Automatic parking control method

Abstract

The invention provides an automatic parking control method which comprises the following steps: in response to receiving first obstacle information output by at least one obstacle detection module, determining target obstacle information according to the first obstacle information; and according to the target obstacle information and the real-time vehicle pose, controlling the vehicle to decelerate and / or stop, the types of the obstacle detection modules comprise a first obstacle detection module, a second obstacle detection module and a third obstacle detection module, wherein the first obstacle detection module is used for detecting and outputting position coordinates, types and sizes of obstacles through a camera; the second obstacle detection module is used for speculating and outputting position coordinates of an obstacle through an ultrasonic radar based on a three-point positioning mode; and the third obstacle detection module is used for detecting and outputting the distance of the obstacle through the ultrasonic radar based on a reflection principle. The stability and safety of automatic parking control are improved, and it is ensured that safe and accurate automatic parking can be achieved under various environmental conditions.

Description

Technical Field

[0001] The present application relates to the technical field of automatic parking, and in particular to an automatic parking control method. Background Art

[0002] At present, the number of cars in the country is increasing year by year, and the problems such as insufficient number of parking spaces, small parking spaces, and difficulty in parking are also increasing. Automatic parking has become the preferred solution. The motion control technology in automatic parking is one of the most important components of the entire system. Parking safety is the primary issue.

[0003] In view of this, this application is hereby filed. Summary of the invention

[0004] The purpose of this application is to propose an automatic parking control method, the purpose of which is to ensure safe and accurate automatic parking under various environmental conditions.

[0005] In a first aspect, the present application provides an automatic parking control method, comprising the following steps:

[0006] In response to receiving first obstacle information output by at least one obstacle detection module, determining target obstacle information according to the first obstacle information;

[0007] The vehicle is controlled to slow down and / or stop according to the target obstacle information and the real-time vehicle posture; the types of obstacle detection modules include: a first obstacle detection module that detects and outputs the position coordinates, obstacle type and obstacle size through a camera, a second obstacle detection module that infers and outputs the position coordinates of the obstacle based on a three-point positioning method through an ultrasonic radar, and a third obstacle detection module that detects and outputs the obstacle distance based on the reflection principle through an ultrasonic radar.

[0008] Further, determining the target obstacle information according to the first obstacle information includes:

[0009] In response to the first obstacle information including the obstacle information output by the first obstacle detection module, determining the obstacle information output by the first obstacle detection module as the target obstacle information;

[0010] In response to the first obstacle information only including obstacle information output by the same type of obstacle detection module, determining the first obstacle information as the target obstacle information;

[0011] In response to the first obstacle information not including the obstacle information output by the first obstacle detection module and including the obstacle information respectively output by the second obstacle detection module and the third obstacle detection module, the target obstacle information is determined from the obstacle information respectively output by the second obstacle detection module and the third obstacle detection module.

[0012] Further, the determining the target obstacle information from the obstacle information respectively output by the second obstacle detection module and the third obstacle detection module includes:

[0013] The obstacle information respectively output by the second obstacle detection module and the third obstacle detection module, including information about an obstacle closest to the vehicle, is determined as the target obstacle information.

[0014] Furthermore, it also includes:

[0015] In response to the vehicle stopping, determining a target obstacle detection module;

[0016] Determine the obstacle stopping area according to the second obstacle information output by the target obstacle detection module at the current moment;

[0017] The vehicle is controlled according to the obstacle parking area and the positional relationship between the current position of the vehicle and the parking space.

[0018] Furthermore, the target obstacle detection module is determined, including:

[0019] In response to the target obstacle information being obstacle information output by a first obstacle detection module, determining the first obstacle detection module as a target obstacle detection module;

[0020] In response to the target obstacle information being obstacle information output by the second obstacle detection module or the third obstacle detection module, the target obstacle detection module is determined from the second obstacle detection module and the third obstacle detection module according to the obstacle information respectively output by the second obstacle detection module and the third obstacle detection module at a current moment.

[0021] Further, the determining the target obstacle detection module from the second obstacle detection module and the third obstacle detection module according to the obstacle information respectively output by the second obstacle detection module and the third obstacle detection module at the current moment includes:

[0022] The module among the second obstacle detection module and the third obstacle detection module that outputs information of the obstacle closest to the vehicle at the current moment is determined as a target obstacle detection module.

