Automatic parking control method and device and vehicle-mounted equipment

Abstract

The invention discloses an automatic parking control method and device and vehicle-mounted equipment. The method comprises the steps that under the condition that a driving scene meets conditions, an automatic parking switch prompt is output; receiving a control instruction input based on the prompt of the automatic parking switch; and controlling a switch of an automatic parking function based on the control instruction. An automatic parking switch prompt is automatically output in a proper scene, so that a driver can input a control instruction based on the prompt to control a switch of an automatic parking function. A driver does not need to manually set in a menu, so that a switch with an automatic parking function is simplified; moreover, the output of the automatic parking switch prompt is related to the driving scene, and the switching selection of the automatic parking function appears in the scene that the automatic parking function can influence the driving experience, so that the automatic parking control is more convenient and intelligent.

Description

Technical Field

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

[0002] Autohold is an automatic braking function of electric vehicles. After the function is activated, the driver can trigger the braking function by pressing the brake pedal deeply for more than a certain threshold or for a certain period of time, and then release the brake pedal. For example, when the vehicle is parked at a traffic light, the autohold function allows the driver to brake without using the handbrake, thereby simplifying the driving operation.

[0003] However, in the scenario of reversing into a garage, if the brake pedal is deeply stepped on and the vehicle slows down to 0 during reversing, the automatic parking function will take effect and the vehicle will brake. In this case, if you want to continue reversing, you need to accelerate and start the vehicle again. The above operation makes the reversing into a garage process cumbersome. For this reason, the driver usually turns the automatic parking on and off according to the scenario. For example, when reversing into a garage is required, the driver turns off the automatic parking function in the menu; when driving on the road, the driver turns on the automatic parking function in the menu. This automatic parking control method makes the use of the automatic parking function more complicated. Summary of the invention

[0004] The present application provides an automatic parking control method and device, and a vehicle-mounted device, wherein the method can simplify the switch of the automatic parking function.

[0005] In a first aspect, the present application provides an automatic parking control method, which includes: outputting an automatic parking switch prompt when a driving scenario satisfies a condition; receiving a control instruction based on the automatic parking switch prompt input; and controlling the switch of the automatic parking function based on the control instruction.

[0006] In this implementation, an automatic parking switch prompt is automatically output in appropriate scenarios, so that the driver can input a control command based on the prompt to control the automatic parking function. The driver does not need to manually set it in the menu, thereby simplifying the automatic parking function switch; and the output of the automatic parking switch prompt is related to the driving scenario, and the automatic parking function switch selection appears in the scenario where the automatic parking function will affect the driving experience, making the automatic parking control more convenient and intelligent.

[0007] In a possible implementation of the present application, the automatic parking switch prompt is an automatic parking on prompt, and the automatic parking on prompt is used to prompt the driver to turn on the automatic parking function when the automatic parking function of the vehicle is turned off.

[0008] Accordingly, when the driving scenario meets the conditions, the automatic parking switch prompt is output, including:

[0009] When the driving scenario meets the first condition and the automatic parking function is in the off state, the automatic parking on prompt is output; the first condition includes one of the following:

[0010] The vehicle is within the range of the traffic light and the speed is less than the speed threshold;

[0011] The vehicle is on an uphill slope.

[0012] In this implementation, if the vehicle is within the range of the traffic light and the speed is less than the speed threshold, it is determined that the vehicle may stop and wait for the traffic light. At this time, an automatic parking start prompt is output, so that the vehicle can turn on the automatic parking function when waiting for the traffic light, ensuring the normal activation of the automatic parking function. If the vehicle is in an uphill state, an automatic parking start prompt is output at this time. Turning on the automatic parking function during the uphill state can prevent the vehicle from slipping when starting on a slope, making driving more convenient.

[0013] Exemplarily, the vehicle being within the range of a traffic light may mean that the distance between the vehicle and the nearest traffic light is less than a set value, such as less than 10 m.

[0014] The distance between the vehicle and the nearest traffic light can be calculated based on the image taken by the camera; the distance between the vehicle and the nearest traffic light can also be determined based on the vehicle position and an electronic map. This application does not limit the method for determining the distance between the vehicle and the nearest traffic light.

[0015] Exemplarily, the speed threshold may be less than 10 km / h. For example, when the vehicle is within the range of a traffic light and the speed is 1 km / h, or when the vehicle is within the range of a traffic light and the speed is 0, it indicates that the driving scenario meets the first condition.

[0016] The vehicle being in an uphill state can be determined based on a camera image; the vehicle being in an uphill state can be determined based on a vehicle-mounted slope sensor; the vehicle being in an uphill state can also be determined based on the vehicle position and an electronic map. This application does not limit the method of determining that the vehicle is in an uphill state.

[0017] In a possible implementation of the present application, the automatic parking switch prompt is an automatic parking off prompt, and the automatic parking off prompt is used to prompt the driver to turn off the automatic parking function when the automatic parking function of the vehicle is turned on.

[0018] Accordingly, when the driving scenario meets the conditions, the automatic parking switch prompt is output, including:

[0019] When the driving scenario meets the second condition and the automatic parking function is turned on, an automatic parking off prompt is output; the second condition includes at least one of the following:

[0020] The vehicle is located in the parking lot;

[0021] The vehicle is in reverse gear;

[0022] The vehicle is in a creeping state, and there is an obstacle in the vehicle's driving path with a distance less than a first threshold.

[0023] In this implementation, if the vehicle is in a parking lot and / or in reverse gear, it is determined that the vehicle is likely to reverse into a parking space, and an automatic parking shutdown prompt is output at this time, so that the vehicle can turn off the automatic parking function when reversing into a parking space, thereby preventing the automatic parking function from affecting the reversing into a parking space. If the vehicle is in a creeping state and there are obstacles at a relatively close distance on the vehicle's driving path, it is determined that the vehicle is likely to be in a following vehicle state, and an automatic parking shutdown prompt is output at this time, so that the vehicle can turn off the automatic parking function when following a vehicle, thereby preventing the automatic parking function from affecting the following vehicle.

[0024] The vehicle being in the parking lot can be determined based on a picture taken by a camera; the vehicle being in the parking lot can also be determined based on the vehicle position and an electronic map. This application does not limit the method for determining that the vehicle is in the parking lot.

[0025] The vehicle is in a creeping state when the vehicle is in a forward or reverse gear, the accelerator pedal is not stepped on, and the vehicle is moving slowly. Usually, in the creeping state, the vehicle speed is low.

[0026] Exemplarily, the vehicle speed in the creeping state is no more than 10 km / h, for example, the maximum vehicle speed in the creeping state is usually 5 km / h.

[0027] Among them, the existence of obstacles in the vehicle's driving path at a distance less than the first threshold can be determined based on the picture taken by the camera; the existence of obstacles in the vehicle's driving path at a distance less than the first threshold can also be determined based on the detection information of the millimeter wave radar. This application does not limit the method used to determine the existence of obstacles in the vehicle's driving path at a distance less than the first threshold. When determining whether an obstacle meets the conditions, you can first combine the angle information output by the steering wheel angle sensor to determine whether the obstacle is on the vehicle's driving path; if it is on the driving path, then determine whether the distance between the obstacle and the vehicle is less than the first threshold; or, when determining whether an obstacle meets the conditions, you can first determine whether the distance between the obstacle and the vehicle is less than the first threshold; if it is less than the first threshold, then combine the angle information output by the steering wheel angle sensor to determine whether the obstacle is on the vehicle's driving path.

[0028] Exemplarily, the first threshold is not greater than 3 m, for example 3 m.

[0029] Optionally, the method may further include: when the driving scenario meets the conditions and the switch state of the automatic parking function matches the driving scenario, outputting a prompt of the switch state of the automatic parking function.

