Vehicle automatic parking control method, device, equipment and medium

Abstract

The invention discloses a vehicle automatic parking control method, device and equipment and a medium, and belongs to the technical field of automatic parking. The automatic parking control method for the vehicle comprises the steps that in the automatic parking process of the vehicle, in each control cycle period, whether the target driving distance between the vehicle and a target position is smaller than or equal to a first threshold value or not is judged; when the target driving distance is smaller than or equal to a first threshold value for the first time, taking the moment as a first moment, and recording the target driving distance corresponding to the first moment; determining the actual driving distance of a second moment relative to the first moment, wherein the second moment is any moment after the first moment in the automatic parking process of the vehicle; the difference value between the actual driving distance and the target driving distance is calculated, and the vehicle is controlled to brake and stop or exit from the automatic parking mode based on the difference value, so that the necessary time for calculating the driving distance deviation program is clarified, and the problem of poor driving experience caused by frequent distance overshoot is avoided.

Description

Technical Field

[0001] The present application relates to the technical field of automatic parking, and in particular to a vehicle automatic parking control method, device, equipment and computer-readable storage medium. Background Art

[0002] As the level of vehicle automation continues to improve, automatic parking technology is also constantly upgrading and evolving. In the process of automatic parking, the vehicle's driving distance deviation is an important parameter that directly affects the safety of the parking process. How to accurately calculate the driving distance deviation is an urgent problem to be solved in the field of automatic parking.

[0003] In the related art, when the automatic parking mode of the vehicle is detected to be activated, the parking controller will accumulate and calculate the actual driving distance of the vehicle from the moment the automatic parking mode is activated. Then, in each control cycle, the target driving distance between the vehicle and the target position is determined by radar, etc., and the vehicle driving distance deviation is calculated based on the actual driving distance of the vehicle and the target driving distance in the control cycle; then, the vehicle driving distance deviation is judged to determine whether emergency braking or exiting the parking mode is required.

[0004] However, the vehicle's driving distance deviation is calculated in each control cycle from the moment the automatic parking mode is activated, which makes the controller's calculation burden heavy. In addition, the vehicle's actual driving distance is accumulated from the moment the automatic parking mode is activated, causing the calculated driving distance deviation to frequently overshoot. As a result, the parking controller exits the automatic parking mode or brakes suddenly when there is no risk of collision, resulting in a poor driving experience. Summary of the invention

[0005] The present application provides a vehicle automatic parking control method, device, equipment and computer-readable storage medium, which can solve the technical problems existing in the prior art, such as the heavy computational burden of the parking controller, and the frequent occurrence of distance overshoot problems, which causes the parking controller to exit the automatic parking mode or brake suddenly when there is no risk of collision with the vehicle, resulting in a poor driving experience.

[0006] In a first aspect, an embodiment of the present application provides a vehicle automatic parking control method, the vehicle automatic parking control method comprising:

[0007] During the automatic parking process of the vehicle, determining in each control cycle whether a target driving distance between the vehicle and the target position is less than or equal to a first threshold, wherein the value of the target driving distance corresponding to each control cycle is different;

[0008] When the target driving distance is less than or equal to the first threshold for the first time, the moment is taken as the first moment, and the target driving distance corresponding to the first moment is recorded;

[0009] Determining an actual travel distance at a second moment relative to the first moment, wherein the second moment is any moment after the first moment during the automatic parking process of the vehicle;

[0010] The difference between the actual driving distance and the target driving distance is calculated, and based on the difference, the vehicle is controlled to brake and stop or exit the automatic parking mode.

[0011] In combination with the first aspect, in one implementation, determining the actual driving distance at the second moment relative to the first moment includes:

[0012] Based on the tire rolling radius and the number of wheel speed pulses during one rotation of the tire, determine the distance represented by a single wheel speed pulse;

[0013] Obtain the first wheel speed pulse number corresponding to the first moment and the second wheel speed pulse number corresponding to the second moment;

[0014] Based on the first wheel speed pulse number, the second wheel speed pulse number and the distance represented by the single wheel speed pulse, an actual travel distance at the second moment relative to the first moment is determined.

