An intelligent parking auxiliary control method, device, medium and electronic equipment

Abstract

The application provides an auxiliary control method, device, medium and electronic equipment for intelligent parking. When the horizontal parking space is intelligently parked, the method can quickly determine whether the vehicle is suitable for continuing intelligent parking by only logically judging the obstacle parameter value and the pose deviation parameter value if the parking is blocked. The method reduces the use of a large amount of perception data and complex numerical calculation, improves the efficiency of intelligent parking, and improves the user's experience of using intelligent parking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent parking, in particular to an auxiliary control method and device for intelligent parking, a medium and an electronic device. BACKGROUND

[0002] In the era of intelligent driving gradually popularizing, more people use intelligent parking function in daily life. When the driver uses the intelligent parking function, the driver is often blocked by obstacles (such as walls or grass or ground parking stoppers) in the middle of the way, resulting in the phenomenon of suspension of the intelligent parking function.

[0003] Since the suspension phenomenon is relatively complex, the currently used algorithm is relatively cumbersome, and if the suspension phenomenon frequently occurs once in a short parking time, the car system is prone to slow reaction, which not only reduces the efficiency of intelligent 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

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

[0006] According to the specific embodiment 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 an intelligent parking instruction, detecting a parking space type of a parking space;

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

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

[0010] Performing logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking.

[0011] Optionally, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking comprises:

[0012] When the at least one obstacle parameter value is within the respective preset blocked safety value range, and the plurality of pose deviation parameter values are within the respective preset correct pose limiting range, it is determined that the intelligent parking is completed.

[0013] Optionally, the plurality of pose deviation parameter values include a vehicle body position deviation value and a vehicle body angle deviation value; the vehicle body position deviation value refers to a distance value of a vehicle body center point and a parking space center point on a longitudinal coordinate axis in a preset coordinate system, and the vehicle body angle deviation value refers to an angle deviation value of a vehicle body center axis and a parking space center axis in the preset coordinate system.

[0014] Correspondingly, when the at least one obstacle parameter value is within the respective preset blocked safety value range, and the plurality of pose deviation parameter values are within the respective preset correct pose limiting range, it is determined that the intelligent parking is completed, including:

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

[0016] Optionally, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue the intelligent parking includes:

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

[0018] When the instruction of adjusting the angle deviation of parking is received, the vehicle is intelligently controlled to adjust the angle deviation of parking.

[0019] Optionally, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue the intelligent parking includes:

[0020] When at least one obstacle parameter value is out of the respective preset blocked safety value range, or the vehicle body position deviation value is out of 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 the intelligent parking.

[0021] Optionally, the at least one obstacle parameter value includes a key distance value of the vehicle body and the nearest obstacle on a parking line.

[0022] Correspondingly, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking includes:

[0023] The determination of whether to control the vehicle to continue intelligent parking is based on at least the key distance value and the plurality of pose deviation parameter values.

[0024] Optionally, the method further includes:

[0025] During the intelligent parking process, the parking duration and / or the parking times are counted.

[0026] When the parking duration exceeds a preset parking duration threshold or the parking times exceed a preset parking times threshold, the intelligent parking is exited.

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

[0028] A type detection unit is configured to detect the type of the parking space in response to receiving an intelligent parking instruction.

[0029] A state detection unit is configured to detect the parking state of the vehicle during the parking process when the type of the parking space is a horizontal parking space type.

[0030] A parameter detection unit is configured to detect a plurality of pose 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 during the parking process is in a blocked state.

[0031] A determination unit is configured to logically judge the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking.

[0032] Optionally, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking includes:

[0033] When the at least one obstacle parameter value is within a respective preset blocked safety value range and the plurality of pose deviation parameter values are within a respective preset correct pose limiting range, it is determined that the intelligent parking is completed.

