Automatic parking control method, device and equipment of vehicle, medium and vehicle

Abstract

The invention relates to the technical field of automatic parking of vehicles, in particular to an automatic parking control method, device and equipment of a vehicle, a medium and the vehicle. If the detected signal information meets the starting condition of the automatic parking function, the automatic parking function is started, surrounding environment information and traffic information of the vehicle are collected, the current driving scene of the vehicle is recognized, and the automatic parking function activation condition matched with the current driving scene is determined; vehicle parameters of an automatic parking function activation condition matched with the current driving scene are obtained, if the vehicle parameters meet the automatic parking function activation condition, the operation behavior of a driver and the vehicle state are judged, and if the operation behavior is that a brake pedal is stepped on and the vehicle state is a static state, the automatic parking function is activated. Whether the automatic parking function is activated or not is judged according to the corresponding automatic parking function activation condition, the intelligence of the automatic parking function is improved, and unnecessary parking function triggering is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle automatic parking, and particularly relates to an automatic parking control method, device, equipment, medium and vehicle for a vehicle. Background Art

[0002] With the rapid development of vehicle manufacturing technology, people's requirements for vehicle safety and comfort are getting higher and higher. In existing vehicles, especially electric vehicles, in order to better meet user needs, various auxiliary systems are configured on the vehicle, and the automatic vehicle hold (AVH) function system is one of the new auxiliary braking systems. When the automatic parking system is activated, even if the driver releases the brake pedal, the vehicle can still remain stationary.

[0003] In the prior art, each vehicle manufacturer has set different automatic parking function logics. For example, activating by gently stepping on or heavily stepping on the brake pedal, turning off the automatic parking system function under special driving conditions, etc. Different automatic parking function logics often cause the automatic parking function to be accidentally triggered, which easily causes confusion among the driver and passengers about the function logic, resulting in complaints and affecting the driving experience. Therefore, in the automatic parking function, how to avoid unnecessary triggering of the parking function has become an urgent problem to be solved. Summary of the Invention

[0004] Based on this, in view of the above technical problems, it is necessary to provide an automatic parking control method, device, equipment, medium and vehicle for a vehicle to solve the problem of how to implement an adaptive parking function in the automatic parking function.

[0005] The first aspect of the embodiments of the present application provides an automatic parking control method for a vehicle, and the automatic parking control method includes:

[0006] If the detected signal information meets the enabling condition of the automatic parking function, then enable the automatic parking function;

[0007] After enabling the automatic parking function, collect the surrounding environment information and traffic information of the vehicle, perform scene recognition on the surrounding environment information and traffic information, and obtain the current driving scene of the vehicle;

[0008] According to the current driving scene of the vehicle, determine the automatic parking function activation condition matching the current driving scene;

[0009] Obtain the vehicle parameters of the automatic parking function activation condition matching the current driving scene. If the vehicle parameters meet the automatic parking function activation condition, then judge the operation behavior and vehicle state of the driver;

[0010] If the operation is stepping on the brake pedal and the vehicle state is a stationary state, the automatic parking function is activated to control the vehicle to automatically park.

[0011] A second aspect of the embodiments of the present application provides an automatic parking control device for a vehicle. The automatic parking control device includes:

[0012] An enabling condition judgment module, configured to enable the automatic parking function if the detected signal information meets the enabling condition of the automatic parking function;

[0013] A visual perception module, configured to collect the surrounding environment information and traffic information of the vehicle after the automatic parking function is enabled, perform scene recognition on the surrounding environment information and traffic information, and obtain the current driving scene of the vehicle;

[0014] A matching module, configured to determine the automatic parking function activation condition matching the current driving scene according to the current driving scene of the vehicle;

[0015] An activation condition judgment module, configured to obtain the vehicle parameters of the automatic parking function activation condition matching the current driving scene, and if the vehicle parameters meet the automatic parking function activation condition, judge the driver's operation behavior and vehicle state;

[0016] A control module, configured to activate the automatic parking function and control the vehicle to automatically park if the operation is stepping on the brake pedal and the vehicle state is a stationary state.

[0017] A third aspect of the embodiments of the present application provides a brake controller. The brake controller includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the automatic parking control method described in the first aspect is implemented.

[0018] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the automatic parking control method described in the first aspect is implemented.

[0019] A fifth aspect of the embodiments of the present application provides a vehicle. The vehicle includes the automatic parking control device described in the second aspect.

