Control method and device for garage entering and exiting in yawing mode, vehicle and storage medium

Abstract

The invention provides a control method and device for in-garage and out-garage in a yawing mode, a vehicle and a storage medium. The method comprises the steps that when a user starts a lateral parking assisting function and determines that the vehicle can enter a target parking space, a first panoramic image of the vehicle is generated, and in response to operation of the user on the first panoramic image, a first control instruction is generated and issued to a motor controller, so that the motor controller controls the vehicle to yaw into the parking space through torque. And when the user starts the lateral garage leaving auxiliary function, a second panoramic image of the vehicle is generated, and in a similar way, in response to the user operation, a second control instruction is generated and issued to the motor controller, so that the motor controller controls the vehicle to yaw and leave the garage through the torque. According to the method, various kinds of information are integrated, visual assistance is provided, accurate control is achieved, and safer, more convenient and more intelligent parking experience is brought to a user.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a control method, device, vehicle and storage medium for entering and exiting a warehouse in a lateral manner. Background Art

[0002] With the continuous advancement of science and technology, cars have gradually become an indispensable means of transportation in people's daily lives. With the increase in the number of vehicles, parking has become a problem for users when using vehicles, especially side parking spaces, which requires high driving proficiency and skills from users.

[0003] When users park sideways, they usually complete the parking by a series of operations on the steering wheel. Then the user needs to accurately control the speed of the vehicle, flexibly operate the steering wheel, and accurately coordinate the accelerator and brake. The user also needs to flexibly adjust the position of the vehicle according to the size of the parking space, the surrounding environment and the performance of the vehicle to ensure that the vehicle is parked smoothly and accurately.

[0004] However, in the process of side-by-side parking using the above method, the driver needs to have good spatial judgment ability and be able to accurately judge the distance and angle between the vehicle and surrounding objects (such as other vehicles, curbs, trees, etc.) to avoid collisions. This ability needs to be cultivated through continuous practice and accumulation of experience. For unskilled drivers, it is difficult to operate the vehicle side-by-side parking, resulting in a poor driver experience. Summary of the invention

[0005] The present application provides a control method, device, vehicle and storage medium for entering and exiting a warehouse in a lateral swinging manner, so as to solve the problem of difficulty in entering and exiting a warehouse sideways in the prior art.

[0006] In a first aspect, the present application provides a control method for parking in a swaying manner, which is applied to a main controller of a vehicle, and the method comprises:

[0007] When the user turns on the side parking assist function, it is determined whether the vehicle can enter the target parking space according to the current position of the vehicle, the position of the target parking space, the external environment information of the vehicle, the vehicle information of the vehicle and the parking space information of the target parking space;

[0008] If it is determined that the vehicle can enter the target parking space, generating a panoramic image of the vehicle;

[0009] generating a control instruction in response to the user's operation on the panoramic image;

[0010] The control instruction is sent to a motor controller so that the motor controller controls the vehicle to sway into the garage through torque.

[0011] In combination with the first aspect, in some embodiments, when the user turns on the side parking assist function, determining whether the vehicle can enter the target parking space according to the current position of the vehicle, the position of the target parking space, the external environment information of the vehicle, the vehicle information of the vehicle and the parking space information of the target parking space includes:

[0012] Determining a parking area according to the vehicle information of the vehicle and the parking space information of the target parking space;

[0013] Determining whether the vehicle has a collision risk according to the external environment information of the vehicle and the position of the target parking space;

[0014] If it is determined that there is no collision risk for the vehicle and the current position of the vehicle is within the parking area, it is determined that the vehicle can enter the target parking space.

[0015] In combination with the first aspect, in some embodiments, the method further includes:

[0016] If it is determined that there is no collision risk for the vehicle and the current position of the vehicle is not within the parking area, determining that the vehicle cannot enter the target parking space;

[0017] If it is determined that the vehicle has a collision risk, it is determined that the vehicle cannot enter the target parking space.

[0018] In combination with the first aspect, in some embodiments, before generating a panoramic image of the vehicle if it is determined that the vehicle can enter the target parking space, the method further includes:

[0019] If it is determined that the vehicle cannot enter the target parking space, a vehicle adjustment instruction is generated based on the current position of the vehicle, the parking area and the external environment information of the vehicle, wherein the vehicle adjustment instruction is used to instruct the user to adjust the position of the vehicle;

[0020] The vehicle adjustment instruction is sent to the user so that the vehicle can enter the target parking space.

[0021] In combination with the first aspect, in some embodiments, if it is determined that the vehicle cannot enter the target parking space, generating a vehicle adjustment instruction based on the current position of the vehicle, the parking area, and the external environment information of the vehicle includes:

[0022] generating a first adjustment instruction based on the current position of the vehicle and the parking area, the first adjustment instruction being used to instruct the user to drive the vehicle to the parking area, the vehicle adjustment instruction including the first adjustment instruction;

[0023] or,

[0024] Based on the external environment information of the vehicle and the current position of the vehicle, a second adjustment instruction is generated, where the second adjustment instruction is used to instruct the user to wait for the collision risk of the vehicle to be resolved or to change the target parking space, and the vehicle adjustment instruction includes the second adjustment instruction.

[0025] In combination with the first aspect, in some embodiments, if it is determined that the vehicle can enter the target parking space, generating a panoramic image of the vehicle includes:

[0026] Based on the current position of the vehicle and the external environment information of the vehicle, obtaining a three-dimensional image of the vehicle;

[0027] Determining a swing angle interval of the vehicle according to the current position of the vehicle, the parking space information of the target parking space, and the parking direction of the vehicle in the parking space adjacent to the target parking space;

[0028] The swing angle range of the vehicle is added to the three-dimensional image of the vehicle to generate a panoramic image of the vehicle.

[0029] In combination with the first aspect, in some embodiments, generating a control instruction in response to the user's operation on the panoramic image includes:

[0030] If the user's operation on the panoramic image indicates that the front of the vehicle is yawed, determining a first target torque based on the yaw and swing angle of the front of the vehicle yawed by the user;

[0031] generating the control instruction based on the first target torque;

[0032] If the user's operation on the panoramic image indicates that the rear end of the vehicle is swung laterally, determining a second target torque based on the swing direction and swing angle of the rear end of the vehicle swung laterally by the user;

[0033] The control command is generated based on the second target torque.