[0034] Optionally, the plurality of pose deviation parameter values comprises a vehicle body position deviation value and a vehicle body angle deviation value; wherein the vehicle body position deviation value refers to a distance value of a vehicle body center point and a parking space center point on a longitudinal coordinate axis in a preset coordinate system, and the vehicle body angle deviation value refers to an angle deviation value of a vehicle body center axis and a parking space center axis in the preset coordinate system.

[0035] Correspondingly, the determining that the intelligent parking is completed when the at least one obstacle parameter value is within the respective preset blocked safety value range, and the plurality of pose deviation parameter values are within the respective preset correct pose range, comprises:

[0036] The determining that the intelligent parking is completed when the at least one obstacle parameter value is within the respective preset blocked safety value range, and the vehicle body position deviation value is within a preset position deviation range, and the vehicle body angle deviation value is within a preset first angle deviation range.

[0037] Optionally, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue the intelligent parking, comprises:

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

[0039] The intelligent control of the vehicle to adjust the angle deviation of parking when an instruction of adjusting the angle deviation of parking is received.

[0040] Optionally, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue the intelligent parking, comprises:

[0041] The determining that the vehicle continues the intelligent parking when at least one obstacle parameter value is out of the respective preset blocked safety value range, or the vehicle body position deviation value is out of the preset position deviation range, or the vehicle body angle deviation value exceeds a maximum threshold value within the preset second angle deviation range.

[0042] Optionally, the at least one obstacle parameter value comprises a key distance value of the vehicle body and the nearest obstacle on a parking line.

[0043] Correspondingly, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue the intelligent parking, comprises:

[0044] determining whether to control the vehicle to continue intelligent parking based on at least the key distance value and the plurality of pose deviation parameter values.

[0045] Optionally, the apparatus further comprises an exiting unit.

[0046] The exiting unit is configured to, in the intelligent parking process, count a parking duration and / or a parking frequency, and exit the intelligent parking when the parking duration exceeds a preset parking duration threshold or the parking frequency exceeds a preset parking frequency threshold.

[0047] According to the specific embodiments of the present application, in a third aspect, the present application provides a computer readable storage medium having stored thereon a computer program, the program being executed by a processor to implement the auxiliary control method of intelligent parking according to any one of the above.

[0048] According to the specific embodiments of the present application, in a fourth aspect, the present application provides an electronic device, comprising: one or more processors; a storage device configured to store one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the auxiliary control method of intelligent parking according to any one of the above.

[0049] The above scheme of the embodiments of the present application has at least the following beneficial effects compared with the prior art:

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

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

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

[0054] REFERENCE SIGNS:

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

[0056] To make the objects, technical solutions and advantages of the present application clearer, the following will further describe the present application with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those ordinarily skilled in the art without creative work fall within the scope of the present application.

[0057] The terms used in the embodiments of the present application are merely for the purpose of describing particular 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 the plural forms, unless the context clearly indicates otherwise. "Plural" generally includes at least two.

[0058] It should be understood that the term "and / or" used herein is merely an association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

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

[0060] Depending on the context, the word "if" as used herein can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (a stated condition or event)" can be interpreted as "when determined" or "in response to determining" or "when detecting (a stated condition or event)" or "in response to detecting (a stated condition or event)".

[0061] It is also important to note that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0062] In particular, it is to be noted that symbols and / or numbers present in the description, if not marked in the description of the figures, are not figure references.

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

[0064] The embodiments of the present application, i.e., an embodiment of an intelligent parking auxiliary control method.

[0065] The embodiments of the present application will be described in detail below with reference to the accompanying drawings. Figure 1 And Figure 2 The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

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

[0067] Intelligent parking refers to the use of various sensors (inertial measurement modules, millimeter wave radars, laser radars, single / dual camera lenses, and satellite navigation modules) installed on vehicles by the Advanced Driving Assistance System (ADAS) to sense the environment around the vehicle during parking, collect data, identify, detect, and track static and / or dynamic objects, and combine navigation map data to perform system calculations and analysis, and ultimately control the vehicle to enter the parking space.