[0023] Further, the vehicle is controlled according to the obstacle parking area and the positional relationship between the current position of the vehicle and the parking space, including:

[0024] Determining whether the first condition or the second condition is satisfied according to the obstacle parking area and the positional relationship between the current position of the vehicle and the parking space;

[0025] In response to satisfying the first condition, sending a prompt instruction to remove the obstacle;

[0026] In response to satisfying the second condition, a planning direction of a new path is determined according to the obstacle parking area, and a planning algorithm is called to perform parking path planning based on the planning direction.

[0027] Furthermore, the first condition includes:

[0028] The current position of the vehicle is outside the parking space and the distance between the vehicle and the planned end point is greater than a first threshold; or,

[0029] The current position of the vehicle is within the parking space and the current posture of the vehicle meets the set posture condition, and the obstacle parking area is one of the first set areas; or,

[0030] The current position of the vehicle is within the parking space, but the current posture of the vehicle does not meet the set posture condition, or the obstacle stopping area is not one of the first set areas, and the count value of the first obstacle stopping counter is greater than 1, or the count value of the second obstacle stopping counter is greater than 1, or the count value of the third obstacle stopping counter is greater than 1;

[0031] The second condition includes:

[0032] The current position of the vehicle is outside the parking space and the distance between the vehicle and the planned end point is less than or equal to the first threshold; or,

[0033] The current position of the vehicle is within the parking space, but the current posture of the vehicle does not meet the set posture condition, or the obstacle stopping area is not one of the first set areas, and the count value of the first obstacle stopping counter is greater than 1, or the count value of the second obstacle stopping counter is greater than 1, or the count value of the third obstacle stopping counter is greater than 1.

[0034] The first set area includes an area behind the vehicle and an area on the side of the vehicle.

[0035] Furthermore, when the second condition is the following condition:

[0036] The current position of the vehicle is within the parking space, but the current posture of the vehicle does not meet the set posture condition, or the obstacle stopping area is not one of the first set areas, and the count value of the first obstacle stopping counter is greater than 1, or the count value of the second obstacle stopping counter is greater than 1, or the count value of the third obstacle stopping counter is greater than 1.

[0037] The controlling of the vehicle according to the obstacle parking area and the positional relationship between the current position of the vehicle and the parking space also includes:

[0038] If the obstacle area is the second set area, the count value of the first obstacle counter is controlled to increase by 1; if the obstacle area is the third set area, the count value of the second obstacle counter is controlled to increase by 1; if the obstacle area is an area other than the second set area and the third set area, the count value of the third obstacle counter is controlled to increase by 1;

[0039] The second set area includes the area behind the right side and the right side of the vehicle; the third set area includes the area behind the left side and the left side of the vehicle.

[0040] Further, determining the planning direction of the new path according to the obstacle area includes:

[0041] In response to the obstacle stopping area being located in the front area of ​​the vehicle, determining that the planning direction of the new path is the rear of the vehicle;

[0042] In response to the obstacle stopping area being located in the rear area of ​​the vehicle, determining that the planning direction of the new path is the front of the vehicle;

[0043] In response to the obstacle parking area being located in the rear area of ​​the vehicle and the vehicle being currently in the parking space, the planning direction of the new path is determined to be the front of the vehicle.

[0044] In a second aspect, the present application further provides an automatic parking control device, comprising:

[0045] a target obstacle information determination module, configured to determine target obstacle information according to the first obstacle information in response to receiving first obstacle information output by at least one obstacle detection module;

[0046] The control module is used to control the vehicle to slow down and / or stop according to the target obstacle information and the real-time vehicle posture.

[0047] In a third aspect, the present application further provides an electronic device, the electronic device comprising:

[0048] one or more processors;

[0049] A storage device for storing one or more programs;

[0050] When the one or more programs are executed by the one or more processors, the one or more processors implement the automatic parking control method as described above.

[0051] In a fourth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the automatic parking control method as described above.

