of the vehicle, and C1, C2, and C3 are preset values. For example, C1 can be set to 25 cm, 30 cm, 35 cm, etc., and C2 can be set to 0.5 cm. C1 and C3 can be set to 0.5. The parameter values ​​of C1, C2, and C3 can all be customized; among them, E1 is the distance between this vehicle and the vehicle on the left, E2 is the distance between this vehicle and the vehicle on the right, and F2 is the distance between this vehicle and the vehicle on the right and the inner side of the parking space line.

[0094] In some embodiments, step S4 specifically includes:

[0095] When there are vehicles parked on both sides of the parking space, according to E2=min{HR+(AB-HL-HR) / 2, max{HR+0.5 C1,F2}} and E1=AB-E2 calculate the distance between the vehicle and the vehicle on the left and the distance between the vehicle and the vehicle on the right, and control the vehicle to park automatically based on the distance between the vehicle and the vehicle on the left, the distance between the vehicle and the vehicle on the right, the current position of the vehicle and the position of the parking space.

[0096] When there is only a vehicle on the left side of the parking space, the distance between the vehicle and the vehicle on the left is calculated according to E1=HL+C2, and the vehicle is controlled to park automatically based on the distance between the vehicle and the vehicle on the left, the current position of the vehicle and the position of the parking space.

[0097] When there is only a vehicle on the right side of the parking space, the distance between the vehicle and the vehicle on the right is calculated according to E2=HR+C3. Based on the calculated distance between the vehicle and the vehicle on the right, the current position of the vehicle and the position of the parking space, the vehicle is controlled to automatically park.

[0098] When there are no vehicles on either side of the parking space, the vehicle will be parked in the middle of the parking space based on its current position and the position of the parking space.

[0099] Where E1 is the distance between this vehicle and the vehicle on the left, E2 is the distance between this vehicle and the vehicle on the right, and F2 is the distance between this vehicle and the vehicle on the right and the inner side of the parking space line.

[0100] Figure 4 This is a flowchart of an automatic parking control method in a specific embodiment of this application. Figure 4 The process shown covers the scenarios of the embodiments described above.

[0101] In some embodiments, after outputting the prompt message in step S5, the method further includes:

[0102] Step S51: When there are vehicles parked on both sides of the parking space and the user command to continue automatic parking is received, the occupant information inside the vehicle is re-acquired. Based on the re-acquired occupant information, the width of the front left side, the width of the front right side, the width of the rear left side, and the width of the rear right side that should be reserved are re-determined. The width of the left side and the right side of the vehicle that should be reserved are recalculated. Based on the recalculated width of the left side and the right side of the vehicle that should be reserved and the width of the parking space, it is determined whether the parking space is spacious.

[0103] Specifically, if a first user instruction is received within a preset first time after the prompt information is output, and the first user instruction is to continue automatic parking while the door is closed, the vehicle is controlled to continue automatic parking; if the first user instruction is to exit automatic parking, automatic parking is exited and the vehicle is controlled to park. If no first user instruction is received within the preset first time after the prompt information is output, and the door is closed, the vehicle is controlled to continue automatic parking. If no first user instruction is received within a preset second time after the prompt information is output, and the door is not closed, automatic parking is exited and the vehicle is controlled to park. The preset second time is greater than the preset first time. The preset first time is, for example, 1 minute, and the preset second time is, for example, 2 minutes. Both the preset second time and the preset first time are customizable parameters.

[0104] Step S52: If it is determined that the parking space is wide, then control the vehicle to continue parking automatically based on the distance between the vehicle and the vehicle on the left and the distance between the vehicle and the vehicle on the right.

[0105] Specifically, at this time, E2 = min{HR + (A - B - HL - HR) / 2, max{HR + 0.5 C1, F2}}, E1 = A - B - E2, satisfying E1 ≥ F1, E2 ≥ F2 and (A - B) > (HL + HR + C1). It can be understood that E1 and E2 can also be calculated in other ways, which are not limited herein.

