Auxiliary parking method, control device and vehicle

Abstract

The embodiment of the invention provides an auxiliary parking method, a control device and a vehicle, and the method comprises the steps: responding to an auxiliary parking instruction, and determining a parking mode; when it is determined that the driver preferentially parks the vehicle head, a vehicle head parking path is automatically planned, and the vehicle is controlled to be automatically parked into the target parking space based on the planned path. According to the method, when the driver preferences that the vehicle head is parked and the driver starts the auxiliary parking function, the auxiliary parking instruction is responded, the vehicle head parking path can be automatically planned, the vehicle is controlled to be automatically parked into the target parking space based on the planned path, manual switching by a user is not needed, the parking time is saved, and the driving experience of the driver is improved.

Description

Technical Field

[0001] The present application relates to the field of parking technology, and in particular to an assisted parking method and control device, and a vehicle. Background Art

[0002] Automatic parking means that the car is controlled by the automatic parking assistance system, which controls the vehicle to park in the target parking space by itself. When a suitable parking space between other parked vehicles is found, the target parking space is automatically or manually determined according to the driver's selection, the automatic parking trajectory is calculated, and a control command is sent to guide the vehicle to park in the target parking space.

[0003] Currently, when using the assisted parking function, the rear parking method is generally selected by default. If you want to park the front of the car, the driver needs to manually switch to front parking, and the driver's preference for front parking is not taken into account. Summary of the invention

[0004] The embodiments of the present application provide an assisted parking method, a control device, and a vehicle. The method can automatically plan a front parking path when the driver's preference is to park the front of the vehicle, and control the vehicle to automatically park in the target parking space based on the planned path without the need for manual switching by the user, thereby improving the driver's driving experience.

[0005] In a first aspect, an embodiment of the present application provides an assisted parking method, the method comprising: determining a parking method in response to an assisted parking instruction; when it is determined that the driver's preference is front-end parking, automatically planning a front-end parking path, and controlling the vehicle to automatically park in a target parking space based on the planned path.

[0006] In a possible implementation, determining the parking mode in response to the assisted parking instruction includes: determining that the driver chooses to use memory parking in response to the assisted parking instruction; or determining that the driver chooses to use basic parking in response to the assisted parking instruction.

[0007] In a possible implementation, when it is determined that the driver chooses to use memory parking, when it is determined that the driver's preference is front-end parking, automatically planning the front-end parking path includes: determining whether the driver's preference in the stored memory parking route is front-end parking; if it is determined that the driver's preference is front-end parking, then after determining that there is no safety risk in parking the front of the vehicle in the target parking space, automatically planning the path for parking the front of the vehicle in the target parking space.

[0008] In one possible implementation, if it is determined that the driver's preference is not to park in the front of the vehicle, it is determined whether the target parking space is occupied; wherein, when the target parking space is not occupied, a path for parking in the rear of the vehicle is planned, and the path is planned to control the vehicle to automatically park in the target parking space; when the target parking space is occupied, it is determined whether to choose to park in the front of the vehicle in other empty parking spaces; wherein, in response to a confirmation instruction, after determining that there is no safety risk in parking in the recommended parking space with the front of the vehicle, a path for parking in the recommended parking space with the front of the vehicle is automatically planned, and the vehicle is controlled to automatically park in the recommended parking space based on the planned path; in response to a rejection instruction, a path for parking in the recommended parking space with the rear of the vehicle is automatically planned, and the vehicle is controlled to automatically park in the recommended parking space based on the planned path.

[0009] In a possible implementation, when it is determined that the driver chooses to use basic parking, before automatically planning the front parking path when it is determined that the driver's preference is front parking, the method further includes: determining that the target parking space is a reverse herringbone parking space.

[0010] In a possible implementation, after determining that the target parking space is an inclined parking space and before automatically planning a front parking path when determining that the driver's preference is front parking, the method further includes: determining that the vehicle is located directly in front of the target parking space.

[0011] In one possible implementation, determining that the vehicle is directly in front of the target parking space includes: when the angle between the center line of the vehicle and the center line of the target parking space is less than a preset angle, and the vertical distance between the center of the vehicle head and the center line of the target parking space is less than a preset distance, then determining that the vehicle is directly in front of the target parking space.

[0012] In a possible implementation, when it is determined that the driver chooses to use basic parking, when it is determined that the driver's preference is front-end parking, automatically planning the front-end parking path includes:

[0013] Determine whether the driver's preference is front-end parking; if it is determined that the driver's preference is front-end parking, then automatically plan a path for the front of the vehicle to park in the target parking space after determining that there is no safety risk in parking in the target parking space; if it is determined that the driver's preference is not front-end parking, then plan a path for rear-end parking.