[0015] In combination with the first aspect, in one implementation, the distance represented by a single wheel speed pulse is determined based on the tire rolling radius and the number of wheel speed pulses per tire rotation, and the corresponding formula is:

[0016] d=2*π*r / a

[0017] Wherein, d is the distance represented by a single wheel speed pulse, r is the rolling radius of the tire, and a is the number of wheel speed pulses per rotation of the tire.

[0018] In combination with the first aspect, in one implementation, the actual driving distance at the second moment relative to the first moment is determined based on the first wheel speed pulse number, the second wheel speed pulse number and the distance represented by a single wheel speed pulse, and the corresponding formula is:

[0019] s′=d*(n′-n)

[0020] Wherein, s′ is the actual driving distance at the second moment relative to the first moment, d is the distance represented by a single wheel speed pulse, n′ is the number of second wheel speed pulses, and n is the number of first wheel speed pulses.

[0021] In combination with the first aspect, in one implementation, controlling the vehicle to brake to stop or exit the automatic parking mode based on the difference includes:

[0022] Determining whether the difference is greater than a second threshold;

[0023] When the difference is greater than a second threshold, the vehicle is controlled to brake and stop or exit the automatic parking mode.

[0024] In a second aspect, an embodiment of the present application provides a vehicle automatic parking control device, the vehicle automatic parking control device comprising:

[0025] a judgment module, used for judging whether a target driving distance between the vehicle and a target position is less than or equal to a first threshold value in each control cycle period during the automatic parking process of the vehicle, wherein the value of the target driving distance corresponding to each control cycle period is different;

[0026] a recording module, configured to, when the target driving distance is less than or equal to the first threshold for the first time, take the moment as the first moment and record the target driving distance corresponding to the first moment;

[0027] a determination module, configured to determine an actual travel distance at a second moment relative to a first moment, wherein the second moment is any moment after the first moment during the automatic parking process of the vehicle;

[0028] The calculation module is used to calculate the difference between the actual driving distance and the target driving distance, and based on the difference, control the vehicle to brake and stop or exit the automatic parking mode.

[0029] In conjunction with the second aspect, in one implementation, the determining module is specifically configured to:

[0030] Based on the tire rolling radius and the number of wheel speed pulses during one rotation of the tire, determine the distance represented by a single wheel speed pulse;

[0031] Obtain the first wheel speed pulse number corresponding to the first moment and the second wheel speed pulse number corresponding to the second moment;

[0032] Based on the first wheel speed pulse number, the second wheel speed pulse number and the distance represented by the single wheel speed pulse, an actual travel distance at the second moment relative to the first moment is determined.

[0033] In conjunction with the second aspect, in one implementation, the calculation module is specifically used to:

[0034] Determine whether the difference is greater than a second threshold; when the difference is greater than the second threshold, control the vehicle to brake to stop or exit the automatic parking mode.

[0035] In a third aspect, an embodiment of the present application provides a vehicle automatic parking control device, which includes a processor, a memory, and a vehicle automatic parking control program stored in the memory and executable by the processor, wherein when the vehicle automatic parking control program is executed by the processor, the steps of the vehicle automatic parking control method described in any one of the first aspects are implemented.

[0036] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a vehicle automatic parking control program is stored, wherein when the vehicle automatic parking control program is executed by a processor, the steps of the vehicle automatic parking control method as described in any one of the first aspects are implemented.

[0037] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0038] By determining whether the target driving distance between the vehicle and the target position is less than or equal to a first threshold value in each control cycle during the automatic parking process of the vehicle, wherein the value of the target driving distance corresponding to each control cycle is different; when the target driving distance is less than or equal to the first threshold value for the first time, taking the moment as the first moment, and recording the target driving distance corresponding to the first moment; determining the actual driving distance at a second moment relative to the first moment, wherein the second moment is any moment after the first moment during the automatic parking process of the vehicle; calculating the difference between the actual driving distance and the target driving distance, and based on the difference, controlling the vehicle to brake to stop or exit the automatic parking mode, the present application clarifies the necessary moment for calculating the driving distance deviation procedure, and overcomes the problem that the prior art starts calculating from the moment the automatic parking is started, resulting in frequent distance overshoot, further resulting in poor driving experience, and the like; in addition, the actual driving distance during the automatic parking process in the prior art is relative to the moment when the automatic parking is started, while the actual driving distance in the present application is relative to the first moment, and the calculation method is more in line with reality and can improve the calculation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a flow chart of a first embodiment of the vehicle automatic parking control method of the present application;

