A method, device and equipment for identifying an obstacle scenario in an automatic parking process

Abstract

The application discloses a kind of identification method, device and equipment of obstacle scene in automatic parking process, by in automatic parking process, whether vehicle back occurs in automatic parking process is determined according to actual vehicle speed, actual motor speed and parking distance of vehicle respectively, and the number of vehicle back is counted;According to the motor driving torque, whether vehicle stagnation occurs in automatic parking process is determined, and the number of vehicle stagnation is counted;According to the counting result, whether obstacle is encountered in automatic parking process is judged, whether obstacle is encountered in automatic parking process is realized by multiple parameters comprehensive judgment, can accurately identify obstacle scene, improve the robustness of scene identification of automatic parking, improve the reliability and safety of automatic parking function.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic parking, in particular to a method, device and equipment for identifying an obstacle scene in an automatic parking process. BACKGROUND

[0002] With the continuous development of automobile electronic technology, the automatic parking system has become one of the important configurations of modern cars. The system aims to help the driver easily complete the parking operation in a complex parking environment and improve the driving safety and convenience.

[0003] In the related art, during the automatic parking process, the obstacle can be identified by a camera, a radar and other perception systems, and when the obstacle is identified, the torque of the vehicle power system is increased, so that the vehicle can smoothly pass through the obstacle to complete parking. However, the automatic parking system has certain limitations in actual use. When the automatic parking system faces complex parking environments such as small steps, uneven road surfaces, low obstacles and high speed bumps, the perception system cannot accurately identify these parking obstacles, resulting in insufficient torque of the power system during the parking process, which cannot smoothly cross these obstacles, and thus the vehicle repeatedly attempts automatic parking but fails. This not only reduces the user's satisfaction, but also may cause safety hazards to the vehicle and the surrounding environment.

[0004] Therefore, how to accurately identify the obstacle scene during the automatic parking process is a technical problem to be solved. SUMMARY

[0005] The present application provides a method, device and equipment for identifying an obstacle scene in an automatic parking process, which can solve the technical problem that the obstacle cannot be accurately identified in the automatic parking process in the prior art.

[0006] In a first aspect, the present application provides a method for identifying an obstacle scene in an automatic parking process, which comprises:

[0007] During the automatic parking process, whether the vehicle backtracking occurs in the automatic parking process is determined according to the actual vehicle speed, the actual motor speed and the parking distance of the vehicle, respectively, and the number of vehicle backtracking is counted;

[0008] Whether the vehicle stalling occurs in the automatic parking process is determined according to the motor driving torque, and the number of vehicle stalling is counted;

[0009] According to the counting result, whether the obstacle is encountered in the automatic parking process is judged.

[0010] In combination with the first aspect, in an implementation, whether the vehicle backs up during the automatic parking process is determined according to the actual vehicle speed, and the number of times of vehicle back-up is counted, including:

[0011] The target vehicle speed direction of the automatic parking is set as a positive direction, and when the actual vehicle speed is less than a preset first vehicle speed threshold, a first identification indicating that the vehicle backs up is output, wherein the first speed threshold is less than zero;

[0012] When the actual vehicle speed is greater than a preset second vehicle speed threshold, a second identification indicating that the vehicle does not back up is output, wherein the second speed threshold is zero;

[0013] When the actual vehicle speed is greater than or equal to the first vehicle speed threshold and less than or equal to the second vehicle speed threshold, the same identification as that of the last operation period is output;

[0014] The first identification is counted.

[0015] In an implementation, whether the vehicle backs up during the automatic parking process is determined according to the actual motor speed, and the number of times of vehicle back-up is counted, including:

[0016] The target motor speed direction of the automatic parking is set as a positive direction, and when the actual motor speed is less than a preset first motor speed threshold, a third identification indicating that the vehicle backs up is output, wherein the first motor speed threshold is less than zero;

[0017] When the actual motor speed is greater than a preset second motor speed threshold, a fourth identification indicating that the vehicle does not back up is output, wherein the second motor speed threshold is zero;

[0018] When the actual motor speed is greater than or equal to the first motor speed threshold and less than or equal to the second motor speed threshold, the same identification as that of the last operation period is output;

[0019] The third identification is counted.

