Automatic parking control method

Abstract

The application provides an automatic parking control method, comprising: 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 controlling the vehicle to decelerate and / or stop according to the target obstacle information and real-time vehicle pose, wherein the types of the obstacle detection module include: a first obstacle detection module for detecting and outputting position coordinates, obstacle type and obstacle size of the obstacle through a camera; a second obstacle detection module for speculating and outputting position coordinates of the obstacle through ultrasonic radar based on a three-point positioning method; and a third obstacle detection module for detecting and outputting obstacle distance through ultrasonic radar based on a reflection principle. The stability and safety of the automatic parking control are improved, and safe and accurate automatic parking can be realized under various environmental conditions.

Description

Technical Field

[0001] This application relates to the field of automatic parking technology, and more particularly to an automatic parking control method. Background Technology

[0002] Currently, with the number of cars on the road increasing year by year, problems such as insufficient parking spaces, small parking space sizes, and difficulty in parking are becoming increasingly common. Automated parking has become the preferred solution. Motion control technology in automated parking is one of the most important components of the entire system. Parking safety is the primary concern.

[0003] In view of the above, this application is hereby submitted. Summary of the Invention

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

[0005] In a first aspect, this 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, the target obstacle information is determined based on the first obstacle information;

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

[0008] Furthermore, determining the target obstacle information based on the first obstacle information includes:

[0009] In response to the fact that the first obstacle information includes the obstacle information output by the first type of obstacle detection module, the obstacle information output by the first type of obstacle detection module is determined as the target obstacle information;

[0010] In response to the fact that the first obstacle information only includes obstacle information output by the same obstacle detection module, the first obstacle information is determined 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, but including the obstacle information output by the second obstacle detection module and the third obstacle detection module respectively, the target obstacle information is determined from the obstacle information output by the second obstacle detection module and the third obstacle detection module respectively.

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

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

[0014] Furthermore, it also includes:

[0015] In response to a vehicle stopping, the target obstacle detection module is identified.

[0016] The stopping area is determined based on the second obstacle information output by the target obstacle detection module at the current moment;

[0017] The vehicle is controlled based on the parking area and the positional relationship between the vehicle's current location and the parking space.

[0018] Furthermore, the target obstacle detection module includes:

[0019] In response to the target obstacle information being obstacle information output by the first type of obstacle detection module, the first type of obstacle detection module is identified as the target obstacle detection module;

[0020] In response to the target obstacle information being obstacle information output by either 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 based on the obstacle information output by the second obstacle detection module and the third obstacle detection module at the current time.

[0021] Furthermore, determining the target obstacle detection module from the second and third obstacle detection modules based on the obstacle information output by the second and third obstacle detection modules at the current time includes:

[0022] The module that outputs information about the nearest obstacle to the vehicle at the current moment, in both the second and third obstacle detection modules, is identified as the target obstacle detection module.

[0023] Furthermore, vehicle control is performed based on the parking area and the positional relationship between the vehicle's current position and the parking space, including:

[0024] Determine whether the first or second condition is met based on the parking area and the positional relationship between the vehicle's current position and the parking space;

[0025] In response to the fulfillment of the first condition, a prompt instruction to remove the obstacle is sent;

[0026] In response to the fulfillment of the second condition, the planning direction of the new path is determined based on the parking obstacle area, and the planning algorithm is invoked to plan the parking path based on the planning direction.

[0027] Furthermore, the first condition includes:

[0028] The vehicle's current location is outside the parking space and the distance between the vehicle and the planned destination is greater than the first threshold; or,

[0029] The vehicle is currently positioned within a parking space and its current posture meets the set posture conditions, and the obstacle-stopping area is one of the first set areas; or,

[0030] The vehicle is currently within the parking space, but the vehicle's current posture does not meet the set posture conditions, or the obstacle-stopping area is not one of the first set areas, and at the same time, 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 vehicle's current location is outside the parking space and the distance between the vehicle and the planned destination is less than or equal to the first threshold; or,

[0033] The vehicle is currently within the parking space, but its current posture does not meet the set posture conditions, or the obstacle-stopping area is not one of the first set areas, and the conditions that 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 are not met.