[0068] The parking space type includes a horizontal parking space type and an inclined parking space type.

[0069] The horizontal parking space type refers to an angle between the parking ground and the horizontal plane being less than a preset plane threshold.

[0070] The inclined parking space type refers to an angle between the parking ground and the horizontal plane being greater than the preset plane threshold. When the parking space type is the inclined parking space type, the parking ground and the horizontal plane have a certain inclination angle. When the intelligent driving parking is performed, it is likely that the parking will be blocked due to the large inclination angle, rather than being blocked by the obstacle 3. Therefore, the present 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 in the parking process.

[0072] The parking state includes a driving state and a blocked state.

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

[0074] The blocked state refers to that the parking speed of the vehicle is equal to zero, that is, the vehicle is paused. In the parking process, when the wheels of the vehicle encounter deep potholes, the parking state of the vehicle is in the blocked state; when the wheels of the vehicle encounter high ridges, the parking state of the vehicle is in the blocked state; when the vehicle body 1 of the vehicle encounters an obstacle 3 on the parking route, the parking state of the vehicle is in the blocked state; of course, the parking state of the vehicle in the parking process is in the blocked state, and the embodiments of the present application are not limited thereto.

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

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

[0077] The pose deviation parameter value refers to the detected position deviation parameter value and attitude deviation parameter value between the vehicle and the parking space 2. For example, the position of the vehicle and the position of the parking space 2 can obtain the position deviation parameter value through the satellite positioning module (such as Beidou navigation module, GPS navigation module, Glonass navigation module and / or Galileo navigation module) installed in the ADAS of the vehicle; the pose deviation parameter value can be obtained through the inertial measurement module (such as three-axis acceleration sensor and / or three-axis gyroscope) installed in the ADAS. As to how to obtain the pose deviation parameter value, please refer to the prior art, which will not be described herein.

[0078] The obstacle parameter value refers to the relationship parameter value between the vehicle and the surrounding obstacle 3. For example, the distance between the vehicle and the surrounding obstacle 3, the angle in the preset coordinate system (such as, including but not limited to vehicle body coordinate system or world coordinate system) can be obtained through the monocular / dual camera, millimeter wave radar and / or laser radar installed in the ADAS. As to how to obtain the obstacle parameter value, please refer to the prior art, which will not be described herein.

[0079] Step S104, logically judging the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking.

[0080] When the horizontal parking space is intelligently parked by the embodiments of the present application, the vehicle can be quickly determined whether to continue intelligent parking by logical judgment of the obstacle parameter value and the pose deviation parameter value when the parking is blocked. The efficiency of intelligent parking is improved, and the user's experience of using intelligent parking is improved.

[0081] In some embodiments, the logical judgment of the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking includes:

[0082] When the at least one obstacle parameter value is within the respective preset blocked safety value range, and the plurality of pose deviation parameter values are within the respective preset correct pose limiting range, it is determined that the intelligent parking is completed.

[0083] When the vehicle is blocked, the obstacle parameter value is within the respective preset blocked safety value range, and the pose deviation parameter value is within the respective preset correct pose limiting range, it indicates that the vehicle is correctly parked in the parking space at the blocked position. For example, the obstacle parameter value is the parameter value of the parking space blocker, and it is determined that the intelligent parking of the vehicle is completed, and the driver is notified that the vehicle can be turned off and the personnel can get off.

[0084] In some embodiments, as shown in Figure 2 The plurality of pose 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 of the vehicle body center position 11 and the parking space center position 21 on the longitudinal coordinate axis in the 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 the preset coordinate system.

[0087] Correspondingly, when the at least one obstacle parameter value is within the respective preset blocked safety value range, and the plurality of pose deviation parameter values are within the respective preset correct pose limiting range, it is determined that the intelligent parking is completed, including:

[0088] When the at least one obstacle parameter value is within the respective preset blocked 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 first angle deviation range, it is determined that the intelligent parking is completed.