[0030] The prompt of the switch state of the automatic parking function here is only used to indicate the switch state of the automatic parking function, and is not used to indicate the switching of the switch state.

[0031] For example, when the driving scenario satisfies the first condition and the automatic parking function is in the on state, a prompt indicating that the automatic parking function is in the on state is output.

[0032] For another example, when the driving scenario satisfies the second condition and the automatic parking function is in an off state, a prompt indicating that the automatic parking function is in an off state is output.

[0033] In the above implementation, by prompting the driver that the current automatic parking function is in a suitable state, the driver can perform driving operations reasonably and conveniently.

[0034] For example, the prompt of the switch status of the automatic parking function can be a voice prompt, which is output through the speaker in the car; it can also be a text, picture or video prompt, which is output through the central control screen or head up display (HUD).

[0035] In the implementation of the present application, the number of times the automatic parking function is turned on and off can be limited, for example, within a set time length, if the same state has been reminded, the reminder will not be repeated. The set time length is set based on needs, for example, half an hour.

[0036] In a possible implementation of the present application, outputting an automatic parking switch prompt includes:

[0037] The automatic parking switch prompt is output through the in-vehicle speakers.

[0038] Among them, the in-car speakers can be cockpit audio.

[0039] In this implementation, the output automatic parking switch prompt is a voice-broadcast automatic parking switch prompt.

[0040] In another possible implementation of the present application, outputting an automatic parking switch prompt includes:

[0041] The automatic parking switch prompt is output via the in-vehicle display.

[0042] Among them, the in-car display can be a central control screen or a HUD.

[0043] In this implementation, the output automatic parking switch prompt is an automatic parking switch prompt in text form, or an automatic parking switch prompt in picture form, or an automatic parking switch prompt in video form.

[0044] In other possible implementations of the present application, the automatic parking switch prompt may also be output through the in-vehicle speaker and the in-vehicle display at the same time.

[0045] Similar to outputting the automatic parking switch prompt, there are also multiple ways for the driver to input a control command so that the vehicle receives the control command based on the automatic parking switch prompt input.

[0046] For example, the driver inputs control instructions in the form of voice through the microphone in the car. This method does not require manual operation by the driver, making control more convenient and safer.

[0047] For another example, the driver inputs control instructions through physical buttons on the control panel or virtual buttons on the display.

[0048] In the above implementation, there is no necessary correspondence between the way of outputting the automatic parking switch prompt and the way of inputting the control command. For example, when the in-car speaker outputs the automatic parking switch prompt, the control command can be input by voice or by key. For another example, when the in-car display outputs the automatic parking switch prompt, the control command can be input by voice or by key.

[0049] In the implementation of the present application, after the driver inputs a control instruction via voice, the vehicle controller performs voice processing to determine whether the input control instruction is an approved instruction.

[0050] For example, when the automatic parking activation prompt is output, if the driver voice inputs commands such as "agree", "yes", "activate", etc., it is determined that the automatic parking function can be controlled to be activated.

[0051] For another example, when the automatic parking shutdown prompt is output, the driver voice inputs commands such as "agree", "yes", "close", etc., and it is determined that the automatic parking function can be controlled to be closed.

[0052] After the control command is input through the button, the vehicle controller receives the control command corresponding to the button and performs control according to the control command corresponding to the button.

[0053] Since the vehicle needs to control the speed in some driving scenarios, and the vehicle has a high creeping speed, the driver needs to brake frequently to control the speed. In this case, reducing the creeping speed can make it easier to control the vehicle. To this end, the method may also include:

[0054] When the driving scenario satisfies the third condition, at least one of the creep acceleration and the creep maximum speed of the vehicle is reduced; the third condition includes:

[0055] There is an obstacle in the driving path or on the side of the vehicle with a distance less than the second threshold, and the brake pedal of the vehicle is stepped on multiple times in succession.

[0056] The maximum creep speed refers to the maximum speed that the vehicle can reach when the vehicle is in the forward or reverse gear and the accelerator pedal and the brake pedal are not pressed. The creep acceleration refers to the acceleration of the vehicle when the vehicle is in the forward or reverse gear and the accelerator pedal and the brake pedal are not pressed.

[0057] In this implementation, when there is a small obstacle on the vehicle's driving path or side, it means that the vehicle is driving in a narrow environment. Usually, in this environment, the accelerator pedal is completely released to enter a creeping state, and if the brake pedal is further stepped on several times in succession, it means that the vehicle speed needs to be further controlled. At this time, the creeping acceleration and / or the creeping maximum speed of the vehicle are reduced, so that the creeping state speed is reduced, which can reduce the driver's behavior of stepping on the brake pedal to control the vehicle speed. On the one hand, it reduces the driver's operation amount, and on the other hand, it can reduce the situation of accidentally stepping on the accelerator pedal in this case (because the brake pedal is stepped on less).

[0058] Among them, the existence of obstacles on the driving path or side of the vehicle at a distance less than the second threshold can be determined based on the picture taken by the camera; the existence of obstacles on the driving path or side of the vehicle at a distance less than the second threshold can also be determined based on the detection information of the millimeter wave radar. This application does not limit the method used to determine the existence of obstacles on the driving path or side of the vehicle at a distance less than the second threshold. When determining whether an obstacle meets the conditions, you can first combine the angle information output by the steering wheel angle sensor to determine whether the obstacle is on the driving path of the vehicle, or determine whether the obstacle is on the side of the vehicle; if it is on the driving path or on the side of the vehicle, then determine whether the distance between the obstacle and the vehicle is less than the second threshold; or, when determining whether an obstacle meets the conditions, you can first determine whether the distance between the obstacle and the vehicle is less than the second threshold; if it is less than the second threshold, then combine the angle information output by the steering wheel angle sensor to determine whether the obstacle is on the driving path of the vehicle, or determine whether the obstacle is on the side of the vehicle.

[0059] Exemplarily, the second threshold is not greater than 30 cm, for example, 20 cm.

[0060] Among them, the continuous stepping of the brake pedal of the vehicle multiple times may refer to the stepping of the brake pedal multiple times within a cycle time. The cycle time is usually short, such as 3 seconds or 5 seconds. During the multiple stepping of the brake pedal, each stepping of the brake pedal has a certain depth, such as exceeding 10% or 15% of the brake pedal stroke. Of course, the above values ​​are only examples and are not used to limit the present application.

[0061] In the implementation of the present application, when reducing at least one of the creeping acceleration and the creeping maximum speed of the vehicle, the creeping acceleration and / or the creeping maximum speed may be reduced by a preset value, for example, by 20% to 50%. Of course, the above values ​​are only examples and are not intended to limit the present application.

[0062] After the vehicle leaves the confined environment, the creep acceleration and / or the creep maximum speed may return to normal. Accordingly, the method further includes:

[0063] When the driving scene satisfies the fourth condition, at least one of the creep acceleration and the creep maximum speed of the vehicle is restored; the fourth condition includes at least one of the following:

[0064] The vehicle's brake pedal is not depressed within the cycle time, and the vehicle's accelerator pedal is depressed.

[0065] In this implementation, if the vehicle's brake pedal is not stepped on within the cycle time, and / or the vehicle's accelerator pedal is stepped on, it can be considered that the vehicle has left the cramped environment. At this time, the creep acceleration and / or the creep maximum speed are restored to facilitate the driver's driving of the vehicle in a non-cramped environment.

[0066] The brake pedal of the vehicle is not stepped on during the cycle time, and the cycle time here can be set as needed, such as 3 seconds or 5 seconds. During the cycle time when the brake pedal is not stepped on, the accelerator pedal of the vehicle is stepped on, and the accelerator pedal is stepped on to a certain depth, such as exceeding 10% or 15% of the accelerator pedal stroke. Of course, the above values ​​are only examples and are not used to limit the present application.