[0020] The beneficial effects of the present invention compared with the prior art are:

[0021] If the detected signal information meets the activation condition of the automatic parking function, the automatic parking function is activated. After activating the automatic parking function, the surrounding environment information and traffic information of the vehicle are collected, and the surrounding environment information and traffic information are subjected to scene recognition to obtain the current driving scene of the vehicle. According to the current driving scene of the vehicle, the activation condition of the automatic parking function matching the current driving scene is determined, and the vehicle parameters of the activation condition of the automatic parking function matching the current driving scene are obtained. If the vehicle parameters meet the activation condition of the automatic parking function, the operation behavior and vehicle state of the driver are judged. If the operation behavior is stepping on the brake pedal and the vehicle state is a stationary state, the automatic parking function is activated to control the vehicle to automatically park. In this application, by collecting scene information and traffic information, the current driving scene where the vehicle is located is identified, so as to select different activation conditions of the automatic parking function according to different driving scenes, and it is judged whether to activate the automatic parking function through the corresponding activation conditions of the automatic parking function. Therefore, before activating the automatic parking function, not only the operation behavior and vehicle state are judged, but also the activation condition is set. Only when the vehicle parameters meet the activation condition matching the current driving scene can the automatic parking function be activated, otherwise the automatic parking function is not activated, avoiding unnecessary triggering of the parking function. Brief Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 It is a schematic diagram of an application environment of an automatic parking control method for a vehicle provided by an embodiment of the present application;

[0024] Figure 2 It is a schematic flowchart of an automatic parking control method for a vehicle provided by an embodiment of the present application;

[0025] Figure 3 It is a schematic flowchart of a method for judging that vehicle parameters meet the activation condition of the automatic parking function;

[0026] Figure 4 It is a schematic flowchart of a method for judging that vehicle parameters meet the activation condition control of the automatic parking function;

[0027] Figure 5 It is a schematic flowchart of a method for judging that vehicle parameters meet the activation condition of the automatic parking function;

[0028] Figure 6It is a schematic flowchart of a method for determining that vehicle parameters meet the activation conditions of the automatic parking function provided by an embodiment of the present application;

[0029] Figure 7 It is a schematic flowchart of a method for determining that vehicle parameters meet the activation conditions of the automatic parking function provided by an embodiment of the present application;

[0030] Figure 8 It is a schematic structural diagram of an automatic parking control device for a vehicle provided by an embodiment of the present application;

[0031] Figure 9 It is a schematic structural diagram of a brake controller provided by an embodiment of the present application.

[0032] Figure 10 It is a schematic diagram of a vehicle provided by an embodiment of the present application. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] It should be understood that when used in the specification and appended claims of the present invention, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0035] It should also be understood that the term "and / or" used in the specification and appended claims of the present invention refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0036] As used in the specification and appended claims of the present invention, the term "if" can be interpreted as "when...", "once", "in response to determining", or "in response to detecting" according to the context. Similarly, the phrase "if determined" or "if [the described condition or event] is detected" can be interpreted as meaning "once determined", "in response to determining", "once [the described condition or event] is detected", or "in response to detecting [the described condition or event]" according to the context.

[0037] In addition, in the description of the specification and appended claims of the present invention, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0038] References to "one embodiment" or "some embodiments" etc. described in the specification of the present invention mean that specific features, structures, or characteristics described in connection with that embodiment are included in one or more embodiments of the present invention. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized.

[0039] It should be understood that the magnitudes of the sequence numbers of the steps in the following embodiments do not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0040] An automatic parking control method for a vehicle provided in the first embodiment of the present invention can be applied in an application environment such as Figure 1 wherein the brake controller communicates with the cloud server.

[0041] See Figure 2 , which is a flowchart of an automatic parking control method for a vehicle provided in the second embodiment of the present invention. The above-mentioned automatic parking control method for a vehicle can be applied to the server in Figure 1 such as Figure 2 shown, and the automatic parking control method for the vehicle may include the following steps.

[0042] S201: If the detected signal information meets the enabling condition of the automatic parking function, then enable the automatic parking function.

[0043] In step S201, the detected signal information includes the switch signal information of the automatic parking function, the switch signal information of the driver's door of the vehicle, and the seat belt signal information of the vehicle. The enabling condition of the automatic parking function is a preset trigger condition, and enabling the automatic parking function means changing the state of the automatic parking function to the standby state.

[0044] In this embodiment, before enabling the automatic parking function, the switch signal information of the automatic parking function, the switch signal information of the driver's door of the vehicle, and the seat belt signal information of the vehicle are detected. The switch signal information of the automatic parking function includes open and closed, the switch signal information of the driver's door of the vehicle includes open and closed, and the seat belt signal information of the vehicle includes fastened and not fastened.

[0045] When determining that the detected signal information meets the enabling condition of the automatic parking function, it includes: if the switch signal information of the automatic parking function is on, the switch signal information of the driver's door of the vehicle is off, and the seat belt signal information of the vehicle is fastened, it is determined that the detected signal information meets the enabling condition of the automatic parking function, and the automatic parking function is enabled; otherwise, the automatic parking function is not enabled.

[0046] For example: if the switch signal information of the automatic parking function is off, the switch signal information of the driver's door of the vehicle is off, and the seat belt signal information of the vehicle is fastened, it is determined that the detected signal information does not meet the enabling condition of the automatic parking function, and the automatic parking function is not enabled. If the switch signal information of the automatic parking function is on, the switch signal information of the driver's door of the vehicle is on, and the seat belt signal information of the vehicle is fastened, it is determined that the detected signal information does not meet the enabling condition of the automatic parking function, and the automatic parking function is not enabled. If the switch signal information of the automatic parking function is on, the switch signal information of the driver's door of the vehicle is off, and the seat belt signal information of the vehicle is not fastened, it is determined that the detected signal information does not meet the enabling condition of the automatic parking function, and the automatic parking function is not enabled, etc.