[0014] In a second aspect, an embodiment of the present application further provides an assisted parking control device, comprising: a processor and a memory, wherein the memory is used to store at least one instruction, and when the instruction is loaded and executed by the processor, the assisted parking method provided in the first aspect is implemented.

[0015] In a third aspect, an embodiment of the present application further provides a vehicle, which includes the auxiliary parking control device provided in the second aspect.

[0016] Through the above technical solution, when the driver's preference is to park the front of the vehicle, when the driver turns on the assisted parking function, in response to the assisted parking instruction, the front parking path can be automatically planned, and the vehicle can be automatically parked in the target parking space based on the planned path, without the need for manual switching by the user, thus saving parking time and improving the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 A flowchart of an assisted parking method provided by one embodiment of the present application;

[0019] Figure 2 A schematic diagram of an assisted parking control strategy provided for one embodiment of the present application;

[0020] Figure 3 A schematic diagram of reverse herringbone parking space determination provided by one embodiment of the present application;

[0021] Figure 4 A schematic diagram of determining the target parking space directly in front of an embodiment of the present application;

[0022] Figure 5 A schematic diagram of the structure of an auxiliary parking control device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] Figure 1 A flow chart of an assisted parking method provided in accordance with an embodiment of the present application.

[0025] Reference Figure 1 As shown, the assisted parking method may include the following steps:

[0026] S101: In response to an assisted parking instruction, determine a parking method.

[0027] S102: When it is determined that the driver's preference is front-end parking, a front-end parking path is automatically planned, and the vehicle is controlled to automatically park in a target parking space based on the planned path.

[0028] In some embodiments, when the user needs to park the vehicle into the target parking space, when the user starts assisted parking, an assisted parking instruction is generated, which in turn triggers the execution of S101, that is, determining the parking method in response to the assisted parking instruction.

[0029] In some embodiments, the parking mode may include memory parking and basic parking. When the driver starts assisted parking, one of the above parking modes may be selected, namely, memory parking or basic parking. In response to the user's selection, the parking mode may be determined.

[0030] In some application scenarios, the driver can set his own parking preference, which can include front-end parking or rear-end parking. When the vehicle assists the user in automatic parking, the vehicle can consider the user's parking preference and automatically plan the front-end parking path when the driver's parking preference is front-end parking. Then, the vehicle can be controlled to automatically park in the target parking space based on the planned path. This assisted parking mode does not require the user to manually switch, saving parking time and improving the driver's driving experience.

[0031] Figure 2 A schematic diagram of an assisted parking control strategy provided for one embodiment of the present application.

[0032] Reference Figure 2 As shown, the assisted parking control strategy may include the following steps:

[0033] S201: Determine the parking method selected by the user. If memory parking is selected, execute S202; if basic parking is selected, execute S208.

[0034] 202: Determine whether the preference in the memory parking route is front-end parking. If so, execute S203; if not, execute S205.

[0035] S203: Determine that there is no safety risk in parking the front of the vehicle and that a path can be planned.

[0036] S204: Planning a parking path for the front of the vehicle, and controlling the vehicle to automatically park in a target parking space based on the planned path.

[0037] S205: Determine whether the target parking space is occupied, if so, execute S206, if not, execute S207.

[0038] S206: Determine whether to park in other empty parking spaces, if yes, return to S203, if not, execute S207.

[0039] S207: Parking in the parking space is used by default.

[0040] In some embodiments, when it is determined that the driver chooses to use memory parking, it can be determined whether the driver's preference in the stored memory parking route is front parking. If it is determined that the driver's preference is not front parking, it is determined whether the target parking space is occupied; wherein, when the target parking space is not occupied, a rear parking path is planned, and the path is planned to control the vehicle to automatically park in the target parking space; when the target parking space is occupied, it is determined whether to choose to park the front of the vehicle in other empty parking spaces; wherein, in response to a confirmation instruction, after determining that there is no safety risk in parking the front of the vehicle in the recommended parking space, a path for parking the front of the vehicle in the recommended parking space is automatically planned, and the vehicle is controlled to automatically park in the recommended parking space based on the planned path; in response to a rejection instruction, a path for parking the rear of the vehicle in the recommended parking space is automatically planned, and the vehicle is controlled to automatically park in the recommended parking space based on the planned path.

[0041] It should be noted that after determining that the current target parking space is occupied, the vehicle can recommend a new target parking space and update the target parking space to the vehicle recommended parking space. The automatically planned path for the vehicle head to park in the recommended parking space can be the automatically planned path for the vehicle head to park in the updated target parking space.