[0040] Figure 2 This is a functional module diagram of an embodiment of the vehicle automatic parking control device of the present application;

[0041] Figure 3 This is a schematic diagram of the hardware structure of the vehicle automatic parking control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0043] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0044] In a first aspect, an embodiment of the present application provides a vehicle automatic parking control method.

[0045] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle automatic parking control method of the present application. Figure 1 As shown, the vehicle automatic parking control method includes:

[0046] Step 110: During the automatic parking process of the vehicle, in each control cycle, determining whether a target driving distance between the vehicle and the target position is less than or equal to a first threshold, wherein the value of the target driving distance corresponding to each control cycle is different;

[0047] It can be understood that the target position of the vehicle during automatic parking can be a target parking space, a target boarding position, a target getting off position, etc. During the automatic parking process, because the vehicle is continuously controlled to approach the target position, the value of the target driving distance corresponding to each control cycle is different, such as the target driving distance corresponding to the first control cycle is 1m, and the target driving distance corresponding to the second control cycle is 0.8m.

[0048] In specific implementation, during the automatic parking process of the vehicle, within each control cycle, the target driving distance between the vehicle and the target position is determined by radar, etc., and the target driving distance is transmitted to the parking controller. Then the parking controller determines whether the target driving distance is less than or equal to the first threshold to determine whether it is necessary to trigger the driving distance deviation calculation program.

[0049] Exemplarily, the first threshold is 0.1 m. It should be noted that the specific value of the first threshold can be flexibly adjusted according to actual needs, and this application does not make any specific limitation on this.

[0050] When the target driving distance is less than or equal to the first threshold for the first time, it indicates that the vehicle is very close to the target position, that is, this moment can be used as a necessary moment to calculate the driving distance deviation, and the driving distance deviation calculation program needs to be triggered; when the target driving distance is greater than the first threshold, it indicates that the vehicle is relatively far away from the target position, and there is no need to trigger the driving distance deviation calculation program.

[0051] Step 120: When the target driving distance is less than or equal to the first threshold for the first time, the moment is taken as the first moment, and the target driving distance corresponding to the first moment is recorded;

[0052] In specific implementation, when the target driving distance is less than or equal to the first threshold for the first time, that is, this moment is used as a necessary moment for calculating the driving distance deviation, and the driving distance deviation calculation program is triggered at this time. This moment is used as the first moment, and the target driving distance corresponding to the first moment is recorded.

[0053] Step 130: determining an actual travel distance at a second moment relative to the first moment, where the second moment is any moment after the first moment during the automatic parking process of the vehicle;

[0054] In specific implementation, the actual driving distance at the second moment relative to the first moment is determined based on the first wheel speed pulse number corresponding to the first moment, the second wheel speed pulse number corresponding to the second moment and the distance represented by a single wheel speed pulse.

[0055] Step 140: Calculate the difference between the actual driving distance and the target driving distance, and based on the difference, control the vehicle to brake to stop or exit the automatic parking mode.

[0056] In specific implementation, after obtaining the actual driving distance and the target driving distance, the target driving distance is subtracted from the actual driving distance to obtain a difference, which is the vehicle driving distance deviation. Then, the difference is further judged to determine whether to control the vehicle to brake and stop or exit the automatic parking mode.