[0020] In an implementation, whether the vehicle backs up during the automatic parking process is determined according to the parking distance, and the number of times of vehicle back-up is counted, including:

[0021] A distance difference between the parking distance of the current operation period and the parking distance of the last operation period is calculated;

[0022] When the distance difference is greater than a preset first distance threshold, a fifth identification indicating that the vehicle backs up is output, wherein the first distance threshold is greater than zero;

[0023] When the distance difference is less than a preset second distance threshold, a sixth identification indicating that the vehicle does not back up is output, wherein the second distance threshold is less than the first distance threshold.

[0024] outputting the same identification as that of the previous operation period when the distance difference value is greater than or equal to the second distance threshold value and less than or equal to the first distance threshold value;

[0025] counting the fifth identification.

[0026] In an embodiment, whether the vehicle is stalled in the automatic parking process is determined according to the motor driving torque, and the number of times of vehicle stall is counted, comprising:

[0027] calculating the total driving torque of the front axle motor and the rear axle motor of the vehicle;

[0028] determining the corresponding calibration vehicle speed according to the total driving torque;

[0029] determining to output a seventh identification indicating vehicle stall when the actual vehicle speed is less than the calibration vehicle speed;

[0030] counting the seventh identification.

[0031] In an embodiment, whether an obstacle is encountered in the automatic parking process is determined according to the counting result, comprising:

[0032] If the number of times of continuously outputting the first identification, the number of times of continuously outputting the third identification, the number of times of continuously outputting the fifth identification, or the number of times of continuously outputting the seventh identification is greater than a preset number threshold value, it is determined that an obstacle is encountered in the automatic parking process.

[0033] In an embodiment, the method further comprises: if the automatic parking function is in an activated state, the initial vehicle speed of the vehicle is in a preset first vehicle speed interval, and the duration is greater than a preset first duration, it is determined that the vehicle is in the automatic parking process.

[0034] In an embodiment, the method further comprises:

[0035] If the automatic parking function is switched from the activated state to the closed state, or the vehicle speed exceeds the first vehicle speed interval, the counting result is cleared.

[0036] In a second aspect, an embodiment of the present application provides an automatic parking process obstacle scene identification device, the automatic parking process obstacle scene identification device comprising:

[0037] A determination module is configured to determine whether the vehicle is in a reverse process in the automatic parking process according to the actual vehicle speed, the actual motor speed and the parking distance of the vehicle, and count the number of times of vehicle reverse.

[0038] The determining module is further configured to determine whether the vehicle is stalled in the automatic parking process according to the motor driving torque, and count the number of times of vehicle stalling.

[0039] The judging module is configured to determine whether an obstacle is encountered in the automatic parking process according to the counting result.

[0040] In a third aspect, an embodiment of the present application provides an automatic parking process obstacle scene identification device, which comprises a processor, a memory, and an automatic parking process obstacle scene identification program stored in the memory and executable by the processor, wherein the automatic parking process obstacle scene identification program is executed by the processor to implement the steps of the automatic parking process obstacle scene identification method according to any one of the above.

[0041] The embodiments of the present application provide an automatic parking process obstacle scene identification method and device, which determines whether the vehicle is stalled in the automatic parking process according to the actual vehicle speed, the actual motor speed and the parking distance, counts the number of times of vehicle stalling, determines whether the vehicle is stalled in the automatic parking process according to the motor driving torque, and counts the number of times of vehicle stalling, and determines whether an obstacle is encountered in the automatic parking process according to the counting result, so as to comprehensively determine whether an obstacle is encountered in the automatic parking process through multiple parameters, accurately identify the obstacle scene, improve the robustness of the automatic parking scene identification, and improve the reliability and safety of the automatic parking function. BRIEF DESCRIPTION OF DRAWINGS

[0042] Figure 1 A flowchart of an embodiment of the automatic parking process obstacle scene identification method of the present application;

[0043] Figure 2 A function module schematic diagram of an embodiment of the automatic parking process obstacle scene identification device of the present application;

[0044] Figure 3 A hardware structure schematic diagram of the automatic parking process obstacle scene identification device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0045] In order to enable personnel in the technical field to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application.

[0046] In order to make the purpose, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0047] In a first aspect, the embodiments of the present application provide a method for identifying an obstacle scenario in an automatic parking process. The method for identifying an obstacle scenario in an automatic parking process in the embodiments of the present application can be applied on an electronic controller unit (ECU) of a vehicle.