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

[0035] Furthermore, when the second condition is as follows:

[0036] The vehicle is currently within the parking space, but its current posture does not meet the set posture conditions, or the obstacle-stopping area is not one of the first set areas, and the conditions that 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 are not met.

[0037] The method of controlling the vehicle based on the obstacle-stopping area and the positional relationship between the vehicle's current position and the parking space also includes:

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

[0039] The second designated area includes the area of ​​the right rear and right side of the vehicle; the third designated area includes the area of ​​the left rear and left side of the vehicle.

[0040] Furthermore, determining the planning direction of the new path based on the obstacle area includes:

[0041] Since the obstacle-stopping area is located in front of the vehicle, the planned direction of the new path is determined to be behind the vehicle.

[0042] In response to the fact that the obstacle-stopping area is located behind the vehicle, the planned direction of the new path is determined to be in front of the vehicle.

[0043] In response to the fact that the obstacle area is located in the area behind the vehicle and the vehicle is currently in the parking space, the planned direction of the new path is determined to be in front of the vehicle.

[0044] Secondly, this application also provides an automatic parking control device, comprising:

[0045] A target obstacle information determination module is used to determine target obstacle information based on the first obstacle information received from at least one obstacle detection module in response to receiving first obstacle information.

[0046] The control module is used to control the vehicle to decelerate and / or stop based on the target obstacle information and the real-time vehicle position.

[0047] Thirdly, this application also provides an electronic device, the electronic device comprising:

[0048] One or more processors;

[0049] 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] Fourthly, this 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 described above.

[0052] As can be seen from the above, the automatic parking control method provided in this application, by setting up multiple obstacle detection modules, leverages the advantages of different sensors, and determines which obstacle detection module's output obstacle information to use through a certain strategy, thereby controlling the vehicle's parking, improves the stability and safety of automatic parking control, and ensures safe and accurate automatic parking under various environmental conditions. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 A flowchart illustrating an automatic parking control method provided in an embodiment of this application;

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

[0056] Figure 3 A schematic diagram of a parking area division provided in this application embodiment. Figure 1 ;

[0057] Figure 4 A schematic diagram of a parking area division provided in this application embodiment. Figure 2 ;

[0058] Figure 5 A schematic diagram of a parking area division provided in this application embodiment. Figure 3 ;

[0059] Figure 6 A schematic diagram of a parking area division provided in this application embodiment. Figure 4 ;

[0060] Figure 7 This is a schematic diagram illustrating a process for controlling a vehicle based on the obstacle-prone area and the positional relationship between the vehicle's current position and the parking space, provided as an embodiment of this application.

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

[0062] Figure 9 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0064] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" 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] Understandably, cameras, as one of the key sensors, capture images that reflect the vehicle's surroundings in real time, providing information on various potential obstacles and aiding in precise parking control. However, cameras also have limitations: First, they are dependent on the environment, particularly susceptible to lighting conditions. In low light, strong light, or adverse weather conditions (such as rain or fog), image quality degrades, affecting recognition accuracy. Second, they require significant computing resources: real-time processing of high-resolution images demands substantial computational resources, increasing system complexity and cost. Third, cameras have limited field of view: a single camera has a limited field of view, typically requiring stitched images from multiple cameras to cover the entire area around the vehicle, but this creates certain dead zones.

[0066] Ultrasonic radar is another commonly used sensor for detecting obstacles around vehicles. Ultrasonic waves offer many advantages for obstacle detection. First, they are low-cost and can cover a wider detection area by increasing the configuration. Second, they are small and easy to install. They also exhibit good detection performance at short distances (20-200cm) and have a relatively fast response time, making them suitable for low-speed parking scenarios. However, ultrasonic radar also has several drawbacks. First, similar to cameras, it is affected by environmental conditions in adverse weather. Furthermore, it has a short detection range, can only provide obstacle distance information, and suffers from significant signal attenuation during propagation, limiting its application in complex environments.

