Control method and device for preventing collision of rearview mirror during automatic parking and electronic equipment

Abstract

The invention relates to a rearview mirror anti-collision control method and device during automatic parking and electronic equipment, and belongs to the technical field of automatic parking.The method comprises the steps that an automatic parking mode is started, automatic parking is started after an empty parking space is selected, and the effective width of the parking space is obtained according to the width of the empty parking space and the distance between the empty parking space and left and right obstacles; an anti-collision width threshold value is obtained according to vehicle body parameters of the vehicle, and before the last time of garage rubbing is executed in automatic parking, the parking space attribute of an empty parking space is determined according to the parking space effective width and the anti-collision width threshold value; if yes, the rearview mirror is automatically folded, the rearview mirror is kept in the folded state, the last time of garage rolling is executed, and the vehicle is parked in the empty parking space; the rearview mirror is folded before the last time of parking, so that the rearview mirror is effectively prevented from being damaged due to the fact that the rearview mirror is not folded in time in the parking process of the vehicle, and the anti-collision effect of the rearview mirror is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automatic parking, and in particular to a control method, device and electronic equipment for preventing a rearview mirror from collision during automatic parking. Background Art

[0002] At present, intelligent networked vehicles are developing rapidly. As one of the most important functions of intelligent networked vehicles, the automatic parking system is gradually entering people's daily travel life. There are various parking spaces in actual scenes, including standard parking spaces with ample parking space and narrow parking spaces with limited space on both sides. When performing automatic parking in narrow parking spaces and leaving the warehouse, there is a safety hazard of scratching the rearview mirror. At this time, how to design a rearview mirror anti-collision function has very important practical application significance.

[0003] In order to prevent rearview mirror collision, it is possible to consider intelligently folding the rearview mirror during automatic parking, reducing the distance the car side extends outward, increasing the drivable space for automatic parking, and thus achieving rearview mirror collision prevention during automatic parking; the existing technology generally uses distance sensing devices such as radar, and folds the rearview mirror when an obstacle is detected at a certain distance near the rearview mirror. This operation of folding the rearview mirror while the vehicle is parking is prone to damage to the rearview mirror due to excessive speed and untimely folding of the rearview mirror. Summary of the invention

[0004] To this end, the present invention provides a control method, device and electronic device for rearview mirror anti-collision during automatic parking to solve the problem in the prior art that folding the rearview mirror during vehicle driving easily leads to damage of the rearview mirror.

[0005] In a first aspect, a method for controlling rearview mirror collision prevention during automatic parking is provided, the method comprising:

[0006] Turn on the automatic parking mode and select an empty parking space to start automatic parking;

[0007] Obtaining the effective width of the parking space according to the width of the empty parking space and the distance between the empty parking space and the left and right obstacles;

[0008] Obtaining a collision avoidance width threshold according to the vehicle body parameters;

[0009] Before the automatic parking performs the last parking maneuver, the parking space attribute of the empty parking space is determined according to the effective width of the parking space and the anti-collision width threshold; the parking space attribute includes a normal parking space and a narrow parking space;

[0010] If the parking space attribute is the narrow parking space, the rearview mirror is automatically folded and kept in the folded state to perform the last parking maneuver to park the vehicle in the empty parking space.

[0011] Furthermore, the vehicle body parameters include vehicle body width and single rearview mirror width; and obtaining the anti-collision width threshold according to the vehicle body parameters includes:

[0012] The anti-collision width threshold is obtained according to the vehicle body width, the width of a single rearview mirror and the preset anti-collision reserved width, and the calculation formula is:

[0013] d x =Y+2d h +2d0;

[0014] Among them, d x is the anti-collision width threshold; Y is the vehicle body width; d h is the width of a single rearview mirror; d0 is the preset anti-collision reserved width.

[0015] Furthermore, obtaining the effective width of the parking space according to the width of the empty parking space and the distance between the empty parking space and the left and right obstacles includes:

[0016] The effective width of the parking space is obtained according to the effective width formula, which is:

[0017] d a =L+d L +d R ;

[0018] Among them, d a is the effective width of the parking space; L is the width of the empty parking space; d L is the distance between the empty parking space and the left obstacle; d R It is the distance between the empty parking space and the right obstacle.