[0052] From the above description, it can be seen that the automatic parking control method provided by the present application, by setting up a variety of obstacle detection modules, gives full play to the advantages of different sensors, and determines through a certain strategy which obstacle detection module outputs the obstacle information to be used, and then performs parking control on the vehicle, thereby improving the stability and safety of the automatic parking control, and ensuring that safe and accurate automatic parking can be achieved under various environmental conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0054] Figure 1 A schematic diagram of a flow chart of an automatic parking control method provided in an embodiment of the present application;

[0055] Figure 2 A schematic diagram of a vehicle-mounted ultrasonic radar provided in an embodiment of the present application;

[0056] Figure 3 A schematic diagram of a barrier area division provided in an embodiment of the present application Figure 1 ;

[0057] Figure 4 A schematic diagram of a barrier area division provided in an embodiment of the present application Figure 2 ;

[0058] Figure 5 A schematic diagram of a barrier area division provided in an embodiment of the present application Figure 3 ;

[0059] Figure 6 A schematic diagram of a barrier area division provided in an embodiment of the present application Figure 4 ;

[0060] Figure 7 A schematic diagram of a process for controlling a vehicle according to the obstacle parking area and the positional relationship between the current position of the vehicle and the parking space provided in an embodiment of the present application;

[0061] Figure 8 A schematic diagram of the structure of an automatic parking control device provided in an embodiment of the present application;

[0062] Fig. 9 It is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0063] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0064] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0065] It is understandable that as one of the key sensors, the camera can capture images that reflect the environment around the vehicle in real time, provide information on a variety of potential obstacles in the surrounding environment, and help achieve precise parking control. At the same time, the camera also has certain limitations: first, it is dependent on the environment, especially it is easily affected by lighting conditions. In low light, strong light or bad weather (such as rain and fog), the image quality decreases, affecting the accuracy of recognition; second, it has high requirements for computing resources: real-time processing of high-resolution images requires a lot of computing resources, which increases the complexity and cost of the system; third, the field of view of the camera is limited: the field of view of a single camera is limited, and usually the images of multiple cameras are stitched together to cover all areas around the vehicle, but a certain dead zone is generated.

[0066] Ultrasonic radar is another commonly used sensor for detecting obstacles around vehicles. Ultrasonic waves have many advantages in detecting obstacles. First, they are low-cost and can cover more detection areas by adding configurations. Second, they are small in size and easy to install. They have good detection performance within a short distance (20 to 200 cm) and a relatively fast response speed, making them suitable for low-speed parking scenarios. However, ultrasonic radar also has many shortcomings. First, similar to cameras, they are affected by the environment in bad weather. In addition, they have a short detection range, can only provide obstacle distance information, and have significant attenuation of signal strength during propagation, which limits their application in complex environments.

[0067] In summary, in order to give full play to the advantages of different sensors and avoid their shortcomings, in the present application, parking control is achieved through the cooperation of two sensors to ensure safe and accurate automatic parking in various environments.

[0068] Figure 1 : is a flow chart of an automatic parking control method provided in an embodiment of the present application, comprising the following steps:

[0069] S110: In response to receiving first obstacle information output by at least one obstacle detection module, determine target obstacle information according to the first obstacle information.

[0070] Among them, the types of obstacle detection modules include: a first obstacle detection module that detects and outputs the position coordinates, obstacle type and obstacle size of an obstacle through a camera (for the convenience of description, the first obstacle detection module will be referred to as an od module in the following), a second obstacle detection module that infers and outputs the position coordinates of an obstacle based on a three-point positioning method using an ultrasonic radar (for the convenience of description, the first obstacle detection module will be referred to as an obj module in the following), and a third obstacle detection module that detects and outputs the obstacle distance based on the reflection principle using an ultrasonic radar (for the convenience of description, the first obstacle detection module will be referred to as a pdc module in the following).

[0071] Among them, the detection implementation method of the od module can specifically be a method based on image recognition (for example, with the help of other image recognition technologies such as neural networks), and this application does not limit it.

[0072] Exemplarily, the obj module infers and outputs the position coordinates of the obstacle based on the three-point positioning method. Specifically, it is assumed that the three ultrasonic radars installed on the vehicle are A, B and C, and their position coordinates are known. The three ultrasonic radars can measure the distances to the obstacle O, which are recorded as d1, d2 and d3 respectively. Draw a circle with ultrasonic radar A as the center and d1 as the radius; similarly, draw a circle with ultrasonic radar B as the center and d2 as the radius, and draw a circle with ultrasonic radar C as the center and d3 as the radius. In theory, the three circles will intersect at one point, and the intersection is the position of the obstacle O. By solving the equations of the three circles, the position coordinates of the obstacle O can be obtained.

