Auxiliary control method and device for intelligent parking, medium and electronic equipment

Abstract

The invention provides an auxiliary control method and device for intelligent parking, a medium and electronic equipment. According to the method, when intelligent parking is carried out on the horizontal parking space, if parking is blocked, whether the vehicle is suitable for continuing intelligent parking or not can be quickly determined only through logical judgment of the obstacle parameter value and the pose deviation parameter value. According to the invention, a large amount of sensing data and complex numerical calculation are reduced, the intelligent parking efficiency is improved, and the intelligent parking experience of a user is improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent parking, and more specifically, to an auxiliary control method, device, medium and electronic device for intelligent parking. Background Art

[0002] As smart driving becomes more popular, more people are using smart parking functions in their daily lives. When drivers use the smart parking function, they are often stuck by obstacles (such as walls, grass, or parking space blockers on the ground), causing the smart parking function to pause.

[0003] Since the pause phenomenon is rather complicated, the algorithms currently used are also rather cumbersome. In the short period of parking, if pauses occur frequently during a parking session, it can easily cause the vehicle system to react slowly, which not only reduces the efficiency of smart parking, but also reduces the user experience.

[0004] Therefore, the present application provides an auxiliary control method for intelligent parking to solve the above technical problems. Summary of the invention

[0005] The purpose of this application is to provide an auxiliary control method, device, medium and electronic device for intelligent parking, which can solve at least one of the technical problems mentioned above. The specific solution is as follows:

[0006] According to a specific implementation of the present application, in a first aspect, the present application provides an auxiliary control method for intelligent parking, comprising:

[0007] In response to receiving the smart parking instruction, detecting a parking space type of the parking space;

[0008] When the parking space type of the parking space is a horizontal parking space type, detecting a parking state of the vehicle during parking;

[0009] When the parking state of the vehicle during the parking process is in an obstructed state, detecting a plurality of posture deviation parameter values ​​between the vehicle and the parking space, and at least one obstacle parameter value between the vehicle and surrounding obstacles;

[0010] A logical judgment is performed on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking.

[0011] Optionally, performing logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0012] When the at least one obstacle parameter value is within the respective preset obstruction safety value range, and the multiple posture deviation parameter values ​​are within the respective preset correct posture limit ranges, it is determined that the smart parking is completed.

[0013] Optionally, the multiple posture deviation parameter values ​​include a body position deviation value and a body angle deviation value; wherein the body position deviation value refers to the distance value between the center point of the body and the center point of the parking space on the longitudinal coordinate axis in a preset coordinate system, and the body angle deviation value refers to the deviation angle value between the center axis of the body and the center axis of the parking space in the preset coordinate system;

[0014] Accordingly, when the at least one obstacle parameter value is within the respective preset obstruction safety value range, and the plurality of posture deviation parameter values ​​are within the respective preset correct posture limit ranges, determining that the smart parking is completed includes:

[0015] When the at least one obstacle parameter value is within the respective preset obstruction safety value range, the vehicle body position deviation value is within the preset position deviation range, and the vehicle body angle deviation value is within the preset first angle deviation range, it is determined that the smart parking is completed.

[0016] Optionally, performing logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0017] When the at least one obstacle parameter value is within the respective preset obstruction safety value range, the vehicle body position deviation value is within the preset position deviation range, and the vehicle body angle deviation value is within the preset second angle deviation range, prompting whether to adjust the parking angle deviation, wherein the minimum threshold value within the preset second angle deviation range is greater than the maximum threshold value within the preset first angle deviation range;

[0018] When receiving an instruction to adjust the parking angle deviation, the vehicle is intelligently controlled to adjust the parking angle deviation.

[0019] Optionally, performing logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0020] When at least one obstacle parameter value exceeds the respective preset obstruction safety value range, or the vehicle body position deviation value exceeds the preset position deviation range, or the vehicle body angle deviation value exceeds the maximum threshold value within the preset second angle deviation range, it is determined that the vehicle continues intelligent parking.

[0021] Optionally, the at least one obstacle parameter value includes a critical distance value between the vehicle body and the nearest obstacle on the parking line;

[0022] Accordingly, the performing logical judgment on the at least one obstacle parameter value and the plurality of posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0023] Whether to control the vehicle to continue smart parking is determined based at least on the key distance value and the plurality of posture deviation parameter values.