[0034] In a second aspect, the present application provides a control method for exiting a vehicle in a swaying manner, which is applied to a main controller of a vehicle, and the method comprises:

[0035] When the user turns on the side exit assist function, a panoramic image of the vehicle is generated according to the parking space information of the current parking space of the vehicle, the external environment information of the vehicle, and the vehicle information of the vehicle;

[0036] In response to the user's operation on the panoramic image, a control instruction is sent to a motor controller so that the motor controller controls the vehicle to swing out of the garage through torque.

[0037] In a third aspect, the present application provides a control device for swaying storage, comprising:

[0038] A determination module, used to determine whether the vehicle can enter the target parking space according to the current position of the vehicle, the position of the target parking space, the external environment information of the vehicle, the vehicle information of the vehicle and the parking space information of the target parking space when the user turns on the side parking assist function;

[0039] A first generating module, configured to generate a panoramic image of the vehicle if it is determined that the vehicle can enter the target parking space;

[0040] A second generating module, configured to generate a control instruction in response to the user's operation on the panoramic image;

[0041] The sending module is used to send the control instruction to the motor controller so that the motor controller controls the vehicle to sway into the warehouse through torque.

[0042] In conjunction with the third aspect, in some embodiments, the determining module is specifically configured to:

[0043] Determining a parking area according to the vehicle information of the vehicle and the parking space information of the target parking space;

[0044] Determining whether the vehicle has a collision risk according to the external environment information of the vehicle and the position of the target parking space;

[0045] If it is determined that there is no collision risk for the vehicle and the current position of the vehicle is within the parking area, it is determined that the vehicle can enter the target parking space.

[0046] In conjunction with the third aspect, in some embodiments, the determining module is further used to:

[0047] If it is determined that there is no collision risk for the vehicle and the current position of the vehicle is not within the parking area, determining that the vehicle cannot enter the target parking space;

[0048] If it is determined that the vehicle has a collision risk, it is determined that the vehicle cannot enter the target parking space.

[0049] In conjunction with the third aspect, in some embodiments, the determining module is further used to:

[0050] If it is determined that the vehicle cannot enter the target parking space, a vehicle adjustment instruction is generated based on the current position of the vehicle, the parking area and the external environment information of the vehicle, wherein the vehicle adjustment instruction is used to instruct the user to adjust the position of the vehicle;

[0051] The vehicle adjustment instruction is sent to the user so that the vehicle can enter the target parking space.

[0052] In conjunction with the third aspect, in some embodiments, the determining module is further used to:

[0053] generating a first adjustment instruction based on the current position of the vehicle and the parking area, the first adjustment instruction being used to instruct the user to drive the vehicle to the parking area, the vehicle adjustment instruction including the first adjustment instruction;

[0054] or,

[0055] Based on the external environment information of the vehicle and the current position of the vehicle, a second adjustment instruction is generated, where the second adjustment instruction is used to instruct the user to wait for the collision risk of the vehicle to be resolved or to change the target parking space, and the vehicle adjustment instruction includes the second adjustment instruction.

[0056] In conjunction with the third aspect, in some embodiments, the first generating module is specifically used to:

[0057] Based on the current position of the vehicle and the external environment information of the vehicle, obtaining a three-dimensional image of the vehicle;

[0058] Determining a swing angle interval of the vehicle according to the current position of the vehicle, the parking space information of the target parking space, and the parking direction of the vehicle in the parking space adjacent to the target parking space;

[0059] The swing angle range of the vehicle is added to the three-dimensional image of the vehicle to generate a panoramic image of the vehicle.

[0060] In conjunction with the third aspect, in some embodiments, the second generating module is specifically used to:

[0061] If the user's operation on the panoramic image indicates that the front of the vehicle is yawed, determining a first target torque based on the yaw direction and yaw angle of the front of the vehicle instructed by the user;

[0062] generating the control instruction based on the first target torque;

[0063] If the user's operation on the panoramic image indicates that the rear end of the vehicle is swung laterally, determining a second target torque based on the swing direction and swing angle of the rear end of the vehicle swung laterally by the user;

[0064] The control command is generated based on the second target torque.

[0065] In a fourth aspect, the present application provides a control device for exiting a vehicle in a lateral manner, comprising:

[0066] A generating module, configured to generate a panoramic image of the vehicle according to parking space information of the current parking space of the vehicle, external environment information of the vehicle, and vehicle information of the vehicle when the user turns on the side exit assist function;

[0067] The sending module is used to send a control instruction to the motor controller in response to the user's operation on the panoramic image, so that the motor controller controls the vehicle to swing out of the garage through torque.

[0068] In a fifth aspect, the present application provides a main controller, comprising: a processor, and a memory communicatively connected to the processor;

[0069] The memory stores computer-executable instructions;

[0070] The processor executes the computer-executable instructions stored in the memory to implement the lateral waving mode entry control method described in any one of the first aspects and the lateral waving mode exit control method described in the second aspect.

[0071] In the sixth aspect, the present application provides a computer-readable storage medium, which stores computer execution instructions. When the computer execution instructions are executed by a processor, they are used to implement the control method for lateral waving mode entry into the warehouse as described in any one of the first aspect and the control method for lateral waving mode exit from the warehouse as described in the second aspect.

[0072] In the seventh aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the control method for lateral waving warehousing described in any one of the first aspect and the control method for lateral waving warehousing exit described in the second aspect.

[0073] The control method, device, vehicle and storage medium for swaying in and out of the warehouse provided in the present application, when the user turns on the side entry assistance function, the vehicle is determined whether the vehicle can enter the target parking space according to the current position of the vehicle, the position of the target parking space, the external environment information of the vehicle, the vehicle information of the vehicle and the parking space information of the target parking space. If it is determined that the vehicle can enter the target parking space, a panoramic image of the vehicle is generated, and in response to the user's operation on the panoramic image, a control instruction is generated and sent to the motor controller, so that the motor controller controls the vehicle to sway into the warehouse through torque. When the user turns on the side exit assistance function, a panoramic image of the vehicle is generated according to the parking space information of the current parking space of the vehicle, the external environment information of the vehicle, and the vehicle information of the vehicle. In response to the user's operation on the panoramic image, a control instruction is generated and sent to the motor controller, so that the motor controller controls the vehicle to sway out of the warehouse through torque. The above-mentioned side entry and exit assistance function brings users a safer, more convenient and more intelligent parking experience by integrating multiple information, providing intuitive visual assistance, and realizing precise control. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0075] Figure 1 A schematic diagram of a flow chart of a first embodiment of a control method for warehousing in a lateral swing manner provided in an embodiment of the present application;

[0076] Figure 2 A schematic flow chart of a second embodiment of a control method for warehousing in a lateral swing manner provided in an embodiment of the present application;