[0073] The PDC module detects and outputs the distance of obstacles based on the reflection principle through ultrasonic radar. Specifically, when ultrasonic waves encounter obstacles, they will be reflected back. The ultrasonic sensor receives the reflected ultrasonic signal and records the time interval from emission to reception of the reflected signal. The distance between the ultrasonic radar and the obstacle can be calculated by combining the propagation speed of ultrasonic waves in the air. The installation position of the ultrasonic radar on the vehicle is known, so the distance between the key parts of the vehicle and the obstacle can be further determined.

[0074] Specifically, during the automatic parking process, various obstacle detection modules run in parallel. No matter which obstacle detection module outputs obstacle information, the control module will use it to control the vehicle to avoid collision between the vehicle and the obstacle.

[0075] In particular, if multiple obstacle detection modules output obstacle information at the same time, a certain strategy should be used to determine the target obstacle information, and finally the vehicle should be controlled with reference to the target obstacle information to resolve the control conflict caused by multiple obstacle detection modules outputting obstacle information at the same time and improve the control stability of automatic parking.

[0076] In some implementations, determining the target obstacle information according to the first obstacle information includes:

[0077] In response to the first obstacle information including the obstacle information output by the first obstacle detection module, the obstacle information output by the first obstacle detection module is determined as the target obstacle information. That is, when the od module detects obstacle information, the vehicle is controlled based on the obstacle information detected by the od module, and the obstacle information detected by the od module is determined as the target obstacle information. This is because the obstacle information output by the od module is richer and more conducive to precise control of the vehicle, thereby improving the overall parking accuracy and stability. The obstacle information output by the od module includes but is not limited to the location coordinates of the obstacle, the obstacle type (such as pedestrians, ground locks, trash cans, pillars, etc.) and the size of the obstacle.

[0078] In response to the first obstacle information only including obstacle information output by the same obstacle detection module, the first obstacle information is determined as the target obstacle information; that is, only one obstacle detection module detects the obstacle information, and at this time there is no multiple obstacle information, and there is no need to consider which obstacle detection module detects the obstacle information, and the detected obstacle information can be directly determined as the target obstacle information.

[0079] In response to the first obstacle information not including the obstacle information output by the first obstacle detection module, and including the obstacle information output by the second obstacle detection module and the third obstacle detection module, the target obstacle information is determined from the obstacle information output by the second obstacle detection module and the third obstacle detection module. This is the case where the od module does not detect an obstacle, but the obj module and the pdc module simultaneously detect obstacle information, and at this time, one of the obstacle information detected by the obj module and the pdc module is determined for reference.

[0080] Exemplarily, in order to ensure safety, the obstacle information outputted by the second obstacle detection module and the third obstacle detection module respectively includes information about the obstacle closest to the vehicle and is determined as the target obstacle information. That is, the obstacle information closest to the vehicle is determined as the target obstacle information for reference, and the vehicle movement is controlled based on the target obstacle information to improve the vehicle safety.

[0081] S120: Control the vehicle to slow down and / or stop according to the target obstacle information and the real-time vehicle position and posture.

[0082] In some embodiments, when the target obstacle information is obstacle information output by the od module, the control module determines the deceleration area and the parking area based on the location coordinates, type and size of the obstacle. When the vehicle enters the deceleration area, a deceleration instruction is output based on the distance between the vehicle and the obstacle to control the vehicle to decelerate. When the vehicle enters the parking area, a parking instruction is output to control the vehicle to stop.

[0083] In some implementations, when the target obstacle information is obstacle information output by the obj module, the control module outputs a deceleration / stop instruction according to the position coordinates of the obstacle, the steering wheel angle of the vehicle, and the vehicle speed information.