[0019] Further, the determining the parking space attribute of the empty parking space according to the effective parking space width and the anti-collision width threshold includes:

[0020] If the effective width of the parking space is greater than or equal to the anti-collision width threshold, the parking space attribute of the empty parking space is a normal parking space;

[0021] If the effective width of the parking space is smaller than the anti-collision width threshold, the parking space attribute of the empty parking space is a narrow parking space.

[0022] Furthermore, after executing the last parking maneuver to park the vehicle in the empty parking space, the method further includes:

[0023] The parking space attribute is stored in the vehicle computer. When the vehicle is started again, the parking space attribute stored in the vehicle computer is read. If the parking space attribute is a narrow parking space, the vehicle is controlled to go straight for a preset length and then turn out of the parking space.

[0024] Furthermore, the method further comprises:

[0025] After the vehicle is successfully parked in the parking space, or when the vehicle is started again and the vehicle is controlled to go straight for a preset length and then turn out of the parking space, manual control of the rearview mirror to unfold is allowed.

[0026] Furthermore, the method further comprises:

[0027] If the automatic parking fails when the rearview mirrors are automatically folded and kept folded for the last time, manual control of the rearview mirror unfolding is prohibited.

[0028] Furthermore, the method further comprises:

[0029] If the parking space attribute is the normal parking space, the rearview mirror is kept in the unfolded state and the last parking is performed to park the vehicle in the empty parking space.

[0030] In a second aspect, a control device for preventing a rearview mirror from collision during automatic parking is provided, the device comprising:

[0031] Automatic parking module, used to turn on the automatic parking mode and start automatic parking after selecting an empty parking space;

[0032] An effective width module, used to obtain the effective width of the parking space according to the width of the empty parking space and the distance between the empty parking space and the left and right obstacles;

[0033] A width threshold module is used to obtain an anti-collision width threshold according to the body parameters of the vehicle;

[0034] A narrow parking space determination module is used to determine the parking space attribute of the empty parking space according to the effective width of the parking space and the anti-collision width threshold before the automatic parking is performed for the last time; the parking space attribute includes a normal parking space and a narrow parking space;

[0035] The narrow parking space parking module is used for automatically folding the rearview mirror and keeping the rearview mirror in the folded state to execute the last parking maneuver to park the vehicle in the empty parking space if the parking space attribute is the narrow parking space.

[0036] In a third aspect, an electronic device is provided, including:

[0037] at least one processor; and

[0038] a memory communicatively connected to the at least one processor; wherein,

[0039] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any of the above-mentioned control methods for rearview mirror anti-collision during automatic parking.

[0040] The present invention adopts the above technical solution and has at least the following beneficial effects:

[0041] Provided are a control method, device and electronic device for rearview mirror anti-collision during automatic parking. After the automatic parking mode is turned on and an empty parking space is selected, automatic parking begins. The effective width of the parking space is obtained according to the width of the empty parking space and the distance between the empty parking space and the left and right obstacles. The anti-collision width threshold is obtained according to the body parameters of the vehicle. Before the last parking maneuver of automatic parking is performed, the parking space attribute of the empty parking space is determined according to the effective width of the parking space and the anti-collision width threshold. If the parking space attribute is a narrow parking space, the rearview mirror is automatically folded and the rearview mirror is kept in the folded state to perform the last parking maneuver to park the vehicle in the empty parking space. The rearview mirror has been folded before the last parking maneuver, which effectively avoids damage to the rearview mirror caused by untimely folding of the rearview mirror during parking and driving, and improves the anti-collision effect of the rearview mirror.

[0042] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 is a flow chart of a method for controlling rearview mirror anti-collision during automatic parking, shown in an exemplary embodiment of the present invention;

[0045] Figure 2 is a schematic block diagram of a control device for preventing a rearview mirror from collision during automatic parking, shown in an exemplary embodiment of the present invention;

[0046] Figure 3 It is a schematic block diagram of an electronic device shown in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] In order to prevent rearview mirror collision, the existing technology generally uses radar and other distance sensing devices to fold the rearview mirror when an obstacle is detected at a certain distance near the rearview mirror. This operation of folding the rearview mirror while the vehicle is parking is prone to damage to the rearview mirror due to the high speed of the vehicle and the failure to fold the rearview mirror in time.