[0024] Optionally, the method further includes:

[0025] During the smart parking process, count the parking duration and / or number of parking times;

[0026] When the number of parking durations exceeds a preset parking duration threshold, or the number of parking times exceeds a preset parking number threshold, smart parking is exited.

[0027] According to a specific implementation of the present application, in a second aspect, the present application provides an auxiliary control device for intelligent parking, including:

[0028] a type detection unit, configured to detect a parking space type of a parking space in response to receiving a smart parking instruction;

[0029] a state detection unit, for detecting a parking state of a vehicle during parking when the parking space type of the parking space is a horizontal parking space type;

[0030] a parameter detection unit, configured to detect a plurality of posture deviation parameter values ​​between the vehicle and the parking space, and at least one obstacle parameter value between the vehicle and surrounding obstacles when the parking state of the vehicle is in an obstructed state during the parking process;

[0031] A determination unit is used to perform a logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue intelligent parking.

[0032] Optionally, performing logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0033] When the at least one obstacle parameter value is within the respective preset obstruction safety value range, and the multiple posture deviation parameter values ​​are within the respective preset correct posture limit ranges, it is determined that the smart parking is completed.

[0034] Optionally, the multiple posture deviation parameter values ​​include a body position deviation value and a body angle deviation value; wherein the body position deviation value refers to the distance value between the center point of the body and the center point of the parking space on the longitudinal coordinate axis in a preset coordinate system, and the body angle deviation value refers to the deviation angle value between the center axis of the body and the center axis of the parking space in the preset coordinate system;

[0035] Accordingly, when the at least one obstacle parameter value is within the respective preset obstruction safety value range, and the plurality of posture deviation parameter values ​​are within the respective preset correct posture limit ranges, determining that the smart parking is completed includes:

[0036] When the at least one obstacle parameter value is within the respective preset obstruction safety value range, the vehicle body position deviation value is within the preset position deviation range, and the vehicle body angle deviation value is within the preset first angle deviation range, it is determined that the smart parking is completed.

[0037] Optionally, performing logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0038] When the at least one obstacle parameter value is within the respective preset obstruction safety value range, the vehicle body position deviation value is within the preset position deviation range, and the vehicle body angle deviation value is within the preset second angle deviation range, prompting whether to adjust the parking angle deviation, wherein the minimum threshold value within the preset second angle deviation range is greater than the maximum threshold value within the preset first angle deviation range;

[0039] When receiving an instruction to adjust the parking angle deviation, the vehicle is intelligently controlled to adjust the parking angle deviation.

[0040] Optionally, performing logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0041] When at least one obstacle parameter value exceeds the respective preset obstruction safety value range, or the vehicle body position deviation value exceeds the preset position deviation range, or the vehicle body angle deviation value exceeds the maximum threshold value within the preset second angle deviation range, it is determined that the vehicle continues intelligent parking.

[0042] Optionally, the at least one obstacle parameter value includes a critical distance value between the vehicle body and the nearest obstacle on the parking line;

[0043] Accordingly, the performing logical judgment on the at least one obstacle parameter value and the plurality of posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0044] Whether to control the vehicle to continue smart parking is determined based at least on the key distance value and the plurality of posture deviation parameter values.

[0045] Optionally, the device further comprises an exit unit;

[0046] The exit unit is used to count the parking time and / or the number of parking times during the smart parking process, and exit the smart parking when the parking time and number of times exceeds a preset parking time threshold, or the parking number of times exceeds a preset parking number threshold.

[0047] According to the specific implementation of the present application, in a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the auxiliary control method for intelligent parking as described in any of the above items is implemented.

[0048] According to the specific implementation of the present application, in a fourth aspect, the present application provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the auxiliary control method of intelligent parking as described in any of the above items.