[0106] Step S53, if it is determined that the parking space is not wide and the difference between the width of the parking space and the width of the vehicle itself meets the first preset condition, and the distances between the vehicle and the vehicles on both sides are respectively greater than the distances between the corresponding side vehicles and the inner side of the parking space line, then park the vehicle and output a third prompt message, and control the vehicle to continue automatic parking or exit automatic parking in response to the user's instruction; the third prompt message is used to prompt that the parking position is narrow and please get off carefully after parking;

[0107] Specifically, at this time, E2 = (A - B - C1) HFR / (HFL + HFR) + 0.5 C1, E1 = A - B - E2, satisfying (A - B) > (HFL + HFR + C1) C4, E1 ≥ F1 and E2 ≥ F2. After outputting the third prompt message, if a second user instruction is received, then control the vehicle to continue automatic parking or exit automatic parking according to the second user instruction. It can be understood that E1 and E2 can also be calculated in other ways, and the first preset condition can also be set according to the actual situation, which are not limited herein.

[0108] Step S54, if it is determined that the parking space is not wide and the difference between the width of the parking space and the width of the vehicle itself meets the first preset condition, and any one of the distances between the vehicle and the vehicles on both sides is less than the distance between the corresponding side vehicle and the inner side of the parking space line, then park the vehicle and output a fourth prompt message, and control the vehicle to continue automatic parking or exit automatic parking in response to the user's instruction; the fourth prompt message is used to prompt that the parking position may be压线, please confirm the parking;

[0109] [[ID=CO]] HFR / (HFL + HFR) + 0.5 C1, E1 = A - B - E2, satisfying (A - B) > (HFL + HFR + C1) C4, and E1 < F1 or E2 < F2. After outputting the fourth prompt message, if a third user instruction is received, then control the vehicle to continue automatic parking or exit automatic parking according to the third user instruction.

[0110] Step S55, otherwise, then park the vehicle and output a fifth prompt message, and control the vehicle to park at the middle position of the parking space; the fifth prompt message is used to prompt that it may be impossible to get off after parking.

[0111] Among them, E1 is the distance between the vehicle itself and the vehicle on the left, E2 is the distance between the vehicle itself and the vehicle on the right, F1 is the distance between the vehicle on the left of the vehicle itself and the inner side of the parking space line, F2 is the distance between the vehicle on the right of the vehicle itself and the inner side of the parking space line, HFL is the width to be reserved on the left front row, HFR is the width to be reserved on the right front row, A is the width of the parking space, B is the width of the vehicle itself, HL is the width to be reserved on the left side of the vehicle itself, HR is the width to be reserved on the right side of the vehicle itself, C1, C2, C3, and C4 are all preset values, and the value of C4 is less than 100%, for example but not limited to 80%.

[0112] In some embodiments, the control of the vehicle to continue automatic parking in response to the user instruction in step S53 and step S54 specifically includes:

[0113] If there is an elderly person in the left front row or the right front row, obtain the corresponding width to be reserved on the left side and the right side of the vehicle itself according to the occupant type, calculate the distances between the vehicle itself and the vehicles on both sides according to the width to be reserved on the left side and the right side of the vehicle itself, the width of the parking space, and the width of the vehicle itself, and control the vehicle to park in the parking space according to the distances between the vehicle itself and the vehicles on both sides;

[0114] If there are people in both the left front row and the right front row but they are not elderly people or infants and toddlers, obtain the corresponding width to be reserved on the left side and the right side of the vehicle itself according to the body types of the front-row occupants, calculate the distances between the vehicle itself and the vehicles on both sides according to the width to be reserved on the left side and the right side of the vehicle itself, the width of the parking space, and the width of the vehicle itself, and control the vehicle to park in the parking space according to the distances between the vehicle itself and the vehicles on both sides.