[0084] In some embodiments, when the target obstacle information is the obstacle information output by the PDC module, the control module outputs a deceleration / stop command based on the distance to the obstacle, the steering wheel angle of the vehicle, and the vehicle speed information. Specifically, when the vehicle is moving forward, if the front wheel angle is not zero, the obstacle distance calculated by the front and side radars is considered. If the front wheel angle is zero, only the obstacle distance calculated by the front radar is considered. When the vehicle is moving backward, if the front wheel angle is not zero, the obstacle distance calculated by the rear and side radars is considered. If the front wheel angle is zero, only the obstacle distance calculated by the rear radar is considered. The deceleration / stop command is output according to the distance to the obstacle.

[0085] For example, see Figure 2 The schematic diagram of a vehicle-mounted ultrasonic radar is shown in FIG. 4, wherein 4 radars are installed at the front of the vehicle, 4 radars are installed at the rear of the vehicle, 2 radars are installed at the left side, and 2 radars are installed at the right side. The 4 radars at the front of the vehicle are numbered 11, 12, 13, and 14; the 4 radars at the rear of the vehicle are numbered 21, 22, 23, and 24; the 2 radars on the left are numbered 41 and 42; and the 2 radars on the right are numbered 31 and 32.

[0086] It can be understood that when the vehicle is moving straight forward, only obstacles detected by the 4 radars in the front are considered; when the vehicle is moving straight backward, only obstacles detected by the 4 radars in the rear are considered; when the vehicle turns left forward, obstacles detected by the 4 radars in the front and 1 radar on the left front are considered; when the vehicle turns left forward, obstacles detected by the 4 radars in the front and 1 radar on the left front are considered; when the vehicle turns right forward, obstacles detected by the 4 radars in the front and 1 radar on the right front are considered; when the vehicle turns backward, obstacles detected by the 4 radars in the rear, the 2 radars on the outside and the 1 radar on the inside near the rear of the vehicle are considered.

[0087] exist Figure 2On the basis of the above, the obstacle area around the vehicle is divided. If only radar 11 detects an obstacle, the obstacle area at this time is marked as 11. If only radar 12 detects an obstacle, the obstacle area at this time is marked as 12. If only radar 13 detects an obstacle, the obstacle area at this time is marked as 13. If only radar 14 detects an obstacle, the obstacle area at this time is marked as 14. If only radar 21 detects an obstacle, the obstacle area at this time is marked as 21. If only radar 22 detects an obstacle, the obstacle area at this time is marked as 21. The obstacle area is marked as 22. If only radar 23 detects an obstacle, the obstacle area at this time is marked as 23. If only radar 24 detects an obstacle, the obstacle area at this time is marked as 24. If only radar 31 detects an obstacle, the obstacle area at this time is marked as 31. If only radar 32 detects an obstacle, the obstacle area at this time is marked as 32. If only radar 41 detects an obstacle, the obstacle area at this time is marked as 41. If only radar 42 detects an obstacle, the obstacle area at this time is marked as 42.

[0088] Further, such as Figure 3 As shown, if radars 11 and 12 detect an obstacle at the same time, the obstacle area at this time is marked as 15; if radars 13 and 14 detect an obstacle at the same time, the obstacle area at this time is marked as 16. Similarly, if radars 21 and 22 detect an obstacle at the same time, the obstacle area at this time is marked as 25; if radars 23 and 24 detect an obstacle at the same time, the obstacle area at this time is marked as 26.

[0089] Further, such as Figure 4 As shown, if radars 11, 12, 13, and 14 detect an obstacle at the same time, the obstacle area at this time is marked as 17; if radars 21, 22, 23, and 24 detect an obstacle at the same time, the obstacle area at this time is marked as 27.

[0090] Further, such as Figure 5 As shown, if radars 41 and 42 detect an obstacle at the same time, the obstacle area at this time is marked as 43; if radars 31 and 32 detect an obstacle at the same time, the obstacle area at this time is marked as 33.

[0091] Further, such as Figure 6 As shown, if radars 41 , 42 , 31 and 32 detect an obstacle at the same time, the obstacle area at this time is marked as 51 .

