A control method and device for preventing collision of a rearview mirror during automatic parking, and an electronic device

Abstract

The application relates to a control method and device for preventing rearview mirrors from colliding during automatic parking and electronic equipment, and belongs to the technical field of automatic parking. The method comprises the following steps: starting automatic parking after an automatic parking mode is started and an empty parking space is selected, obtaining a parking space effective width according to the width of the empty parking space and the distance between the empty parking space and left and right obstacles, obtaining a collision prevention width threshold according to the body parameters of the vehicle, determining the parking space attribute of the empty parking space according to the parking space effective width and the collision prevention width threshold before the last time of automatic parking is executed, if the parking space attribute is a narrow parking space, folding the rearview mirror automatically and keeping the rearview mirror in a folded state to execute the last time of parking in the empty parking space; and the rearview mirror is folded before the last time of parking, so that the rearview mirror damage caused by the rearview mirror being folded in time during parking is effectively avoided, and the collision prevention effect of the rearview mirror is improved.

Description

TECHNICAL FIELD

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

[0002] At present, intelligent networked vehicles are developing rapidly, and automatic parking systems, as one of the most important functions of intelligent networked vehicles, are gradually entering people's daily travel life. In actual scenarios, there are various parking spaces, including standard parking spaces with ample parking space and narrow parking spaces with limited space on both sides. During automatic parking in narrow parking spaces and when leaving the parking space, safety hazards such as scratching the rearview mirror may occur. Therefore, how to design a rearview mirror anti-collision function has important practical application significance.

[0003] In order to prevent the rearview mirror from colliding, the rearview mirror can be considered to be folded automatically during automatic parking to reduce the distance of the side of the vehicle extending outward and increase the drivable space of automatic parking, so as to achieve rearview mirror anti-collision during automatic parking. The existing technology generally uses a radar distance sensing device to fold the rearview mirror when detecting an obstacle within a certain distance near the rearview mirror. However, this operation of folding the rearview mirror during vehicle parking and driving may cause the rearview mirror to be damaged due to the rearview mirror not being folded in time because the vehicle speed is too high. SUMMARY

[0004] Therefore, the present application provides a control method and device for rearview mirror anti-collision during automatic parking and electronic equipment to solve the problem that the existing technology may cause the rearview mirror to be damaged during vehicle driving.

[0005] In a first aspect, a control method for rearview mirror anti-collision during automatic parking is provided, and the method comprises the following steps:

[0006] Starting automatic parking after starting the automatic parking mode and selecting an empty parking space;

[0007] Obtaining a parking space effective width 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 of the vehicle;

[0009] Determining the parking space attribute of the empty parking space according to the parking space effective width and the collision avoidance width threshold before performing the last time of parking space adjustment for automatic parking; 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, folding the rearview mirror automatically and keeping the rearview mirror in a folded state to perform the last time of parking space adjustment to park the vehicle in the empty parking space.

[0011] Further, the vehicle body parameter comprises a vehicle body width and a single rearview mirror width; the anti-collision width threshold is obtained according to the vehicle body parameter of the vehicle, comprising:

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

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

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

[0015] Further, the parking space effective width 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, comprising:

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

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

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

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

[0020] If the parking space effective width 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 parking space effective width is less than the anti-collision width threshold, the parking space attribute of the empty parking space is a narrow parking space.

[0022] Further, after the vehicle is parked in the empty parking space in the last warehouse rolling, the method further comprises:

[0023] The parking space attribute is stored to the vehicle machine, and when the vehicle is started again, the parking space attribute stored in the vehicle machine is read, and if the parking space attribute is a narrow parking space, the vehicle is controlled to straighten for a preset length and then turn out of the parking space.

[0024] Further, the method further comprises:

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

[0026] Further, the method further comprises:

[0027] If the automatic folding of the rearview mirror and the execution of the last time of the parking into the parking space fails, the manual control of the folding of the rearview mirror is prohibited.

[0028] Further, the method further comprises:

[0029] If the attribute of the parking space is the normal parking space, the last time of the parking into the parking space is executed by keeping the rearview mirror unfolded.

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

[0031] An automatic parking module is configured to start the automatic parking after the automatic parking mode is started and the empty parking space is selected;

[0032] An effective width module is configured 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 configured to obtain the width threshold for preventing the collision according to the parameters of the vehicle body;

[0034] A narrow parking space determination module is configured to determine the attribute of the empty parking space according to the effective width of the parking space and the width threshold for preventing the collision before the last time of the parking into the parking space is executed; the attribute of the parking space comprises the normal parking space and the narrow parking space;

[0035] A narrow parking space parking module is configured to fold the rearview mirror automatically and keep the rearview mirror folded to execute the last time of the parking into the parking space if the attribute of the parking space is the narrow parking space.