[0115] Specifically, if HFL≥H₁ and HFR≥H₂, then let E2=(A - B - C1) HFR / (HFL + HFR)+0.5 C1, E1 = A - B - E2, and control the vehicle to park in the parking space according to this E1 and this E2;

[0116] If HFL≥H₁ and HFR<H₂, then let E2 = min{(A - B - C1) HFR / (HFL + HFR)+0.5 C1, max{ C4 HFR + 0.5 C1, F2}}, E1 = A - B - E2, and control the vehicle to park in the parking space according to this E1 and this E2;

[0117] If HFL<H₁ and HFR≥H₂, then let E1 = min{(A - B - C1) HFL / (HFL + HFR)+0.5 C1, max{ C4 HFL + 0.5 C1, F2}}, E2 = A - B - E1, and park the vehicle to the parking space according to this E1 and this E2;

[0118] If HFL > H6, HFR > H6, HFL < H1, and HFR < H2, then let E2 = (A - B - C1) HFR / (HFL + HFR) + 0.5 C1, E1 = A - B - E2, and park the vehicle to the parking space according to this E1 and this E2;

[0119] If HFL = H6, HFR > H6, and HFR < H2, then let E2 = A - B - 0.5 C1, and park the vehicle to the parking space according to this E1 and this E2;

[0120] If HFL > H6, HFL < H1, and HFR = H6, then let E1 = A - B - 0.5 C1, and park the vehicle to the parking space according to this E1 and this E2;

[0121] If HFL + HFR = 2 H6 and HL > H6, then let E1 = A - B - 0.5 C1, and park the vehicle to the parking space according to this E1 and this E2;

[0122] If HFL + HFR = 2 H6, HR > H6, and (HL = H6), then let E2 = A - B - 0.5 C1, and park the vehicle to the parking space according to this E1 and this E2;

[0123] If there is no one in the front row and only the middle person in the back row, then let E1 = A - B - 0.5 C1, and park the vehicle to the parking space according to this E1 and this E2;

[0124] If there is no one in the vehicle, then control the vehicle to park at the middle position of the parking space;

[0125] Wherein, H1, H2, and H6 are all preset values.

[0126] In some embodiments, after outputting the prompt information in step S5, it further includes:

[0127] Step S56, when there is a vehicle only on the left or right side of the parking space and a user instruction to continue automatic parking is received, re - obtain the in - vehicle occupant information, re - determine the reserved left - front width, right - front width, left - rear width, and right - rear width according to the re - obtained in - vehicle occupant information, and re - calculate the reserved left - hand width and right - hand width of the vehicle;

[0128] Specifically, if a first user instruction is received within a preset first time after the prompt information is output, and the first user instruction is to continue automatic parking while the door is closed, the vehicle is controlled to continue automatic parking; if the first user instruction is to exit automatic parking, automatic parking is exited and the vehicle is controlled to park. If no first user instruction is received within the preset first time after the prompt information is output, and the door is closed, the vehicle is controlled to continue automatic parking. If no first user instruction is received within a preset second time after the prompt information is output, and the door is not closed, automatic parking is exited and the vehicle is controlled to park. The preset second time is greater than the preset first time. The preset first time is, for example, 1 minute, and the preset second time is, for example, 2 minutes. Both the preset second time and the preset first time are customizable parameters.

[0129] Step S57: If there is someone on either the front or rear side, determine the distance between the vehicle and the vehicle on that side based on the width of the vehicle that should be reserved on that side, and control the vehicle to park in the parking space based on the distance between the vehicle and the vehicle on that side.

[0130] Specifically, if HL>H6 and E2≥0, then let E1=HL+C2, and control the vehicle to park in the parking space according to E1; if HR>H6 and E1≥0, then let E2=HR+C3, and control the vehicle to park in the parking space according to E2.

[0131] Step S58: If there is someone in either the front or rear row and the distance between this vehicle and the vehicle on the other side is less than zero, then stop the vehicle and output the sixth prompt message, and obtain the user instruction; if the obtained user instruction is to park without crossing the line, then determine the distance between this vehicle and the vehicle on that side based on the width of this vehicle and the width of the parking space, and control this vehicle to park in the parking space based on the distance between this vehicle and the vehicle on that side; if the obtained user instruction is to confirm parking on the line, then determine the distance between this vehicle and the vehicle on that side based on the width of this vehicle that should be reserved on that side, and control this vehicle to park in the parking space based on the distance between this vehicle and the vehicle on that side; wherein, the sixth prompt message is used to indicate that the parking position may cross the line, please confirm parking;

[0132] Specifically, if HL>H6 and E2<0, then the vehicle stops and outputs the sixth prompt message, and obtains the fourth user instruction; if the fourth user instruction is to park without crossing the line, then E1=AB-C2, and the vehicle is controlled to park in the parking space according to E1; if the fourth user instruction is to confirm parking on the line, then E1=HL+C2, and the vehicle is controlled to park in the parking space according to E1.