[0057] In this embodiment, during the automatic parking process of the vehicle, in each control cycle, it is determined whether the target driving distance between the vehicle and the target position is less than or equal to a first threshold, wherein the value of the target driving distance corresponding to each control cycle is different; when the target driving distance is less than or equal to the first threshold for the first time, the moment is taken as the first moment, and the target driving distance corresponding to the first moment is recorded; the actual driving distance at a second moment relative to the first moment is determined, and the second moment is any moment after the first moment during the automatic parking process of the vehicle; the difference between the actual driving distance and the target driving distance is calculated, and based on the difference, the vehicle is controlled to brake to stop or exit the automatic parking mode. The present application clarifies the necessary time for calculating the driving distance deviation program, and overcomes the problem that the prior art starts calculating from the moment of starting the automatic parking, resulting in frequent distance overshoot, further resulting in poor driving experience, etc.; in addition, the actual driving distance in the automatic parking process in the prior art is relative to the moment of starting the automatic parking, while the actual driving distance in the present application is relative to the first moment, and the calculation method is more in line with reality and can improve the calculation accuracy.

[0058] Further, in one embodiment, determining the actual travel distance at the second moment relative to the first moment includes:

[0059] Step 210: Determine the distance represented by a single wheel speed pulse based on the tire rolling radius and the number of wheel speed pulses during one rotation of the tire;

[0060] Among them, the rolling radius of the tire refers to the distance between the contact point between the tire and the ground and the center of the tire. In practical applications, the rolling radius of the tire is usually slightly smaller than the theoretical radius of the tire because the tire deforms when it is under load. However, if there is no additional load, the rolling radius of the tire can be approximately equal to the theoretical radius of the tire. The theoretical radius of the tire is determined by the specific values ​​of each parameter in the tire specification, and the parameters in the tire specification include the rim size, tire width and tire aspect ratio. The specific calculation method of the theoretical radius of the tire is to multiply the tire width by the tire aspect ratio and then add it to half of the rim size. For example, the tire specification is 235 / 55R20, R20 represents the rim size of 20 inches, 235 represents the tire width, and 55 represents the tire aspect ratio. 20 inches is converted to meters as 0.508 meters, and the theoretical radius of the tire is 0.508 / 2+0.55*0.235=0.383m. The rolling radius of the tire can be approximately equal to the theoretical radius of the tire, that is, 0.383m.

[0061] The number of wheel speed pulses generated when the tire rotates one circle depends on the number of pulses per inch generated by the wheel speed sensor and the size of the tire. Generally speaking, the wheel speed sensor will generate a pulse signal as the tire rotates, and each pulse represents that the tire has rotated a certain angle or distance. The sensor will generate a fixed number of pulses for each rotation of the tire. For example, if a tire speed sensor generates 4 pulses per inch, and the circumference of the tire is 26 inches, then the tire will generate 4*26, or 104 pulses, for each rotation of the tire.

[0062] After determining the tire rolling radius and the number of wheel speed pulses per tire rotation, substitute the tire rolling radius and the number of wheel speed pulses per tire rotation into a mathematical calculation formula to quickly determine the distance represented by a single wheel speed pulse.

[0063] The distance represented by a single wheel speed pulse is determined based on the tire rolling radius and the number of wheel speed pulses during one rotation of the tire. The corresponding formula is:

[0064] d=2*π*r / a

[0065] Wherein, d is the distance represented by a single wheel speed pulse, r is the rolling radius of the tire, and a is the number of wheel speed pulses per rotation of the tire.

[0066] For example, the rolling radius of the tire r = 0.35m, the number of wheel speed pulses a = 96 for one rotation of the tire, and the distance represented by a single wheel speed pulse d = 2*3.14*0.35 / 96 = 0.023m. The distance accuracy in this application can reach 0.023m, which is much higher than the distance accuracy requirement of 0.1m required in the existing automatic parking process.

[0067] Step 220, obtaining the first wheel speed pulse number corresponding to the first moment and the second wheel speed pulse number corresponding to the second moment;

[0068] In specific implementation, when the target driving distance is less than or equal to the first threshold for the first time, the moment is taken as the first moment, and the first wheel speed pulse number corresponding to the first moment can be directly read from the wheel speed pulse sensor. Similarly, the second wheel speed pulse number corresponding to the second moment can be directly read from the wheel speed pulse sensor.

[0069] Step 230: Determine the actual driving distance at the second moment relative to the first moment based on the first wheel speed pulse number, the second wheel speed pulse number and the distance represented by a single wheel speed pulse.