[0049] Compared with the prior art, the above solution of the embodiment of the present application has at least the following beneficial effects:

[0050] The present application provides an auxiliary control method, device, medium and electronic device for intelligent parking. When the method performs intelligent parking on a horizontal parking space, if parking is blocked, it can quickly determine whether the vehicle is suitable for continuing intelligent parking only through logical judgment of obstacle parameter values ​​and posture deviation parameter values. It reduces the use of a large amount of perception data and complex numerical calculations, improves the efficiency of intelligent parking, and improves the user experience of using intelligent parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A flow chart of an auxiliary control method for intelligent parking according to an embodiment of the present application is shown;

[0052] Figure 2 A schematic diagram of a vehicle body and a parking space according to an auxiliary control method for intelligent parking according to an embodiment of the present application is shown;

[0053] Figure 3 A unit block diagram of an auxiliary control device for intelligent parking according to an embodiment of the present application is shown;

[0054] Description of reference numerals:

[0055] 1- vehicle body, 2- parking space, 3- obstacle, 11- vehicle body center position, 12- vehicle body central axis, 13- vehicle body position deviation value, 14- vehicle body angle deviation value, 21- parking space center position, 22- parking space central axis, 31- critical distance value. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0057] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings, and "multiple" generally includes at least two.

[0058] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0059] It should be understood that although the terms first, second, third, etc. may be used to describe in the embodiments of the present application, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, without departing from the scope of the embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first.

[0060] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0061] It should also be noted that the term "includes", "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the commodity or device including the elements.

[0062] It should be particularly noted that any symbols and / or numbers in the specification that are not marked in the accompanying drawings are not drawing marks.

[0063] The optional embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0064] The embodiment provided in this application is an embodiment of an auxiliary control method for intelligent parking.

[0065] Combine the following Figure 1 and Figure 2 The embodiments of the present application are described in detail.

[0066] Step S101 , in response to receiving a smart parking instruction, detecting the parking space type of parking space 2 .

[0067] Smart parking refers to the advanced driving assistance system (ADAS) which uses a variety of sensors installed on the vehicle (inertial measurement module, millimeter-wave radar, lidar, monocular / binocular camera and satellite navigation module) to sense the surrounding environment and collect data during the parking process, identify, detect and track static and / or dynamic objects, and combine navigation map data to perform systematic calculations and analysis, and ultimately control the vehicle to enter the parking space.

[0068] Parking space types, including horizontal parking space types and inclined parking space types.

[0069] The horizontal parking space type means that the angle between the parking space ground and the horizontal plane is less than the preset plane threshold.

[0070] The inclined parking space type refers to the angle between the parking space ground and the horizontal plane being greater than the preset plane threshold. When the parking space type is an inclined parking space type, the parking space ground has a certain inclination angle with the horizontal plane. When parking by smart driving, it is likely that the parking will be blocked due to the large inclination angle, rather than the vehicle being blocked by obstacle 3. Therefore, this application only considers the horizontal parking space type.

[0071] Step S102: When the parking space type of the parking space 2 is a horizontal parking space type, detecting the parking state of the vehicle during the parking process.

[0072] Parking status, including driving status and obstructed status.

[0073] The driving state means that the parking speed of the vehicle is greater than zero.

[0074] The obstructed state means that the parking speed of the vehicle is equal to zero, that is, the vehicle is paused. During the parking process, when the wheels of the vehicle encounter a deep pothole, the parking state of the vehicle will be in an obstructed state; when the wheels of the vehicle encounter a high ridge, the parking state of the vehicle will be in an obstructed state; when the body 1 of the vehicle encounters an obstacle 3 on the parking route, the parking state of the vehicle will be in an obstructed state; of course, the parking state of the vehicle during the parking process is in an obstructed state, and the embodiments of the present application are not limited thereto.

[0075] Step S103 , when the parking state of the vehicle during the parking process is in an obstructed state, detecting a plurality of posture deviation parameter values ​​between the vehicle and the parking space 2 , and at least one obstacle parameter value between the vehicle and surrounding obstacles 3 .

[0076] Posture refers to the position and attitude of the vehicle.

[0077] The posture deviation parameter value refers to the position deviation parameter value and attitude deviation parameter value between the detected vehicle and parking space 2. For example, the position deviation parameter value of the vehicle's position and the position of parking space 2 can be obtained through the satellite positioning module installed in the vehicle's ADAS (such as Beidou navigation module, GPS navigation module, GLONASS navigation module and / or Galileo navigation module); the posture deviation parameter value can be obtained through the inertial measurement module installed in the ADAS (such as a three-axis acceleration sensor and / or a three-axis gyroscope). As for how to obtain the posture deviation parameter value, please refer to the prior art, and this application will not go into details.