[0047] In this embodiment, the enabling condition of the automatic parking function is judged. If the judgment result meets the enabling condition of the automatic parking function, the automatic parking function is started so that the automatic parking function is on standby, which is convenient for parking at any time and improves the parking efficiency. If the judgment result does not meet the enabling condition of the automatic parking function, the automatic parking function is not started to prevent the parking phenomenon from occurring during driving and affecting the driving experience of the driver.

[0048] S202: After enabling the automatic parking function, collect the surrounding environment information and traffic information of the vehicle, perform scene recognition on the surrounding environment information and traffic information, and obtain the current driving scene of the vehicle.

[0049] In step S202, after enabling the automatic parking function, collect the surrounding environment information and traffic information of the vehicle, perform scene recognition on the surrounding environment information and traffic information, and obtain the current driving scene of the vehicle. Among them, the surrounding environment information and traffic information represent the environmental information of the scene where the vehicle is located, and the current driving scene is one of the preset driving scenes. The preset driving scenes can include the red light waiting scene, the following vehicle congestion scene, the zebra crossing pedestrian crossing scene, and the reverse parking into the garage scene.

[0050] In this embodiment, after enabling the automatic parking function, use visual perception devices to collect surrounding vehicle information and pedestrian information. The visual perception devices can include millimeter wave radars, lidars, cameras, etc. Through visual perception technology, identify the surrounding vehicle information and pedestrian information collected by the visual perception devices to determine the surrounding environment information, and collect the traffic information around the vehicle through vehicle networking technology.

[0051] Among them, the millimeter-wave radar emits a frequency-modulated continuous wave through an antenna. There is a time difference between the echo received after being reflected by other vehicles or pedestrians and the transmitted wave. Using this time difference, the distance between the vehicle and other vehicles or pedestrians can be calculated. By analyzing the frequency difference between the transmitted and reflected signals by the signal processor, based on the Doppler principle, the moving speed of other vehicles or pedestrians relative to the in-vehicle millimeter-wave radar can be accurately measured. The lidar can determine the distance by measuring the time difference and phase difference of the laser signal, and can also create a clear three-dimensional image of the target. The lidar emits and receives laser beams, analyzes the round-trip time of the laser after encountering the target object, calculates the relative distance to the target object, and uses the three-dimensional coordinates, reflectivity, texture and other information of a large number of dense points on the surface of the target object collected during this process to quickly obtain the three-dimensional model of the measured target and various related data such as lines, surfaces, and volumes, establish a three-dimensional point cloud map, and draw an environmental map to achieve the purpose of environmental perception. The camera can collect images of the vehicle's surrounding environment.

[0052] Perform scene recognition on the surrounding environment information and traffic information to obtain the vehicle's current driving scene. When performing scene recognition on the surrounding environment information and traffic information, a driving scene recognition model based on deep learning can be used for recognition. The surrounding environment information and traffic information are input into the trained driving scene recognition model to identify the current driving scene.

[0053] S203: Determine the activation conditions of the automatic parking function that match the current driving scene according to the vehicle's current driving scene.

[0054] In step S203, different driving scenes correspond to different activation conditions of the automatic parking function. Among them, the activation conditions of the automatic parking function are the conditions that can change the automatic parking function in the standby state to the activation state. The driving scene and the activation conditions of the automatic parking function are in a one-to-one correspondence.

[0055] In this embodiment, according to different driving scenes, the corresponding activation conditions of the automatic parking function are preset, so that any driving scene corresponds to an activation condition of the automatic parking function. After determining the current driving scene, determine the activation conditions of the automatic parking function that match the current driving scene. For example, if the current driving scene is a red light waiting scene, determine the activation conditions of the automatic parking function corresponding to the red light waiting scene. If the current driving scene is a following and congestion scene, determine the activation conditions of the automatic parking function corresponding to the following and congestion scene. If the current driving scene is a zebra crossing pedestrian crossing scene, determine the activation conditions of the automatic parking function corresponding to the zebra crossing pedestrian crossing scene. If the current driving scene is a reverse parking scene, determine the activation conditions of the automatic parking function corresponding to the reverse parking scene.

[0056] In this embodiment, by determining the activation conditions of the automatic parking function that match the current driving scenario, it is convenient to judge whether to perform parking according to the corresponding activation conditions of the automatic parking function in different driving scenarios, improving the adaptability of the automatic parking function in different scenarios.

[0057] S204: Obtain the vehicle parameters of the activation conditions of the automatic parking function that match the current driving scenario. If the vehicle parameters meet the activation conditions of the automatic parking function, then judge the driver's operation behavior and vehicle state.