[0070] In specific implementation, the accumulated wheel speed pulse value at the second moment relative to the first moment is first calculated, that is, the difference between the second wheel speed pulse number and the first wheel speed pulse number. Then, based on the accumulated wheel speed pulse value and the distance represented by a single wheel speed pulse, the actual driving distance at the second moment relative to the first moment is determined.

[0071] In this embodiment, the rolling distance of the tire is first decomposed into smaller measuring gears, namely, the distance represented by a single wheel speed pulse, and the distance represented by a single wheel speed pulse is determined based on the rolling radius of the tire and the number of wheel speed pulses per rotation of the tire; then, the first wheel speed pulse number corresponding to the first moment and the second wheel speed pulse number corresponding to the second moment are obtained; further, based on the first wheel speed pulse number and the second wheel speed pulse number, the accumulated value of the wheel speed pulses at the second moment relative to the first moment is calculated; finally, the actual driving distance at the second moment relative to the first moment is determined based on the accumulated value of the wheel speed pulses and the distance represented by the single wheel speed pulse, which can improve the accuracy and robustness of calculating the actual driving distance at the second moment relative to the first moment.

[0072] Further, in one embodiment, the actual driving distance at the second moment relative to the first moment is determined based on the first wheel speed pulse number, the second wheel speed pulse number and the distance represented by a single wheel speed pulse, and the corresponding formula is:

[0073] s′=d*(n′-n)

[0074] Wherein, s′ is the actual driving distance at the second moment relative to the first moment, d is the distance represented by a single wheel speed pulse, n′ is the number of second wheel speed pulses, and n is the number of first wheel speed pulses.

[0075] In the present embodiment, a specific calculation formula is provided for determining the actual driving distance at the second moment relative to the first moment based on the first wheel speed pulse number, the second wheel speed pulse number and the distance represented by a single wheel speed pulse. Because the distance represented by a single wheel speed pulse is a smaller measuring gear for describing the rolling distance of the tire, the actual driving distance at the second moment relative to the first moment calculated by using the distance represented by a single wheel speed pulse and the first wheel speed pulse number and the second wheel speed pulse number can improve the calculation accuracy.

[0076] Further, in one embodiment, the controlling the vehicle to brake to stop or exit the automatic parking mode based on the difference includes:

[0077] Step 310: determine whether the difference is greater than a second threshold;

[0078] In specific implementation, after the difference is calculated, the difference is the vehicle travel distance deviation. The parking controller determines whether the vehicle travel distance deviation is overshoot, that is, whether the vehicle exceeds the target position by judging whether the vehicle travel distance deviation is greater than the second threshold. If the vehicle travel distance deviation is greater than the second threshold, it means that the vehicle has exceeded the target position and is determined to be a vehicle travel distance deviation overshoot. At this time, a safety control strategy needs to be executed to avoid a collision.

[0079] Exemplarily, the second threshold is 0.1 m. It should be noted that the specific value of the second threshold can be flexibly adjusted according to actual needs, and this application does not make any specific limitation on this.

[0080] Step 320: When the difference is greater than a second threshold, the vehicle is controlled to brake to stop or exit the automatic parking mode.

[0081] When the difference, i.e., the vehicle travel distance deviation, is greater than the second threshold, that is, the vehicle travel distance deviation overshoot occurs, the vehicle has exceeded the target position, and there is a risk of collision. At this time, the parking controller executes a safety control strategy to control the vehicle to brake and stop or exit the automatic parking mode to reduce the risk of collision.

[0082] In this embodiment, by determining whether the difference is greater than a second threshold value, and then controlling the vehicle to brake to stop or exit the automatic parking mode when the difference is greater than the second threshold value, the safety of the automatic parking process can be improved.

[0083] In a second aspect, an embodiment of the present application also provides a vehicle automatic parking control device.