[0048] In an embodiment, the method for identifying an obstacle scenario in an automatic parking process comprises the following steps: Figure 1 Figure 1 FIG. 1 is a flowchart of an embodiment of the method for identifying an obstacle scenario in an automatic parking process according to the present application. As shown in FIG. 1, the method for identifying an obstacle scenario in an automatic parking process comprises the following steps: Figure 1

[0049] In step S101, whether the vehicle retreats in the automatic parking process is determined according to the actual vehicle speed, the actual motor speed and the parking distance of the vehicle, and the number of vehicle retreats is counted.

[0050] In step S102, whether the vehicle stalls in the automatic parking process is determined according to the motor driving torque, and the number of vehicle stalls is counted.

[0051] In step S103, whether an obstacle is encountered in the automatic parking process is determined according to the counting results.

[0052] The embodiments of the present application identify and count the working conditions of vehicle retreat and stall according to the actual vehicle speed, the actual motor speed, the parking distance and the motor driving torque, and comprehensively determine whether an obstacle is encountered in the automatic parking process, which can realize accurate identification of the obstacle scenario, improve the robustness of the scenario identification of the automatic parking, and improve the reliability and safety of the automatic parking function.

[0053] In the embodiments of the present application, before determining whether the vehicle retreats in the automatic parking process and before determining whether the vehicle stalls in the automatic parking process, it is necessary to first determine whether the vehicle is in the automatic parking process, and the specific steps comprise: if the automatic parking function is in an activated state, the initial vehicle speed of the vehicle is in a preset first vehicle speed interval, and the duration is greater than a preset first duration, it is determined that the vehicle is in the automatic parking process.

[0054] Exemplarily, the first vehicle speed interval and the first duration can be set according to requirements, and in the embodiments of the present application, the first vehicle speed interval is 1-30 kph, and the first duration is 1 s. When the vehicle is in the automatic parking function activation, the initial speed of the vehicle is in 1-30 kph, and the duration is greater than 1 s, it is determined that the vehicle is in the automatic parking process.

[0055] ​​It is worth mentioning that the actual vehicle speed, the actual motor speed, the parking distance and the motor driving torque can be acquired at the corresponding acquisition moment based on the operation period, and each operation period can output the corresponding vehicle rollback or vehicle stop result according to the acquired data.

[0056] In the embodiment, whether the vehicle rollback occurs in the automatic parking process is determined according to the actual vehicle speed, the actual motor speed and the parking distance, and whether the vehicle stop occurs in the automatic parking process is determined according to the motor driving torque, so that four kinds of logics are included in determining the vehicle rollback and the vehicle stop.

[0057] In an embodiment, the logic one includes determining whether the vehicle rollback occurs in the automatic parking process according to the actual vehicle speed, and counting the number of vehicle rollback, specifically including:

[0058] The target vehicle speed direction of the automatic parking is a positive direction, when the actual vehicle speed is less than a preset first vehicle speed threshold, a first identification indicating the vehicle rollback is output, wherein the first speed threshold is less than zero; when the actual vehicle speed is greater than a preset second vehicle speed threshold, a second identification indicating that the vehicle does not rollback is output, wherein the second speed threshold is zero; when the actual vehicle speed is greater than or equal to the first vehicle speed threshold and less than or equal to the second vehicle speed threshold, the same identification as the last operation period is output; the first identification is counted.

[0059] For example, when the automatic parking function of the vehicle is in an activated state, the initial speed of the vehicle is in the speed interval of 1kph to 30kph, and the duration is greater than 1s, it is determined that the vehicle is in the automatic parking process at this time. Taking the target parking driving direction of the automatic parking as an example, the target parking driving direction is from A to B, the target vehicle speed direction (positive direction) of the automatic parking is from A to B, and the target vehicle speed is a positive value. When the vehicle is pressed on the obstacle and cannot pass through the obstacle, the vehicle will appear rollback, that is, the driving direction of the vehicle becomes B to A, at this time, the actual vehicle speed direction will become B to A, which is a negative direction relative to the target vehicle speed direction of the automatic parking, at this time, the actual vehicle speed will be less than a certain negative value.