[0078] The obstacle parameter value refers to the parameter value of the relationship between the detected vehicle and the surrounding obstacles 3. For example, the distance between the vehicle and the surrounding obstacles 3 and the angle in a preset coordinate system (for example, including but not limited to the vehicle body coordinate system or the world coordinate system) can be obtained through the single / binocular camera, millimeter wave radar and / or laser radar installed in the ADAS. As for how to obtain the obstacle parameter value, please refer to the prior art, and this application will not elaborate on it.

[0079] Step S104: Perform a logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking.

[0080] When the embodiment of the present application performs intelligent parking in a horizontal parking space, if parking is blocked, it can quickly determine whether the vehicle is suitable for continuing intelligent parking simply by logically judging the obstacle parameter value and the posture deviation parameter value. This reduces the use of a large amount of perception data and complex numerical calculations, improves the efficiency of intelligent parking, and improves the user experience of using intelligent parking.

[0081] In some specific embodiments, the performing logical judgment on the at least one obstacle parameter value and the plurality of posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0082] Step S104a, when the at least one obstacle parameter value is within the respective preset obstruction safety value range, and the multiple posture deviation parameter values ​​are within the respective preset correct posture limit ranges, it is determined that the smart parking is completed.

[0083] When the vehicle is blocked, the obstacle parameter values ​​are all within their respective preset blocked safety value ranges, and the posture deviation parameter values ​​are all within their respective preset correct posture limit ranges, indicating that the vehicle is correctly parked in the blocked position. For example, if the obstacle parameter value is the parameter value of the parking space blocker, it is determined that the vehicle has completed intelligent parking, and the driver is notified that the vehicle can be turned off and people can get off the vehicle.

[0084] In some specific embodiments, Figure 2 As shown, the multiple posture deviation parameter values ​​include a vehicle body position deviation value 13 and a vehicle body angle deviation value 14.

[0085] The vehicle body position deviation value 13 refers to the distance value between the vehicle body center position 11 and the parking space center position 21 on the longitudinal coordinate axis in a preset coordinate system.

[0086] The vehicle body angle deviation value 14 refers to the deviation angle value between the vehicle body center axis 12 and the parking space center axis 22 in a preset coordinate system.

[0087] Accordingly, when the at least one obstacle parameter value is within the respective preset obstruction safety value range, and the plurality of posture deviation parameter values ​​are within the respective preset correct posture limit ranges, determining that the smart parking is completed includes:

[0088] Step S104aa, when the at least one obstacle parameter value is within the respective preset obstruction safety value range, the vehicle body position deviation value 13 is within the preset position deviation range, and the vehicle body angle deviation value 14 is within the preset first angle deviation range, it is determined that the smart parking is completed.

[0089] When this specific embodiment performs intelligent parking on a horizontal parking space and parking is obstructed, it is able to quickly determine whether the vehicle is suitable for continuing intelligent parking simply through logical judgment of the obstacle parameter value, the vehicle body position deviation value 13, and the vehicle body angle deviation value 14, thereby reducing the use of a large amount of perception data and complex numerical calculations, improving the efficiency of intelligent parking, and enhancing the user experience of using intelligent parking.

[0090] In some specific embodiments, performing logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes the following steps:

[0091] Step S104b-1, when the at least one obstacle parameter value is within the respective preset obstruction safety value range, and the vehicle body position deviation value 13 is within the preset position deviation range, and the vehicle body angle deviation value 14 is within the preset second angle deviation range, prompt whether to adjust the parking angle deviation.

[0092] The minimum threshold value in the preset second angle deviation range is greater than the maximum threshold value in the preset first angle deviation range. For example, the preset first angle deviation range is greater than or equal to zero, and less than or equal to the first threshold value C1, that is, C represents the body angle deviation value 14, C≤C1; the preset second angle deviation range is greater than the first threshold value C1, and less than or equal to the second threshold value C2, that is, C1<C≤C2.

[0093] The preset second angle deviation range means that the inclination angle of the vehicle body 1 relative to the parking space 2 is still within an acceptable range and will not seriously affect the getting on and off of people in vehicles in the surrounding parking spaces, nor will it seriously affect the entry and exit of vehicles in the surrounding parking spaces.

[0094] Step S104b-2: When receiving an instruction to adjust the parking angle deviation, intelligently controlling the vehicle to adjust the parking angle deviation.