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

[0037] At least one processor; and

[0038] A memory connected to the at least one processor in communication; wherein,

[0039] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the control method for preventing the rearview mirror from colliding during the automatic parking.

[0040] The above technical scheme is adopted, and at least the following beneficial effects are achieved:

[0041] Provided are a control method and device for preventing rearview mirror collision during automatic parking and an electronic device. The control method comprises the following steps: starting automatic parking after starting an automatic parking mode and selecting an empty parking space; obtaining a parking space effective width according to a width of the empty parking space and a distance between the empty parking space and left and right obstacles; obtaining a collision prevention width threshold according to a vehicle body parameter of the vehicle; determining a parking space attribute of the empty parking space according to the parking space effective width and the collision prevention width threshold before performing a last time of parking space adjustment during the automatic parking; and if the parking space attribute is a narrow parking space, folding the rearview mirror and performing the last time of parking space adjustment to park the vehicle in the empty parking space while keeping the rearview mirror folded. The rearview mirror is folded before the last time of parking space adjustment, effectively avoiding damage to the rearview mirror caused by the rearview mirror not being folded in time during vehicle parking and improving the collision prevention effect of the rearview mirror.

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

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, hereinafter, a brief introduction will be given to the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0044] Figure 1 is a flow chart of a control method for preventing rearview mirror collision during automatic parking according to an exemplary embodiment of the present application;

[0045] Figure 2 is a schematic block diagram of a control device for preventing rearview mirror collision during automatic parking according to an exemplary embodiment of the present application;

[0046] Figure 3 is a schematic block diagram of an electronic device according to an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the 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 prior art generally uses radar and other distance sensing devices to fold the rearview mirror when detecting obstacles within a certain distance from the rearview mirror. This operation of folding the rearview mirror during vehicle parking and driving is prone to cause damage to the rearview mirror due to the rearview mirror not being folded in time because of too high vehicle speed.

[0049] The embodiment of the application provides a control method and device for rearview mirror anti-collision during automatic parking and electronic equipment, intelligent folding rearview mirror during automatic parking and parking out, the distance of the car side extending outward is reduced, the drivable space of automatic parking is increased, a straight-going strategy during parking out is designed, so that the rearview mirror anti-collision during automatic parking and parking out is achieved, which helps to expand the use scene of the automatic parking and parking out system and improve safety, and plays an important role in promoting the development and application of the automatic parking and parking out technology.

[0050] The method and device in the application will be described below through specific embodiments.

[0051] Please refer to Figure 1 , Figure 1 is a flowchart of a control method for rearview mirror anti-collision during automatic parking according to an exemplary embodiment of the application, referring to Figure 1 , the method comprises the following steps.

[0052] Step S11, starting 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 the anti-collision width threshold according to the vehicle body parameters of the vehicle.

[0055] Step S14, determining 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 last parking-in of the automatic parking is performed; the parking space attribute comprises a normal parking space and a narrow parking space.

[0056] Step S15, if the parking space attribute is the narrow parking space, folding the rearview mirror automatically and keeping the folded state of the rearview mirror to perform the last parking-in to park the vehicle in the empty parking space.

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

[0058] It can be understood that the method provided in the embodiment starts automatic parking after starting the automatic parking mode and selecting the empty parking space, obtains 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, obtains the anti-collision width threshold according to the vehicle body parameters of the vehicle, determines 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 last time of the automatic parking is executed, and if the parking space attribute is a narrow parking space, the rearview mirror is automatically folded and the last time of the automatic parking is executed to park the vehicle in the empty parking space with the rearview mirror folded. The rearview mirror is folded before the last time of the automatic parking is executed, which effectively avoids damage of the rearview mirror caused by the rearview mirror not being folded in time during parking of the vehicle, and improves the anti-collision effect of the rearview mirror.

[0059] In specific implementation, the step S12 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: obtaining the effective width of the parking space according to an effective width formula, the effective width formula being d a = L + d L + d R ; wherein, 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; and d R 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 identified by using existing image recognition technology and radar ranging technology.