[0049] The embodiments of the present application provide a control method, device and electronic device for rearview mirror collision avoidance during automatic parking. During automatic parking and exiting the warehouse, the rearview mirror is intelligently folded to reduce the distance that the side of the car extends outward and increase the drivable space for automatic parking. At the same time, a straight-moving strategy during the exiting warehouse process is designed to achieve rearview mirror collision avoidance during automatic parking and exiting the warehouse. This helps to expand the use scenarios of automatic parking and exiting the warehouse system and improve safety, and plays an important role in promoting the development and application of automatic parking and exiting the warehouse technology.

[0050] The method and device in this application are described below through specific embodiments.

[0051] See also Figure 1 , Figure 1 is a flow chart of a method for controlling rearview mirror collision avoidance during automatic parking according to an exemplary embodiment of the present invention, see Figure 1 , the method comprising:

[0052] Step S11, turning on the automatic parking mode and selecting an empty parking space to start automatic parking;

[0053] Step S12, obtaining the effective width of the parking space according to the width of the empty parking space and the distance between the empty parking space and the left and right obstacles;

[0054] Step S13, obtaining an anti-collision width threshold according to the body parameters of the vehicle;

[0055] Step S14: before the automatic parking system performs the last parking maneuver, the parking space attributes of the empty parking space are determined according to the effective parking space width and the anti-collision width threshold; the parking space attributes include normal parking spaces and narrow parking spaces;

[0056] Step S15: If the parking space attribute is a narrow parking space, the rearview mirror is automatically folded and kept in the folded state to perform the last parking maneuver to park the vehicle in an empty parking space.

[0057] It should be noted that the technical solution provided in this embodiment can be added to the existing vehicle system in the form of a small program in specific practice to complete the anti-collision function of the mirror; applicable scenarios include but are not limited to: automatic parking and parking out of the garage.

[0058] It can be understood that the method provided in this embodiment starts automatic parking after turning on the automatic parking mode and selecting an empty parking space. The effective width of the parking space is obtained based on the width of the empty parking space and the distance between the empty parking space and the left and right obstacles. The anti-collision width threshold is obtained based on the body parameters of the vehicle. Before the automatic parking executes the last parking maneuver, the parking space attributes of the empty parking space are determined based on the effective width of the parking space and the anti-collision width threshold. If the parking space attribute is a narrow parking space, the rearview mirrors are automatically folded and kept in the folded state to execute the last parking maneuver to park the vehicle in the empty parking space. The rearview mirrors have been folded before the last parking maneuver, which effectively avoids damage to the rearview mirrors caused by untimely folding of the rearview mirrors during parking and improves the anti-collision effect of the rearview mirrors.

[0059] In specific practice, in step S12, "obtaining the effective width of the parking space according to the width of the empty parking space and the distance between the empty parking space and the left and right obstacles" includes: obtaining the effective width of the parking space according to the effective width formula, and the effective width formula is: d a =L+d L +d R ; where d a is the effective width of the parking space; L is the width of the empty parking space; d L is the distance between the empty parking space and the left obstacle; d R It is the distance between the empty parking space and the right obstacle.

[0060] It should be noted that the width of the empty parking space, the distance between the empty parking space and the left obstacle, and the distance between the empty parking space and the right obstacle can be recognized through the existing image recognition technology and radar ranging technology.

[0061] In specific practice, in step S13, "obtaining the anti-collision width threshold according to the vehicle body parameters" includes: obtaining the anti-collision width threshold according to the vehicle body width, the width of a single rearview mirror and the preset anti-collision reserved width, and the calculation formula is: d x =Y+2d h +2d0; where d x is the anti-collision width threshold; Y is the vehicle body width; d h is the width of a single rearview mirror; d0 is the preset anti-collision reserved width.

[0062] It should be noted that the preset anti-collision reserved width is set according to the anti-collision safety level of the vehicle. The higher the safety level, the larger the preset anti-collision reserved width.

[0063] It can be understood that in the technical solution provided by this embodiment, the anti-collision width threshold varies with different vehicle models, and each vehicle model has its own anti-collision width threshold, which effectively avoids the problem of poor anti-collision effect of the rearview mirror due to size differences between different vehicle models.