[0067] When the accelerator pedal is released during driving, the vehicle speed will drop significantly, especially for electric vehicles. This means that in order to maintain a high speed during driving, the accelerator pedal depth needs to be repeatedly adjusted, which makes driving more complicated and the driver experience poorer.

[0068] To this end, the method provided by this application also includes:

[0069] When the driving scenario satisfies the fifth condition, the accelerator pedal curve of the vehicle is adjusted so that the corresponding vehicle acceleration at the same accelerator pedal depth is reduced; the fifth condition includes:

[0070] The vehicle is on a high-speed road and the depth of the vehicle's accelerator pedal changes repeatedly.

[0071] In this implementation, if the vehicle is on a high-speed road and the depth of the vehicle's accelerator pedal changes repeatedly, it can be considered that the vehicle needs to maintain a higher speed. At this time, the accelerator pedal curve is adjusted to reduce the corresponding vehicle acceleration at the same depth of the accelerator pedal, that is, to reduce the sensitivity of the accelerator pedal, thereby making it easier to maintain the vehicle speed, simplifying the driving operation in this scenario, and improving the driving experience.

[0072] The vehicle being on a high-speed road can be determined based on a camera image; the vehicle being on a high-speed road can also be determined based on the vehicle position and an electronic map. This application does not limit the method used to determine that the vehicle is on a high-speed road. High-speed roads can include high-speed sections, viaducts, etc.

[0073] The repeated changes in the depth of the accelerator pedal of the vehicle may refer to the accelerator pedal changing in a cycle of deepening, shallowing, deepening, and shallowing, or changing in a cycle of shallowing, deepening, shallowing, and deepening. The cycle time is usually short, such as 5 seconds or 10 seconds. In the repeated changes in the depth of the accelerator pedal, each change exceeds a certain depth, such as 3% or 5% of the accelerator pedal travel. Of course, the above values ​​are for example only and are not intended to limit the present application.

[0074] The accelerator pedal curve refers to the acceleration corresponding to various accelerator pedal depths. By reducing the acceleration corresponding to various accelerator pedal depths, the above-mentioned accelerator pedal curve adjustment can be achieved. When implementing, different accelerator pedal curves can be preset in advance and called when adjustment is needed.

[0075] When the vehicle needs to change the currently maintained vehicle speed, the accelerator pedal curve of the vehicle can be restored. Accordingly, the method further includes:

[0076] When the driving scenario satisfies the sixth condition, the accelerator pedal curve of the vehicle is restored; the sixth condition includes:

[0077] The driving force change corresponding to the change in the accelerator pedal depth of the vehicle exceeds the power threshold.

[0078] In this implementation, if the driving force change corresponding to the change in the depth of the vehicle's accelerator pedal exceeds the power threshold, it can be considered that the vehicle needs to change the current speed it maintains. At this time, the vehicle's accelerator pedal curve facilitates the driver to drive the vehicle without maintaining a higher speed.

[0079] The driving force change may be an increase in driving force or a decrease in driving force, but as long as the power threshold is exceeded, the accelerator pedal curve is restored.

[0080] Exemplarily, the power threshold is not less than 10%, for example 10%.

[0081] In a second aspect, the present application provides an automatic parking control device, the device comprising:

[0082] An output unit, used to output an automatic parking switch prompt when the driving scene meets the conditions;

[0083] A receiving unit, for receiving a control instruction based on an automatic parking switch prompt input;

[0084] A control unit is used to control the switch of the automatic parking function based on a control command.

[0085] Optionally, the output unit is used to output an automatic parking activation prompt when the driving scene meets a first condition and the automatic parking function is in an off state; the first condition includes one of the following:

[0086] The vehicle is within the traffic light range and the speed is less than the speed threshold.

[0087] Optionally, the output unit is used to output an automatic parking off prompt when the driving scene meets a second condition and the automatic parking function is in an on state; the second condition includes at least one of the following:

[0088] The vehicle is located in the parking lot;

[0089] The vehicle is in reverse gear;

[0090] The vehicle is in a creeping state, and there is an obstacle in the vehicle's driving path with a distance less than a first threshold.

[0091] Optionally, the vehicle speed in the creeping state is not greater than 10 km / h, and the first threshold is not greater than 3 m.

[0092] Optionally, the output unit is further used to output a prompt of the switch state of the automatic parking function when the driving scene meets the conditions and the switch state of the automatic parking function matches the driving scene.

[0093] Optionally, the control unit is further configured to reduce at least one of a creep acceleration and a creep maximum speed of the vehicle when the driving scenario satisfies a third condition; the third condition comprising:

[0094] There is an obstacle in the driving path or on the side of the vehicle with a distance less than the second threshold, and the brake pedal of the vehicle is stepped on multiple times in succession.

[0095] Optionally, the control unit is further configured to restore at least one of a creep acceleration and a creep maximum speed of the vehicle when the driving scenario satisfies a fourth condition; the fourth condition includes at least one of the following:

[0096] The vehicle's brake pedal is not depressed within the cycle time, and the vehicle's accelerator pedal is depressed.

[0097] Optionally, the control unit is further configured to adjust the accelerator pedal curve of the vehicle so that the vehicle acceleration corresponding to the accelerator pedal at the same depth is reduced when the driving scenario satisfies the fifth condition; the fifth condition includes:

[0098] The vehicle is on a high-speed road and the depth of the vehicle's accelerator pedal changes repeatedly.

[0099] Optionally, the control unit is further configured to restore the accelerator pedal curve of the vehicle when the driving scenario satisfies a sixth condition; the sixth condition includes:

[0100] The driving force change corresponding to the change in the accelerator pedal depth of the vehicle exceeds the power threshold.

[0101] Optionally, the power threshold is not less than 10%.

[0102] In a third aspect, a vehicle-mounted device is provided. The vehicle-mounted device includes a processor, and the processor is coupled to a memory. The memory is used to store software programs and modules. The processor implements the method in the first aspect or any possible implementation of the first aspect by running or executing the software program and / or module stored in the memory.

[0103] Optionally, the number of the processors is one or more, and the number of the memories is one or more.

[0104] Optionally, the memory may be integrated with the processor, or the memory may be provided separately from the processor.

[0105] In the specific implementation process, the memory can be a non-transitory memory, such as a read-only memory (ROM), which can be integrated with the processor on the same chip or can be set on different chips. This application does not limit the type of memory and the setting method of the memory and the processor.

[0106] In a fourth aspect, a computer program product is provided, wherein the computer program product comprises computer program code, and when the computer program code is executed by a computer, the computer executes the method in the first aspect or any possible implementation of the first aspect.

[0107] In a fifth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store program codes executed by a processor, wherein the program codes include a method for implementing any possible implementation of the first aspect above.

[0108] In a sixth aspect, a chip is provided, comprising a processor, the processor being used to call and execute instructions stored in a memory from the memory, so that a vehicle-mounted device equipped with the chip executes a method in any possible implementation manner of the above-mentioned first aspect.

[0109] In a seventh aspect, another chip is provided. The another chip includes an input interface, an output interface, a processor, and a memory. The input interface, the output interface, the processor, and the memory are connected via an internal connection path. The processor is used to execute the code in the memory, and when the code is executed, the processor is used to execute the method in any possible implementation of the first aspect above.