[0067] In summary, in order to leverage the advantages of different sensors while mitigating their shortcomings, this application proposes a parking control solution that utilizes the combined use of two sensors to ensure safe and accurate automatic parking in various environments.

[0068] Figure 1 This is a flowchart illustrating an automatic parking control method provided in an embodiment of this application, including the following steps:

[0069] S110, in response to receiving first obstacle information output by at least one obstacle detection module, determine target obstacle information based on the first obstacle information.

[0070] The obstacle detection modules include: a first type of obstacle detection module that detects and outputs the position coordinates, type, and size of obstacles using a camera (hereinafter referred to as the od module for ease of description); a second type of obstacle detection module that infers and outputs the position coordinates of obstacles using ultrasonic radar based on a three-point positioning method (hereinafter referred to as the obj module for ease of description); and a third type of obstacle detection module that detects and outputs the distance to obstacles using ultrasonic radar based on the reflection principle (hereinafter referred to as the pdc module for ease of description).

[0071] The detection implementation method of the od module can be based on image recognition (e.g., using neural networks or other image recognition technologies), and this application does not limit it.

[0072] For example, the `obj` module infers and outputs the position coordinates of an obstacle based on a three-point positioning method. Specifically, assuming three ultrasonic radars installed on the vehicle are A, B, and C, their position coordinates are known. The distances to the obstacle O can be measured by these three ultrasonic radars, denoted as d1, d2, and d3 respectively. A circle is drawn with ultrasonic radar A as the center and d1 as the radius; similarly, a circle is drawn with ultrasonic radar B as the center and d2 as the radius, and another circle is drawn with ultrasonic radar C as the center and d3 as the radius. Theoretically, these three circles will intersect at a single point, which is the position of obstacle O. By solving the system of equations for these three circles, the position coordinates of obstacle O can be obtained.

[0073] The PDC module uses ultrasonic radar based on the principle of reflection to detect and output the distance to obstacles. Specifically, when an ultrasonic wave encounters an obstacle, it is reflected back. The ultrasonic sensor receives the reflected ultrasonic signal, and by recording the time interval from transmission to reception of the reflected signal, combined with the speed of sound in the air, the distance between the ultrasonic radar and the obstacle can be calculated. Since the installation location of the ultrasonic radar on the vehicle is known, the distances between various key parts of the vehicle and obstacles can be further determined.

[0074] Specifically, during the automatic parking process, various obstacle detection modules operate in parallel. Regardless of which obstacle detection module outputs obstacle information, the control module will use this information to control the vehicle in order to avoid collisions between the vehicle and the obstacle.

[0075] In particular, if multiple obstacle detection modules output obstacle information at the same time, a certain strategy must be used to determine the target obstacle information and ultimately control the vehicle based on the target obstacle information. This resolves control conflicts caused by multiple obstacle detection modules outputting obstacle information at the same time and improves the control stability of automatic parking.

[0076] In some implementations, determining the target obstacle information based on the first obstacle information includes:

[0077] In response to the first obstacle information including the obstacle information output by the first type of obstacle detection module, the obstacle information output by the first type of 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 vehicle control, thereby improving overall parking accuracy and stability. The obstacle information output by the OD module includes, but is not limited to, the obstacle's position coordinates, obstacle type (e.g., pedestrians, parking locks, trash cans, pillars, etc.), and obstacle size.

[0078] In response to the fact that the first obstacle information only includes 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 has detected the obstacle information, and there is no need to consider which obstacle detection module detected it. The detected obstacle information can be directly determined as the target obstacle information.