[0077] Figure 3 is a schematic diagram of an exemplary parking area;

[0078] Figure 4 A schematic flow chart of a third embodiment of a control method for warehousing in a lateral swing manner provided in an embodiment of the present application;

[0079] Figure 5 is an exemplary schematic diagram of a vehicle;

[0080] Figure 6 A schematic flow chart of a fourth embodiment of a control method for warehousing in a lateral swing manner provided in an embodiment of the present application;

[0081] Figure 7 is a schematic diagram of an exemplary vehicle image;

[0082] Figure 8 A schematic diagram of a flow chart of a fifth embodiment of a control method for warehousing in a lateral swing manner provided in an embodiment of the present application;

[0083] Fig. 9 is an exemplary schematic diagram of a vehicle entering a warehouse sideways;

[0084] Fig.10 is an exemplary schematic diagram of a vehicle entering a warehouse with its rear end swung sideways;

[0085] Fig.11 A schematic diagram of a flow chart of an embodiment of a control method for exiting a warehouse in a lateral manner provided in an embodiment of the present application;

[0086] Fig.12 A schematic diagram of the structure of an embodiment of a control device for lateral swaying storage provided in an embodiment of the present application;

[0087] Fig.13 A schematic diagram of the structure of an embodiment of a control device for exiting a warehouse in a lateral swing manner provided in an embodiment of the present application;

[0088] Fig.14 A schematic diagram of the structure of the main controller provided in an embodiment of the present application.

[0089] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0090] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0091] With the continuous advancement of science and technology, cars have gradually become an indispensable means of transportation in people's daily lives. With the increase in the number of vehicles, parking has become a problem for users when using vehicles, especially for parking in side parking spaces, which requires high driving proficiency and driving skills of users. When users enter the parking space from the side, they usually complete the parking through a series of operations on the steering wheel. Then the user needs to accurately control the speed of the vehicle, flexibly operate the steering wheel, and accurately coordinate the accelerator and brake. The user also needs to flexibly adjust the position of the vehicle according to the size of the parking space, the surrounding environment and the performance of the vehicle to ensure that the vehicle is parked smoothly and accurately in the parking space. However, in the process of side parking through the above method, the driver needs to have good spatial judgment ability and be able to accurately judge the distance and angle between the vehicle and surrounding objects (such as other vehicles, curbs, trees, etc.) to avoid collisions. This ability needs to be cultivated through continuous practice and accumulation of experience. For unskilled drivers, it is difficult to operate the vehicle sideways, which results in a poor driver experience.

[0092] In view of the above problems, the present application provides a control method, device, vehicle and storage medium for entering and exiting the warehouse in a swaying manner, which realizes the rapid lateral entry and exit of the vehicle, and improves the efficiency and intelligence of the lateral entry and exit of the vehicle. Specifically, when a user drives and uses a vehicle, if he wants to park in a lateral parking space, he needs to complete the entry through a series of steering wheel operations. And the user needs to accurately control the speed of the vehicle, the flexible operation of the steering wheel, and the precise coordination of the throttle and the brake. The user also needs to flexibly adjust the position of the vehicle according to the size of the parking space, the surrounding environment and the performance of the vehicle to ensure that the vehicle is parked in the parking space smoothly and accurately. However, for users who are not proficient in driving skills, it is difficult to operate the vehicle sideways, and there is also a risk of collision with surrounding objects, resulting in a poor driver experience. In view of the above problems, the inventor studied whether it is possible to use the side entry auxiliary function, so that the user drives the vehicle into the parking area corresponding to the target parking space, and then the vehicle displays a panoramic image of the vehicle's environment to the user, and generates a control instruction in response to the user's one-key sliding of the virtual vehicle in the panoramic image, and the motor controller controls the vehicle to sway into the warehouse through torque according to the control instruction. When the user turns on the auxiliary function for side exit, a control instruction is generated in response to the user's one-touch sliding of the virtual vehicle in the panoramic image, and the motor controller controls the vehicle to swing out of the garage through torque according to the control instruction. This improves the efficiency and intelligence of side exit and entry of the vehicle, while saving user time. Based on this, the technical solution of this application is proposed.

[0093] The control method for entering and exiting a parking garage in a lateral manner provided in the embodiment of the present application is applied to the scenario of user side parking, such as parking in a parking lot, parking on the roadside, parking in a narrow alley or parking inside a residential area. In the above scenario, the user can turn on the side parking assist function by pressing a button, touching the screen or remotely controlling the vehicle, and then the user can realize the quick side parking of the vehicle by sliding the vehicle display with one key, thereby facilitating the user, saving the user's time, and improving the safety of the user's driving the vehicle.

[0094] Optionally, the vehicle is equipped with a lidar and a camera that can monitor the vehicle's external environment in real time. After the user turns on the side parking assist function, the vehicle monitors the parking space information of the target parking space through the lidar and the camera, and then performs inference calculations based on the parking space information and the vehicle information to obtain a parking area that can be used for lateral parking, and reminds the user to drive the vehicle to the parking area. After detecting that the user has parked the vehicle in the parking area, a panoramic image of the vehicle is generated and displayed to the user. The user can indicate the location and direction of the vehicle's swaying by sliding the virtual vehicle in the panoramic image, thereby achieving quick lateral parking.

[0095] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0096] Figure 1 The flowchart of the control method for lateral warehousing provided in the embodiment of the present application is as follows: Figure 1 As shown, the method is applied to the main controller of the vehicle, specifically comprising:

[0097] S101: When the user turns on the side parking assist function, determine whether the vehicle can enter the target parking space based on the current position of the vehicle, the position of the target parking space, the external environment information of the vehicle, the vehicle information of the vehicle and the parking space information of the target parking space.

[0098] In this step, in order to save the user's parking time and avoid the user's unfamiliar driving skills, which may cause collisions with surrounding vehicles or other objects during parking, the user can turn on the side parking assist function before parking. After the vehicle's main controller detects that the user has turned on the side parking assist function, it will detect the target parking space to determine whether it can enter the target parking space.

[0099] Specifically, the parking area is determined based on the vehicle information of the vehicle and the parking space information of the target parking space, and whether the vehicle has a collision risk is determined based on the external environment information of the vehicle and the position of the target parking space. If it is determined that the vehicle has no collision risk and the current position of the vehicle is within the parking area, it is determined that the vehicle can enter the target parking space; if it is determined that the vehicle has no collision risk and the current position of the vehicle is not within the parking area, it is determined that the vehicle cannot enter the target parking space; if it is determined that the vehicle has a collision risk, it is determined that the vehicle cannot enter the target parking space.