[0110] In an eighth aspect, a vehicle is provided, wherein the vehicle comprises the device in the second aspect or any possible implementation manner of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0111] Figure 1 is a flow chart of an automatic parking control method provided by an embodiment of the present application;

[0112] Figure 2 is a flow chart of an automatic parking control method provided by an embodiment of the present application;

[0113] Figure 3 is a flow chart of an automatic parking control method provided by an embodiment of the present application;

[0114] Figure 4 is a flow chart of a creep speed control method provided in an embodiment of the present application;

[0115] Figure 5 is a flow chart of a creep speed control method provided in an embodiment of the present application;

[0116] Figure 6 is a block diagram of an automatic parking control device provided in an embodiment of the present application;

[0117] Figure 7 It is a structural schematic diagram of a vehicle-mounted device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0118] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0119] Figure 1 is a flow chart of an automatic parking control method provided by an embodiment of the present application. The method may be executed by a vehicle controller, for example, by a vehicle computer controller. Figure 1 , the method may include the following steps:

[0120] S101: When the driving scenario meets the conditions, output an automatic parking switch prompt.

[0121] In an embodiment of the present application, the driving scenarios that meet the conditions may include two scenarios, one is a scenario suitable for turning on the automatic parking function, such as traffic light scenarios such as parking; the other is a scenario suitable for turning off the automatic parking function, such as reversing into a garage and following a vehicle.

[0122] In the scene of parking and waiting at traffic lights, the automatic parking is turned on and the automatic parking is turned off.

[0123] In a possible implementation of the present application, the automatic parking switch prompt is output through an in-vehicle speaker. The in-vehicle speaker may be a cockpit speaker. In this implementation, the output automatic parking switch prompt is a voice broadcast automatic parking switch prompt.

[0124] In another possible implementation of the present application, the automatic parking switch prompt is output through an in-vehicle display. The in-vehicle display may be a central control screen or a HUD. In this implementation, the output automatic parking switch prompt is a textual automatic parking switch prompt, a picture automatic parking switch prompt, or a video automatic parking switch prompt.

[0125] In other possible implementations of the present application, the automatic parking switch prompt may also be output through the in-vehicle speaker and the in-vehicle display at the same time.

[0126] S102: Receive a control instruction based on an automatic parking switch prompt input.

[0127] Similar to outputting the automatic parking switch prompt, there are also multiple ways for the driver to input a control command so that the vehicle receives the control command based on the automatic parking switch prompt input.

[0128] For example, the driver can input control instructions in the form of voice through the microphone in the car. This method does not require manual operation by the driver and makes control more convenient and safer.

[0129] For another example, the driver inputs control instructions through physical buttons on the control panel or virtual buttons on the display.

[0130] In the above implementation, there is no necessary correspondence between the way of outputting the automatic parking switch prompt and the way of inputting the control command. For example, when the in-car speaker outputs the automatic parking switch prompt, the control command can be input by voice or by key. For another example, when the in-car display outputs the automatic parking switch prompt, the control command can be input by voice or by key.

[0131] S103: Controlling the switch of the automatic parking function based on the control command.

[0132] In the implementation of the present application, after the driver inputs a control instruction via voice, the vehicle controller performs voice processing to determine whether the input control instruction is an approved instruction.

[0133] For example, when the automatic parking activation prompt is output, if the driver voice inputs commands such as "agree", "yes", "activate", etc., it is determined that the automatic parking function can be controlled to be activated.

[0134] For another example, when the automatic parking shutdown prompt is output, the driver voice inputs commands such as "agree", "yes", "close", etc., and it is determined that the automatic parking function can be controlled to be closed.

[0135] After the control command is input through the button, the vehicle controller receives the control command corresponding to the button and performs control according to the control command corresponding to the button.

[0136] In the embodiment of the present application, the automatic parking switch prompt is automatically output in the appropriate scene, so that the driver can input the control command based on the prompt to control the switch of the automatic parking function. The driver does not need to manually set it in the menu, thereby simplifying the switch of the automatic parking function; and the output of the automatic parking switch prompt is related to the driving scene, and the switch selection of the automatic parking function appears in the scene where the automatic parking function will affect the driving experience, making the automatic parking control more convenient and intelligent.

[0137] Figure 2 is a flow chart of an automatic parking control method provided by an embodiment of the present application. The method may be executed by a vehicle controller, for example, by a vehicle computer controller. Figure 2 , the method may include the following steps:

[0138] S201: Periodically obtain vehicle position information and vehicle speed information.

[0139] Among them, the vehicle position information can be obtained by taking pictures with the vehicle's camera. The pictures taken by the camera contain the relative positions of the vehicle and other objects around the vehicle. Therefore, it can be considered that the pictures taken by the camera contain the vehicle's position information; or, the vehicle position information can be obtained by the vehicle's position sensor, which can sense the vehicle's position; or, the vehicle position information can be obtained by the vehicle-mounted slope sensor, which can sense whether the vehicle is on an uphill slope. The vehicle speed information can be obtained from the speed sensor in the vehicle.

[0140] The above acquisition cycle can be set as needed, and this application does not impose any limitation. Since step S201 is executed periodically, the subsequent steps S202 to S205 can also be executed periodically.

[0141] S202: Determine whether the driving scene meets the first condition based on the vehicle position information and the vehicle speed information.

[0142] The first condition includes one of the following:

[0143] The vehicle is within the range of the traffic light and the speed is less than the speed threshold;

[0144] The vehicle is on an uphill slope.

[0145] Exemplarily, the vehicle being within the range of a traffic light may mean that the distance between the vehicle and the nearest traffic light is less than a set value, such as less than 10 m.

[0146] Exemplarily, the speed threshold may be less than 10 km / h. For example, when the vehicle is within the range of a traffic light and the speed is 1 km / h, or when the vehicle is within the range of a traffic light and the speed is 0, it indicates that the driving scenario meets the first condition.

[0147] Under the above first condition, determining whether the driving scene satisfies the first condition includes:

[0148] Determine whether the vehicle is within the range of the traffic light, determine whether the speed is less than the speed threshold; or determine whether the vehicle is in an uphill state. Among them, comparing whether the speed is less than the speed threshold is not described in detail here. The following describes how to determine whether the vehicle is within the range of the traffic light and how to determine whether the vehicle is in an uphill state:

[0149] In the embodiment of the present application, determining whether the vehicle is within the range of the traffic light includes the following two methods:

[0150] In one example, it is identified whether there is a traffic light in the picture taken by the camera. When there is a traffic light in the picture taken by the camera, the distance between the vehicle and the traffic light is calculated based on the picture and camera parameters to determine whether the vehicle is within the range of the traffic light.

[0151] In another example, based on the vehicle position sensed by the position sensor and the electronic map, the distance between the vehicle and the nearest traffic light is determined to determine whether the vehicle is within the range of the traffic light.

[0152] In the embodiment of the present application, determining whether the vehicle is in an uphill state includes the following three methods:

[0153] In one example, the angle of the road in the picture taken by the camera is identified to determine whether the vehicle is in an uphill state.

[0154] In another example, whether the vehicle is in an uphill state is determined based on slope information sensed by an on-board slope sensor.

[0155] In another example, based on the vehicle position sensed by a position sensor and an electronic map, the road section where the vehicle is located is determined, and based on the road section where the vehicle is located, it is determined whether the vehicle is in an uphill state.

[0156] In this implementation, if the vehicle is within the range of the traffic light and the speed is less than the speed threshold, it is determined that the vehicle may stop and wait for the traffic light. At this time, an automatic parking start prompt is output, so that the vehicle can turn on the automatic parking function when waiting for the traffic light, ensuring the normal activation of the automatic parking function. If the vehicle is in an uphill state, an automatic parking start prompt is output at this time. Turning on the automatic parking function during the uphill state can prevent the vehicle from slipping when starting on a slope, making driving more convenient.

[0157] S203: When the driving scenario meets the first condition and the automatic parking function is in an off state, output an automatic parking on prompt.

[0158] The method of outputting the automatic parking start prompt is shown in step S101 and will not be described in detail here.