[0089] When the horizontal parking space is intelligently parked in the embodiment, the logical judgment of the obstacle parameter value, the body position deviation value 13 and the body angle deviation value 14 can quickly determine whether the vehicle is suitable for continuing intelligent parking, reduce the use of a large number of sensing data and complex numerical calculation, improve the efficiency of intelligent parking, and improve the user's experience of using intelligent parking.

[0090] In some embodiments, the logical judgment of the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking includes the following steps:

[0091] Step S104b-1, when the at least one obstacle parameter value is within the respective preset blocked safe value range, and the body position deviation value 13 is within the preset position deviation range, and the body angle deviation value 14 is within the preset second angle deviation range, it is prompted whether to adjust the angle deviation of parking.

[0092] Among them, 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, and 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

[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, which will not seriously affect the getting on and off of the vehicle personnel on the surrounding parking spaces, nor will it seriously affect the driving in and out of the vehicle on the surrounding parking spaces.

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

[0095] When the horizontal parking space is intelligently parked in the embodiment, the logical judgment of the obstacle parameter value, the body position deviation value 13 and the body angle deviation value 14 can quickly determine whether the vehicle is suitable for continuing intelligent parking, reduce the use of a large number of sensing data and complex numerical calculation, improve the efficiency of intelligent parking, and improve the user's experience of using intelligent parking.

[0096] The specific embodiment can quickly determine the tilting state of the vehicle body 1 through the logical judgment of the obstacle parameter value, the vehicle body position deviation value 13 and the vehicle body angle deviation value 14 within the preset second angle deviation range. Whether to intelligently adjust the tilting state of the vehicle body 1 is determined through human-computer interaction, which reduces the use of a large amount of sensing data and complex numerical calculation, improves the efficiency of intelligent parking, and improves the user's experience of using intelligent parking.

[0097] In some specific embodiments, the logical judgment of the at least one obstacle parameter value and the plurality of pose deviation parameter values determines whether to control the vehicle to continue intelligent parking, including:

[0098] In step S104c, when at least one obstacle parameter value is outside the respective preset blocked safety value range, or the vehicle body position deviation value 13 is outside 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 the specific embodiment, when the vehicle is blocked during intelligent parking in the horizontal parking space, at least one obstacle parameter value exceeds the respective preset blocked safety value range, that is, is not within the preset blocked safety value range, or the vehicle body position deviation value 13 exceeds the preset position deviation range, that is, the vehicle body position deviation value 13 is not within 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, for example, 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, where C2 is the maximum threshold value within the preset second angle deviation range, if the vehicle body angle deviation value 14 exceeds C2. If one of the above conditions is met, it is determined that the vehicle continues intelligent parking, that is, the ADAS controls the vehicle to continue intelligent parking. For example, the vehicle is parked again, and the vehicle is controlled to park again.

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

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

[0102] Correspondingly, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking includes:

[0103] In step S104d, it is determined whether to control the vehicle to continue intelligent parking based on at least the key distance value 31 and the plurality of pose deviation parameter values.

[0104] When the vehicle is performing intelligent parking on a horizontal parking space, the logical judgment on the key distance value 31 and the plurality of pose deviation parameter values (such as the vehicle body position deviation value 13 and the vehicle body angle deviation value 14) can quickly determine whether the vehicle is suitable for continuing intelligent parking, thereby reducing the use of a large amount of perception data and complex numerical calculations, improving the efficiency of intelligent parking, and improving the user's experience of using intelligent parking.

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

[0106] In step S105-1, the parking duration and / or the parking frequency are counted during intelligent parking.

[0107] In step S105-2, when the parking duration exceeds a preset parking duration threshold or the parking frequency exceeds a preset parking frequency threshold, the intelligent parking is exited.