[0095] In this specific embodiment, when performing intelligent parking in a horizontal parking space, parking is blocked, the vehicle body 1 is within a safe distance from the obstacle 3, and the vehicle body 1 is not straight when parked in the parking space 2, that is, the tilt angle of the vehicle body 1 relative to the parking space 2 is acceptable. At this time, ADAS interacts with the driver through prompt information, and the driver determines whether to adjust the tilted vehicle body 1. If the driver issues an adjustment instruction, ADAS automatically controls the vehicle to adjust the angle deviation so that the vehicle can park normally in the parking space 2. When an instruction to terminate the adjustment of the parking angle deviation is received, it is determined that the intelligent parking is completed.

[0096] This specific embodiment can quickly determine the tilt state of the vehicle body 1 only through logical judgment that the obstacle parameter value, the vehicle body position deviation value 13 and the vehicle body angle deviation value 14 are within the preset second angle deviation range. And through human-computer interaction, it is determined whether to intelligently adjust the tilt state of the vehicle body 1, which reduces the use of a large amount of perception data and complex numerical calculations, improves the efficiency of intelligent parking, and improves the user's experience of using intelligent parking.

[0097] In some specific embodiments, the performing logical judgment on the at least one obstacle parameter value and the plurality of posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0098] Step S104c, when at least one obstacle parameter value exceeds the respective preset obstruction safety value range, or the vehicle body position deviation value 13 exceeds the preset position deviation range, or the vehicle body angle deviation value 14 exceeds the maximum threshold value within the preset second angle deviation range, it is determined that the vehicle continues intelligent parking.

[0099] In this specific embodiment, when performing intelligent parking in a horizontal parking space, after the vehicle is obstructed, at least one obstacle parameter value exceeds the respective preset obstruction safety value range, that is, it is not within the preset obstruction safety value range, or the body position deviation value 13 exceeds the preset position deviation range, that is, the body position deviation value 13 is not within the preset position deviation range, or the body angle deviation value 14 exceeds the maximum threshold value within the preset second angle deviation range, for example, the preset second angle deviation range: greater than the first threshold value C1, and less than or equal to the second threshold value C2, that is, C1<C≤C2, where C2 is the maximum threshold value within the preset second angle deviation range, if the body angle deviation value 14 exceeds C2. If one of the above conditions is met, it is determined that the vehicle continues to park intelligently, that is, the ADAS controls the vehicle to continue intelligent parking. For example, the prerequisite vehicle, then redetermine the parking path, and re-control the vehicle to park.

[0100] In this specific embodiment, when performing intelligent parking in a horizontal parking space, if parking is blocked, if the intelligent parking task cannot be completed in one time, or if the ADAS is instructed to adjust the parking angle deviation to complete the intelligent parking task through human-computer interaction, the ADAS is automatically instructed to adjust automatically and continue intelligent parking. It can quickly determine whether the vehicle is suitable for continuing intelligent parking, reduce the use of a large amount of perception data and complex numerical calculations, improve the efficiency of intelligent parking, and improve the user's experience of using intelligent parking.

[0101] In some specific embodiments, Figure 2 As shown, the at least one obstacle parameter value includes a critical distance value 31 between the vehicle body 1 and the nearest obstacle 3 on the parking line.

[0102] Accordingly, the performing logical judgment on the at least one obstacle parameter value and the plurality of posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0103] Step S104d, determining whether to control the vehicle to continue smart parking based at least on the key distance value 31 and the multiple posture deviation parameter values.

[0104] When the present specific embodiment performs intelligent parking on a horizontal parking space and parking is obstructed, it is possible to quickly determine whether the vehicle is suitable for continuing intelligent parking simply by logically judging the key distance value 31 and the multiple posture deviation parameter values ​​(such as the vehicle body position deviation value 13 and the vehicle body angle deviation value 14), thereby reducing the use of a large amount of perception data and complex numerical calculations, improving the efficiency of intelligent parking, and enhancing the user experience of using intelligent parking.

[0105] In some specific embodiments, the method further comprises the following steps:

[0106] Step S105-1, during the intelligent parking process, counting the parking duration and / or the number of parking times.

[0107] Step S105-2, when the number of parking durations exceeds a preset parking duration threshold, or the number of parking times exceeds a preset parking times threshold, exit smart parking.