[0159] Optionally, when the driving scenario does not satisfy the first condition, the automatic parking start prompt is not output.

[0160] S204: Receive a control instruction based on the automatic parking start prompt input.

[0161] The method of receiving the control instruction is described in step S102 and will not be described in detail here.

[0162] S205: Controlling whether the automatic parking function is turned on based on the control command.

[0163] The method of determining whether to turn on the automatic parking function is described in step S103 and will not be described in detail here.

[0164] S206: When the driving scenario satisfies the first condition and the automatic parking function is in the on state, output a prompt indicating that the automatic parking function is in the on state.

[0165] There is no limitation on the order of step S206 and steps S203 to S205. For example, step S206 may be executed after steps S203 to S205, or step S206 may be executed after step S202 without executing steps S203 to S205.

[0166] In the above implementation, by prompting the driver that the current automatic parking function is in a suitable state, the driver can perform driving operations reasonably and conveniently.

[0167] For example, the prompt of the switch status of the automatic parking function can be a voice prompt, output through the speaker in the car; it can also be a text, picture or video prompt, output through the central control screen or HUD.

[0168] In the implementation of the present application, the number of times the automatic parking function is turned on and off can be limited, for example, within a set time length, if the same state has been reminded, the reminder will not be repeated. The set time length is set based on needs, for example, half an hour.

[0169] Figure 3 is a flow chart of an automatic parking control method provided by an embodiment of the present application. The method may be executed by a vehicle controller, for example, by a vehicle computer controller. Figure 3 , the method may include the following steps:

[0170] S301: Periodically obtain vehicle position information, vehicle gear information, vehicle pedal status information, and vehicle surrounding obstacle information.

[0171] The vehicle position information acquisition method is shown in step S201, which will not be described in detail here. The vehicle gear information can be obtained from the vehicle controller itself. The vehicle pedal status information can be obtained from the vehicle pedal sensor. The obstacle information around the vehicle can be obtained from the camera or millimeter wave radar in the vehicle.

[0172] The above acquisition cycle can be set as needed, and this application does not impose any limitation. Since step S301 is executed periodically, the subsequent steps S302 to S305 can also be executed periodically.

[0173] S302: Determine whether the driving scenario meets the second condition based on the vehicle position information, the vehicle gear information, the vehicle pedal status information and the obstacle information around the vehicle.

[0174] The second condition includes at least one of the following:

[0175] The vehicle is located in the parking lot;

[0176] The vehicle is in reverse gear;

[0177] The vehicle is in a creeping state, and there is an obstacle in the vehicle's driving path with a distance less than a first threshold.

[0178] The vehicle is in a creeping state when the vehicle is in a forward or reverse gear, the accelerator pedal is not stepped on, and the vehicle is moving slowly. Usually, in the creeping state, the vehicle speed is low.

[0179] Exemplarily, the vehicle speed in the creeping state is no more than 10 km / h, for example, the maximum vehicle speed in the creeping state is usually 5 km / h.

[0180] Exemplarily, the first threshold is not greater than 3 m, for example 3 m.

[0181] Under the above second condition, determining whether the driving scene satisfies the second condition includes:

[0182] Determine whether the vehicle is located in a parking lot; and / or determine whether the vehicle is in reverse gear; and / or determine whether the vehicle is in a creeping state, and determine whether there is an obstacle with a distance less than a first threshold value in the vehicle's driving path. Determine whether the vehicle is in reverse gear based on the vehicle gear information, and determine whether the vehicle is in a creeping state based on the vehicle pedal state information. The following describes how to determine whether the vehicle is located in a parking lot and whether there is an obstacle with a distance less than a first threshold value in the vehicle's driving path:

[0183] In the embodiment of the present application, there are two ways to determine whether the vehicle is located in the parking lot:

[0184] In one example, a scene corresponding to a picture taken by a camera is identified to determine whether the vehicle is located in a parking lot.

[0185] In another example, based on the vehicle position sensed by a position sensor and an electronic map, it is determined whether the vehicle is located in a parking lot.

[0186] In the embodiment of the present application, there are two ways to determine whether there is an obstacle with a distance less than the first threshold in the driving path of the vehicle:

[0187] In one example, based on obstacle information in a picture taken by a camera, it is determined whether there is an obstacle in the vehicle's driving path whose distance is less than a first threshold.

[0188] In another example, based on the obstacle information in the detection information of the millimeter-wave radar, it is determined whether there is an obstacle with a distance less than a first threshold in the driving path of the vehicle.

[0189] Wherein, the obstacle information includes the position and distance of the obstacle relative to the vehicle. In the above two examples, when determining whether the obstacle meets the conditions, the angle information output by the steering wheel angle sensor and the position of the obstacle relative to the vehicle can be combined to determine whether the obstacle is on the driving path of the vehicle; if it is on the driving path, then determine whether the distance between the obstacle and the vehicle is less than the first threshold. Alternatively, when determining whether the obstacle meets the conditions, it can be determined whether the distance between the obstacle and the vehicle is less than the first threshold; if it is less than the first threshold, then combine the angle information output by the steering wheel angle sensor and the position of the obstacle relative to the vehicle to determine whether the obstacle is on the driving path of the vehicle.

[0190] In this implementation, if the vehicle is in a parking lot and / or in reverse gear, it is determined that the vehicle is likely to reverse into a parking space, and an automatic parking shutdown prompt is output at this time, so that the vehicle can turn off the automatic parking function when reversing into a parking space, thereby preventing the automatic parking function from affecting the reversing into a parking space. If the vehicle is in a creeping state and there are obstacles at a relatively close distance on the vehicle's driving path, it is determined that the vehicle is likely to be in a following vehicle state, and an automatic parking shutdown prompt is output at this time, so that the vehicle can turn off the automatic parking function when following a vehicle, thereby preventing the automatic parking function from affecting the following vehicle.

[0191] S303: When the driving scenario meets the second condition and the automatic parking function is in the on state, output an automatic parking off prompt.

[0192] The method of outputting the automatic parking closing prompt is described in step S101 and will not be described in detail here.

[0193] Optionally, when the driving scenario does not satisfy the second condition, the automatic parking shutdown prompt is not output.

[0194] S304: receiving a control instruction based on an automatic parking closing prompt input.

[0195] The method of receiving the control instruction is described in step S102 and will not be described in detail here.

[0196] S305: Controlling whether the automatic parking function is turned off based on the control command.

[0197] The method of determining whether to turn off the automatic parking function is described in step S103 and will not be described in detail here.

[0198] S306: When the driving scenario satisfies the second condition and the automatic parking function is in an off state, output a prompt indicating that the automatic parking function is in an off state.

[0199] The method of outputting a prompt indicating that the automatic parking function is in the off state is described in step S206 and will not be described in detail here.

[0200] Figure 4 is a flow chart of a creep speed control method provided by an embodiment of the present application. The method may be executed by a vehicle controller, for example, by a vehicle computer controller. Figure 4 , the method may include the following steps:

[0201] S401: Periodically obtain vehicle pedal status information and vehicle surrounding obstacle information.

[0202] Among them, the method of obtaining the vehicle pedal status information and the obstacle information around the vehicle refers to step S301, which will not be repeated here.

[0203] The above acquisition cycle can be set as needed, and this application does not impose any limitation. Since step S401 is executed periodically, the subsequent steps S402 to S405 can also be executed periodically.

[0204] S402: Determine whether the driving scenario satisfies a third condition based on the vehicle pedal state information and the obstacle information around the vehicle.

[0205] Among them, the third condition includes: there is an obstacle in the driving path or side of the vehicle with a distance less than the second threshold, and the brake pedal of the vehicle is stepped on multiple times in succession.

[0206] Exemplarily, the second threshold is not greater than 30 cm, for example, 20 cm.