[0092] Furthermore, in some embodiments, the automatic parking control method further includes: in response to the vehicle parking, determining a target obstacle detection module; that is, during the parking process, the vehicle stops due to the obstruction of an obstacle, and at this time, the parking path of the vehicle needs to be adjusted, that is, the path needs to be replanned. In order to ensure parking safety and accuracy, it should be determined at this time which obstacle detection module (i.e., the target obstacle detection module) detects the obstacle, and when replanning the path, the obstacle information output by the obstacle detection module at the current moment will be referenced.

[0093] The obstacle stopping area is determined according to the second obstacle information output by the target obstacle detection module at the current moment. Specifically, the obstacle stopping area can be determined according to the number of the radar that detects the second obstacle information, such as Figure 2-Figure 6 The vehicle is controlled according to the obstacle parking area and the positional relationship between the current position of the vehicle and the parking space.

[0094] In some implementations, the determining a target obstacle detection module includes:

[0095] In response to the target obstacle information being obstacle information output by a first obstacle detection module, the first obstacle detection module is determined as the target obstacle detection module; in response to the target obstacle information being obstacle information output by a second obstacle detection module or a third obstacle detection module, the target obstacle detection module is determined from the second obstacle detection module and the third obstacle detection module according to obstacle information respectively output by the second obstacle detection module and the third obstacle detection module at a current moment.

[0096] The determining the target obstacle detection module from the second obstacle detection module and the third obstacle detection module according to the obstacle information respectively outputted by the second obstacle detection module and the third obstacle detection module at the current moment comprises: determining, among the second obstacle detection module and the third obstacle detection module, the module which outputs the obstacle information closest to the vehicle at the current moment as the target obstacle detection module.

[0097] In some embodiments, the vehicle is controlled according to the positional relationship between the obstacle parking area and the current position of the vehicle and the parking space, including: determining whether the first condition or the second condition is met according to the positional relationship between the obstacle parking area and the current position of the vehicle and the parking space; sending a prompt instruction to remove the obstacle in response to meeting the first condition, that is, when the first condition is met, the parking path cannot be replanned due to the presence of the obstacle, and the obstacle needs to be removed manually, so a prompt instruction to remove the obstacle is sent, so that the vehicle issues a relevant prompt, thereby achieving the purpose of notifying the driver and passengers to remove the obstacle.

[0098] In response to satisfying the second condition, a planning direction of a new path is determined according to the obstacle parking area, and a planning algorithm is called to perform parking path planning based on the planning direction.

[0099] The first condition includes:

[0100] The current position of the vehicle is outside the parking space and the distance between the vehicle and the planned end point is greater than the first threshold; or, the current position of the vehicle is within the parking space and the current posture of the vehicle meets the set posture condition, and the obstacle stopping area is one of the first set areas; or, the current position of the vehicle is within the parking space, but the current posture of the vehicle does not meet the set posture condition, or the obstacle stopping area is not one of the first set areas, and the count value of the first obstacle stopping counter is greater than 1, or the count value of the second obstacle stopping counter is greater than 1, or the count value of the third obstacle stopping counter is greater than 1. The first set area includes the area behind the vehicle (for example, the area represented by numbers 23, 23, 25, 26, and 27) and the area on the side of the vehicle (for example, the area represented by numbers 31, 41, and 51).

[0101] The second condition includes:

[0102] The current position of the vehicle is outside the parking space and the distance between the vehicle and the planned end point is less than or equal to the first threshold; or, the current position of the vehicle is within the parking space, but the current posture of the vehicle does not meet the set posture condition, or the obstacle area is not one of the first set areas, and the count value of the first obstacle counter is greater than 1, or the count value of the second obstacle counter is greater than 1, or the count value of the third obstacle counter is greater than 1.

[0103] When the second condition is as follows:

[0104] The current position of the vehicle is within the parking space, but the current posture of the vehicle does not meet the set posture condition, or the obstacle stopping area is not one of the first set areas, and the count value of the first obstacle stopping counter is greater than 1, or the count value of the second obstacle stopping counter is greater than 1, or the count value of the third obstacle stopping counter is greater than 1. In response to satisfying the second condition, the vehicle is controlled according to the obstacle stopping area and the positional relationship between the current position of the vehicle and the parking space, and further includes:

[0105] If the obstacle area is the second set area, the count value of the first obstacle counter is controlled to increase by 1; if the obstacle area is the third set area, the count value of the second obstacle counter is controlled to increase by 1; if the obstacle area is any area other than the second set area and the third set area, the count value of the third obstacle counter is controlled to increase by 1; wherein, the second set area includes the right rear area of ​​the vehicle (for example, the area represented by number 24) and the right side area (for example, the area represented by number 32); the third set area is the left rear area of ​​the vehicle (for example, the area represented by number 21) and the left side area (for example, the area represented by number 42).