[0060] Therefore, in the embodiment, the first vehicle speed threshold is set to -0.25kph, and the second vehicle speed threshold is set to 0kph, when the actual vehicle speed is less than -0.25kph, it indicates that the vehicle has rollback, so the first identification indicating the vehicle rollback is output; when the actual vehicle speed is greater than 0kph, the second identification indicating that the vehicle does not rollback is output.

[0061] -0.25kph and 0kph is the speed hysteresis interval, if the last operation cycle output is the first identification, the current operation cycle -0.25kph≤actual vehicle speed≤0kph, output the first identification; if the last operation cycle output is the second identification, the current operation cycle -0.25kph≤actual vehicle speed≤0kph, output the second identification.

[0062] Each operation cycle outputs an identification, and the output of the first identification is counted, and the output of the second identification is not counted. The first identification and the second identification in the embodiment can be set according to requirements, for example, the first identification is 1 and the second identification is 0 in the embodiment.

[0063] Further, in an embodiment, the logic two includes determining whether the vehicle backtracking occurs in the automatic parking process according to the actual motor speed, and counting the number of vehicle backtracking, including:

[0064] The target motor speed direction of the automatic parking is the positive direction, when the actual motor speed is less than the preset first speed threshold, the third identification indicating the vehicle backtracking is output, wherein the first speed threshold is less than zero; when the actual motor speed is greater than the preset second speed threshold, the fourth identification indicating the vehicle not backtracking is output, wherein the second speed threshold is zero; when the actual motor speed is greater than or equal to the first speed threshold and less than or equal to the second speed threshold, the same identification as the last operation cycle is output; the third identification is counted.

[0065] Explanatorily, when the automatic parking function of the vehicle is in the activated state, the initial speed of the vehicle is in the speed interval of 1kph to 30kph, and the duration is greater than 1s, it is determined that the vehicle is in the automatic parking process at this time. Taking the target parking driving direction of the automatic parking as an example from A to B, the target motor speed of the automatic parking is positive, when the vehicle is pressed on the obstacle and cannot pass the obstacle, the vehicle will backtracking, that is, the driving direction of the vehicle changes to B to A, at this time, the motor speed direction is negative relative to the target motor speed direction of the automatic parking, that is, the actual motor speed is less than a certain negative value.

[0066] Demonstratorily, the first speed threshold is set to -60rpm and the second speed threshold is set to 0rpm in the embodiment, when the actual motor speed is less than -60rpm, it indicates that the vehicle backtracking occurs, and the third identification indicating the vehicle backtracking is output; when the actual motor speed is greater than 0rpm, the fourth identification indicating the vehicle not backtracking is output.

[0067] -60rpm and 0rpm is the hysteresis interval of the motor speed, if the third identification is output in the last operation period, and the actual motor speed is between -60rpm and 0rpm in the current operation period, the third identification is output; if the fourth identification is output in the last operation period, and the actual motor speed is between -60rpm and 0rpm in the current operation period, the fourth identification is output. The third identification is counted, and the fourth identification is not counted. The third identification and the fourth identification in the embodiment can be set according to requirements.

[0068] In some optional embodiments, the front and rear axle speeds can be converted into the wheel end speed of the vehicle according to the front and rear motor speed signals, and thus whether the vehicle retreats during the automatic parking process can be determined according to the wheel end speed. The calculation method of the wheel end speed according to the motor speed signal is as follows:

[0069]

[0070] In the formula, V is the wheel end speed, n is the actual motor speed, R_tire is the tire rolling radius, and fac is the motor speed ratio. The method of determining whether the vehicle retreats during the automatic parking process according to the wheel end speed is the same as that according to the actual motor speed, and thus is not described herein.

[0071] Further, in an embodiment, the logic three includes determining whether the vehicle retreats during the parking process according to the parking distance, and counting the number of vehicle retreats, including:

[0072] calculating the distance difference between the parking distance in the current operation period and the parking distance in the last operation period; outputting a fifth identification indicating that the vehicle retreats when the distance difference is greater than a preset first distance threshold, wherein the first distance threshold is zero; outputting a sixth identification indicating that the vehicle retreats when the distance difference is less than a preset second distance threshold, wherein the second distance threshold is less than the first distance threshold; outputting the same identification as that in the last operation period when the distance difference is greater than or equal to the second distance threshold and less than or equal to the first distance threshold; and counting the fifth identification.