[0058] In step S204, obtain the vehicle parameters of the activation conditions of the automatic parking function that match the current driving scenario. Among them, the vehicle parameters of the activation conditions of the automatic parking function that match the current driving scenario are the parameters characterizing the vehicle driving state. When the vehicle parameters meet the activation conditions of the automatic parking function, judge the driver's operation behavior and vehicle state, so as to judge again whether to activate the automatic parking function according to the driver's operation behavior and vehicle state.

[0059] In this embodiment, obtain the vehicle parameters of the activation conditions of the automatic parking function that match the current driving scenario. Among them, the vehicle parameters of the activation conditions of the automatic parking function to be obtained in different scenarios are different. For example, in the red light waiting scenario, it is necessary to obtain the predicted time for the vehicle to reach the lane stop line and the remaining time of the traffic stop signal. In the congestion following scenario, the vehicle speed of the vehicle corresponding to the vehicle in front and the relative distance between the vehicle and the vehicle in front. In the scenario of pedestrians crossing the zebra crossing, obtain the time for the pedestrians in front of the vehicle to safely pass the vehicle horizontally and the horizontal relative distance between the vehicle and the pedestrians. In the reverse parking scenario, the vehicle parameters obtained include the distance between the vehicle and the preset parking space line.

[0060] After the vehicle parameters meet the activation conditions of the automatic parking function, judge again whether to activate the automatic parking function according to the driver's operation behavior and vehicle state. Among them, judge whether there is a parking action trend through the driver's operation behavior and vehicle state. If so, activate the automatic parking function to perform automatic parking. If not, do not activate the automatic parking function.

[0061] The automatic parking control method of this embodiment judges whether the activation conditions of the automatic parking function are met through the vehicle parameters of the activation conditions of the automatic parking function that match the current driving scenario. Among them, the vehicle parameters are relatively easy to obtain and can be adapted to various vehicle models, improving the adaptability of the activation conditions of the automatic parking function.

[0062] See Figure 3 , which is a flowchart of a method for judging that vehicle parameters meet the activation conditions of the automatic parking function provided in Embodiment III of the present invention.

[0063] Optionally, determining that the vehicle parameters meet the activation conditions of the automatic parking function includes:

[0064] If the current driving scenario is a preset first driving scenario, determine whether there are no other vehicles in the vehicle's front lane;

[0065] If there are no other vehicles in the same lane in front of the vehicle, obtain the predicted time for the vehicle to reach the lane stop line and the remaining time of the traffic stop signal;

[0066] If the difference between the predicted time and the remaining time is not less than a preset critical time when the automatic parking function is activated, it is determined that the vehicle parameters meet the activation conditions of the automatic parking function.

[0067] In this embodiment, if the current driving scenario is a preset first driving scenario, determine whether there are no other vehicles in the vehicle's front lane. Among them, the preset first driving scenario is a red light waiting scenario. In the red light waiting scenario, first determine whether the vehicle is the first vehicle in the red light waiting scenario, that is, determine whether there are no other vehicles in the vehicle's front lane. When there are no other vehicles in the vehicle's front lane, it is considered that the vehicle is the first vehicle in the red light waiting scenario. When the countdown of the red light time ends, the automatic parking function can be directly exited. When there are other vehicles in the vehicle's front lane, the automatic parking function cannot be directly exited after the countdown of the red light time ends, and it is necessary to determine whether to exit the automatic parking function according to the driving conditions of other vehicles in the front lane.

[0068] If there are no other vehicles in the same lane in front of the vehicle, the formula for determining that the vehicle parameters meet the activation conditions of the automatic parking function is as follows:

[0069] t red -t 1 ≥t min

[0070]

[0071] Among them, t red is the remaining time of the traffic stop signal, t 1 is the predicted time for the vehicle to reach the lane stop line, s 1 is the distance of the vehicle from the lane stop line, v 1 is the average speed of the vehicle.

[0072] According to the formula for judging that the vehicle parameters meet the activation conditions of the automatic parking function, it can be known that it is necessary to obtain the predicted time for the vehicle to reach the lane stop line and the remaining time of the traffic stop signal. Among them, the predicted time for the vehicle to reach the lane stop line can be calculated and determined according to the distance of the vehicle from the lane stop line and the average speed of the vehicle. The ratio of the distance of the vehicle from the lane stop line to the average speed of the vehicle is used as the predicted time for the vehicle to reach the lane stop line. The distance of the vehicle from the lane stop line, the average speed of the vehicle, and the remaining time of the traffic stop signal can be determined according to the surrounding environment information and traffic information. If the difference between the predicted time and the remaining time is not less than the preset critical time when the automatic parking function is activated, it is determined that the vehicle parameters meet the activation conditions of the automatic parking function, that is, the time of the traffic stop signal is relatively long, and the vehicle cannot pass based on the current driving speed. Therefore, it is necessary to park and wait.