[0064] In specific practice, step S14 of "determining the parking space attributes of the empty parking space based on the effective width of the parking space and the anti-collision width threshold" includes: if the effective width of the parking space is greater than or equal to the anti-collision width threshold, the parking space attribute of the empty parking space is a normal parking space; if the effective width of the parking space is less than the anti-collision width threshold, the parking space attribute of the empty parking space is a narrow parking space.

[0065] It should be noted that the preset anti-collision reserved width is set according to the anti-collision safety level of the vehicle. The higher the safety level, the larger the preset anti-collision reserved width.

[0066] In specific practice, after executing the last parking maneuver to park the vehicle in an empty parking space, the method also includes: storing the parking space attributes in the vehicle computer, and when the vehicle is started again, reading the parking space attributes stored in the vehicle computer, and if the parking space attribute is a narrow parking space, controlling the vehicle to go straight for a preset length and then turn out of the parking space.

[0067] It should be noted that the preset length can be set according to the position of the rearview mirror on the vehicle body to avoid scratching the folded rearview mirror when turning out of the parking space.

[0068] In specific practice, the method also includes: after the vehicle is successfully parked in a parking space, or when the vehicle is started again, after the vehicle is controlled to go straight for a preset length and then turn out of the parking space, manual control of the rearview mirror is allowed to be deployed.

[0069] In specific practice, the method also includes: if the automatic parking into the parking space fails when the rearview mirror is automatically folded and kept in the folded state for the last time, manual control of the unfolding of the rearview mirror is prohibited.

[0070] In specific practice, the method further includes: if the parking space attribute is a normal parking space, keeping the rearview mirror in the unfolded state and executing the last parking maneuver to park the vehicle in an empty parking space.

[0071] See also Figure 2 , Figure 2 is a schematic block diagram of a control device for preventing a rearview mirror from collision during automatic parking according to an exemplary embodiment of the present invention, see Figure 2 The control device 100 for preventing rearview mirror collision during automatic parking includes:

[0072] The automatic parking module 101 is used to start the automatic parking mode and start automatic parking after selecting an empty parking space;

[0073] The effective width module 102 is used to obtain the effective width of the parking space according to the width of the empty parking space and the distance between the empty parking space and the left and right obstacles;

[0074] A width threshold module 103 is used to obtain an anti-collision width threshold according to the body parameters of the vehicle;

[0075] The narrow parking space determination module 104 is used to determine the parking space attributes of the empty parking space according to the effective width of the parking space and the anti-collision width threshold before the automatic parking is performed for the last time; the parking space attributes include normal parking space and narrow parking space;

[0076] The narrow parking space parking module 105 is used to automatically fold the rearview mirror and keep the rearview mirror in the folded state to perform the last parking maneuver to park the vehicle in an empty parking space if the parking space attribute is a narrow parking space.

[0077] It should be noted that the technical solution provided in this embodiment can be applied in specific practice to scenarios including, but not limited to: automatic parking and parking out of the garage.

[0078] It can be understood that the device provided in this embodiment starts automatic parking after turning on the automatic parking mode and selecting an empty parking space. The effective width of the parking space is obtained based on the width of the empty parking space and the distance between the empty parking space and the left and right obstacles. The anti-collision width threshold is obtained based on the body parameters of the vehicle. Before the automatic parking executes the last parking maneuver, the parking space attribute of the empty parking space is determined based on the effective width of the parking space and the anti-collision width threshold. If the parking space attribute is a narrow parking space, the rearview mirror is automatically folded and the rearview mirror is kept in the folded state to execute the last parking maneuver to park the vehicle in the empty parking space. The rearview mirror has been folded before the last parking maneuver, which effectively avoids damage to the rearview mirror caused by untimely folding of the rearview mirror during parking and driving, and improves the anti-collision effect of the rearview mirror.

[0079] See also Figure 3 , Figure 3 is a schematic block diagram of an electronic device according to an exemplary embodiment of the present invention, see Figure 3 , an electronic device 200, comprising:

[0080] at least one processor 202; and

[0081] A memory 201 is communicatively connected to at least one processor 202; wherein,

[0082] The memory 201 stores instructions that can be executed by at least one processor 202. The instructions are executed by at least one processor 202 so that the at least one processor 202 can execute any of the above-mentioned control methods for rearview mirror anti-collision during automatic parking.