[0061] In specific implementation, the step S13 of obtaining the anti-collision width threshold according to the vehicle body parameters of the vehicle includes: obtaining the anti-collision width threshold according to the vehicle body width, the width of a single rearview mirror, and a preset anti-collision reserved width, the calculation formula being d x = Y + 2d h + 2d0; wherein, d x is the anti-collision width threshold; Y is the vehicle body width; d h is the width of a single rearview mirror; and 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, and the higher the safety level is, the greater the preset anti-collision reserved width is.

[0063] It can be understood that the technical solution provided in the embodiment changes the anti-collision width threshold according to 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 caused by size differences between different vehicle models.

[0064] In specific implementation, the step S14 of determining the parking space attribute of the empty parking space according to the effective width of the parking space and the anti-collision width threshold value includes: if the effective width of the parking space is greater than or equal to the anti-collision width threshold value, the parking space attribute of the empty parking space is a normal parking space; and if the effective width of the parking space is less than the anti-collision width threshold value, 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, and the higher the safety level is, the greater the preset anti-collision reserved width is.

[0066] In specific implementation, after the vehicle is parked into the empty parking space in the last time of the parking lot, the method further includes: storing the parking space attribute to the vehicle machine, reading the parking space attribute stored in the vehicle machine when the vehicle is started again, and controlling the vehicle to turn out of the parking space after driving a preset length if the parking space attribute is a narrow 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 implementation, the method further includes: allowing manual control of the rearview mirror to be unfolded after the vehicle is parked into the parking space successfully or after the vehicle is controlled to turn out of the parking space after driving a preset length when the vehicle is started again.

[0069] In specific implementation, the method further includes: if the automatic folding rearview mirror and the folded state of the rearview mirror are maintained to fail to park into the parking space in the last time of the parking lot, manual control of the rearview mirror to be unfolded is prohibited.

[0070] In specific implementation, the method further includes: if the parking space attribute is a normal parking space, the folded state of the rearview mirror is maintained to park the vehicle into the empty parking space in the last time of the parking lot.

[0071] Please refer to Figure 2 , Figure 2 is a schematic block diagram of an automatic parking rearview mirror anti-collision control device according to an exemplary embodiment of the present application, please refer to Figure 2 , the automatic parking rearview mirror anti-collision control device 100 includes:

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

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

[0075] The narrow parking space determination module 104 is configured to determine the parking space attribute of the empty parking space according to the effective width of the parking space and the collision avoidance width threshold before the last time of the automatic parking is performed.

[0076] The narrow parking space parking module 105 is configured to fold the rearview mirror automatically and keep the folded state of the rearview mirror to perform the last time of the automatic parking to park the vehicle in the empty parking space if the parking space attribute is the narrow parking space.

[0077] It should be noted that the technical solutions provided in the embodiments can be applied 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 the embodiments starts the automatic parking after the automatic parking mode is started and the empty parking space is selected, obtains 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, obtains the collision avoidance width threshold according to the vehicle body parameter of the vehicle, determines the parking space attribute of the empty parking space according to the effective width of the parking space and the collision avoidance width threshold before the last time of the automatic parking is performed, folds the rearview mirror automatically and keeps the folded state of the rearview mirror to perform the last time of the automatic parking to park the vehicle in the empty parking space if the parking space attribute is the narrow parking space, and the rearview mirror is folded before the last time of the automatic parking, which effectively avoids the damage of the rearview mirror caused by the folding of the rearview mirror not in time during the parking of the vehicle, and improves the collision avoidance effect of the rearview mirror.

[0079] Please refer to Figure 3 , Figure 3 is a schematic block diagram of an electronic device according to an example embodiment of the present application, referring to Figure 3 , the electronic device 200 comprises:

[0080] at least one processor 202; and

[0081] a memory 201 connected with the at least one processor 202; wherein,

[0082] The memory 201 stores instructions executable by the at least one processor 202, and the instructions are executed by the at least one processor 202 to enable the at least one processor 202 to perform any of the above-mentioned control methods for the rearview mirror collision avoidance during automatic parking.

[0083] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended 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. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, storage, databases, or other media in the embodiments provided by the present 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 but not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), 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), etc.

[0085] The technical features of the above embodiments can be combined in any way. In order to make the description simple, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present application.

[0086] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of the patent of the present application should be subject to the appended claims.