[0207] Among them, the continuous stepping of the brake pedal of the vehicle multiple times may refer to the stepping of the brake pedal multiple times within a cycle time. The cycle time is usually short, such as 3 seconds or 5 seconds. During the multiple stepping of the brake pedal, each stepping of the brake pedal has a certain depth, such as exceeding 10% or 15% of the brake pedal stroke. Of course, the above values ​​are only examples and are not used to limit the present application.

[0208] Under the third condition, determining whether the driving scene satisfies the third condition includes:

[0209] Determine whether there is an obstacle with a distance less than a second threshold on the vehicle's driving path or side; determine whether the vehicle's brake pedal has been stepped on multiple times in succession. Determine whether the brake pedal has been stepped on multiple times in succession based on the vehicle's pedal state information. The following describes how to determine whether there is an obstacle with a distance less than a second threshold on the vehicle's driving path or side:

[0210] In one example, based on obstacle information in a picture taken by a camera, it is determined whether there is an obstacle in the driving path or side of the vehicle with a distance less than a second threshold.

[0211] In another example, based on the obstacle information in the detection information of the millimeter-wave radar, it is determined whether there is an obstacle in the driving path or side of the vehicle with a distance less than a second threshold.

[0212] Wherein, the obstacle information includes the position and distance of the obstacle relative to the vehicle. In the above two examples, when determining whether the obstacle meets the conditions, the angle information output by the steering wheel angle sensor and the position of the obstacle relative to the vehicle can be combined to determine whether the obstacle is on the vehicle's driving path, or, based on the position of the obstacle relative to the vehicle, determine whether the obstacle is on the side of the vehicle; if it is on the driving path or on the side, then determine whether the distance between the obstacle and the vehicle is less than the second threshold. Alternatively, when determining whether the obstacle meets the conditions, it can be determined whether the distance between the obstacle and the vehicle is less than the second threshold; if it is less than the second threshold, then the angle information output by the steering wheel angle sensor and the position of the obstacle relative to the vehicle can be combined to determine whether the obstacle is on the vehicle's driving path, or, based on the position of the obstacle relative to the vehicle, determine whether the obstacle is on the side of the vehicle.

[0213] In this implementation, when there is a small obstacle on the vehicle's driving path or side, it means that the vehicle is driving in a narrow environment. Usually, in this environment, the accelerator pedal is completely released to enter a creeping state, and if the brake pedal is further stepped on several times in succession, it means that the vehicle speed needs to be further controlled. At this time, the creeping acceleration and / or the creeping maximum speed of the vehicle are reduced, so that the creeping state speed is reduced, which can reduce the driver's behavior of stepping on the brake pedal to control the vehicle speed. On the one hand, it reduces the driver's operation amount, and on the other hand, it can reduce the situation of accidentally stepping on the accelerator pedal in this case (because the brake pedal is stepped on less).

[0214] S403: When the driving scenario satisfies the third condition, reduce at least one of the creep acceleration and the creep maximum speed of the vehicle.

[0215] In the implementation of the present application, when reducing at least one of the creeping acceleration and the creeping maximum speed of the vehicle, the creeping acceleration and / or the creeping maximum speed may be reduced by a preset value, for example, by 20% to 50%. Of course, the above values ​​are only examples and are not intended to limit the present application.

[0216] S404: Determine whether the driving scenario satisfies a fourth condition based on the vehicle pedal state information.

[0217] The fourth condition includes at least one of the following: the brake pedal of the vehicle is not stepped on within the cycle time, and the accelerator pedal of the vehicle is stepped on.

[0218] The brake pedal of the vehicle is not stepped on during the cycle time, and the cycle time here can be set as needed, such as 3 seconds or 5 seconds. During the cycle time when the brake pedal is not stepped on, the accelerator pedal of the vehicle is stepped on, and the accelerator pedal is stepped on to a certain depth, such as exceeding 10% or 15% of the accelerator pedal stroke. Of course, the above values ​​are only examples and are not used to limit the present application.

[0219] Under the fourth condition, determining whether the driving scene satisfies the fourth condition includes:

[0220] Determine whether the brake pedal of the vehicle is not stepped on during the cycle time; and / or determine whether the accelerator pedal of the vehicle is stepped on. Determine whether the brake pedal of the vehicle is not stepped on during the cycle time and whether the accelerator pedal of the vehicle is stepped on based on the vehicle pedal state information. No further description is given here.

[0221] In this implementation, if the vehicle's brake pedal is not stepped on within the cycle time, and / or the vehicle's accelerator pedal is stepped on, it can be considered that the vehicle has left the cramped environment. At this time, the creep acceleration and / or the creep maximum speed are restored to facilitate the driver's driving of the vehicle in a non-cramped environment.

[0222] S405: When the driving scenario satisfies the fourth condition, restore at least one of the creep acceleration and the creep maximum speed of the vehicle.

[0223] That is, the creep acceleration and / or creep maximum speed of the vehicle before step S403 is executed is restored.

[0224] Figure 5 is a flow chart of a creep speed control method provided by an embodiment of the present application. The method may be executed by a vehicle controller, for example, by a vehicle computer controller. Figure 5 , the method may include the following steps:

[0225] S501: Periodically obtain vehicle position information and vehicle pedal status information.

[0226] Among them, the method for obtaining the vehicle position information and the vehicle pedal status information refers to step S301, which will not be repeated here.

[0227] The above acquisition cycle can be set as needed, and this application does not impose any limitation. Since step S501 is executed periodically, the subsequent steps S502 to S505 can also be executed periodically.

[0228] S502: Based on the vehicle position information and the vehicle pedal state information, determine whether the driving scenario meets the fifth condition.

[0229] Among them, the fifth condition includes: the vehicle is on a high-speed road and the depth of the vehicle's accelerator pedal changes repeatedly.

[0230] The repeated changes in the depth of the accelerator pedal of the vehicle may refer to the accelerator pedal changing in a cycle of deepening, shallowing, deepening, and shallowing, or changing in a cycle of shallowing, deepening, shallowing, and deepening. The cycle time is usually short, such as 5 seconds or 10 seconds. In the repeated changes in the depth of the accelerator pedal, each change exceeds a certain depth, such as 3% or 5% of the accelerator pedal travel. Of course, the above values ​​are for example only and are not intended to limit the present application.

[0231] Under the fifth condition, determining whether the driving scene satisfies the fifth condition includes:

[0232] Determine whether the vehicle is on a high-speed road; determine whether the depth of the vehicle's accelerator pedal changes repeatedly. Determine whether the depth of the vehicle's accelerator pedal changes repeatedly based on the vehicle pedal state information. Here is a description of how to determine whether the vehicle is on a high-speed road:

[0233] In one example, a scene corresponding to a picture taken by a camera is identified to determine whether the vehicle is on a high-speed road.

[0234] In another example, based on the vehicle position sensed by a position sensor and an electronic map, it is determined whether the vehicle is on a high-speed road.

[0235] In this implementation, if the vehicle is on a high-speed road and the depth of the vehicle's accelerator pedal changes repeatedly, it can be considered that the vehicle needs to maintain a higher speed. At this time, the accelerator pedal curve is adjusted to reduce the corresponding vehicle acceleration at the same depth of the accelerator pedal, that is, to reduce the sensitivity of the accelerator pedal, thereby making it easier to maintain the vehicle speed, simplifying the driving operation in this scenario, and improving the driving experience.

[0236] S503: When the driving scenario satisfies the fifth condition, the accelerator pedal curve of the vehicle is adjusted so that the vehicle acceleration corresponding to the accelerator pedal at the same depth is reduced.