[0100] Optionally, the user can turn on the side parking assist function by using the vehicle's keys or buttons, by touching the corresponding control on the vehicle's display, or by remote control of a terminal device, which is not specifically limited in the embodiments of the present application.

[0101] S102: If it is determined that the vehicle can enter the target parking space, a panoramic image of the vehicle is generated.

[0102] In this step, it is determined whether the vehicle can enter the target parking space. If it is determined that the vehicle can enter the target parking space, a panoramic image of the vehicle can be generated based on the vehicle's external environment information and displayed to the user, and the user can then indicate the direction and position of the vehicle's sway.

[0103] Specifically, based on the current position of the vehicle and the external environment information of the vehicle, a three-dimensional image of the vehicle is obtained, and according to the current position of the vehicle, the parking space information of the target parking space and the parking direction of the vehicle in the adjacent parking space of the target parking space, the swing angle range of the vehicle is determined, and the swing angle range of the vehicle is added to the three-dimensional image of the vehicle to generate a panoramic image of the vehicle.

[0104] S103: Generate a control instruction in response to the user's operation on the panoramic image.

[0105] S104: Send a control instruction to the motor controller so that the motor controller controls the vehicle to sway into the garage through torque.

[0106] After the generated panoramic image is displayed to the user, the user can slide the virtual vehicle in the panoramic image. After the vehicle detects the user's operation on the virtual vehicle, it generates a control instruction based on the user's operation and sends the control instruction to the motor control. After the motor controller receives the control instruction, it generates the target torque of each motor according to the control instruction to control the vehicle to move sideways into the warehouse.

[0107] In one possible implementation, if the user's operation on the panoramic image instructs the vehicle front to yaw, a first target torque is determined based on the user's yaw direction and angle of the vehicle front yaw, and a control instruction is generated based on the first target torque.

[0108] In another possible implementation, if the user's operation on the panoramic image instructs the rear end of the vehicle to yaw, a second target torque is determined based on the user's swing direction and swing angle for the rear end of the vehicle to yaw, and a control instruction is generated based on the second target torque.

[0109] Optionally, the panoramic image of the vehicle includes the vehicle's swing angle range. When the user operates the virtual vehicle, the user needs to select any angle within the swing angle range to achieve the correct parking of the vehicle. If the swing angle selected by the user is smaller than the minimum angle in the swing angle range, the vehicle's sway degree is insufficient, making it impossible for the vehicle to be parked in the parking space, and there will be a risk of collision. If the swing angle selected by the user is larger than the maximum angle in the swing angle range, the vehicle's sway degree indicated by the user is too large, which will exceed the parking space and therefore cannot be parked correctly. When the user operates the virtual vehicle to sway and slide, the vehicle will monitor the swing angle selected by the user in real time. If the swing angle selected by the user is not within the swing angle range, an alarm will be prompted to the user. The specific prompt method may be through a pop-up window or a voice prompt.

[0110] Optionally, the method further includes:

[0111] S105: If it is determined that the vehicle cannot enter the target parking space, a vehicle adjustment instruction is generated based on the current position of the vehicle, the parking area and the external environment information of the vehicle.

[0112] S106: Sending a vehicle adjustment instruction to the user so that the vehicle can enter the target parking space.

[0113] By determining whether the vehicle can enter the target parking space, if it is determined that the vehicle cannot enter the target parking space, in order to allow the user to park quickly, the reason why the vehicle cannot enter the target parking space is determined based on the current position of the vehicle and the parking space information and external environment information of the target parking space, and then a vehicle adjustment instruction is generated based on the reason, and the vehicle adjustment instruction is sent to the user, instructing the user to adjust the vehicle so that the vehicle can enter the target parking space. The vehicle adjustment instruction is used to instruct the user to adjust the position of the vehicle.

[0114] Specifically, based on the current position of the vehicle and the parking area, a first adjustment instruction is generated, and the vehicle adjustment instruction includes the first adjustment instruction, or based on the external environment information of the vehicle and the current position of the vehicle, a second adjustment instruction is generated, and the vehicle adjustment instruction includes the second adjustment instruction. The first adjustment instruction is used to instruct the user to drive the vehicle to the parking area, and the second adjustment instruction is used to instruct the user to wait for the collision risk of the vehicle to be eliminated or to change the target parking space.

[0115] The control method for swaying parking provided in this embodiment, when the user turns on the side parking assistance function, determines whether the vehicle can enter the target parking space based on the current position of the vehicle, the position of the target parking space, the external environment information of the vehicle, the vehicle information of the vehicle and the parking space information of the target parking space. If it is determined that the vehicle can enter the target parking space, a panoramic image of the vehicle is generated, and in response to the user's operation on the panoramic image, a control instruction is generated and sent to the motor controller, so that the motor controller controls the vehicle to sway into the parking space through torque. The above-mentioned side parking assistance function brings users a safer, more convenient and more intelligent parking experience by integrating multiple information, providing intuitive visual assistance, and realizing precise control.

[0116] Figure 2 The flowchart of the second embodiment of the control method for lateral swaying storage provided in the embodiment of the present application is as follows: Figure 2 As shown, based on the above embodiment, step S101 specifically includes:

[0117] S201: Determine a parking area according to vehicle information of the vehicle and parking space information of a target parking space.

[0118] In this step, the traditional user parallel parking is that the user observes the situation outside the vehicle in real time, and adjusts the vehicle into the garage by continuously operating the steering wheel. This requires high driving skills of the user. In order to assist the user to sway into the garage, it can save user time and ensure that the user does not need any driving skills. After the user selects the target parking space, the main controller of the vehicle calculates the parking area based on the vehicle information and the parking space information of the target parking space. The parking area refers to the area where the vehicle can be swayed into the garage once when parked in this area.

[0119] For example, Figure 3 is a schematic diagram of an exemplary parking area, such as Figure 3 As shown, it is calculated based on the vehicle information and the parking space information that by parking the front or rear of the vehicle in the area, a single lateral swing into the parking space can be achieved through different lateral swing angles.

[0120] It should be noted that parking the front or rear of a vehicle in the area simply means parking a wheel in the area. Figure 3 In the example, if the front right wheel of the vehicle is parked in the parking area, the vehicle can swing its tail to enter the target parking space. The area also needs to determine the wheel to be parked according to the parking direction of the parking space.