[0108] In this specific embodiment, the parking time or number of parking times of smart parking is limited. If the parking route is too complicated, resulting in a long parking time, or the number of parking times is too frequent, indicating that it is difficult to complete smart parking, the smart parking is exited and the parking task is handed over to the driver, thereby saving parking time, improving parking efficiency and user experience.

[0109] The present application also provides a device embodiment that is based on the above embodiment, which is used to implement the method steps described in the above embodiment. The explanation based on the same name meaning is the same as the above embodiment, and has the same technical effect as the above embodiment, which will not be repeated here.

[0110] like Figure 3 As shown, the present application provides an auxiliary control device 300 for intelligent parking, comprising:

[0111] A type detection unit 301 is used to detect the parking space type of the parking space in response to receiving the intelligent parking instruction;

[0112] A state detection unit 302, configured to detect a parking state of a vehicle during parking when the parking space type of the parking space is a horizontal parking space type;

[0113] a parameter detection unit 303, configured to detect a plurality of posture deviation parameter values ​​between the vehicle and the parking space, and at least one obstacle parameter value between the vehicle and surrounding obstacles when the parking state of the vehicle is in an obstructed state during the parking process;

[0114] The determination unit 304 is used to perform a logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue intelligent parking.

[0115] Optionally, performing logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0116] When the at least one obstacle parameter value is within the respective preset obstruction safety value range, and the multiple posture deviation parameter values ​​are within the respective preset correct posture limit ranges, it is determined that the smart parking is completed.

[0117] Optionally, the multiple posture deviation parameter values ​​include a body position deviation value and a body angle deviation value; wherein the body position deviation value refers to the distance value between the center point of the body and the center point of the parking space on the longitudinal coordinate axis in a preset coordinate system, and the body angle deviation value refers to the deviation angle value between the center axis of the body and the center axis of the parking space in the preset coordinate system;

[0118] Accordingly, when the at least one obstacle parameter value is within the respective preset obstruction safety value range, and the plurality of posture deviation parameter values ​​are within the respective preset correct posture limit ranges, determining that the smart parking is completed includes:

[0119] When the at least one obstacle parameter value is within the respective preset obstruction safety value range, the vehicle body position deviation value is within the preset position deviation range, and the vehicle body angle deviation value is within the preset first angle deviation range, it is determined that the smart parking is completed.

[0120] Optionally, performing logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0121] When the at least one obstacle parameter value is within the respective preset obstruction safety value range, the vehicle body position deviation value is within the preset position deviation range, and the vehicle body angle deviation value is within the preset second angle deviation range, prompting whether to adjust the parking angle deviation, wherein the minimum threshold value within the preset second angle deviation range is greater than the maximum threshold value within the preset first angle deviation range;

[0122] When receiving an instruction to adjust the parking angle deviation, the vehicle is intelligently controlled to adjust the parking angle deviation.

[0123] Optionally, performing logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0124] When at least one obstacle parameter value exceeds the respective preset obstruction safety value range, or the vehicle body position deviation value exceeds the preset position deviation range, or the vehicle body angle deviation value exceeds the maximum threshold value within the preset second angle deviation range, it is determined that the vehicle continues intelligent parking.

[0125] Optionally, the at least one obstacle parameter value includes a critical distance value between the vehicle body and the nearest obstacle on the parking line;

[0126] Accordingly, the performing logical judgment on the at least one obstacle parameter value and the plurality of posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes:

[0127] Whether to control the vehicle to continue smart parking is determined based at least on the key distance value and the plurality of posture deviation parameter values.

[0128] Optionally, the device further comprises an exit unit;

[0129] The exit unit is used to count the parking time and / or the number of parking times during the smart parking process, and exit the smart parking when the parking time and number of times exceeds a preset parking time threshold, or the parking number of times exceeds a preset parking number threshold.

[0130] When the embodiment of the present application performs intelligent parking in a horizontal parking space, if parking is blocked, it can quickly determine whether the vehicle is suitable for continuing intelligent parking simply by logically judging the obstacle parameter value and the posture deviation parameter value. This reduces the use of a large amount of perception data and complex numerical calculations, improves the efficiency of intelligent parking, and improves the user experience of using intelligent parking.

[0131] This embodiment provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method steps described in the above embodiment.

[0132] An embodiment of the present application provides a non-volatile computer storage medium, wherein the computer storage medium stores computer executable instructions, and the computer executable instructions can execute the method steps described in the above embodiment.