[0237] The accelerator pedal curve refers to the acceleration corresponding to various accelerator pedal depths. By reducing the acceleration corresponding to various accelerator pedal depths, the above-mentioned accelerator pedal curve adjustment can be achieved. When implementing, different accelerator pedal curves can be preset in advance and called when adjustment is needed.

[0238] S504: Determine whether the driving scenario satisfies a sixth condition based on the vehicle pedal state information.

[0239] Among them, the sixth condition includes: the driving force change corresponding to the change in the depth of the vehicle's accelerator pedal exceeds the power threshold.

[0240] The driving force change may be an increase in driving force or a decrease in driving force, but as long as the power threshold is exceeded, the accelerator pedal curve is restored.

[0241] Exemplarily, the power threshold is not less than 10%, for example 10%.

[0242] Under the sixth condition, determining whether the driving scene satisfies the sixth condition includes:

[0243] Determine whether the driving force change corresponding to the accelerator pedal depth change of the vehicle exceeds the power threshold. Determine whether the driving force change corresponding to the accelerator pedal depth change of the vehicle exceeds the power threshold based on the vehicle pedal state information.

[0244] In this implementation, if the driving force change corresponding to the change in the depth of the vehicle's accelerator pedal exceeds the power threshold, it can be considered that the vehicle needs to change the current speed it maintains. At this time, the vehicle's accelerator pedal curve facilitates the driver to drive the vehicle without maintaining a higher speed.

[0245] S505: When the driving scenario satisfies the sixth condition, restore the accelerator pedal curve of the vehicle.

[0246] That is, the accelerator pedal curve of the vehicle before step S503 is executed is restored.

[0247] Figure 6 6 is a block diagram of an automatic parking control device provided in an embodiment of the present application. The automatic parking control device can be implemented as all or part of a vehicle controller through software, hardware, or a combination of both. The automatic parking control device may include: an output unit 601, a receiving unit 602, and a control unit 603.

[0248] The output unit 601 is used to output an automatic parking switch prompt when the driving scene meets the conditions;

[0249] A receiving unit 602, for receiving a control instruction based on an automatic parking switch prompt input;

[0250] The control unit 603 is used to control the switch of the automatic parking function based on the control instruction.

[0251] Optionally, the output unit 601 is used to output an automatic parking activation prompt when the driving scene meets a first condition and the automatic parking function is in an off state; the first condition includes one of the following:

[0252] The vehicle is within the traffic light range and the speed is less than the speed threshold.

[0253] Optionally, the output unit 601 is configured to output an automatic parking off prompt when the driving scenario satisfies a second condition and the automatic parking function is in an on state; the second condition includes at least one of the following:

[0254] The vehicle is located in the parking lot;

[0255] The vehicle is in reverse gear;

[0256] The vehicle is in a creeping state, and there is an obstacle in the vehicle's driving path with a distance less than a first threshold.

[0257] Optionally, the vehicle speed in the creeping state is not greater than 10 km / h, and the first threshold is not greater than 3 m.

[0258] Optionally, the output unit is further used to output a prompt of the switch state of the automatic parking function when the driving scene meets the conditions and the switch state of the automatic parking function matches the driving scene.

[0259] Optionally, the control unit 603 is further configured to reduce at least one of a creep acceleration and a creep maximum speed of the vehicle when the driving scenario satisfies a third condition; the third condition includes:

[0260] There is an obstacle in the driving path or on the side of the vehicle with a distance less than the second threshold, and the brake pedal of the vehicle is stepped on multiple times in succession.

[0261] Optionally, the control unit 603 is further configured to restore at least one of a creep acceleration and a creep maximum speed of the vehicle when the driving scenario satisfies a fourth condition; the fourth condition includes at least one of the following:

[0262] The vehicle's brake pedal is not depressed within the cycle time, and the vehicle's accelerator pedal is depressed.

[0263] Optionally, the control unit 603 is further configured to adjust the accelerator pedal curve of the vehicle so that the vehicle acceleration corresponding to the accelerator pedal at the same depth is reduced when the driving scene satisfies the fifth condition; the fifth condition includes:

[0264] The vehicle is on a high-speed road and the depth of the vehicle's accelerator pedal changes repeatedly.

[0265] Optionally, the control unit 603 is further configured to restore the accelerator pedal curve of the vehicle when the driving scenario satisfies a sixth condition; the sixth condition includes:

[0266] The driving force change corresponding to the change in the accelerator pedal depth of the vehicle exceeds the power threshold.

[0267] Optionally, the power threshold is not less than 10%.

[0268] When the automatic parking control device provided in the above embodiment is working, only the division of the above functional units is used as an example. In actual application, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device is divided into different functional units to complete all or part of the functions described above. In addition, the automatic parking control device provided in the above embodiment and the automatic parking control method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0269] The descriptions of the processes corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process, please refer to the relevant descriptions of other processes.

[0270] The present application also provides a vehicle. The vehicle may include: Figure 6 Automatic parking control shown.

[0271] Optionally, the vehicle also includes other components or systems connected to the device, such as a central control screen, an instrument screen, a cockpit audio system, a motor controller, a parking controller, etc.

[0272] Figure 7 A schematic structural diagram of a vehicle-mounted device 150 provided in an embodiment of the present application is shown. Figure 7 The vehicle-mounted device 150 shown is used to perform the above Figures 1 to 5 The vehicle-mounted device 150 may include a vehicle controller for the operations involved in any of the methods shown in FIG. 1. The vehicle-mounted device 150 may be implemented by a general bus architecture.

[0273] like Figure 7 As shown, the vehicle-mounted device 150 includes at least one processor 151 , a memory 153 and at least one communication interface 154 .

[0274] The processor 151 is, for example, a general-purpose central processing unit (CPU), a digital signal processor (DSP), a network processor (NP), a data processing unit (DPU), a microprocessor, or one or more integrated circuits for implementing the solution of the present application. For example, the processor 151 includes an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The PLD is, for example, a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. It can implement or execute various logic blocks, modules, and circuits described in conjunction with the disclosure of the embodiments of the present application. The processor may also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0275] Optionally, the vehicle-mounted device 150 further includes a bus. The bus is used to transmit information between the components of the vehicle-mounted device 150. The bus may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 7 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0276] The memory 153 is, for example, a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 153 is, for example, independent and connected to the processor 151 through a bus. The memory 153 can also be integrated with the processor 151.

[0277] The communication interface 154 uses any transceiver-like device to communicate with other devices or communication networks, and the communication network can be Ethernet, a radio access network (RAN) or a wireless local area network (WLAN), etc. The communication interface 154 may include a wired communication interface and may also include a wireless communication interface. Specifically, the communication interface 154 may be an Ethernet interface, a Fast Ethernet (FE) interface, a Gigabit Ethernet (GE) interface, an Asynchronous Transfer Mode (ATM) interface, a wireless local area network (WLAN) interface, a cellular network communication interface or a combination thereof. The Ethernet interface may be an optical interface, an electrical interface or a combination thereof. In an embodiment of the present application, the communication interface 154 may be used for the vehicle-mounted device 150 to communicate with other devices.

[0278] In a specific implementation, as an embodiment, the processor 151 may include one or more CPUs, such as Figure 7 0 and CPU1 shown in FIG. Each of these processors may be a single-CPU processor or a multi-CPU processor. A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0279] In a specific implementation, as an embodiment, the vehicle-mounted device 150 may include multiple processors, such as Figure 7 1 and 155. Each of these processors may be a single-CPU or a multi-CPU. A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0280] In a specific implementation, as an embodiment, the vehicle-mounted device 150 may also include an output device and an input device. The output device communicates with the processor 151 and can display information in a variety of ways. For example, the output device may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device communicates with the processor 151 and can receive user input in a variety of ways. For example, the input device may be a mouse, a keyboard, a touch screen device, or a sensor device.