[0073] It should be noted that the parking distance refers to the distance between the vehicle and the parking end. The first distance threshold and the second distance threshold can be set according to requirements. In the embodiment, the first distance threshold is 100 cm, and the second distance threshold is 50 cm.

[0074] Explanatorily, when the automatic parking function of the vehicle is in an activated state, the initial speed of the vehicle is in a speed interval of 1 kph to 30 kph, and the duration is greater than 1 s, it is determined that the vehicle is in the automatic parking process at this time. Taking the target parking driving direction of the automatic parking as an example, the distance from the vehicle to B is the parking distance, and the parking distance will gradually decrease during normal parking. When the vehicle is pressed against an obstacle and cannot pass through the obstacle, the vehicle will appear to be retreating, and the parking distance will increase from small to large.

[0075] Therefore, the distance difference between the parking distance of the current operation period and the parking distance of the last operation period is calculated, and when the distance difference is greater than 50 cm, it is indicated that the vehicle has retreated relative to the last operation period, and therefore the fifth identifier indicating that the vehicle has retreated is output; when the distance difference is less than 10 cm, the sixth identifier indicating that the vehicle has not retreated is output.

[0076] 50 cm and 10 cm are between the distance hysteresis interval, if the last operation period outputs the fifth identifier, the current calculation period is 10 cm≤distance difference≤50 cm, then output the fifth identifier; if the last operation period outputs the sixth identifier, the current calculation period is 10 cm≤distance difference≤50 cm, then output the sixth identifier. The fifth identifier output is counted, and the sixth identifier output is not counted.

[0077] It is worth noting that the speed hysteresis interval, the motor speed hysteresis interval and the distance hysteresis interval are set respectively in the embodiment, which can avoid repeated changes of the recognized vehicle retreat result. The fifth identifier and the sixth identifier in the embodiment can be set according to requirements.

[0078] Further, in an embodiment, the logic four comprises: determining whether vehicle stalling occurs in the automatic parking process according to the motor driving torque, and counting the number of vehicle stalling, comprising:

[0079] The total driving torque of the front axle motor and the rear axle motor of the vehicle is calculated; the corresponding calibrated vehicle speed is determined according to the total driving torque; when the actual vehicle speed is less than the calibrated vehicle speed, it is determined that the seventh identifier indicating that the vehicle is stalling is output; the seventh identifier is counted.

[0080] It is worth noting that when the vehicle is in the control process of automatic parking, the driving torque and the vehicle speed are in a corresponding calibrated relationship without braking, and when the sum of the driving torques of the front and rear motors of the vehicle exceeds a certain value, but the actual vehicle speed cannot reach the calibrated vehicle speed in the software, it is indicated that the vehicle is in a stalling state and may be pressed against an obstacle.

[0081] In one embodiment, determining whether an obstacle is encountered during automatic parking based on the counting results includes: if the number of times the first identifier is continuously output, the number of times the third identifier is continuously output, the number of times the fifth identifier is continuously output, or the number of times the seventh identifier is continuously output is greater than a preset threshold, then it is determined that an obstacle is encountered during automatic parking.

[0082] It is worth noting that this embodiment comprehensively judges whether the vehicle encounters an obstacle during automatic parking by using four parameters: actual vehicle speed, actual motor speed, parking distance, and motor drive. When the recognition result count corresponding to one of the four logics is satisfied, it is determined that the vehicle has encountered an obstacle during automatic parking, which can effectively improve the accuracy and robustness of obstacle scene recognition.

[0083] In some embodiments, the method further includes: if the automatic parking function switches from an active state to a closed state, or the vehicle speed exceeds the first vehicle speed range, indicating that the vehicle has exited the automatic parking function, then the counting result is cleared so that the counting can be restarted the next time the automatic parking function is activated.

[0084] This embodiment provides a method for identifying obstacle scenarios during automatic parking. Its beneficial effect lies in comprehensively judging whether an obstacle is encountered during automatic parking based on the vehicle's actual speed, actual motor speed, parking distance, and motor driving torque. This enables accurate identification of obstacle scenarios, improves the robustness of automatic parking in scenario recognition, and allows the vehicle to output appropriate torque during automatic parking, thereby completing automatic parking more smoothly and safely, and improving the reliability and safety of the automatic parking function.