[0083] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

[0084] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0085] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A method for controlling rearview mirror collision prevention during automatic parking, characterized in that: The method comprises: Turn on the automatic parking mode and select an empty parking space to start automatic parking; Obtaining the effective width of the parking space according to the width of the empty parking space and the distance between the empty parking space and the left and right obstacles; Obtaining a collision avoidance width threshold according to the vehicle body parameters; Before the automatic parking performs the last parking maneuver, the parking space attribute of the empty parking space is determined according to the effective width of the parking space and the anti-collision width threshold; the parking space attribute includes a normal parking space and a narrow parking space; If the parking space attribute is the narrow parking space, the rearview mirror is automatically folded and kept in the folded state to perform the last parking maneuver to park the vehicle in the empty parking space.

2. The control method according to claim 1, characterized in that: The vehicle body parameters include the vehicle body width and the width of a single rearview mirror; the anti-collision width threshold is obtained according to the vehicle body parameters, including: The anti-collision width threshold is obtained according to the vehicle body width, the width of a single rearview mirror and the preset anti-collision reserved width, and the calculation formula is: d x =Y+2d h +2d0; Among them, d x is the anti-collision width threshold; Y is the vehicle body width; d h is the width of a single rearview mirror; d0 is the preset anti-collision reserved width.

3. The control method according to claim 2, characterized in that: The method of obtaining the effective width of the parking space according to the width of the empty parking space and the distance between the empty parking space and the left and right obstacles includes: The effective width of the parking space is obtained according to the effective width formula, which is: d a =L+d L +d R ; Among them, d a is the effective width of the parking space; L is the width of the empty parking space; d L is the distance between the empty parking space and the left obstacle; d R It is the distance between the empty parking space and the right obstacle.

4. The control method according to claim 3, characterized in that: The determining the parking space attribute of the empty parking space according to the effective parking space width and the anti-collision width threshold comprises: If the effective width of the parking space is greater than or equal to the anti-collision width threshold, the parking space attribute of the empty parking space is a normal parking space; If the effective width of the parking space is smaller than the anti-collision width threshold, the parking space attribute of the empty parking space is a narrow parking space.

5. The control method according to claim 1, characterized in that: After executing the last parking operation to park the vehicle in the empty parking space, the method further includes: The parking space attribute is stored in the vehicle computer. When the vehicle is started again, the parking space attribute stored in the vehicle computer is read. If the parking space attribute is a narrow parking space, the vehicle is controlled to go straight for a preset length and then turn out of the parking space.

6. The control method according to claim 1, characterized in that: The method further comprises: After the vehicle is successfully parked in the parking space, or when the vehicle is started again and the vehicle is controlled to go straight for a preset length and then turn out of the parking space, manual control of the rearview mirror to unfold is allowed.

7. The control method according to claim 1, characterized in that: The method further comprises: If the automatic parking fails when the rearview mirrors are automatically folded and kept folded for the last time, manual control of the rearview mirror unfolding is prohibited.

8. The control method according to claim 1, characterized in that: The method further comprises: If the parking space attribute is the normal parking space, the rearview mirror is kept in the unfolded state and the last parking maneuver is performed to park the vehicle in the empty parking space.

9. A control device for rearview mirror anti-collision during automatic parking, characterized in that: The device comprises: Automatic parking module, used to turn on the automatic parking mode and start automatic parking after selecting an empty parking space; An effective width module, used to obtain the effective width of the parking space according to the width of the empty parking space and the distance between the empty parking space and the left and right obstacles; A width threshold module is used to obtain an anti-collision width threshold according to the body parameters of the vehicle; A narrow parking space determination module is used to determine the parking space attribute of the empty parking space according to the effective width of the parking space and the anti-collision width threshold before the automatic parking is performed for the last time; the parking space attribute includes a normal parking space and a narrow parking space; The narrow parking space parking module is used for automatically folding the rearview mirror and keeping the rearview mirror in the folded state to execute the last parking maneuver to park the vehicle in the empty parking space if the parking space attribute is the narrow parking space.

10. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method for rearview mirror collision avoidance during automatic parking as described in any one of claims 1-8.

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