[0121] Optionally, the vehicle information includes the vehicle length, width, wheelbase, front wheel steering angle range, tire-ground friction coefficient, etc. The parking space information includes the parking space length, width, and distance to the road boundary (especially the rear boundary, because it is necessary to ensure that the vehicle does not exceed it). Then the distance interval between the vehicle and the target parking space boundary is calculated, and the area within the interval is the parking area.

[0122] S202: Determine whether the vehicle has a collision risk based on the external environment information of the vehicle and the position of the target parking space.

[0123] In this step, after determining the parking area corresponding to the target parking space, in order to enter the parking space smoothly, it is also necessary to consider the vehicle's surrounding environment information to determine whether the vehicle has a risk of collision with other vehicles or objects in the outside world.

[0124] Specifically, the laser radar and camera capture the vehicle's external environment information and other vehicles parked around the target parking space to predict whether there is a physical object within the vehicle's preset collision range during the vehicle's swaying process. If so, it is determined that the vehicle is at risk of collision; if not, the vehicle is not at risk of collision.

[0125] S203: If it is determined that there is no collision risk for the vehicle and the current position of the vehicle is within the parking area, it is determined that the vehicle can enter the target parking space.

[0126] In this step, whether the vehicle is in the parking area is judged as above, and then whether the vehicle has a collision risk is judged. If it is determined that the vehicle has no collision risk and the current position of the vehicle is in the parking area, it is determined that the vehicle can enter the target parking space.

[0127] Optionally, step S101 further includes:

[0128] S204: If it is determined that there is no collision risk for the vehicle and the current position of the vehicle is not within the parking area, it is determined that the vehicle cannot enter the target parking space.

[0129] S205: If it is determined that there is a collision risk with the vehicle, it is determined that the vehicle cannot enter the target parking space.

[0130] By judging whether the vehicle is in the parking area as mentioned above, we can further judge whether the vehicle has a collision risk. If it is determined that the vehicle has no collision risk and the current position of the vehicle is not in the parking area, it means that the vehicle cannot enter the parking space by a single lateral swing, so it is determined that the vehicle cannot enter the target parking space. If it is determined that the vehicle has a collision risk, it means that if the vehicle lateral swings into the parking space, there is a risk of collision with other vehicles or other obstacles, so it is determined that the vehicle cannot enter the target parking space.

[0131] The control method for entering the parking space in a swaying manner provided in this embodiment determines the parking area based on the vehicle information of the vehicle and the parking space information of the target parking space, and determines whether the vehicle has a collision risk based on the external environment information of the vehicle and the position of the target parking space. If it is determined that the vehicle has no collision risk and the current position of the vehicle is within the parking area, it is determined that the vehicle can enter the target parking space. If it is determined that the vehicle has no collision risk and the current position of the vehicle is not within the parking area, it is determined that the vehicle cannot enter the target parking space. If it is determined that the vehicle has a collision risk, it is determined that the vehicle cannot enter the target parking space. The above method carefully analyzes the vehicle information of the vehicle, the parking space information of the target parking space, the external environment information, and the relative position between the vehicle and the target parking space to comprehensively judge whether the vehicle can safely enter the target parking space, thereby improving the safety, convenience, and automation of the parking process, and bringing a better parking experience to the driver.

[0132] Figure 4 The flowchart of the third embodiment of the control method for lateral swaying storage provided in the embodiment of the present application is as follows: Figure 4 As shown, based on the above embodiments, step S105 specifically includes:

[0133] S401: Generate a first adjustment instruction based on the current position of the vehicle and the parking area.

[0134] In this step, if it is determined that the vehicle cannot enter the target parking space, then in order to facilitate parking for the user, a first adjustment instruction is generated based on the reason why the vehicle cannot enter the target parking space, and the vehicle adjustment instruction includes the first adjustment instruction.

[0135] Specifically, if it is determined that the vehicle cannot enter the target parking space because the vehicle is not in the parking area corresponding to the target parking space, a first adjustment instruction is generated, and then the user is instructed to drive the vehicle into the parking area through the first adjustment instruction.

[0136] or,

[0137] S402: Generate a second adjustment instruction based on the external environment information of the vehicle and the current position of the vehicle.

[0138] In this step, if it is determined that the vehicle cannot enter the target parking space, then in order to facilitate the user's parking, a second adjustment instruction is generated based on the reason why the vehicle cannot enter the target parking space, and the vehicle adjustment instruction includes the second adjustment instruction.

[0139] Specifically, if it is determined that the vehicle cannot enter the target parking space because there is a collision risk for the vehicle, a second adjustment instruction is generated, and the second adjustment instruction is used to instruct the user to wait for the collision risk to be resolved or to change the target parking space in order to save time.

[0140] For example, Figure 5 is an exemplary vehicle schematic diagram, Figure 5 It can be seen that if vehicle 1 is not parked in the parking area, it cannot enter the target parking space by swaying, so it can be achieved by driving the vehicle into the parking area. Although vehicle 2 has been parked in the parking area, there are obstacles around the vehicle, and the vehicle cannot sway into the parking space.

[0141] The control method for lateral parking provided in the present embodiment generates a first adjustment instruction based on the current position of the vehicle and the parking area, or generates a second adjustment instruction based on the external environment information of the vehicle and the current position of the vehicle. During the side parking process of the vehicle, the method flexibly generates different adjustment instructions (first adjustment instructions or second adjustment instructions) according to specific circumstances to cope with different parking scenarios and challenges, thereby improving safety, optimizing user experience, enhancing intelligence and increasing adaptability.

[0142] Figure 6 The flowchart of the fourth embodiment of the control method for lateral warehousing provided in the embodiment of the present application is as follows: Figure 6 As shown, based on the above embodiments, step S102 specifically includes:

[0143] S601: Obtain a three-dimensional image of the vehicle based on the current position of the vehicle and the external environment information of the vehicle.

[0144] S602: Determine a swing angle range of the vehicle according to the current position of the vehicle, parking space information of the target parking space, and parking directions of vehicles in parking spaces adjacent to the target parking space.

[0145] S603: Add the swing angle range of the vehicle to the three-dimensional image of the vehicle to generate a panoramic image of the vehicle.

[0146] In order to facilitate user operation, after determining that the vehicle can enter the target parking space, a three-dimensional image of the vehicle is generated based on the vehicle and its surroundings. In order to efficiently complete the vehicle entry into the warehouse, according to the current position of the vehicle and the parking space information of the target parking space and the parking direction of the vehicle in the parking space adjacent to the target parking space, a swing angle interval is generated and combined with the three-dimensional image of the vehicle to generate a panoramic image of the vehicle. The panoramic image can be displayed to the user through the car display screen or through the user terminal device. The embodiments of this application are not specifically limited.