[0281] In some embodiments, the memory 153 is used to store the program code 1510 for executing the solution of the present application, and the processor 151 can execute the program code 1510 stored in the memory 153. That is, the vehicle-mounted device 150 can implement the method provided by the method embodiment by executing the program code 1510 in the memory 153 through the processor 151. The program code 1510 may include one or more software modules. Optionally, the processor 151 itself may also store the program code or instructions for executing the solution of the present application.

[0282] In a specific embodiment, the vehicle-mounted device 150 of the embodiment of the present application may correspond to the controller in each of the above-mentioned method embodiments, and the processor 151 in the vehicle-mounted device 151 reads the instructions in the memory 153 so that Figure 7 The illustrated in-vehicle device 150 is capable of performing all or part of the operations performed by the controller.

[0283] Specifically, the processor 151 is used to output an automatic parking switch prompt when the driving scene meets the conditions; receive a control instruction based on the automatic parking switch prompt input; and control the switch of the automatic parking function based on the control instruction.

[0284] For the sake of brevity, other optional implementations are not described here in detail.

[0285] in, Figures 1 to 5Each step of the method shown in any of the figures is completed by an integrated logic circuit of hardware or software instructions in the processor of the vehicle-mounted device 150. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it will not be described in detail here.

[0286] The embodiment of the present application also provides a chip, including: an input interface, an output interface, a processor and a memory. The input interface, the output interface, the processor and the memory are connected through an internal connection path. The processor is used to execute the code in the memory. When the code is executed, the processor is used to execute any of the above methods.

[0287] It should be understood that the processor may be a CPU, or other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. It is worth noting that the processor may be a processor supporting the ARM architecture.

[0288] Further, in an optional embodiment, the processor is one or more and the memory is one or more. Optionally, the memory can be integrated with the processor, or the memory and the processor are separately arranged. The memory can include a read-only memory and a random access memory, and provide instructions and data to the processor. The memory can also include a non-volatile random access memory. For example, the memory can also store a reference block and a target block.

[0289] The memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. Among them, the non-volatile memory may be a ROM, a PROM, an EPROM, an EEPROM, or a flash memory. The volatile memory may be a RAM, which is used as an external cache. By way of example but not limitation, many forms of RAM are available. For example, SRAM, DRAM, SDRAM, DDR SDRAM, ESDRAM, SLDRAM, and DR RAM.

[0290] In an embodiment of the present application, a computer-readable storage medium is also provided, which stores computer instructions. When the computer instructions stored in the computer-readable storage medium are executed by a vehicle-mounted device, the vehicle-mounted device executes the method provided above.

[0291] In an embodiment of the present application, a computer program product including instructions is also provided, which, when executed on a vehicle-mounted device, enables the vehicle-mounted device to execute the method provided above.

[0292] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in this application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) mode. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integration. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk), etc.

[0293] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0294] The above are only optional embodiments of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0295] Unless otherwise defined, the technical or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which this application belongs. The words "first", "second", "third" and similar terms used in the patent application specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not indicate a quantitative limitation, but rather indicate the presence of at least one. Similar words such as "include" or "comprise" mean that the elements or objects appearing before "include" or "comprises" cover the elements or objects listed after "include" or "comprises" and their equivalents, and do not exclude other elements or objects.

[0296] The above is only an 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 should be included in the protection scope of the present application.

Claims

1. An automatic parking control method, characterized in that: The method comprises: When the driving scenario meets the conditions, output the automatic parking switch prompt; receiving a control instruction based on the automatic parking switch prompt input; The switch of the automatic parking function is controlled based on the control command.

2. The method according to claim 1, characterized in that: When the driving scenario satisfies the conditions, outputting the automatic parking switch prompt includes: When the driving scenario satisfies a first condition and the automatic parking function is in an off state, an automatic parking on prompt is output; the first condition includes one of the following: The vehicle is within the range of the traffic light and the speed is less than the speed threshold; The vehicle is in an uphill state.

3. The method according to claim 1, characterized in that When the driving scenario satisfies the conditions, outputting the automatic parking switch prompt includes: When the driving scenario satisfies a second condition and the automatic parking function is in an on state, an automatic parking off prompt is output; the second condition includes at least one of the following: The vehicle is located in the parking lot; The vehicle is in reverse gear; The vehicle is in a creeping state, and there is an obstacle in the driving path of the vehicle with a distance less than a first threshold.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: When the driving scenario satisfies a third condition, at least one of the creep acceleration and the creep maximum speed of the vehicle is reduced; the third condition includes: There is an obstacle in the driving path or on the side of the vehicle, the distance of which is less than a second threshold, and the brake pedal of the vehicle is stepped on continuously for multiple times.

5. The method according to claim 4, characterized in that The method further comprises: When the driving scenario satisfies a fourth condition, at least one of a creep acceleration and a creep maximum speed of the vehicle is restored; the fourth condition includes at least one of the following: The brake pedal of the vehicle is not stepped on within a cycle time, and the accelerator pedal of the vehicle is stepped on.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: When the driving scenario satisfies the fifth condition, the accelerator pedal curve of the vehicle is adjusted so that the vehicle acceleration corresponding to the accelerator pedal at the same depth is reduced; the fifth condition includes: The vehicle is on a high-speed driving road, and the depth of the accelerator pedal of the vehicle changes repeatedly.

7. An automatic parking control device, characterized in that: The device comprises: An output unit, used to output an automatic parking switch prompt when the driving scene meets the conditions; A receiving unit, configured to receive a control instruction based on the prompt input of the automatic parking switch; A control unit is used to control the switch of the automatic parking function based on the control instruction.

8. The device according to claim 7, characterized in that The output unit is used to output an automatic parking activation prompt when the driving scenario meets a first condition and the automatic parking function is in an off state; the first condition includes one of the following: The vehicle is within the range of the traffic light and the speed is less than the speed threshold; The vehicle is in an uphill state.

9. The device according to claim 7, characterized in that The output unit is used to output an automatic parking off prompt when the driving scenario meets a second condition and the automatic parking function is in an on state; the second condition includes at least one of the following: The vehicle is located in the parking lot; The vehicle is in reverse gear; The vehicle is in a creeping state, and there is an obstacle in the driving path of the vehicle with a distance less than a first threshold.

10. The device according to any one of claims 7 to 9, characterized in that The control unit is further configured to reduce at least one of a creep acceleration and a creep maximum speed of the vehicle when the driving scenario satisfies a third condition; the third condition comprising: There is an obstacle in the driving path or on the side of the vehicle, the distance of which is less than a second threshold, and the brake pedal of the vehicle is stepped on continuously for multiple times.

11. The device according to claim 10, characterized in that The control unit is further configured to restore at least one of a creep acceleration and a creep maximum speed of the vehicle when the driving scenario satisfies a fourth condition; the fourth condition includes at least one of the following: The brake pedal of the vehicle is not stepped on within a cycle time, and the accelerator pedal of the vehicle is stepped on.

12. The device according to any one of claims 7 to 11, characterized in that The control unit is further configured to adjust the accelerator pedal curve of the vehicle so that the vehicle acceleration corresponding to the accelerator pedal at the same depth is reduced when the driving scenario satisfies a fifth condition; the fifth condition includes: The vehicle is on a high-speed driving road, and the depth of the accelerator pedal of the vehicle changes repeatedly.

13. A vehicle-mounted device, characterized in that: The vehicle-mounted device comprises a processor and a memory, the memory is used to store software programs, and the processor runs or executes the software programs stored in the memory so that the vehicle-mounted device implements the method according to any one of claims 1 to 6.

14. A vehicle, characterized in that: The vehicle comprises an apparatus as claimed in any one of claims 7 to 12.

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