[0073] If the difference between the predicted time and the remaining time is less than the preset critical time when the automatic parking function is activated, that is, the time of the traffic stop signal is relatively short, the vehicle can pass based on the current driving speed and does not need to park and wait. Therefore, there is no need to activate the automatic parking function.

[0074] When there are other vehicles in the same lane in front of the vehicle, the driving scenario is switched, and the red light waiting scenario is switched to a following congestion scenario. Then, it is judged according to the activation conditions of the automatic parking function corresponding to the following congestion scenario to determine whether the activation conditions of the automatic parking function corresponding to the following congestion scenario are met. If the activation conditions of the automatic parking function corresponding to the following congestion scenario are met, the next judgment is carried out. If the activation conditions of the automatic parking function corresponding to the following congestion scenario are not met, the automatic parking function is not activated.

[0075] In this embodiment, by comparing the predicted time for the vehicle to reach the lane stop line with the remaining time of the traffic stop signal in the red light waiting scenario, when the comparison result meets the corresponding conditions, the automatic parking function is activated, and when the comparison result does not meet the corresponding conditions, the automatic parking function is not activated, so that the vehicle can park safely and reasonably during the red light waiting process to prevent the automatic parking function of the vehicle from being triggered randomly.

[0076] See Figure 4 , which is a flowchart of a method for judging that vehicle parameters meet the activation conditions of the automatic parking function provided in Embodiment 4 of the present invention.

[0077] Optionally, judging that the vehicle parameters meet the activation conditions of the automatic parking function includes:

[0078] If the current driving scenario is a preset second driving scenario, the vehicle parameters obtained include the speed of the vehicle in front of the vehicle corresponding to the vehicle and the relative distance between the vehicle and the vehicle in front.

[0079] If the speed of the vehicle in front is zero and the relative distance is not greater than the preset critical distance between the vehicle and the vehicle in front when the automatic parking function is activated, it is determined that the vehicle parameters meet the activation conditions of the automatic parking function.

[0080] In this embodiment, the current driving scenario is the preset second driving scenario, where the preset second driving scenario is a following-vehicle congestion scenario. The formula for determining that the vehicle parameters meet the activation conditions of the automatic parking function is as follows:

[0081] v 2 = 0

[0082] s 2 ≤ s min

[0083] Wherein, v 2 is the driving speed of the vehicle in front, and s 2 is the relative distance between the vehicle and the vehicle in front.

[0084] According to the formula for determining that the vehicle parameters meet the activation conditions of the automatic parking function, in the following-vehicle congestion scenario, first judge the driving speed of the vehicle in front and the relative distance between the vehicle and the vehicle in front. If the driving speed of the vehicle in front is zero and the relative distance is not greater than the preset critical distance between the vehicle and the vehicle in front when the automatic parking function is activated, that is, when the vehicle in front is not moving, to prevent the vehicle from colliding with the vehicle in front, when at a certain distance from the vehicle in front, it is necessary to stop. At this time, the automatic parking function needs to be activated. Among them, the preset critical distance between the vehicle and the vehicle in front when the automatic parking function is activated is the shortest safe distance between the two vehicles.

[0085] When the speed of the vehicle in front is not zero, that is, the vehicle in front is moving, or the relative distance between the vehicle and the vehicle in front is greater than the preset critical distance between the vehicle and the vehicle in front when the automatic parking function is activated, that is, the two vehicles are outside the safe distance, it is determined that the vehicle parameters meet the activation conditions of the automatic parking function. At this time, the vehicle does not need to park, so the automatic parking function does not need to be activated.

[0086] In this embodiment, in the following-vehicle congestion scenario, by judging the driving speed of the vehicle in front and the relative distance from the vehicle in front, it is determined whether the automatic parking function needs to be activated, so that when the vehicle approaches the vehicle in front, the automatic parking function can be activated for automatic parking to prevent collisions and improve driving safety.

[0087] See Figure 5 , which is a flowchart of a method for determining that vehicle parameters meet the activation conditions of the automatic parking function provided in Embodiment 5 of the present invention.

[0088] Optionally, determining that the vehicle parameters meet the activation conditions of the automatic parking function includes:

[0089] If the current driving scenario is the preset third driving scenario, obtain the time for a pedestrian in front of the vehicle to safely pass the vehicle horizontally and the lateral relative distance between the vehicle and the pedestrian.

[0090] If the time is not less than the preset critical time indicating the activation of the automatic parking function and the lateral relative distance is not greater than the preset critical distance between the vehicle and the pedestrian when the automatic parking function is activated, it is determined that the vehicle parameters meet the activation conditions of the automatic parking function.

[0091] In this embodiment, the current driving scenario is the preset third driving scenario, where the third driving scenario is a scenario where a pedestrian crosses a zebra crossing. The formula for determining whether the vehicle parameters meet the activation conditions of the automatic parking function is as follows:

[0092] t 3 ≥t min

[0093] s 3 ≤s min

[0094]

[0095] Where t 3 is the time for a pedestrian in front of the vehicle to safely pass the vehicle horizontally, t min is the preset critical time indicating the activation of the automatic parking function, s 3 is the lateral relative distance between the vehicle and the pedestrian, s min is the preset critical distance between the vehicle and the pedestrian when the automatic parking function is activated, s det is the lateral relative distance between the pedestrian and the vehicle, v 3 is the horizontal moving speed of the pedestrian.