Claims

1. A control method for preventing collision of a rearview mirror during automatic parking, characterized by, The method comprises: starting automatic parking after starting the automatic parking mode and selecting an empty parking space; obtaining a parking space effective width 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 width threshold according to the vehicle body parameters of the vehicle; determining a parking space attribute of the empty parking space according to the parking space effective width and the collision width threshold before the automatic parking performs the last time of parking space adjustment; the parking space attribute comprises a normal parking space and a narrow parking space; if the parking space attribute is the narrow parking space, folding the rearview mirror automatically and keeping the rearview mirror folded to perform the last time of parking space adjustment to park the vehicle in the empty parking space; the vehicle body parameters comprise a vehicle body width and a single rearview mirror width; the collision width threshold is obtained according to the vehicle body parameters of the vehicle, comprising: obtaining the collision width threshold according to the vehicle body width, the single rearview mirror width and a preset collision reservation width, and the calculation formula is: d x =Y+2d h +2d0; wherein d x is a collision avoidance width threshold; Y is a vehicle body width; d h is a single rearview mirror width; d0 is a preset collision avoidance reserved width; the parking space effective width 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, comprising: obtaining the parking space effective width according to the effective width formula, wherein the effective width formula is: d a = L + d L + d R ; wherein 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 is the distance between the empty parking space and the right obstacle; the parking space attribute of the empty parking space is determined according to the parking space effective width and the collision width threshold, comprising: if the parking space effective width is greater than or equal to the collision width threshold, the parking space attribute of the empty parking space is the normal parking space; if the parking space effective width is less than the collision width threshold, the parking space attribute of the empty parking space is the narrow parking space.

2. The control method according to claim 1, characterized by, after the vehicle is parked in the empty parking space by performing the last time of parking space adjustment, the method further comprises: storing the parking space attribute to the vehicle machine, and reading the parking space attribute stored in the vehicle machine when the vehicle is started again, and controlling the vehicle to drive straight for a preset length and then turn out of the parking space if the parking space attribute is the narrow parking space.

3. The control method according to claim 1, characterized by, the method further comprises: after the vehicle is parked in the parking space successfully, or after the vehicle is started again and controlled to drive straight for a preset length and then turn out of the parking space, manually controlling the rearview mirror to be unfolded is allowed.

4. The control method according to claim 1, characterized by, the method further comprises: if the vehicle fails to be parked in the parking space by performing the last time of parking space adjustment when the rearview mirror is folded automatically and kept folded, manually controlling the rearview mirror to be unfolded is prohibited.

5. The control method according to claim 1, characterized by, the method further comprises: if the parking space attribute is the normal parking space, keeping the rearview mirror unfolded to perform the last time of parking space adjustment to park the vehicle in the empty parking space.

6. A control device for preventing rearview mirror collisions during automatic parking, characterized in that, the device comprises: an automatic parking module, configured to start automatic parking after starting the automatic parking mode and selecting an empty parking space; An effective width module is configured to obtain a parking space effective width according to a width of the empty parking space and distances between the empty parking space and left and right obstacles; the parking space effective width is obtained according to an effective width formula, the effective width formula is: d a =L+d L +d R ; wherein, d a is the parking space effective width; L is the width of the empty parking space; d L is the distance between the empty parking space and the left obstacle; and d R is the distance between the empty parking space and the right obstacle. The width threshold module is configured to obtain an anti-collision width threshold according to a vehicle body parameter of the vehicle; the vehicle body parameter comprises a vehicle body width and a single rearview mirror width; the anti-collision width threshold is obtained according to the vehicle body width, the single rearview mirror width and a preset anti-collision reserved width, and a calculation formula is d x =Y+2d h +2d0; wherein, d x is the anti-collision width threshold; Y is the vehicle body width; d h is the single rearview mirror width; and d0 is the preset anti-collision reserved width. a narrow parking space determination module, configured to determine a parking space attribute of the empty parking space according to the parking space effective width and the collision width threshold before the automatic parking performs the last time of parking space adjustment; the parking space attribute comprises a normal parking space and a narrow parking space; if the parking space effective width is greater than or equal to the collision width threshold, the parking space attribute of the empty parking space is the normal parking space; if the parking space effective width is less than the collision width threshold, the parking space attribute of the empty parking space is the narrow parking space; a narrow parking space parking module, configured to fold the rearview mirror automatically and keep the rearview mirror folded to perform the last time of parking space adjustment to park the vehicle in the empty parking space if the parking space attribute is the narrow parking space.

7. An electronic device, comprising: comprise: at least one processor; and A memory connected in communication with the at least one processor; wherein The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the control method for rearview mirror anti-collision during automatic parking according to any one of claims 1-5.

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