[0147] For example, Figure 7 is an exemplary vehicle image schematic diagram, such as Figure 7 It can be seen that the user can slide the vehicle in the vehicle image to simulate the scene of the vehicle swaying into the garage.

[0148] It should be noted that when assisting a vehicle to enter a parking space sideways, the optimal angle is when the direction of the vehicle is flush with the direction of the parking space after the vehicle enters the parking space. However, in actual parking scenarios, as long as the vehicle body is completely parked in the parking space and does not affect the parking of other vehicles, the final parking angle of the vehicle is not necessarily parallel to the parking space. As long as the vehicle is controlled to swing according to any angle in the swing angle range, the vehicle body can be completely parked in the parking space.

[0149] The control method for swaying parking provided in this embodiment obtains a three-dimensional image of the vehicle based on the current position of the vehicle and the external environment information of the vehicle, determines the swing angle range of the vehicle according to the current position of the vehicle, the parking information of the target parking space, and the parking direction of the vehicle in the parking space adjacent to the target parking space, and adds the swing angle range of the vehicle to the three-dimensional image of the vehicle to generate a panoramic image of the vehicle. By providing an intuitive, accurate, and user-friendly parking assistance function, this method significantly improves the driver's parking experience. And by interacting with the user, the parking process is made more convenient and efficient. Users no longer need complex driving skills, and can complete parking with simple operations, which reduces the difficulty and complexity of parking.

[0150] Figure 8 The flowchart of the fifth embodiment of the control method for lateral swaying storage provided in the embodiment of the present application is as follows: Figure 8 As shown, based on the above embodiments, step S103 specifically includes:

[0151] S801: If the user's operation on the panoramic image indicates that the vehicle front is to yaw, a first target torque is determined based on the yaw direction and yaw angle of the vehicle front instructed by the user.

[0152] S802: Generate a control instruction based on the first target torque.

[0153] After the vehicle displays a panoramic image of the vehicle to the user, the user performs a one-touch sliding operation on the virtual vehicle in the image, thereby indicating the yaw, yaw direction and angle of the vehicle's front end, and the vehicle then generates a first target torque. Based on the first target torque, a control instruction is generated and sent to the motor controller, which controls the yaw of the vehicle.

[0154] For example, Fig. 9 is an exemplary schematic diagram of a vehicle entering a warehouse sideways, as shown in Fig. 9 As shown, according to the user's operation, the control instructions generated are rear left wheel brake lock, positive torque of the front left motor, the specific value is to achieve the control target wheel speed (for example, 1m / s) without slipping, and the value varies depending on the road surface, and negative torque of the front right motor, the specific value is to maintain the control target wheel speed (for example, 1m / s) without slipping, and the value varies depending on the road surface.

[0155] S803: If the user's operation on the panoramic image indicates that the rear end of the vehicle is to yaw, a second target torque is determined based on the yaw direction and yaw angle of the rear end of the vehicle instructed by the user.

[0156] S804: Generate a control instruction based on the second target torque.

[0157] After the vehicle displays a panoramic image of the vehicle to the user, the user slides the virtual vehicle in the image with one button to indicate the yaw, yaw direction and angle of the rear end of the vehicle, and the vehicle generates a second target torque. Based on the second target torque, a control instruction is generated and sent to the motor controller, which controls the yaw of the vehicle.

[0158] For example, Fig.10 is an exemplary schematic diagram of a vehicle entering a warehouse with its rear end swung sideways, as shown in Fig.10 As shown, according to the user's operation, the control instructions generated are front left wheel brake lock, rear left motor negative torque, specific value is to achieve the control target wheel speed (for example, 1m / s) without slipping, the value varies depending on the road surface, rear right motor positive torque, specific value is to maintain the control target wheel speed (for example, 1m / s) without slipping, the value varies depending on the road surface.

[0159] Optionally, during the vehicle's swaying into the garage, the swaying speed can be adjusted according to the road surface. And during the vehicle's swaying controlled by the motor controller, the user can also adjust the direction by slightly turning the steering wheel. And when the user and brake signals are detected or the risk of collision is detected, the swaying is interrupted.

[0160] The control method for swaying parking provided in this embodiment is as follows: if the user instructs the front of the vehicle to sway by operating the panoramic image, a first target torque is determined based on the swing direction and swing angle of the front of the vehicle, and a control instruction is generated based on the first target torque; if the user instructs the rear of the vehicle to sway by operating the panoramic image, a second target torque is determined based on the swing direction and swing angle of the rear of the vehicle, and a control instruction is generated based on the second target torque. By accurately capturing the swing direction and swing angle of the front or rear of the vehicle swayed by the user, the method can accurately calculate the required target torque. This accuracy ensures the stability and accuracy of the vehicle when performing swaying actions, and avoids vehicle loss of control or parking failure due to improper torque. And it improves the efficiency and safety of parking. Users can achieve complex swaying actions of the vehicle through simple operations without professional driving skills or experience. The parking process is made more convenient and intuitive, and the difficulty and complexity of the user's operation are reduced.

[0161] Fig.11 The flowchart of the control method for lateral exit from the warehouse provided in the embodiment of the present application is as follows: Fig.11 As shown, the method is applied to the main controller of the vehicle, specifically comprising:

[0162] S1101: When the user turns on the side exit assist function, a panoramic image of the vehicle is generated based on the parking space information of the vehicle's current parking space, the vehicle's external environment information, and the vehicle's vehicle information.

[0163] In this step, after the user turns on the side exit assist function, the car generates a panoramic image of the vehicle based on the parking space information of the current parking space, the vehicle's external environment information and the vehicle information and displays it to the user.

[0164] The specific process of generating the panoramic image is the same as the process of generating the panoramic image in the aforementioned storage method embodiment, and will not be repeated here.

[0165] S1102: In response to the user's operation on the panoramic image, a control instruction is sent to the motor controller, so that the motor controller controls the vehicle to swing out of the garage through torque.

[0166] After the user operates the virtual vehicle in the image, the main controller generates a control instruction based on the user's operation and sends it to the motor controller, so that the motor controller controls the vehicle to swing out of the warehouse through torque. The method of generating control instructions in the aforementioned warehouse entry embodiment is similar and will not be repeated here.