[0079] If the first obstacle information does not include the obstacle information output by the first obstacle detection module, but includes the obstacle information output by the second and third obstacle detection modules respectively, then the target obstacle information is determined from the obstacle information output by the second and third obstacle detection modules respectively. This situation occurs when the od module does not detect an obstacle, but the obj and pdc modules simultaneously detect obstacle information; in this case, one of the obstacle information detected by the obj and pdc modules is determined for reference.

[0080] For example, to ensure safety, the obstacle information output by the second obstacle detection module and the third obstacle detection module, including information about the obstacle closest to the vehicle, is determined as the target obstacle information. That is, the information about the obstacle closest to the vehicle is used as the target obstacle information for reference, and vehicle movement is controlled accordingly to improve vehicle safety.

[0081] S120: Control the vehicle to decelerate and / or stop based on target obstacle information and real-time vehicle position.

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

[0083] In some implementations, when the target obstacle information is the obstacle information output by the obj module, the control module outputs a deceleration / stop command based on the obstacle's position coordinates, the vehicle's steering wheel angle, and vehicle speed information.

[0084] In some implementations, when the target obstacle information is output by the PDC module, the control module outputs a deceleration / stop command based on the distance to the obstacle, the vehicle's steering wheel angle, and vehicle speed. 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 reversing, 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. A deceleration / stop command is output based on the distance to the obstacle.

[0085] For example, see references to Figure 2 The diagram shows a vehicle-mounted ultrasonic radar system. Four radars are installed at the front of the vehicle, four at the rear, two on the left side, and two on the right side. The four radars at the front are numbered 11, 12, 13, and 14; the four at the rear are numbered 21, 22, 23, and 24; the two on the left are numbered 41 and 42; and the two on the right are numbered 31 and 32.

[0086] Understandably, when the vehicle is moving straight forward, only obstacles detected by the four radars in front are considered; when the vehicle is moving straight backward, only obstacles detected by the four radars behind are considered; when the vehicle is turning left forward, obstacles detected by the four radars in front and one radar on the left front are considered; when the vehicle is turning right forward, obstacles detected by the four radars in front and one radar on the right front are considered; when the vehicle is turning backward, obstacles detected by the four radars behind, two on the outside, and one on the inside near the rear of the vehicle are considered.

[0087] exist Figure 2Based on this, the obstacle area around the vehicle is divided. If only radar 11 detects an obstacle, the obstacle area is marked as 11; if only radar 12 detects an obstacle, the obstacle area is marked as 12; if only radar 13 detects an obstacle, the obstacle area is marked as 13; if only radar 14 detects an obstacle, the obstacle area is marked as 14; if only radar 21 detects an obstacle, the obstacle area is marked as 21; and if only radar 22 detects an obstacle, the obstacle area is marked as 21. The obstacle area is marked as 22. If only radar 23 detects the obstacle, the obstacle area is marked as 23. If only radar 24 detects the obstacle, the obstacle area is marked as 24. If only radar 31 detects the obstacle, the obstacle area is marked as 31. If only radar 32 detects the obstacle, the obstacle area is marked as 32. If only radar 41 detects the obstacle, the obstacle area is marked as 41. If only radar 42 detects the obstacle, the obstacle area is marked as 42.

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

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

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

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

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

[0093] The obstacle stopping area is determined based on the second obstacle information output by the target obstacle detection module at the current moment. Specifically, the obstacle stopping area can be determined based on the radar number that detected the second obstacle. Figures 2-6 As shown. The vehicle is controlled based on the parking area and the positional relationship between the vehicle's current location and the parking space.

[0094] In some embodiments, the 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 identified 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 identified from the second obstacle detection module and the third obstacle detection module based on the obstacle information output by the second obstacle detection module and the third obstacle detection module at the current time.

[0096] The step of determining the target obstacle detection module from the second obstacle detection module and the third obstacle detection module based on the obstacle information output by the second obstacle detection module and the third obstacle detection module at the current time includes: determining the module among the second obstacle detection module and the third obstacle detection module that outputs information including the obstacle closest to the vehicle at the current time as the target obstacle detection module.