[0085] Secondly, embodiments of this application also provide a device for recognizing obstacle scenarios during automatic parking.

[0086] In one embodiment, reference is made to Figure 2 , Figure 2 This is a functional module diagram of an embodiment of the obstacle scene recognition device during automatic parking according to this application. Figure 2 As shown, the obstacle recognition device during automatic parking includes:

[0087] The determination module is used to determine whether the vehicle has reversed during the automatic parking process based on the vehicle's actual speed, the actual motor speed, and the parking distance, and to count the number of times the vehicle has reversed.

[0088] The determining module is further configured to determine whether the vehicle stops during the automatic parking process based on the motor driving torque, and to count the number of times the vehicle stops.

[0089] The judgment module is used to determine whether an obstacle is encountered during automatic parking based on the counting results.

[0090] Further, in an embodiment, the determining module is further configured to:

[0091] determine a target vehicle speed direction of the automatic parking as a positive direction, and output a first identification indicating that the vehicle is retreating when the actual vehicle speed is less than a preset first vehicle speed threshold, wherein the first vehicle speed threshold is less than zero;

[0092] output a second identification indicating that the vehicle is not retreating when the actual vehicle speed is greater than a preset second vehicle speed threshold, wherein the second vehicle speed threshold is zero;

[0093] output the same identification as that of a previous operation cycle when the actual vehicle speed is greater than or equal to the first vehicle speed threshold and less than or equal to the second vehicle speed threshold;

[0094] count the first identification.

[0095] Further, in an embodiment, the determining module is further configured to:

[0096] determine a target motor speed direction of the automatic parking as a positive direction, and output a third identification indicating that the vehicle is retreating when the actual motor speed is less than a preset first motor speed threshold, wherein the first motor speed threshold is less than zero;

[0097] output a fourth identification indicating that the vehicle is not retreating when the actual motor speed is greater than a preset second motor speed threshold, wherein the second motor speed threshold is zero;

[0098] output the same identification as that of a previous operation cycle when the actual motor speed is greater than or equal to the first motor speed threshold and less than or equal to the second motor speed threshold;

[0099] count the third identification.

[0100] Further, in an embodiment, the determining module is further configured to:

[0101] calculate a distance difference between a parking distance of a current operation cycle and a parking distance of a previous operation cycle;

[0102] output a fifth identification indicating that the vehicle is retreating when the distance difference is greater than a preset first distance threshold, wherein the first distance threshold is greater than zero;

[0103] output a sixth identification indicating that the vehicle is not retreating when the distance difference is less than a preset second distance threshold, wherein the second distance threshold is less than the first distance threshold;

[0104] output the same identification as that of a previous operation cycle when the distance difference is greater than or equal to the second distance threshold and less than or equal to the first distance threshold.

[0105] counting the fifth identifier.

[0106] Further, in an embodiment, the determining module is further configured to:

[0107] calculate a total driving torque of the front motor and the rear motor of the vehicle;

[0108] determine a corresponding calibration vehicle speed according to the total driving torque;

[0109] determine a seventh identifier representing vehicle stop when the actual vehicle speed is less than the calibration vehicle speed;

[0110] count the seventh identifier.

[0111] Further, in an embodiment, the judging module is further configured to:

[0112] determine that an obstacle is encountered in the automatic parking process if the number of times of continuously outputting the first identifier, the number of times of continuously outputting the third identifier, the number of times of continuously outputting the fifth identifier, or the number of times of continuously outputting the seventh identifier is greater than a preset number threshold.

[0113] Further, in an embodiment, the determining module is further configured to:

[0114] determine that the vehicle is in the automatic parking process if the automatic parking function is in an activated state, the initial vehicle speed of the vehicle is in a preset first vehicle speed interval, and the duration is greater than a preset first duration.

[0115] Further, in an embodiment, the determining module is further configured to:

[0116] clear the counting result if the automatic parking function is switched from the activated state to a closed state, or the vehicle speed is out of the first vehicle speed interval.

[0117] The functions of each module in the above automatic parking process obstacle scenario identification apparatus correspond to the steps in the above automatic parking process obstacle scenario identification method embodiment, and the functions and implementation processes will not be repeated here.