[0167] The control method for swaying out of the garage provided in this embodiment generates a panoramic image of the vehicle according to the parking information of the current parking space of the vehicle, the external environment information of the vehicle, and the vehicle information of the vehicle when the user turns on the side exit auxiliary function. In response to the user's operation on the panoramic image, a control instruction is generated and sent to the motor controller, so that the motor controller controls the vehicle to sway out of the garage through torque. Through the above method, all-round visual assistance is realized, the intelligent and automatic control of vehicle exit is improved, and driving convenience and safety are guaranteed.

[0168] Fig.12 The schematic diagram of the structure of the control device embodiment of the lateral swing storage provided in the present application is as follows: Fig.12 As shown, the control device 1200 for lateral storage includes:

[0169] The determination module 1201 is used to determine whether the vehicle can enter the target parking space according to the current position of the vehicle, the position of the target parking space, the external environment information of the vehicle, the vehicle information of the vehicle and the parking space information of the target parking space when the user turns on the side parking assist function.

[0170] The first generating module 1202 is configured to generate a panoramic image of the vehicle if it is determined that the vehicle can enter the target parking space.

[0171] The second generating module 1203 is used to generate a control instruction in response to the user's operation on the first panoramic image.

[0172] The sending module 1204 is used to send a control instruction to the motor controller so that the motor controller controls the vehicle to sway into the garage through torque.

[0173] In one possible design, the determination module 1201 is specifically configured to:

[0174] Determine a parking area according to the vehicle information of the vehicle and the parking space information of the target parking space;

[0175] Determine whether the vehicle has a collision risk based on the vehicle's external environment information and the location of the target parking space;

[0176] If it is determined that there is no collision risk for the vehicle and the current position of the vehicle is within the parking area, it is determined that the vehicle can enter the target parking space.

[0177] Optionally, the determination module 1201 is further configured to:

[0178] If it is determined that there is no risk of collision for the vehicle and the current position of the vehicle is not within the parking area, it is determined that the vehicle cannot enter the target parking space;

[0179] If it is determined that the vehicle has a collision risk, it is determined that the vehicle cannot enter the target parking space.

[0180] In another possible implementation, the determining module 1201 is further configured to:

[0181] If it is determined that the vehicle cannot enter the target parking space, a vehicle adjustment instruction is generated based on the current position of the vehicle, the parking area and the external environment information of the vehicle, and the vehicle adjustment instruction is used to instruct the user to adjust the position of the vehicle;

[0182] Send vehicle adjustment instructions to the user so that the vehicle can enter the target parking space.

[0183] In some embodiments, if the determination module 1201 determines that the vehicle cannot enter the target parking space, it generates a vehicle adjustment instruction based on the current position of the vehicle, the parking area, and the external environment information of the vehicle, including:

[0184] If the vehicle adjustment instruction includes a first adjustment instruction, then based on the current position of the vehicle and the parking area, the first adjustment instruction is generated, and the first adjustment instruction is used to instruct the user to drive the vehicle to the parking area;

[0185] If the vehicle adjustment instruction includes a second adjustment instruction, the second adjustment instruction is generated based on the external environment information of the vehicle and the current position of the vehicle, and the second adjustment instruction is used to instruct the user to wait for the collision risk of the vehicle to be resolved or to change the target parking space.

[0186] In some embodiments, the first generating module 1202 is specifically configured to:

[0187] Based on the current position of the vehicle and the external environment information of the vehicle, a three-dimensional image of the vehicle is obtained;

[0188] Determine the swing angle range of the vehicle according to the current position of the vehicle, the parking space information of the target parking space and the parking direction of the vehicle in the parking space adjacent to the target parking space;

[0189] The swing angle range of the vehicle is added to the three-dimensional image of the vehicle to generate a panoramic image of the vehicle.

[0190] In a possible design, the second generating module 1203 is specifically configured to:

[0191] If the user's operation on the first panoramic image indicates that the front of the vehicle is to yaw, a first target torque is determined based on the yaw direction and yaw angle of the front of the vehicle indicated by the user;

[0192] generating a control command based on the first target torque;

[0193] If the user's operation on the first panoramic image indicates that the rear end of the vehicle is to yaw, determining a second target torque based on the yaw direction and yaw angle of the rear end of the vehicle indicated by the user;

[0194] Based on the second target torque, a control command is generated.

[0195] Optionally, when the control device 1200 for swaying storage is implemented as a motor controller, it may also include:

[0196] The control model is used for the motor controller to control the vehicle to sway into the warehouse through torque based on the control instructions sent by the main controller.

[0197] The control device for lateral warehousing provided in the above embodiment is used to execute the control method for lateral warehousing in any of the above method embodiments, and its implementation principle and technical effect are similar and will not be repeated here.

[0198] Fig.13 The schematic diagram of the structure of the control device embodiment of the lateral swing mode exit provided in the embodiment of the present application is as follows: Fig.13 As shown, the control device 1300 for lateral exit from the warehouse specifically includes:

[0199] The generation module 1301 is used to generate a panoramic image of the vehicle according to the parking space information of the current parking space of the vehicle, the external environment information of the vehicle, and the vehicle information of the vehicle when the user turns on the side exit assist function.

[0200] The sending module 1302 is used to send a control instruction to the motor controller in response to the user's operation on the panoramic image, so that the motor controller controls the vehicle to swing out of the garage through torque.

[0201] Optionally, when the control device 1300 for lateral exit is implemented as a motor controller, it may further include:

[0202] The control model is used for the motor controller to control the vehicle to sway out of the warehouse through torque based on the control instructions sent by the main controller.

[0203] The control device for lateral exit from the warehouse provided in the above embodiment is used to execute the control method for lateral exit from the warehouse in any of the above method embodiments. Its implementation principle and technical effect are similar and will not be repeated here.

[0204] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software calling through processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software calling through processing elements, and some modules can be implemented in the form of hardware. In addition, all or part of these modules can be integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0205] Fig.14 A schematic diagram of the structure of the main controller provided in the embodiment of the present application is shown in FIG. Fig.14 As shown, the main controller 1400 includes: a processor 1402, and a memory 1401 communicatively connected to the processor 1402;

[0206] The memory 1401 stores computer executable instructions;

[0207] The processor 1402 executes the computer-executable instructions stored in the memory 1401 to implement the control method for swaying inbound and the control method for swaying outbound in any method embodiment.

[0208] Optionally, the above-mentioned components of the electronic device may be connected via a system bus.

[0209] The system bus may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The system bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The memory 1401 may include a random access memory 1401 (RAM), and may also include a non-volatile memory 1401 (NVM), such as at least one disk storage 1401.