[0097] In some implementations, vehicle control is performed based on the parking area and the positional relationship between the vehicle's current position and the parking space, including: determining whether a first condition or a second condition is met based on the parking area and the positional relationship between the vehicle's current position and the parking space; and sending a prompt instruction to remove the obstacle in response to meeting the first condition. That is, when the first condition is met, the presence of the obstacle makes it impossible to replan the parking path, and the obstacle needs to be removed manually. Therefore, a prompt instruction to remove the obstacle is sent, causing the vehicle to issue a relevant prompt, thereby notifying the driver and passengers to remove the obstacle.

[0098] In response to the fulfillment of the second condition, the planning direction of the new path is determined based on the parking obstacle area, and the planning algorithm is invoked to plan the parking path based on the planning direction.

[0099] The first condition includes:

[0100] The vehicle's current position is outside the parking space and the distance between the vehicle and the planned destination is greater than a first threshold; or, the vehicle's current position is inside the parking space and the vehicle's current posture meets the set posture conditions, and the obstacle-stopping area is one of the first set areas; or, the vehicle's current position is inside the parking space, but the vehicle's current posture does not meet the set posture conditions, 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 areas include the area behind the vehicle (e.g., the areas represented by numbers 23, 23, 25, 26, and 27) and the area on the side of the vehicle (e.g., the areas represented by numbers 31, 41, and 51).

[0101] The second condition includes:

[0102] The vehicle's current position is outside the parking space and the distance between the vehicle and the planned destination is less than or equal to the first threshold; or, the vehicle's current position is inside the parking space, but the vehicle's current posture does not meet the set posture conditions, or the obstacle-stopping area is not one of the first set areas, and the conditions that 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 are not met.

[0103] When the second condition is as follows:

[0104] The vehicle's current position is within the parking space, but the vehicle's current posture does not meet the set posture conditions, or the obstacle-stopping area is not one of the first set areas, and the condition that 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 not met, in response to satisfying the second condition, the step of controlling the vehicle based on the obstacle-stopping area and the positional relationship between the vehicle's current position and the parking space further includes:

[0105] If the obstacle-stopping area is the second designated area, the count value of the first obstacle-stopping counter is increased by 1; if the obstacle-stopping area is the third designated area, the count value of the second obstacle-stopping counter is increased by 1; if the obstacle-stopping area is any area other than the second and third designated areas, the count value of the third obstacle-stopping counter is increased by 1. The second designated area includes the area to the right rear of the vehicle (e.g., the area represented by number 24) and the area to the right side of the vehicle (e.g., the area represented by number 32); the third designated area includes the area to the left rear of the vehicle (e.g., the area represented by number 21) and the area to the left side of the vehicle (e.g., the area represented by number 42).

[0106] The step of determining the planning direction of the new path based on the obstacle area includes:

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

[0108] For general information, please refer to, for example Figure 7 The diagram illustrates a process for controlling a vehicle based on the obstacle-prone area and the positional relationship between the vehicle's current position and the parking space.

[0109] The automatic parking control method provided in this application leverages the advantages of different sensors by setting up multiple obstacle detection modules and determining which obstacle detection module's output obstacle information to use through a certain strategy, thereby controlling the vehicle's parking. This improves the stability and safety of automatic parking control, ensuring safe and accurate automatic parking under various environmental conditions.

[0110] It should be noted that the method in this embodiment can be executed by a single device, such as a computer or server. The method can also be applied in a distributed scenario, where multiple devices cooperate to complete the task. In such a distributed scenario, one of these devices may execute only one or more steps of the method in this embodiment, and the multiple devices will interact with each other to complete the method described.

[0111] It should be noted that the above description describes some embodiments of this 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 a different order than that shown in the above embodiments and still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0112] Based on the same inventive concept, and corresponding to any of the above embodiments, this 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, used to determine target obstacle information based on the first obstacle information received from at least one obstacle detection module; and a control module 820, used to control vehicle deceleration and / or parking based on the target obstacle information and the real-time vehicle position.