[0042] In some application scenarios, if the memory parking function is used, if the target parking space is not occupied, it may be determined whether the driver has chosen to park the front of the vehicle into the target parking space when memorizing the route. If the driver has chosen to park the front of the vehicle, and there is no safety risk in parking the front of the vehicle, and the path for parking the front of the vehicle can be planned, then the front of the vehicle is recommended by default, otherwise the rear of the vehicle is recommended. When the driver has chosen to park the rear of the vehicle into the target parking space, if the target parking space is not occupied, the rear of the vehicle is used by default. If the target parking space is occupied, the driver will be asked again to choose whether to park the front of the vehicle into an empty parking space nearby. If the driver has chosen to park the front of the vehicle, and there is no safety risk in parking the front of the vehicle, and the path for parking the front of the vehicle can be planned, then the front of the vehicle is recommended by default, otherwise the rear of the vehicle is recommended.

[0043] S208: Collect parking space information and vehicle posture information.

[0044] In some embodiments, the vehicle may collect parking space information and vehicle posture information through its own sensors.

[0045] S209: Determine whether the target parking space is a reverse herringbone parking space, if so, execute S203, if not, execute S210.

[0046] In some embodiments, whether the target parking space is a reverse herringbone parking space may be determined based on the collected parking space information and vehicle posture information.

[0047] Figure 3 A schematic diagram of reverse herringbone parking space determination provided for one embodiment of the present application.

[0048] Reference Figure 3 As shown, first, it can be determined whether the target is an inclined train position, determine the inclination angle γ of the target parking position, and further determine whether the inclination angle of the target parking position meets the inclination angle range of the inclined train position. Exemplarily, the inclination angle range of the inclined train position can be 45° to 75°, that is, when 45°≤γ≤75, ​​it can be determined that the target parking position is an inclined train position.

[0049] After determining that the target parking space is an inclined parking space, it can be further determined whether it is a reverse herringbone parking space. In one embodiment, the angle β between the center line of the vehicle and the center line of the inclined parking space can be determined (the angle will change according to the inclination of the vehicle), and when 0≤β≤γ, the inclined target parking space is considered to be a reverse herringbone parking space.

[0050] S210: Determine whether the vehicle is located directly in front of the target parking space, if so, execute S203, if not, execute S211.

[0051] In some embodiments, whether the vehicle is located directly in front of the target parking space can be determined based on the angle between the center line of the vehicle and the center line of the target parking space and the vertical distance between the center of the vehicle head and the center line of the target parking space. When the angle between the center line of the vehicle and the center line of the target parking space is less than a preset angle, and the vertical distance between the center of the vehicle head and the center line of the target parking space is less than a preset distance, it is determined that the vehicle is located directly in front of the target parking space.

[0052] Figure 4 A schematic diagram of determining the position directly in front of a target parking space provided in one embodiment of the present application.

[0053] Reference Figure 4 As shown, the angle between the center line of the vehicle and the center line of the parking space can be determined to be α (calibrated quantity), and the vertical distance from the center of the vehicle head to the center line of the parking space can be d (calibrated quantity). Exemplarily, the preset angle can be 45°, and the preset distance can be 2.5m. That is, when it is determined that the angle between the center line of the vehicle and the center line of the parking space is α<45°, and the vertical distance from the center of the vehicle head to the center line of the parking space is d<2.5m, it is determined that the vehicle is located directly in front of the target parking space.

[0054] In other embodiments, it can also be determined that the vehicle is located directly in front of the target parking space when the angle between the center line of the vehicle and the center line of the parking space is determined to be α≤45°, and the vertical distance from the center of the vehicle head to the center line of the parking space is d≤2.5m.

[0055] It should be noted that the above parameters such as γ, β, α and d are obtained by observing the relative position information of the parking space line after the vehicle's camera collects the information about the surrounding environment of the vehicle body to form a BEV view. The parking space frame information is collected by the camera and the angle of the corner point of the parking space is used to infer the angle of the oblique train space. If the angle difference between the left and right corner points of the oblique train space entrance is not greater than the angle value of the calibration quantity, it is considered that the angle has a high credibility and can be regarded as γ. By identifying the difference between the angle between the parking space line at the entrance of the target oblique train space and the vertical line of the center of the vehicle head and γ, β is obtained. By identifying the angle between the geometric center of the target vertical parking space and the vertical line of the midpoint at the front of the vehicle, α is obtained, and d is obtained based on the vertical distance between the front of the vehicle and the vertical line of the center of the parking space line at the entrance of the target vertical parking space.

[0056] S211: Determine whether the driver's preference is front-end parking. If so, execute S203; if not, execute S207.

[0057] In some embodiments, the driver can pre-set the parking preference for basic parking, which can be specifically set to front-end parking or rear-end parking.

[0058] After the driver selects basic parking, if the target parking space is determined to be a reverse herringbone parking space, the vehicle is located directly in front of the target parking space, or the driver prefers to park head-on, the system can automatically plan a path for the vehicle to park head-on into the target parking space after determining that there is no safety risk in parking head-on into the target parking space and a path can be planned, and control the vehicle to automatically park into the target parking space based on the planned path.