[0133] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0134] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. An auxiliary control method for intelligent parking, characterized in that: include: In response to receiving the smart parking instruction, detecting the parking space type of the parking space (2); When the parking space type of the parking space (2) is a horizontal parking space type, detecting the parking state of the vehicle during the parking process; When the parking state of the vehicle is in an obstructed state during the parking process, a plurality of posture deviation parameter values ​​between the vehicle and the parking space (2) and at least one obstacle parameter value between the vehicle and surrounding obstacles (3) are detected; A logical judgment is performed on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking.

2. The method according to claim 1, characterized in that: The performing logical judgment on the at least one obstacle parameter value and the plurality of posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes: When the at least one obstacle parameter value is within the respective preset obstruction safety value range, and the multiple posture deviation parameter values ​​are within the respective preset correct posture limit ranges, it is determined that the smart parking is completed.

3. The method according to claim 2, characterized in that The multiple posture deviation parameter values ​​include a vehicle body position deviation value (13) and a vehicle body angle deviation value (14); wherein the vehicle body position deviation value (13) refers to a distance value between a vehicle body center position (11) and a parking space center position (21) on a longitudinal coordinate axis in a preset coordinate system, and the vehicle body angle deviation value (14) refers to a deviation angle value between a vehicle body center axis (12) and a parking space center axis (22) in the preset coordinate system; Accordingly, when the at least one obstacle parameter value is within the respective preset obstruction safety value range, and the plurality of posture deviation parameter values ​​are within the respective preset correct posture limit ranges, determining that the smart parking is completed includes: When the at least one obstacle parameter value is within the respective preset obstruction safety value range, the vehicle body position deviation value (13) is within the preset position deviation range, and the vehicle body angle deviation value (14) is within the preset first angle deviation range, it is determined that the intelligent parking is completed.

4. The method according to claim 3, characterized in that The performing logical judgment on the at least one obstacle parameter value and the plurality of posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes: When the at least one obstacle parameter value is within the respective preset obstruction safety value range, the vehicle body position deviation value (13) is within the preset position deviation range, and the vehicle body angle deviation value (14) is within the preset second angle deviation range, prompting whether to adjust the parking angle deviation, wherein the minimum threshold value within the preset second angle deviation range is greater than the maximum threshold value within the preset first angle deviation range; When receiving an instruction to adjust the parking angle deviation, the vehicle is intelligently controlled to adjust the parking angle deviation.

5. The method according to claim 3, characterized in that: The performing logical judgment on the at least one obstacle parameter value and the plurality of posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes: When at least one obstacle parameter value exceeds the respective preset obstruction safety value range, or the vehicle body position deviation value (13) exceeds the preset position deviation range, or the vehicle body angle deviation value (14) exceeds the maximum threshold value within the preset second angle deviation range, it is determined that the vehicle continues intelligent parking.

6. The method according to claim 1, characterized in that The at least one obstacle parameter value comprises a critical distance value (31) between the vehicle body (1) and the nearest obstacle (3) on the parking line; Accordingly, the performing logical judgment on the at least one obstacle parameter value and the plurality of posture deviation parameter values ​​to determine whether to control the vehicle to continue smart parking includes: Whether to control the vehicle to continue smart parking is determined based at least on the key distance value (31) and the plurality of posture deviation parameter values.

7. The method according to any one of claims 4 to 6, characterized in that: The method further comprises: During the smart parking process, count the parking duration and / or number of parking times; When the number of parking durations exceeds a preset parking duration threshold, or the number of parking times exceeds a preset parking number threshold, smart parking is exited.

8. An auxiliary control device for intelligent parking, characterized in that: include: a type detection unit, configured to detect the parking space type of the parking space (2) in response to receiving the intelligent parking instruction; A state detection unit, used for detecting the parking state of the vehicle during the parking process when the parking space type of the parking space (2) is a horizontal parking space type; A parameter detection unit, used for detecting a plurality of posture deviation parameter values ​​between the vehicle and the parking space (2), and at least one obstacle parameter value between the vehicle and surrounding obstacles (3) when the parking state of the vehicle is in an obstructed state during the parking process; A determination unit is used to perform a logical judgment on the at least one obstacle parameter value and the multiple posture deviation parameter values ​​to determine whether to control the vehicle to continue intelligent parking.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method as claimed in any one of claims 1 to 7.

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