[0114] For ease of description, the above devices are described in terms of function, divided into various modules. Of course, in implementing this application, the functions of each module can be implemented in one or more software and / or hardware.

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

[0116] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this 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 the processor executes the program to implement the automatic parking control method described in any of the above embodiments.

[0117] Figure 9 This embodiment illustrates a more specific hardware structure of an electronic device, which may include a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, memory 1020, input / output interface 1030, and communication interface 1040 are interconnected internally via the bus 1050.

[0118] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, 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 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0120] The input / output interface 1030 is used to connect input / output modules to realize information input and output. Input / output modules can be configured as components within the device (not shown in the figure) or externally connected to the device to provide corresponding functions. Input devices may include keyboards, mice, touchscreens, microphones, various sensors, etc., while output devices may include displays, speakers, vibrators, indicator lights, etc.

[0121] The communication interface 1040 is used to connect a communication module (not shown in the figure) to enable communication between this device and other devices. The communication module can communicate via wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.).

[0122] Bus 1050 includes a pathway for transmitting information between various components of the device, such as processor 1010, memory 1020, input / output interface 1030, and communication interface 1040.

[0123] It should be noted that although the above-described device only shows the processor 1010, memory 1020, input / output interface 1030, communication interface 1040, and bus 1050, in specific implementations, the device may also include other components necessary for normal operation. Furthermore, those skilled in the art will understand that the above-described device may only include the components necessary for implementing the embodiments of this specification, and not necessarily all the components shown in the figures.

[0124] The electronic devices described above are used to implement the corresponding automatic parking control methods in any of the foregoing embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0125] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, this application also provides a computer-readable storage medium storing computer instructions for causing 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, program modules, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0127] The computer instructions stored in the storage medium of the above embodiments are used to cause 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 exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; within the framework of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in the details for the sake of brevity.

[0129] Additionally, to simplify the description and discussion, and to avoid obscuring the embodiments of this application, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Furthermore, the apparatus may be shown in block diagram form to avoid obscuring the embodiments of this application, and this also takes into account the fact that the details of the implementation of these block diagram apparatuses are highly dependent on the platform on which the embodiments of this application will be implemented (i.e., these details should be fully understood by those skilled in the art). While specific details (e.g., circuits) have been set forth to describe exemplary embodiments of this application, it will be apparent to those skilled in the art that the embodiments of this application can be implemented without these specific details or with variations thereof. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0130] Although this application has been described in conjunction with specific embodiments thereof, many substitutions, 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 be used with the embodiments discussed.

[0131] The embodiments of this 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 this application should be included within the protection scope of this 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, the target obstacle information is determined based on the first obstacle information; Control vehicle deceleration and / or stopping based on target obstacle information and real-time vehicle position; The obstacle detection modules include: a first type of obstacle detection module that detects and outputs the location coordinates, type, and size of obstacles using a camera; a second type of obstacle detection module that infers and outputs the location coordinates of obstacles using ultrasonic radar based on a three-point positioning method; and a third type of obstacle detection module that detects and outputs the distance to obstacles using ultrasonic radar based on the reflection principle. Determining the target obstacle information based on the first obstacle information includes: In response to the fact that the first obstacle information includes the obstacle information output by the first type of obstacle detection module, the obstacle information output by the first type of obstacle detection module is determined as the target obstacle information; In response to the fact that the first obstacle information only includes obstacle information output by the same obstacle detection module, the first obstacle information is determined as the target obstacle information; In response to the first obstacle information not including the obstacle information output by the first obstacle detection module, but including the obstacle information output by the second obstacle detection module and the third obstacle detection module respectively, the target obstacle information is determined from the obstacle information output by the second obstacle detection module and the third obstacle detection module respectively.