[0106] The step of determining a planning direction of a new path according to the obstacle-stopping area includes:

[0107] In response to the obstacle parking area being located in the front area of ​​the vehicle, the planning direction of the new path is determined to be the rear of the vehicle; in response to the obstacle parking area being located in the rear area of ​​the vehicle, the planning direction of the new path is determined to be the front of the vehicle; in response to the obstacle parking area being located in the rear side area of ​​the vehicle and the vehicle is currently in the parking space, the planning direction of the new path is determined to be the front of the vehicle.

[0108] In summary, please refer to Figure 7 A schematic diagram of a process of controlling a vehicle according to the obstacle parking area and the positional relationship between the current position of the vehicle and the parking space is shown.

[0109] The automatic parking control method provided in the present application, by setting up a variety of obstacle detection modules, gives full play to the advantages of different sensors, and determines through a certain strategy which obstacle detection module outputs the obstacle information to be used, and then performs parking control on the vehicle, thereby improving the stability and safety of automatic parking control, and ensuring that safe and accurate automatic parking can be achieved under various environmental conditions.

[0110] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0111] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0112] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides an automatic parking control device.

[0113] refer to Figure 8 The automatic parking control device includes: a target obstacle information determination module 810, which is used to determine target obstacle information according to the first obstacle information in response to receiving the first obstacle information output by at least one obstacle detection module; and a control module 820, which is used to control the vehicle to decelerate and / or stop according to the target obstacle information and the real-time vehicle posture.

[0114] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0115] The device of the above embodiment is used to implement the corresponding automatic parking control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0116] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the automatic parking control method described in any of the above embodiments is implemented.

[0117] Fig. 9 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0118] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0119] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0120] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0121] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0122] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0123] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0124] The electronic device of the above embodiment is used to implement the corresponding automatic parking control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0125] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments, the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the automatic parking control method as described in any of the above embodiments.

[0126] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0127] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the automatic parking control method as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0128] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0129] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0130] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0131] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of the present application.

Claims

1. An automatic parking control method, characterized in that: include: In response to receiving first obstacle information output by at least one obstacle detection module, determining target obstacle information according to the first obstacle information; Control the vehicle to slow down and / or stop based on target obstacle information and real-time vehicle position; Among them, the types of obstacle detection modules include: a first obstacle detection module that detects and outputs the position coordinates, obstacle type and obstacle size through a camera, a second obstacle detection module that infers and outputs the position coordinates of the obstacle based on a three-point positioning method through an ultrasonic radar, and a third obstacle detection module that detects and outputs the obstacle distance based on the reflection principle through an ultrasonic radar.

2. The automatic parking control method according to claim 1, characterized in that: The determining the target obstacle information according to the first obstacle information includes: In response to the first obstacle information including the obstacle information output by the first obstacle detection module, determining the obstacle information output by the first obstacle detection module as the target obstacle information; In response to the first obstacle information only including obstacle information output by the same type of obstacle detection module, determining the first obstacle information as the target obstacle information; In response to the first obstacle information not including the obstacle information output by the first obstacle detection module and including the obstacle information respectively output by the second obstacle detection module and the third obstacle detection module, the target obstacle information is determined from the obstacle information respectively output by the second obstacle detection module and the third obstacle detection module.

3. The automatic parking control method according to claim 2, characterized in that: The determining the target obstacle information from the obstacle information respectively output by the second obstacle detection module and the third obstacle detection module comprises: The obstacle information respectively output by the second obstacle detection module and the third obstacle detection module, including information about an obstacle closest to the vehicle, is determined as the target obstacle information.

4. The automatic parking control method according to claim 1, characterized in that: Also includes: In response to the vehicle stopping, determining a target obstacle detection module; Determine the obstacle stopping area according to the second obstacle information output by the target obstacle detection module at the current moment; The vehicle is controlled according to the obstacle parking area and the positional relationship between the current position of the vehicle and the parking space.