[0118] In a third aspect, the embodiments of the present application provide an automatic parking process obstacle scenario identification device. The automatic parking process obstacle scenario identification device can be a vehicle controller, a vehicle-mounted computer, a server, or other devices with data processing functions.

[0119] Reference Figure 3 , Figure 3This is a schematic diagram of the hardware structure of the obstacle scene recognition device during automatic parking, as described in an embodiment of this application. In this embodiment, the obstacle scene recognition device during automatic parking may include a processor, a memory, a communication interface, and a communication bus.

[0120] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0121] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces. These interfaces enable interconnection of internal components within the obstacle recognition device during automatic parking, and also facilitate interconnection between the obstacle recognition device and other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0122] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0123] The processor can be a general-purpose processor, which can call the obstacle scene recognition program stored in the memory during automatic parking and execute the obstacle scene recognition method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the obstacle scene recognition program during automatic parking is called can refer to the various embodiments of the obstacle scene recognition method during automatic parking in this application, and will not be repeated here.

[0124] Those skilled in the art will understand that Figure 3 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0125] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0126] The terms "comprise", "comprising", "include", "including", "have" and "having" and any variations thereof in the Specification and in the Claims herein are intended to cover both the singular and the plural unless the context dictates otherwise. For example, a process, method, object, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but can include other steps or elements not expressly listed or inherent to such process, method, object, or apparatus. The terms "first", "second", and "third" and the like in the description and in the claims, if any, are used for distinguishing between similar elements and not necessarily for describing a sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the descriptive terms used herein are to be interpreted in the context as exercised by those of ordinary skill in the art.

[0127] In the description of the embodiments of the present application, "exemplary", "for example", "e.g." or "for instance" are used on the basis that a proper meaning of the words is taken into account to avoid any semantic overinterpretation due to an improper meaning of these terms. Any embodiment or design scheme described as "exemplary", "for example", or "for instance" in the embodiments of the present application should not be interpreted as preferable or advantageous over other embodiments or design schemes. Rather, the words "exemplary", "for example", or "for instance" are used to present related concepts in a specific way.

[0128] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text only means a description of a relationship between associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0129] In some of the processes described in the embodiments of the present application, a plurality of operations or steps are presented in a specific order. However, it should be understood that the operations or steps can be performed in an order different than presented, or in parallel, and the order of the operations should not be construed as a requirement or limitation. Additionally, the processes can include more or fewer operations, and the operations or steps can be combined or performed in sequence or in parallel. Furthermore, the processes can be implemented by a computer program, software, or firmware.

[0130] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a plurality of instructions for making a terminal device execute the method described in each embodiment of the present application.

[0131] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for identifying an obstacle scenario in an automatic parking process, characterized in that The method for identifying an obstacle in an automatic parking process comprises the following steps: In the automatic parking process, whether the vehicle backtracks is determined according to the actual vehicle speed, the actual motor speed and the parking distance, and the number of times of vehicle backtracking is counted; Whether the vehicle stops is determined according to the motor driving torque, and the number of times of vehicle stopping is counted; Whether the automatic parking process encounters an obstacle is determined according to the counting result; The method for determining whether the vehicle backtracks according to the actual vehicle speed and counting the number of times of vehicle backtracking comprises the following steps: The target vehicle speed direction of the automatic parking is calibrated as a positive direction, and when the actual vehicle speed is less than a preset first vehicle speed threshold, a first identification indicating that the vehicle backtracks is output, wherein the first vehicle speed threshold is less than zero; When the actual vehicle speed is greater than a preset second vehicle speed threshold, a second identification indicating that the vehicle does not backtrack is output, wherein the second vehicle speed threshold is zero; When the actual vehicle speed is greater than or equal to the first vehicle speed threshold and less than or equal to the second vehicle speed threshold, the same identification as that in the last operation period is output; The first identification is counted.