[0084] In one embodiment, referring to Figure 2 , Figure 2 This is a functional module diagram of an embodiment of the vehicle automatic parking control device of the present application. Figure 2 As shown, the vehicle automatic parking control device 200 includes:

[0085] A judgment module 201 is used to judge whether a target driving distance between the vehicle and a target position is less than or equal to a first threshold value in each control cycle during the automatic parking process of the vehicle, wherein the value of the target driving distance corresponding to each control cycle is different;

[0086] A recording module 202, configured to, when the target driving distance is less than or equal to the first threshold for the first time, take the moment as the first moment and record the target driving distance corresponding to the first moment;

[0087] A determination module 203, configured to determine an actual travel distance at a second moment relative to a first moment, wherein the second moment is any moment after the first moment during the automatic parking process of the vehicle;

[0088] The calculation module 204 is used to calculate the difference between the actual driving distance and the target driving distance, and based on the difference, control the vehicle to brake and stop or exit the automatic parking mode.

[0089] In this embodiment, during the automatic parking process of the vehicle, in each control cycle, it is determined whether the target driving distance between the vehicle and the target position is less than or equal to a first threshold, wherein the value of the target driving distance corresponding to each control cycle is different; when the target driving distance is less than or equal to the first threshold for the first time, the moment is taken as the first moment, and the target driving distance corresponding to the first moment is recorded; the actual driving distance at a second moment relative to the first moment is determined, and the second moment is any moment after the first moment during the automatic parking process of the vehicle; the difference between the actual driving distance and the target driving distance is calculated, and based on the difference, the vehicle is controlled to brake to stop or exit the automatic parking mode. The present application clarifies the necessary time for calculating the driving distance deviation program, and overcomes the problem that the prior art starts calculating from the moment of starting the automatic parking, resulting in frequent distance overshoot, further resulting in poor driving experience, etc.; in addition, the actual driving distance in the automatic parking process in the prior art is relative to the moment of starting the automatic parking, while the actual driving distance in the present application is relative to the first moment, and the calculation method is more in line with reality and can improve the calculation accuracy.

[0090] Furthermore, in one embodiment, the determining module is specifically used to:

[0091] Based on the tire rolling radius and the number of wheel speed pulses during one rotation of the tire, determine the distance represented by a single wheel speed pulse;

[0092] Obtain the first wheel speed pulse number corresponding to the first moment and the second wheel speed pulse number corresponding to the second moment;

[0093] Based on the first wheel speed pulse number, the second wheel speed pulse number and the distance represented by the single wheel speed pulse, an actual travel distance at the second moment relative to the first moment is determined.

[0094] In this embodiment, the rolling distance of the tire is first decomposed into smaller measuring gears, namely, the distance represented by a single wheel speed pulse, and the distance represented by a single wheel speed pulse is determined based on the rolling radius of the tire and the number of wheel speed pulses per rotation of the tire; then, the first wheel speed pulse number corresponding to the first moment and the second wheel speed pulse number corresponding to the second moment are obtained; further, based on the first wheel speed pulse number and the second wheel speed pulse number, the accumulated value of the wheel speed pulses at the second moment relative to the first moment is calculated; finally, the actual driving distance at the second moment relative to the first moment is determined based on the accumulated value of the wheel speed pulses and the distance represented by the single wheel speed pulse, which can improve the accuracy and robustness of calculating the actual driving distance at the second moment relative to the first moment.

[0095] Further, in one embodiment, the determination module is specifically used to determine the distance represented by a single wheel speed pulse according to the following formula, and the corresponding formula is:

[0096] d=2*π*r / a

[0097] Wherein, d is the distance represented by a single wheel speed pulse, r is the rolling radius of the tire, and a is the number of wheel speed pulses per rotation of the tire.

[0098] Further, in one embodiment, the determination module is specifically used to determine the actual travel distance at the second moment relative to the first moment according to the following formula, and the corresponding formula is:

[0099] s′=d*(n′-n)

[0100] Wherein, s′ is the actual driving distance at the second moment relative to the first moment, d is the distance represented by a single wheel speed pulse, n′ is the number of second wheel speed pulses, and n is the number of first wheel speed pulses.