[0059] After the driver selects basic parking, if it is determined that the target parking space is not a reverse herringbone parking space and the vehicle is not directly in front of the target parking space, and the driver's preference is not to park the vehicle head-on, a rear parking path can be planned, and the vehicle can be controlled to automatically park in the target parking space based on the planned path.

[0060] Through the assisted parking method provided in the embodiment of the present application, when the driver uses assisted parking, the front parking will be recommended by default according to the driver's preference and the parking space situation, without the driver having to manually click to switch. In addition, when memory parking, not only can the target parking space be selected, but also whether to park the front or the rear of the vehicle in the target parking space can be selected to meet more user car use scenarios. In addition, when the memory parking target parking space is occupied and the vehicle automatically parks in the surrounding empty parking spaces, the front / rear parking can also be performed according to the driver's needs.

[0061] Figure 5 A schematic diagram of an auxiliary parking control device provided in one embodiment of the present application.

[0062] Reference Figure 5As shown, the device may include: a processor 501 and a memory 502, where the memory 502 is used to store at least one instruction, which, when loaded and executed by the processor 501, implements the assisted parking method provided in any embodiment of the present application.

[0063] The embodiment of the present application also provides a vehicle, which may include Figure 5 The assisted parking control device provided in the illustrated embodiment. The vehicle can implement the assisted parking method provided in any embodiment of the present application through the assisted parking control device.

[0064] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0065] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0066] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0067] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0068] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (Processor) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0069] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. An assisted parking method, characterized in that: The method comprises: In response to the assisted parking instruction, determining a parking mode; When it is determined that the driver's preference is front-end parking, a front-end parking path is automatically planned, and the vehicle is controlled to automatically park in the target parking space based on the planned path.

2. The method according to claim 1, characterized in that: In response to the assisted parking instruction, determining the parking method includes: In response to the assisted parking instruction, determining that the driver has selected to use memory parking; or In response to the assisted parking instruction, it is determined that the driver selects to use basic parking.

3. The method according to claim 2, characterized in that When it is determined that the driver chooses to use memory parking, when it is determined that the driver's preference is front-end parking, automatically planning the front-end parking path includes: determining whether the driver preference in the stored memory parking route is head-on parking; If it is determined that the driver's preference is to park head-on, then after determining that there is no safety risk in parking head-on in the target parking space, a path for parking head-on in the target parking space is automatically planned.

4. The method according to claim 3, characterized in that If it is determined that the driver's preference is not front-end parking, determining whether the target parking space is occupied; Among them, when the target parking space is not occupied, a rear parking path is planned, and the path is planned to control the vehicle to automatically park in the target parking space; When the target parking space is occupied, determine whether to select the front of the vehicle to park in other empty parking spaces; Wherein, in response to the confirmation instruction, after determining that there is no safety risk in parking the front of the vehicle in the recommended parking space, a path for the front of the vehicle to park in the recommended parking space is automatically planned, and the vehicle is controlled to automatically park in the recommended parking space based on the planned path; In response to the rejection instruction, a path for the rear end of the vehicle to park in the recommended parking space is automatically planned, and the vehicle is controlled to automatically park in the recommended parking space based on the planned path.

5. The method according to claim 2, characterized in that: When it is determined that the driver chooses to use basic parking, before automatically planning a front parking path when it is determined that the driver's preference is front parking, the method further includes: Determine that the target parking space is a reverse herringbone parking space.

6. The method according to claim 5, characterized in that After determining that the target parking space is an inclined parking space, and before automatically planning a front parking path when determining that the driver's preference is front parking, the method further includes: Make sure the vehicle is directly in front of the target parking space.

7. The method according to claim 6, characterized in that Determining that the vehicle is located directly in front of the target parking space includes: When the angle between the center line of the vehicle and the center line of the target parking space is less than a preset angle, and the vertical distance between the center of the vehicle head and the center line of the target parking space is less than a preset distance, it is determined that the vehicle is located directly in front of the target parking space.

8. The method according to any one of claims 5 to 7, when it is determined that the driver chooses to use basic parking, when it is determined that the driver's preference is front-end parking, automatically planning the front-end parking path comprises: determining whether the driver preference is head-on parking; If it is determined that the driver's preference is to park head-on, then after determining that there is no safety risk in parking head-on in the target parking space, a path for the vehicle to park head-on in the target parking space is automatically planned; If it is determined that the driver's preference is not front-end parking, a rear-end parking path is planned.

9. An auxiliary parking control device, characterized in that: The device comprises: A processor and a memory, wherein the memory is used to store at least one instruction, and when the instruction is loaded and executed by the processor, the assisted parking method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: The vehicle includes the assisted parking control device according to claim 9.

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