5. The automatic parking control method according to claim 4, characterized in that: The target obstacle detection module is determined, comprising: In response to the target obstacle information being obstacle information output by a first obstacle detection module, determining the first obstacle detection module as a target obstacle detection module; In response to the target obstacle information being obstacle information output by the second obstacle detection module or the third obstacle detection module, the target obstacle detection module is determined from the second obstacle detection module and the third obstacle detection module according to the obstacle information respectively output by the second obstacle detection module and the third obstacle detection module at a current moment.

6. The automatic parking control method according to claim 5, characterized in that: The determining the target obstacle detection module from the second obstacle detection module and the third obstacle detection module according to the obstacle information respectively outputted by the second obstacle detection module and the third obstacle detection module at the current moment comprises: The module among the second obstacle detection module and the third obstacle detection module that outputs information of the obstacle closest to the vehicle at the current moment is determined as a target obstacle detection module.

7. The automatic parking control method according to claim 4, characterized in that: The vehicle is controlled according to the obstacle parking area and the positional relationship between the current position of the vehicle and the parking space, including: Determining whether the first condition or the second condition is satisfied according to the obstacle parking area and the positional relationship between the current position of the vehicle and the parking space; In response to satisfying the first condition, sending a prompt instruction to remove the obstacle; In response to satisfying the second condition, a planning direction of a new path is determined according to the obstacle parking area, and a planning algorithm is called to perform parking path planning based on the planning direction.

8. The automatic parking control method according to claim 7, characterized in that: The first condition includes: The current position of the vehicle is outside the parking space and the distance between the vehicle and the planned end point is greater than a first threshold; or, The current position of the vehicle is within the parking space and the current posture of the vehicle meets the set posture condition, and the obstacle parking area is one of the first set areas; or, The current position of the vehicle is within the parking space, but the current posture of the vehicle does not meet the set posture condition, or the obstacle stopping area is not one of the first set areas, and the count value of the first obstacle stopping counter is greater than 1, or the count value of the second obstacle stopping counter is greater than 1, or the count value of the third obstacle stopping counter is greater than 1; The second condition includes: The current position of the vehicle is outside the parking space and the distance between the vehicle and the planned end point is less than or equal to the first threshold; or, The current position of the vehicle is within the parking space, but the current posture of the vehicle does not meet the set posture condition, or the obstacle stopping area is not one of the first set areas, and the count value of the first obstacle stopping counter is greater than 1, or the count value of the second obstacle stopping counter is greater than 1, or the count value of the third obstacle stopping counter is greater than 1. The first set area includes an area behind the vehicle and an area on the side of the vehicle.

9. The automatic parking control method according to claim 8, characterized in that: When the second condition is as follows: The current position of the vehicle is within the parking space, but the current posture of the vehicle does not meet the set posture condition, or the obstacle stopping area is not one of the first set areas, and the count value of the first obstacle stopping counter is greater than 1, or the count value of the second obstacle stopping counter is greater than 1, or the count value of the third obstacle stopping counter is greater than 1. In response to satisfying the second condition, controlling the vehicle according to the obstacle parking area and the positional relationship between the current position of the vehicle and the parking space, further includes: If the obstacle area is the second set area, the count value of the first obstacle counter is controlled to increase by 1; if the obstacle area is the third set area, the count value of the second obstacle counter is controlled to increase by 1; if the obstacle area is an area other than the second set area and the third set area, the count value of the third obstacle counter is controlled to increase by 1; The second set area includes the area behind the right side and the right side of the vehicle; the third set area includes the area behind the left side and the left side of the vehicle.

10. The automatic parking control method according to claim 7, characterized in that: The step of determining a planning direction of a new path according to the obstacle-stopping area includes: In response to the obstacle stopping area being located in the front area of ​​the vehicle, determining that the planning direction of the new path is the rear of the vehicle; In response to the obstacle stopping area being located in the rear area of ​​the vehicle, determining that the planning direction of the new path is the front of the vehicle; In response to the obstacle parking area being located in the rear area of ​​the vehicle and the vehicle being currently in the parking space, the planning direction of the new path is determined to be the front of the vehicle.

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