[0101] In the present embodiment, a specific calculation formula is provided for determining the actual driving distance at the second moment relative to the first moment based on the first wheel speed pulse number, the second wheel speed pulse number and the distance represented by a single wheel speed pulse. Because the distance represented by a single wheel speed pulse is a smaller measuring gear for describing the rolling distance of the tire, the actual driving distance at the second moment relative to the first moment calculated by using the distance represented by a single wheel speed pulse and the first wheel speed pulse number and the second wheel speed pulse number can improve the calculation accuracy.

[0102] Furthermore, in one embodiment, the calculation module is specifically used for:

[0103] Determine whether the difference is greater than a second threshold; when the difference is greater than the second threshold, control the vehicle to brake to stop or exit the automatic parking mode.

[0104] In this embodiment, by determining whether the difference is greater than a second threshold value, and then controlling the vehicle to brake to stop or exit the automatic parking mode when the difference is greater than the second threshold value, the safety of the automatic parking process can be improved.

[0105] Among them, the functional implementation of each module in the above-mentioned vehicle automatic parking control device corresponds to the various steps in the above-mentioned vehicle automatic parking control method embodiment, and its functions and implementation processes are no longer repeated here one by one.

[0106] In a third aspect, an embodiment of the present application provides a vehicle automatic parking control device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0107] Reference Figure 3 , Figure 3 Schematic diagram of the hardware structure of the vehicle automatic parking control device involved in the embodiment of the present application. In the embodiment of the present application, the vehicle automatic parking control device may include a processor, a memory, a communication interface and a communication bus.

[0108] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0109] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces for interconnecting devices within the vehicle automatic parking control device, as well as interfaces for interconnecting the vehicle automatic parking control device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0110] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0111] The processor may be a general-purpose processor, which may call the vehicle automatic parking control program stored in the memory and execute the vehicle automatic parking control method provided by the embodiment of the present application. The vehicle automatic parking control method includes: during the automatic parking process of the vehicle, in each control cycle, determining whether the target driving distance between the vehicle and the target position is less than or equal to a first threshold, wherein the value of the target driving distance corresponding to each control cycle is different; when the target driving distance is less than or equal to the first threshold for the first time, the moment is taken as the first moment, and the target driving distance corresponding to the first moment is recorded; determining the actual driving distance at the second moment relative to the first moment, wherein the second moment is any moment after the first moment during the automatic parking process of the vehicle; calculating the difference between the actual driving distance and the target driving distance, and based on the difference, controlling the vehicle to brake to stop or exit the automatic parking mode.

[0112] For example, the general purpose processor may be a central processing unit (CPU). The method executed when the vehicle automatic parking control program is called may refer to the various embodiments of the vehicle automatic parking control method of the present application, and will not be described in detail here.

[0113] Those skilled in the art will understand that Figure 3 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0114] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0115] The computer-readable storage medium of the present application stores a vehicle automatic parking control program, wherein when the vehicle automatic parking control program is executed by a processor, the steps of the vehicle automatic parking control method as described above are implemented. The vehicle automatic parking control method includes: during the automatic parking process of the vehicle, in each control cycle, judging whether the target driving distance between the vehicle and the target position is less than or equal to a first threshold, wherein the value of the target driving distance corresponding to each control cycle is different; when the target driving distance is less than or equal to the first threshold for the first time, the moment is taken as the first moment, and the target driving distance corresponding to the first moment is recorded; the actual driving distance at the second moment relative to the first moment is determined, and the second moment is any moment after the first moment in the process of automatic parking of the vehicle; the difference between the actual driving distance and the target driving distance is calculated, and based on the difference, the vehicle is controlled to brake to stop or exit the automatic parking mode.

[0116] Among them, the method implemented when the vehicle automatic parking control program is executed can refer to the various embodiments of the vehicle automatic parking control method of the present application, and will not be repeated here.

[0117] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0118] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0119] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0120] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0121] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0122] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0123] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A vehicle automatic parking control method, characterized in that: The vehicle automatic parking control method comprises: During the automatic parking process of the vehicle, determining in each control cycle whether a target driving distance between the vehicle and the target position is less than or equal to a first threshold, wherein the value of the target driving distance corresponding to each control cycle is different; When the target driving distance is less than or equal to the first threshold for the first time, the moment is taken as the first moment, and the target driving distance corresponding to the first moment is recorded; Determining an actual travel distance at a second moment relative to the first moment, wherein the second moment is any moment after the first moment during the automatic parking process of the vehicle; The difference between the actual driving distance and the target driving distance is calculated, and based on the difference, the vehicle is controlled to brake and stop or exit the automatic parking mode.