[0210] All or part of the steps of the above-mentioned method embodiments can be completed by hardware related to program instructions. The above-mentioned program can be stored in a readable memory 1401. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the above-mentioned memory 1401 (storage medium) includes: read-only memory 1401 (ROM), RAM, flash memory 1401, hard disk, solid state drive, magnetic tape, floppy disk, optical disc and any combination thereof.

[0211] The main controller provided in the embodiment of the present application can be used to execute the control method for warehousing in a lateral manner and the control method for exiting a lateral manner provided in any of the above-mentioned method embodiments. The implementation principles and technical effects are similar and will not be repeated here.

[0212] An embodiment of the present application also provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to execute the control method for lateral waving mode entry into the warehouse and the control method for lateral waving mode exit from the warehouse provided in the above-mentioned various embodiments.

[0213] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0214] Optionally, a readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0215] An embodiment of the present application also provides a computer program product, which includes a computer program. The computer program is stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, the technical solution provided by any of the above method embodiments can be implemented.

[0216] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0217] It is to be understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of description and are not intended to limit the scope of the embodiments of the present application. In the embodiments of the present application, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0218] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0219] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A control method for warehousing in a lateral manner, characterized in that: Applied to a main controller of a vehicle, the method comprises: When the user turns on the side parking assist function, it is determined whether the vehicle can enter the target parking space according to the current position of the vehicle, the position of the target parking space, the external environment information of the vehicle, the vehicle information of the vehicle and the parking space information of the target parking space; If it is determined that the vehicle can enter the target parking space, generating a panoramic image of the vehicle; generating a control instruction in response to the user's operation on the panoramic image; The control instruction is sent to a motor controller so that the motor controller controls the vehicle to sway into the garage through torque.

2. The method according to claim 1, characterized in that When the user turns on the side parking assist function, determining whether the vehicle can enter the target parking space according to the current position of the vehicle, the position of the target parking space, the external environment information of the vehicle, the vehicle information of the vehicle and the parking space information of the target parking space includes: Determining a parking area according to the vehicle information of the vehicle and the parking space information of the target parking space; Determining whether the vehicle has a collision risk according to the external environment information of the vehicle and the position of the target parking space; If it is determined that there is no collision risk for the vehicle and the current position of the vehicle is within the parking area, it is determined that the vehicle can enter the target parking space.

3. The method according to claim 2, characterized in that The method further comprises: If it is determined that there is no collision risk for the vehicle and the current position of the vehicle is not within the parking area, determining that the vehicle cannot enter the target parking space; If it is determined that the vehicle has a collision risk, it is determined that the vehicle cannot enter the target parking space.

4. The method according to claim 2, characterized in that: Before generating a panoramic image of the vehicle if it is determined that the vehicle can enter the target parking space, the method further includes: If it is determined that the vehicle cannot enter the target parking space, a vehicle adjustment instruction is generated based on the current position of the vehicle, the parking area and the external environment information of the vehicle, wherein the vehicle adjustment instruction is used to instruct the user to adjust the position of the vehicle; The vehicle adjustment instruction is sent to the user so that the vehicle can enter the target parking space.

5. The method according to claim 4, characterized in that If it is determined that the vehicle cannot enter the target parking space, generating a vehicle adjustment instruction based on the current position of the vehicle, the parking area and the external environment information of the vehicle, including: generating a first adjustment instruction based on the current position of the vehicle and the parking area, the first adjustment instruction being used to instruct the user to drive the vehicle to the parking area, the vehicle adjustment instruction including the first adjustment instruction; or, Based on the external environment information of the vehicle and the current position of the vehicle, a second adjustment instruction is generated, where the second adjustment instruction is used to instruct the user to wait for the collision risk of the vehicle to be resolved or to change the target parking space, and the vehicle adjustment instruction includes the second adjustment instruction.

6. The method according to any one of claims 1 to 5, characterized in that: If it is determined that the vehicle can enter the target parking space, generating a panoramic image of the vehicle includes: Obtaining a three-dimensional image of the vehicle based on the current position of the vehicle and external environment information of the vehicle; Determining a swing angle interval of the vehicle according to the current position of the vehicle, the parking space information of the target parking space, and the parking direction of the vehicle in the parking space adjacent to the target parking space; The swing angle range of the vehicle is added to the three-dimensional image of the vehicle to generate a panoramic image of the vehicle.

7. The method according to any one of claims 1 to 5, characterized in that: The generating a control instruction in response to the user's operation on the panoramic image includes: If the user's operation on the panoramic image indicates that the front of the vehicle is yawed, determining a first target torque based on the yaw and swing angle of the front of the vehicle yawed by the user; generating the control instruction based on the first target torque; If the user's operation on the panoramic image indicates that the rear end of the vehicle is swung laterally, determining a second target torque based on the swing direction and swing angle of the rear end of the vehicle swung laterally by the user; The control command is generated based on the second target torque.

8. A control method for lateral exit from a warehouse, characterized in that: Applied to a main controller of a vehicle, the method comprises: When the user turns on the side exit assist function, a panoramic image of the vehicle is generated according to the parking space information of the current parking space of the vehicle, the external environment information of the vehicle, and the vehicle information of the vehicle; In response to the user's operation on the panoramic image, a control instruction is sent to a motor controller so that the motor controller controls the vehicle to swing out of the garage through torque.

9. A control device for warehousing in a lateral swing manner, characterized in that: include: A determination module, used to determine whether the vehicle can enter the target parking space according to the current position of the vehicle, the position of the target parking space, the external environment information of the vehicle, the vehicle information of the vehicle and the parking space information of the target parking space when the user turns on the side parking assist function; A generating module, configured to generate a panoramic image of the vehicle if it is determined that the vehicle can enter the target parking space; A processing module, configured to generate a control instruction in response to the user's operation on the panoramic image; The sending module is used to send the control instruction to the motor controller so that the motor controller controls the vehicle to sway into the warehouse through torque.

10. A control device for lateral exit from a warehouse, characterized in that: include: A generating module, configured to generate a panoramic image of the vehicle according to parking space information of the current parking space of the vehicle, external environment information of the vehicle, and vehicle information of the vehicle when the user turns on the side exit assist function; The sending module is used to send a control instruction to the motor controller in response to the user's operation on the panoramic image, so that the motor controller controls the vehicle to swing out of the garage through torque.

11. A main controller, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the control method for lateral waving in-warehouse according to any one of claims 1 to 7 and the control method for lateral waving out-warehouse according to claim 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer execution instructions, which, when executed by a processor, are used to implement the control method for lateral waving entering the warehouse as described in any one of claims 1 to 7 and the control method for lateral waving leaving the warehouse as described in claim 8.

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