2. The method of claim 1, wherein the obstacle scene is identified by the vehicle during the automatic parking process. The method for determining whether the vehicle backtracks according to the actual motor speed and counting the number of times of vehicle backtracking comprises the following steps: The target motor speed direction of the automatic parking is calibrated as a positive direction, and when the actual motor speed is less than a preset first motor speed threshold, a third identification indicating that the vehicle backtracks is output, wherein the first motor speed threshold is less than zero; When the actual motor speed is greater than a preset second motor speed threshold, a fourth identification indicating that the vehicle does not backtrack is output, wherein the second motor speed threshold is zero; When the actual motor speed is greater than or equal to the first motor speed threshold and less than or equal to the second motor speed threshold, the same identification as that in the last operation period is output; The third identification is counted.

3. The method for identifying obstacle scenarios during automatic parking as described in claim 2, characterized in that, The method for determining whether the vehicle backtracks according to the parking distance and counting the number of times of vehicle backtracking comprises the following steps: The distance difference between the parking distance in the current operation period and the parking distance in the last operation period is calculated; When the distance difference is greater than a preset first distance threshold, a fifth identification indicating that the vehicle backtracks is output, wherein the first distance threshold is greater than zero; When the distance difference is less than a preset second distance threshold, a sixth identification indicating that the vehicle does not backtrack is output, wherein the second distance threshold is less than the first distance threshold; When the distance difference is greater than or equal to the second distance threshold and less than or equal to the first distance threshold, the same identification as that in the last operation period is output; The fifth identification is counted.

4. The method for identifying obstacle scenarios during automatic parking as described in claim 3, characterized in that, The method for determining whether the vehicle stops according to the motor driving torque and counting the number of times of vehicle stopping comprises the following steps: The total driving torque of the front axle motor and the rear axle motor of the vehicle is calculated; The corresponding calibrated speed is determined according to the total driving torque; When the actual vehicle speed is less than the calibrated speed, a seventh identification indicating that the vehicle stops is output; The seventh identification is counted.

5. The method of claim 4, wherein the obstacle scene is identified by the automatic parking process, characterized in that, The method for determining whether the automatic parking process encounters an obstacle according to the counting result comprises the following steps: If the number of times of continuously outputting the first identifier, the number of times of continuously outputting the third identifier, the number of times of continuously outputting the fifth identifier, or the number of times of continuously outputting the seventh identifier is greater than a preset number threshold, it is determined that an obstacle is encountered in the automatic parking process.

6. The method of claim 1, wherein the obstacle scene is identified by the automatic parking process, characterized by, Further comprising: If the automatic parking function is in an activated state, the initial vehicle speed of the vehicle is in a preset first vehicle speed interval, and the duration is greater than a preset first duration, it is determined that the vehicle is in the automatic parking process.

7. The method of claim 6, wherein the obstacle scene is identified by the automatic parking process, characterized in that, The method further comprises: If the automatic parking function is switched from the activated state to the closed state, or the vehicle speed exceeds the first vehicle speed interval, the counting result is cleared.

8. An apparatus for identifying an obstacle scenario in an automatic parking process, characterized in that The automatic parking process obstacle scenario identification device comprises: A determination module is configured to determine whether vehicle rollback occurs in the automatic parking process according to the actual vehicle speed, the actual motor speed, and the parking distance of the vehicle, and count the number of vehicle rollback in the automatic parking process. The determination module is further configured to determine whether vehicle stasis occurs in the automatic parking process according to the motor driving torque, and count the number of vehicle stasis. A judgment module is configured to determine whether an obstacle is encountered in the automatic parking process according to the counting result. The determination module is further configured to: Calibrate the target vehicle speed direction of the automatic parking as a positive direction, and output a first identifier indicating vehicle rollback when the actual vehicle speed is less than a preset first vehicle speed threshold, wherein the first vehicle speed threshold is less than zero. Output a second identifier indicating that the vehicle is not rolling back when the actual vehicle speed is greater than a preset second vehicle speed threshold, wherein the second vehicle speed threshold is zero. Output the same identifier as the previous operation period when the actual vehicle speed is greater than or equal to the first vehicle speed threshold and less than or equal to the second vehicle speed threshold. Count the first identifier.

9. An apparatus for identifying an obstacle scenario in an automatic parking process, characterized in that The automatic parking process obstacle scenario identification device comprises a processor, a memory, and an automatic parking process obstacle scenario identification program stored on the memory and executable by the processor, wherein the automatic parking process obstacle scenario identification program is executed by the processor to implement the steps of the automatic parking process obstacle scenario identification method according to any one of claims 1 to 7.

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