2. The vehicle automatic parking control method according to claim 1, characterized in that: Determining the actual travel distance at the second moment relative to the first moment includes: Based on the tire rolling radius and the number of wheel speed pulses during one rotation of the tire, determine the distance represented by a single wheel speed pulse; Obtain the first wheel speed pulse number corresponding to the first moment and the second wheel speed pulse number corresponding to the second moment; Based on the first wheel speed pulse number, the second wheel speed pulse number and the distance represented by the single wheel speed pulse, an actual travel distance at the second moment relative to the first moment is determined.

3. The vehicle automatic parking control method according to claim 2, characterized in that: The distance represented by a single wheel speed pulse is determined based on the tire rolling radius and the number of wheel speed pulses during one rotation of the tire. The corresponding formula is: d=2*π*r / a Wherein, d is the distance represented by a single wheel speed pulse, r is the rolling radius of the tire, and a is the number of wheel speed pulses per rotation of the tire.

4. The vehicle automatic parking control method according to claim 2, characterized in that: The actual driving distance at the second moment relative to the first moment is determined based on the first wheel speed pulse number, the second wheel speed pulse number and the distance represented by a single wheel speed pulse. The corresponding formula is: s′=d*(n′-n) Wherein, s′ is the actual driving distance at the second moment relative to the first moment, d is the distance represented by a single wheel speed pulse, n′ is the number of second wheel speed pulses, and n is the number of first wheel speed pulses.

5. The vehicle automatic parking control method according to claim 1, characterized in that: The controlling the vehicle to brake and stop or exit the automatic parking mode based on the difference includes: Determining whether the difference is greater than a second threshold; When the difference is greater than a second threshold, the vehicle is controlled to brake and stop or exit the automatic parking mode.

6. A vehicle automatic parking control device, characterized in that: The vehicle automatic parking control device comprises: a judgment module, used for judging whether a target driving distance between the vehicle and a target position is less than or equal to a first threshold value in each control cycle period during the automatic parking process of the vehicle, wherein the value of the target driving distance corresponding to each control cycle period is different; a recording module, configured to, when the target driving distance is less than or equal to the first threshold for the first time, take the moment as the first moment and record the target driving distance corresponding to the first moment; a determination module, configured to determine an actual travel distance at a second moment relative to a first moment, wherein the second moment is any moment after the first moment during the automatic parking process of the vehicle; The calculation module is used to calculate the difference between the actual driving distance and the target driving distance, and based on the difference, control the vehicle to brake and stop or exit the automatic parking mode.

7. The vehicle automatic parking control device according to claim 6, characterized in that: The determination module is specifically used for: Based on the tire rolling radius and the number of wheel speed pulses during one rotation of the tire, determine the distance represented by a single wheel speed pulse; Obtain the first wheel speed pulse number corresponding to the first moment and the second wheel speed pulse number corresponding to the second moment; Based on the first wheel speed pulse number, the second wheel speed pulse number and the distance represented by the single wheel speed pulse, an actual travel distance at the second moment relative to the first moment is determined.

8. The vehicle automatic parking control device according to claim 6, characterized in that: The calculation module is specifically used for: Determine whether the difference is greater than a second threshold; when the difference is greater than the second threshold, control the vehicle to brake to stop or exit the automatic parking mode.

9. A vehicle automatic parking control device, characterized in that: The vehicle automatic parking control device includes a processor, a memory, and a vehicle automatic parking control program stored in the memory and executable by the processor, wherein when the vehicle automatic parking control program is executed by the processor, the steps of the vehicle automatic parking control method as described in any one of claims 1 to 5 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a vehicle automatic parking control program, wherein when the vehicle automatic parking control program is executed by a processor, the steps of the vehicle automatic parking control method according to any one of claims 1 to 5 are implemented.

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