[0133] If HR>H6 and E1<0, then stop the vehicle and output the sixth prompt message, and obtain the fourth user instruction; if the fourth user instruction is to park without crossing the line, then set E2=AB-C3, and control the vehicle to park in the parking space according to E2; if the fourth user instruction is to confirm parking on the line, then set E2=HR+C3, and control the vehicle to park in the parking space according to E2.

[0134] Step S59: Otherwise, determine the distance between this vehicle and the vehicle on that side based on the width of the parking space and the distance between this vehicle and the inner side of the parking space line, and control this vehicle to park in the parking space based on the distance between this vehicle and the vehicle on that side.

[0135] Specifically, let E1 = (A + F1) / 2 or E2 = (A + F1) / 2, and control the vehicle to park in the parking space according to E1 or E2.

[0136] Where E1 is the distance between this vehicle and the vehicle on the left, E2 is the distance between this vehicle and the vehicle on the right, F1 is the distance between the vehicle on the left and the inner side of the parking space line, F2 is the distance between the vehicle on the right and the inner side of the parking space line, A is the width of the parking space, B is the width of this vehicle, HL is the width of the left side of this vehicle that should be reserved, HR is the width of the right side of this vehicle that should be reserved, and C1, C2, C3, and H6 are all preset values.

[0137] Figure 5 For a specific embodiment of this application, see the flowchart of controlling the vehicle to continue automatic parking. Figure 5 The illustrated process can help to better understand the content of this application regarding controlling the vehicle to continue automatic parking.

[0138] Another embodiment of this application provides an automatic parking control device for implementing the automatic parking control method described in the above embodiments, including:

[0139] The information acquisition module is used to acquire parking space line information and vehicle information on the left and right sides of the parking space, and to determine the width of the parking space based on the parking space line information and vehicle information.

[0140] The reserved space acquisition module is used to acquire occupant information and determine the width of the left and right sides of the vehicle to be reserved based on the occupant information.

[0141] The width determination module is used to determine whether the parking space is wide based on the parking space width, vehicle information, the width to be reserved on the left and right sides of the vehicle, and the preset width of the vehicle.

[0142] The first control module is used to control the vehicle to park automatically if there is enough space.

[0143] The second control module is used to stop the vehicle and output a prompt message if the space is not wide enough, the prompt message being used to remind the user to get off the vehicle in advance.

[0144] The apparatus of the embodiments described above is merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of the apparatus of the embodiments according to actual needs.

[0145] It should be noted that the apparatus of the above embodiments corresponds to the method of the above embodiments. Therefore, the parts of the apparatus of the above embodiments that are not described in detail can be obtained by referring to the content of the method of the above embodiments. That is, the specific steps of the method of the above embodiments can be understood as the functions that the apparatus of the above embodiments can achieve, and will not be described in detail here.

[0146] Furthermore, if the apparatus of the above embodiments is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Therefore, as another embodiment, this application also proposes a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the automatic parking control method described in the above embodiments.

[0147] Another embodiment of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the automatic parking control method as described in the above embodiments.

[0148] Specifically, the computer-readable storage medium may include any entity or recording medium capable of carrying the computer program instructions, such as a USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media.

[0149] This application also provides an electronic device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the automatic parking control method described in the above embodiments.

[0150] Specifically, the electronic device may further include a bus connecting different components, including memory and processor. The memory may include computer-readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The memory may also include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments of this application. The electronic device may also communicate with one or more external devices (e.g., keyboard, pointing device, display, etc.), and with one or more devices that enable a user to interact with the electronic device, and / or with any device (e.g., a network interface card) that enables the electronic device to communicate with one or more other computing devices, such communication may be performed via an input / output (I / O) interface, and the electronic device may also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via a network adapter.