[0108] In this embodiment, the parking duration or the parking frequency of intelligent parking is limited. If the parking route is too complex, causing the parking duration to be too long or the parking frequency to be too high, which indicates that it is difficult to complete intelligent parking, the intelligent parking is exited and the parking task is handed over to the driver to handle. Thus, the parking time is saved, the parking efficiency and user experience are improved.

[0109] The present application also provides a device embodiment for implementing the method steps of the above embodiments, based on the same name meaning explanation as the above embodiments, with the same technical effects as the above embodiments, which will not be repeated here.

[0110] As shown in Figure 3 The present application provides an auxiliary control device 300 for intelligent parking, which includes:

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

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

[0113] The parameter detection unit 303 is configured to detect a plurality of pose deviation parameter values between the vehicle and the parking space and at least one obstacle parameter value between the vehicle and a surrounding obstacle when the parking state of the vehicle during parking is in the blocked state.

[0114] The determination unit 304 is configured to logically judge the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking.

[0115] Optionally, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking comprises:

[0116] When the at least one obstacle parameter value is within a respective preset blocked safety value range and the plurality of pose deviation parameter values are within respective preset correct pose limiting ranges, it is determined that the intelligent parking is completed.

[0117] Optionally, the plurality of pose deviation parameter values comprise a vehicle body position deviation value and a vehicle body angle deviation value; the vehicle body position deviation value refers to a distance value of a vehicle body center point and a parking space center point on a longitudinal coordinate axis in a preset coordinate system, and the vehicle body angle deviation value refers to a deviation angle value of a vehicle body center axis and a parking space center axis in the preset coordinate system.

[0118] Correspondingly, when the at least one obstacle parameter value is within a respective preset blocked safety value range and the plurality of pose deviation parameter values are within respective preset correct pose limiting ranges, it is determined that the intelligent parking is completed, which comprises:

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

[0120] Optionally, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking comprises:

[0121] When the at least one obstacle parameter value is within a respective preset blocked safety value range, the vehicle body position deviation value is within a preset position deviation range, and the vehicle body angle deviation value is within a preset second angle deviation range, it is prompted whether to adjust the angle deviation of parking, wherein a minimum threshold value in the preset second angle deviation range is greater than a maximum threshold value in the preset first angle deviation range.

[0122] When the instruction of adjusting the angle deviation of parking is received, the intelligent control adjusts the angle deviation of parking.

[0123] Optionally, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking comprises:

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

[0125] Optionally, the at least one obstacle parameter value comprises a key distance value of the vehicle body from the nearest obstacle on the parking route.

[0126] Correspondingly, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking comprises:

[0127] At least based on the key distance value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking.

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

[0129] The exit unit is configured to, in the intelligent parking process, count a parking duration and / or a parking frequency, and when the parking duration exceeds a preset parking duration threshold value or the parking frequency exceeds a preset parking frequency threshold value, exit the intelligent parking.

[0130] When the horizontal parking space is intelligently parked by the embodiments of the present application, if the parking is blocked, the logical judgment on the obstacle parameter value and the pose deviation parameter value can quickly determine whether the vehicle is suitable for continuing intelligent parking. The use of a large amount of perception data and complex numerical calculation is reduced, the efficiency of intelligent parking is improved, and the user's experience of using intelligent parking is improved.

[0131] The embodiments of the present application provide an electronic device, which comprises at least one processor and a memory in communication connection with 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 to enable the at least one processor to perform the method steps of the above embodiments.

[0132] The embodiments of the present application provide a non-volatile computer storage medium, which stores computer executable instructions, and the computer executable instructions are executable to perform the method steps of the above embodiments.

[0133] It should be noted that the various embodiments described in the specification are intended to be illustrative only and are not in any way limiting. Although the present application has been described in considerable detail, various modifications and changes can be made to the present application by those skilled in the art possessing the teachings and knowledge of this application, this detailed description being construed as encompassing equivalents of what is described and claimed.