[0096] Therefore, according to the formula for determining whether the vehicle parameters meet the activation conditions of the automatic parking function, in the scenario where a pedestrian crosses a zebra crossing, it is necessary to obtain the time for a pedestrian in front of the vehicle to safely pass the vehicle horizontally and the lateral relative distance between the vehicle and the pedestrian, and determine whether the time when the pedestrian crosses the zebra crossing is greater than or equal to the preset critical time indicating the activation of the automatic parking function, and whether the lateral relative distance between the vehicle and the pedestrian is not greater than the preset critical distance between the vehicle and the pedestrian when the automatic parking function is activated. That is, if the pedestrian cannot pass the vehicle horizontally within the preset critical time indicating the activation of the automatic parking function and the lateral relative distance between the pedestrian and the vehicle is small, the automatic parking function needs to be activated. Among them, the time for a pedestrian in front of the vehicle to safely pass the vehicle horizontally can be determined according to the ratio of the lateral relative distance between the pedestrian and the vehicle to the horizontal moving speed of the pedestrian.

[0097] If the time is less than the critical time when the automatic parking function is activated, or the lateral relative distance is greater than the critical distance between the vehicle and the pedestrian when the automatic parking function is activated, it is determined that the vehicle parameters do not meet the activation conditions of the automatic parking function, and the automatic parking function is not activated.

[0098] In this embodiment, in the scenario where a pedestrian crosses a zebra crossing, it is determined whether to activate the automatic parking function by judging the time during the pedestrian crossing of the zebra crossing and the lateral distance between the pedestrian and the vehicle, so as to protect the safety of pedestrians and improve driving safety.

[0099] See Figure 6 , which is a flowchart of a method for judging whether vehicle parameters meet the activation conditions of the automatic parking function provided in Embodiment VI of the present invention.

[0100] Optionally, judging that the vehicle parameters meet the activation conditions of the automatic parking function includes:

[0101] If the current driving scenario is a preset fourth driving scenario, the vehicle parameters obtained include the distance between the vehicle and the preset parking space line;

[0102] If the distance is not greater than the critical distance of the parking space line, it is determined that the vehicle parameters meet the activation conditions of the automatic parking function.

[0103] In this embodiment, the current driving scenario is a preset fourth driving scenario, where the fourth driving scenario is a reverse parking scenario. The formula for judging that the vehicle parameters meet the activation conditions of the automatic parking function is as follows:

[0104] s f ≤l min

[0105] s l ≤l min

[0106] s r ≤l min

[0107] s rear ≤l min

[0108] Wherein, s f is the distance between the vehicle and the preset parking space line at the front side, s l is the distance between the vehicle and the preset parking space line on the left side, s r is the distance between the vehicle and the preset parking space line on the right side, s rear is the distance between the vehicle and the preset parking space line at the rear side.

[0109] According to the formula for determining that the vehicle parameters meet the activation conditions of the automatic parking function, in the reverse parking scenario, the vehicle parameters to be obtained include the distance between the vehicle and the preset parking space lines. Among them, the distance between the vehicle and the preset parking space lines includes the distance between the vehicle and the left preset parking space line, the distance between the vehicle and the right preset parking space line, the distance between the vehicle and the rear preset parking space line, and the distance between the vehicle and the front preset parking space line. If the distance is not greater than the critical distance of the parking space line, it is determined that the vehicle parameters meet the activation conditions of the automatic parking function. Among them, the distance not being greater than the critical distance of the parking space line means that the distances between the vehicle and the left preset parking space line, the vehicle and the right preset parking space line, the vehicle and the rear preset parking space line, and the vehicle and the front preset parking space line are all not greater than the critical distance of the parking space line. That is, when the vehicle is close to the parking space line, the activation conditions of the automatic parking function are met.

[0110] In this embodiment, in the reverse parking scenario, it is determined whether the activation conditions of the automatic parking function are met by judging the distance between the vehicle and the parking space line. If the distance is not greater than the critical distance of the parking space line, it is determined that the vehicle parameters meet the activation conditions of the automatic parking function, so that when the vehicle is close to the parking space line, it can be parked in time to avoid collision with other vehicles and improve driving safety.

[0111] S205: If the operation behavior is stepping on the brake pedal and the vehicle state is the stationary state, activate the automatic parking function and control the vehicle to automatically park.

[0112] In step S205, after the vehicle parameters meet the activation conditions of the automatic parking function, the driver's operation behavior and vehicle state are judged. When the driver's operation behavior and vehicle state meet the corresponding requirements, the automatic parking function is activated to control the vehicle to automatically park. Among them, the driver's operation behavior is whether the driver steps on the brake pedal, and the vehicle state is whether the vehicle is stationary.