[0151] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or technological improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. An automatic parking control method characterized by, include: Obtain the parking space line information and vehicle information on the left and right sides of the parking space, and determine the width of the parking space based on the parking space line information and vehicle information; Obtain information on the occupants inside the vehicle, and determine the width that should be reserved on the left and right sides of the vehicle based on the occupant information; The spaciousness of the parking space is determined based on the parking space width, vehicle information, the required left and right widths of the vehicle, and the preset width of the vehicle. If the space is wide, control the vehicle to park automatically; If the space is not wide enough, the vehicle will stop and a prompt message will be displayed, which is used to remind the user to get off the vehicle in advance. in: If there are vehicles parked on both sides of the parking space, and (AB) > HL + HR + C1, then the parking space is considered spacious; otherwise, the parking space is considered narrow, and a first prompt message is output. If there is only a vehicle on the left side of the parking space, and (AB) > HL + C2, then the parking space is considered spacious; otherwise, the parking space is considered narrow, and a second prompt message is output. If there is only a vehicle on the right side of the parking space, and (AB) > HR + C3, then the parking space is considered spacious; otherwise, the parking space is considered narrow, and a second prompt message is output. If there are no vehicles on either side of the parking space, then the parking space is considered spacious. A is the width of the parking space, B is the width of the vehicle, HL is the width of the left side of the vehicle that should be reserved, HR is the width of the right side of the vehicle that should be reserved, and C1, C2, and C3 are all preset values; the prompt information includes a first prompt information and a second prompt information, the first prompt information is used to remind the user that the parking space is narrow and that the user should get out of the car in advance; The second prompt message is used to remind the user that the parking position may be on the line, and the user should get out of the car in advance.

2. The automatic parking control method according to claim 1, characterized by, Determining the parking space width based on the parking space line information and vehicle information includes: If there are vehicles on both sides of the parking space, then the width of the parking space is the distance between the vehicles on both sides of the parking space; If the parking space has parking line information and there is a vehicle on one side of the parking space, then the width of the parking space is the distance between the parking line on the side without a vehicle and the vehicle body on the side with a vehicle. If there are no vehicles on either side of the parking space, the width of the parking space will be the preset width value.

3. The automatic parking control method according to claim 1, characterized by, The step of determining the required width on the left and right sides of the vehicle based on the occupant information includes: Based on the occupant information, determine whether there are occupants on the left front row, left rear row, right front row, and right rear row, and their types. Based on whether there are occupants and their types, determine the width to be reserved for the left front row, left rear row, right front row, and right rear row. Select the larger of the left front row width and the left rear row width as the width to be reserved for the left side of the vehicle, and select the larger of the right front row width and the right rear row width as the width to be reserved for the right side of the vehicle.

4. The automatic parking control method according to claim 3, characterized in that, The determination of the required front left width, rear left width, front right width, and rear right width based on whether there are passengers and their type includes: If there are passengers on any of the following sides: front left, rear left, front right, and rear right, the width to be reserved on that side shall be determined according to the passenger type. The width to be reserved on that side shall be different for different passenger types. If there are no passengers on any of the following sides: front left, rear left, front right, or rear right, the width reserved on that side should be the preset value.

5. The automatic parking control method according to claim 1, characterized by, Following the output prompt message, the system also includes: When vehicles are parked on both sides of the parking space and the user command to continue automatic parking is received, the occupant information inside the vehicle is re-acquired. Based on the re-acquired occupant information, the width of the front left side, front right side, rear left side, and rear right side that should be reserved is re-determined. The width of the left side and right side of the vehicle that should be reserved is recalculated. Based on the recalculated width of the left side and right side of the vehicle and the width of the parking space, it is determined whether the parking space is spacious. If the parking space is determined to be wide, the system will continue to automatically park the vehicle based on the distance between the vehicle and the vehicle on the left and the distance between the vehicle and the vehicle on the right. If it is determined that the parking space is not wide, and the difference between the width of the parking space and the width of the vehicle meets the first preset condition, and the distance between the vehicle and the vehicles on both sides is greater than the distance between the corresponding vehicle and the inner side of the parking space line, then the vehicle will stop and output a third prompt message, and respond to the user's command to control the vehicle to continue automatic parking or exit automatic parking; the third prompt message is used to remind that the parking space is narrow, and please get out of the car carefully after parking. If it is determined that the parking space is not wide, and the difference between the width of the parking space and the width of the vehicle meets the first preset condition, and the distance between the vehicle and the vehicles on both sides is less than the distance between the corresponding vehicle and the inner side of the parking space line, then the vehicle will stop and output the fourth prompt message, and respond to the user's command to control the vehicle to continue automatic parking or exit automatic parking; the fourth prompt message is used to indicate that the parking position may be on the line, please confirm parking; Otherwise, the vehicle will stop and output a fifth prompt message, and control the vehicle to park in the middle of the parking space; the fifth prompt message is used to indicate that it may be impossible to get out of the vehicle after parking.