2. The automatic parking control method according to claim 1, characterized in that, Determining the target obstacle information from the obstacle information output by the second obstacle detection module and the third obstacle detection module respectively includes: The obstacle information output by the second obstacle detection module and the third obstacle detection module, including the information of the obstacle closest to the vehicle, is determined as the target obstacle information.

3. The automatic parking control method according to claim 1, characterized in that, Also includes: In response to a vehicle stopping, the target obstacle detection module is identified. The stopping area is determined based on the second obstacle information output by the target obstacle detection module at the current moment; The vehicle is controlled based on the parking area and the positional relationship between the vehicle's current location and the parking space.

4. The automatic parking control method according to claim 3, characterized in that, The target obstacle detection module includes: In response to the target obstacle information being obstacle information output by the first type of obstacle detection module, the first type of obstacle detection module is identified as the target obstacle detection module; In response to the target obstacle information being obstacle information output by either 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 based on the obstacle information output by the second obstacle detection module and the third obstacle detection module at the current time.

5. The automatic parking control method according to claim 4, characterized in that, The step of determining the target obstacle detection module from the second and third obstacle detection modules based on the obstacle information output by the second and third obstacle detection modules at the current time includes: The module that outputs information about the nearest obstacle to the vehicle at the current moment, in both the second and third obstacle detection modules, is identified as the target obstacle detection module.

6. The automatic parking control method according to claim 3, characterized in that, Vehicle control is performed based on the parking area and the positional relationship between the vehicle's current location and the parking space, including: Determine whether the first or second condition is met based on the parking area and the positional relationship between the vehicle's current position and the parking space; In response to the fulfillment of the first condition, a prompt instruction to remove the obstacle is sent; In response to the fulfillment of the second condition, the planning direction of the new path is determined based on the parking obstacle area, and the planning algorithm is invoked to plan the parking path based on the planning direction.

7. The automatic parking control method according to claim 6, characterized in that, The first condition includes: The vehicle's current location is outside the parking space and the distance between the vehicle and the planned destination is greater than the first threshold; or, The vehicle is currently positioned within a parking space and its current posture meets the set posture conditions, and the obstacle-stopping area is one of the first set areas; or, The vehicle is currently within the parking space, but the vehicle's current posture does not meet the set posture conditions, or the obstacle-stopping area is not one of the first set areas, and at the same time, 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 vehicle's current location is outside the parking space and the distance between the vehicle and the planned destination is less than or equal to the first threshold; or, The vehicle is currently within the parking space, but its current posture does not meet the set posture conditions, or the obstacle-stopping area is not one of the first set areas, and the conditions that 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 are not met. The first designated area includes the area behind the vehicle and the area on the side of the vehicle.

8. The automatic parking control method according to claim 7, characterized in that, When the second condition is as follows: The vehicle is currently within the parking space, but its current posture does not meet the set posture conditions, or the obstacle-stopping area is not one of the first set areas, and the conditions that 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 are not met. In response to the fulfillment of the second condition, the step of controlling the vehicle based on the obstacle area and the positional relationship between the vehicle's current position and the parking space further includes: If the obstacle stopping area is the second set area, the count value of the first obstacle stopping counter is increased by 1; if the obstacle stopping area is the third set area, the count value of the second obstacle stopping counter is increased by 1; if the obstacle stopping area is an area other than the second set area and the third set area, the count value of the third obstacle stopping counter is increased by 1. The second designated area includes the area of ​​the right rear and right side of the vehicle; the third designated area includes the area of ​​the left rear and left side of the vehicle.

9. The automatic parking control method according to claim 6, characterized in that, The step of determining the planning direction of the new path based on the obstacle area includes: Since the obstacle-stopping area is located in front of the vehicle, the planned direction of the new path is determined to be behind the vehicle. In response to the fact that the obstacle-stopping area is located behind the vehicle, the planned direction of the new path is determined to be in front of the vehicle. In response to the fact that the obstacle area is located in the area behind the vehicle and the vehicle is currently in the parking space, the planned direction of the new path is determined to be in front of the vehicle.

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