[0113] In this embodiment, if the operation behavior is stepping on the brake pedal and the vehicle state is the stationary state, activate the automatic parking function and control the vehicle to automatically park. If the operation behavior is not stepping on the brake pedal, or the vehicle state is not the stationary state, the automatic parking function is not activated. In this embodiment, the master cylinder pressure signal is collected to judge whether the driver steps on the brake pedal. When the master cylinder pressure signal is greater than the preset threshold, it is considered that the driver's operation behavior is stepping on the brake pedal. The wheel speed sensor signal is collected to judge whether the vehicle is in the stationary state. When the wheel speed sensor signal is 0, it is considered that the vehicle state is the stationary state.

[0114] In this embodiment, whether to activate the automatic parking function is further judged through the driver's operation behavior and vehicle state. Based on the driver's operation behavior, it is prevented that when the automatic parking function suddenly works during driving, it brings inconvenience to the driver and improves the adaptability of the automatic parking function to the driver's intention.

[0115] See Figure 7 , which is a flowchart of a method for exiting the automatic parking function provided in the seventh embodiment of the present invention.

[0116] After activating the automatic parking function and controlling the vehicle to automatically park, it further includes:

[0117] Judge the driver's operation behavior and the driving torque signal of the engine;

[0118] If the operation behavior is stepping on the accelerator pedal and the torque in the driving torque signal is greater than the resistance that the vehicle needs to overcome, exit the automatic parking function.

[0119] In this embodiment, after activating the automatic parking function, judge the driver's operation behavior and the driving torque signal of the engine. Among them, judging the driver's operation behavior is to judge whether the driver steps on the accelerator pedal, and judging the driving torque signal of the engine is to judge whether the driving torque output by the engine is greater than the resistance that the vehicle needs to overcome. When the operation behavior is stepping on the accelerator pedal and the torque in the driving torque signal is greater than the resistance that the vehicle needs to overcome, exit the automatic parking function so that the driver can start the vehicle. Among them, when judging whether the driver steps on the accelerator pedal, it can be judged according to the depth of the accelerator pedal pressed by the driver and the throttle opening value. If the depth of the accelerator pedal pressed by the driver is greater than the preset depth and the throttle opening value is greater than the preset opening value, it is considered that the driver steps on the accelerator pedal.

[0120] If the driver's operation behavior is not stepping on the accelerator pedal, or the torque in the driving torque signal is greater than the resistance that the vehicle needs to overcome, do not exit the automatic parking function, and keep the vehicle in the parked state. During the parked state of the vehicle, if the activation time of the automatic parking function is greater than the preset time, that is, when the activation time of the automatic parking function is relatively long, exit the automatic parking function and use the electronic handbrake to park the vehicle.

[0121] In this embodiment, after activating the automatic parking function, judge whether the exit conditions of the automatic parking function are met. When the exit conditions are met, exit the automatic parking function so that the vehicle can start as soon as possible and improve the intelligence of the automatic parking function.

[0122] If the detected signal information meets the enabling condition of the automatic parking function, the automatic parking function is enabled. After enabling the automatic parking function, the surrounding environment information and traffic information of the vehicle are collected, the surrounding environment information and traffic information are subjected to scene recognition to obtain the current driving scene of the vehicle. According to the current driving scene of the vehicle, the activation condition of the automatic parking function matching the current driving scene is determined, and the vehicle parameters of the activation condition of the automatic parking function matching the current driving scene are obtained. If the vehicle parameters meet the activation condition of the automatic parking function, the operation behavior and vehicle state of the driver are judged. If the operation behavior is stepping on the brake pedal and the vehicle state is a stationary state, the automatic parking function is activated to control the vehicle to park automatically. In this application, by collecting scene information and traffic information, the current driving scene where the vehicle is located is identified, so as to select different activation conditions of the automatic parking function according to different driving scenes. Therefore, before activating the automatic parking function, not only the operation behavior and vehicle state are judged, but also the activation condition is set. Only when the vehicle parameters meet the activation condition matching the current driving scene can the automatic parking function be activated, otherwise the automatic parking function is not activated, avoiding unnecessary triggering of the parking function.

[0123] See Figure 8 , Figure 8 shows the structural block diagram of the automatic parking control device of the vehicle provided by the embodiment of the present application. The automatic parking control device of the above vehicle is applied to the above server. For the sake of convenience of description, only the parts related to the embodiment of the present application are shown. See Figure 8 , the automatic parking control device 80 includes:

[0124] The enabling condition judgment module 81 is used to enable the automatic parking function if the detected signal information meets the enabling condition of the automatic parking function.

[0125] The visual perception module 82 is used to collect the surrounding environment information and traffic information of the vehicle after enabling the automatic parking function, and perform scene recognition on the surrounding environment information and traffic information to obtain the current driving scene of the vehicle.

[0126] The matching module 83 is used to determine the activation condition of the automatic parking function matching the current driving scene according to the current driving scene of the vehicle.