6. The automatic parking control method according to claim 5, characterized by, In response to user commands, the vehicle continues to park automatically, including: If there is an elderly person on the left or right side of the front row, the corresponding left and right widths of the vehicle should be obtained according to the occupant type. The distance between the vehicle and the vehicles on both sides is calculated based on the left and right widths of the vehicle, the width of the parking space, and the width of the vehicle. The vehicle is then parked in the parking space according to the distance between the vehicle and the vehicles on both sides. If there are people on the left and right sides of the front row but they are not elderly or infants, then the corresponding left and right widths of the vehicle should be determined according to the body size of the front row occupants. Based on the left and right widths of the vehicle, the parking space width, and the width of the vehicle, the distance between the vehicle and the vehicles on both sides is calculated, and the vehicle is parked in the parking space according to the distance between the vehicle and the vehicles on both sides.

7. The automatic parking control method according to claim 1, characterized by, Following the output prompt message, the system also includes: When there is a vehicle on the left or right side of the parking space and the user command to continue automatic parking is received, the occupant information is re-acquired, and the width of the front left, front right, rear left, and rear right that should be reserved is re-determined based on the re-acquired occupant information. The width of the left and right sides of the vehicle that should be reserved is also recalculated. If there is someone on either the front or rear side, the distance between this vehicle and the vehicle on that side shall be determined according to the width of this vehicle that should be reserved on that side, and the vehicle shall be parked in the parking space according to the distance between this vehicle and the vehicle on that side. If there is someone in either the front or rear row and the distance between this vehicle and the vehicle on the other side is less than zero, then the vehicle stops and outputs the sixth prompt message, and obtains the user's instruction; if the obtained user instruction is to park without crossing the line, then the distance between this vehicle and the vehicle on that side is determined based on the width of this vehicle and the width of the parking space, and the vehicle is controlled to park in the parking space based on the distance between this vehicle and the vehicle on that side; if the obtained user instruction is to confirm parking on the line, then the distance between this vehicle and the vehicle on that side is determined based on the width of this vehicle on that side that should be reserved, and the vehicle is controlled to park in the parking space based on the distance between this vehicle and the vehicle on that side; wherein, the sixth prompt message is used to indicate that the parking position may cross the line, please confirm parking; Otherwise, the distance between this vehicle and the vehicle on that side is determined based on the width of the parking space and the distance between this vehicle and the inner side of the parking space line, and the vehicle is parked in the parking space based on the distance between this vehicle and the vehicle on that side.

8. An automatic parking control device, characterized by comprising: The automatic parking control method for implementing any one of claims 1 to 7 includes: The information acquisition module is used to acquire parking space line information and vehicle information on the left and right sides of the parking space, and to determine the width of the parking space based on the parking space line information and vehicle information. The reserved space acquisition module is used to acquire occupant information and determine the width of the left and right sides of the vehicle to be reserved based on the occupant information. The width determination module is used to determine whether the parking space is wide based on the parking space width, vehicle information, the width to be reserved on the left and right sides of the vehicle, and the preset width of the vehicle. The first control module is used to control the vehicle to park automatically if there is enough space. The second control module is used to stop the vehicle and output a prompt message if the space is not wide enough, the prompt message being used to remind the user to get off the vehicle in advance.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the automatic parking control method as described in any one of claims 1 to 7.

10. An electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the automatic parking control method as described in any one of claims 1 to 7.

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