[0134] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalent features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate 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 by, The method comprises the following steps: in response to receiving the intelligent 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 during the parking process is in a blocked state, detecting a plurality of pose deviation parameter values between the vehicle and the parking space (2) and at least one obstacle parameter value of the vehicle and the surrounding obstacles (3), wherein the plurality of pose deviation parameter values comprise a vehicle body position deviation value (13) and a vehicle body angle deviation value (14); performing logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking, wherein the at least one obstacle parameter value comprises a key distance value (31) between the vehicle body (1) and the nearest obstacle (3) on the parking route; wherein the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking comprises: when the at least one obstacle parameter value is within the respective preset blocked safety value range and the plurality of pose deviation parameter values are within the respective preset correct pose limiting range, it is determined that the intelligent parking is completed; when at least one obstacle parameter value is outside the respective preset blocked safety value range, or the vehicle body position deviation value (13) is outside 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.

2. The method of claim 1, wherein: the vehicle body position deviation value (13) is the distance value of the vehicle body center position (11) and the parking space center position (21) on the longitudinal coordinate axis in the preset coordinate system, and the vehicle body angle deviation value (14) is the deviation angle value between the vehicle body center axis (12) and the parking space center axis (22) in the preset coordinate system; correspondingly, when the at least one obstacle parameter value is within the respective preset blocked safety value range and the plurality of pose deviation parameter values are within the respective preset correct pose limiting range, it is determined that the intelligent parking is completed, comprising: when the at least one obstacle parameter value is within the respective preset blocked 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 first angle deviation range, it is determined that the intelligent parking is completed.

3. The method of claim 2, wherein, the logical judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking comprises: prompting whether to adjust the angle deviation of parking when the at least one obstacle parameter value is within the respective preset blocked safe 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, wherein a minimum threshold value within the preset second angle deviation range is greater than a maximum threshold value within the preset first angle deviation range; intelligently controlling the vehicle to adjust the angle deviation of parking when an instruction of adjusting the angle deviation of parking is received.

4. The method of claim 1, wherein, The logic judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values includes: determining whether to control the vehicle to continue intelligent parking based at least on the key distance value (31) and the plurality of pose deviation parameter values.

5. The method according to any of claims 3-4, characterized in that, The method further includes: counting the parking duration and / or the parking times during the intelligent parking; quitting the intelligent parking when the parking duration exceeds a preset parking duration threshold value or the parking times exceeds a preset parking times threshold value.

6. An auxiliary control device for intelligent parking, characterized by, including: a type detection unit configured to detect the type of the parking space (2) in response to receiving an intelligent parking instruction; a state detection unit configured to detect the parking state of the vehicle during the parking when the type of the parking space (2) is the horizontal parking space type; a parameter detection unit configured to detect a plurality of pose deviation parameter values of the vehicle and at least one obstacle parameter value of the vehicle and the surrounding obstacle (3) when the parking state of the vehicle during the parking is in the blocked state, wherein the plurality of pose deviation parameter values include a vehicle body position deviation value (13) and a vehicle body angle deviation value (14); a determination unit configured to logically judge the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking, wherein the at least one obstacle parameter value includes a key distance value (31) between the vehicle body (1) and the nearest obstacle (3) on the parking route; wherein the logic judgment on the at least one obstacle parameter value and the plurality of pose deviation parameter values to determine whether to control the vehicle to continue intelligent parking includes: determining that the intelligent parking is completed when the at least one obstacle parameter value is within the respective preset blocked safe value range and the plurality of pose deviation parameter values are within the respective preset correct pose limitation range; determining that the vehicle continues intelligent parking when at least one obstacle parameter value exceeds the respective preset blocked safe 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.

7. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the method of any one of claims 1 to 5.

8. An electronic device, comprising: including: one or more processors; a storage device configured to store one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to perform the method of any of claims 1-5.

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