[0127] The activation condition judgment module 84 is used to obtain the vehicle parameters of the activation condition of the automatic parking function matching the current driving scene, and judge the operation behavior and vehicle state of the driver if the vehicle parameters meet the activation condition of the automatic parking function.

[0128] The control module 85 is used to activate the automatic parking function and control the vehicle to park automatically if the operation behavior is stepping on the brake pedal and the vehicle state is a stationary state.

[0129] Optionally, the above activation condition determination module 84 includes:

[0130] A first determination unit, configured to determine whether there are no other vehicles in the vehicle's front lane if the current driving scenario is a preset first driving scenario;

[0131] A first acquisition unit, configured to acquire the predicted time for the vehicle to reach the lane stop line and the remaining time of the traffic stop signal if there are no other vehicles in the same lane in front of the vehicle;

[0132] A first determination unit, configured to determine that the vehicle parameters meet the activation conditions of the automatic parking function if the difference between the predicted time and the remaining time is not less than a preset critical time representing the activation of the automatic parking function.

[0133] Optionally, the above activation condition determination module 84 includes:

[0134] A second acquisition unit, configured to acquire, if the current driving scenario is a preset second driving scenario, vehicle parameters including the speed of the vehicle in front of the vehicle corresponding to the vehicle and the relative distance between the vehicle and the vehicle in front;

[0135] A second determination unit, configured to determine that the vehicle parameters meet the activation conditions of the automatic parking function if the speed of the vehicle in front is zero and the relative distance is not greater than a preset critical distance between the vehicle and the vehicle in front when the automatic parking function is activated.

[0136] Optionally, the above activation condition determination module 84 includes:

[0137] A third acquisition unit, configured to acquire, if the current driving scenario is a preset third driving scenario, the time for a pedestrian in front of the vehicle to safely pass the vehicle horizontally and the horizontal relative distance between the vehicle and the pedestrian;

[0138] A third determination unit, configured to determine that the vehicle parameters meet the activation conditions of the automatic parking function if the time is not less than a preset critical time representing the activation of the automatic parking function and the horizontal relative distance is not greater than a preset critical distance between the vehicle and the pedestrian when the automatic parking function is activated.

[0139] Optionally, the above activation condition determination module 84 includes:

[0140] A fourth acquisition unit, configured to acquire, if the current driving scenario is a preset fourth driving scenario, vehicle parameters including the distance between the vehicle and a preset parking space line;

[0141] A fourth determination unit, configured to determine that the vehicle parameters meet the activation conditions of the automatic parking function if the distance is not greater than the critical distance of the parking space line.

[0142] Optionally, the above automatic parking control device 80 further includes:

[0143] A judgment module, configured to judge the operation behavior of the driver and the driving torque signal of the engine;

[0144] An exit module, configured to exit the automatic parking function if the operation behavior is stepping on the accelerator pedal and the torque in the driving torque signal is greater than the resistance that the vehicle needs to overcome.

[0145] It should be noted that for the information interaction, execution process, etc. between the above modules, since they are based on the same concept as the method embodiment of the present application, for their specific functions and the technical effects brought, reference can be specifically made to the method embodiment part, and details are not described herein again.

[0146] Figure 9 This is a schematic structural diagram of a braking controller provided by an embodiment of the present application. As Figure 9 shown, the braking controller of this embodiment includes: at least one processor ( Figure 9 only one is shown in the figure), a memory, and a computer program stored in the memory and executable on at least one processor. When the processor executes the computer program, it implements the steps in any of the above-mentioned embodiments of the automatic parking control method for vehicles.

[0147] The braking controller may include, but is not limited to, a processor and a memory. Those skilled in the art can understand that Figure 9 this is only an example of the braking controller and does not constitute a limitation on the braking controller. The braking controller may include more or fewer components than shown in the figure, or combine some components, or different components.

[0148] The so-called processor may be a CPU, and this processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or this processor may also be any conventional processor, etc.

[0149] The memory includes a readable storage medium, an internal memory, etc. Among them, the internal memory can be the memory of the braking controller, and the internal memory provides an environment for the operation of the operating system and computer-readable instructions in the readable storage medium. The readable storage medium can be the hard disk of the braking controller, and in some other embodiments, it can also be an external storage device of the braking controller, such as a plug-in hard disk equipped on the braking controller, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory can also include both the internal storage unit of the braking controller and the external storage device. The memory is used to store the operating system, application programs, a BootLoader, data, and other programs, etc., and the other programs such as the program code of computer programs. The memory can also be used to temporarily store the data that has been output or will be output.

[0150] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of the functional units and modules are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above-mentioned device can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein. If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-mentioned method embodiments of this application, a computer program can be used to instruct the relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can at least include: any entity or device capable of carrying the computer program code, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0151] All or part of the processes in the above-mentioned method embodiments of this application can also be completed by a computer program product. When the computer program product runs on the brake controller, the brake controller can be made to execute the steps in the above-mentioned method embodiments when executed.

[0152] In the above embodiments, the descriptions of the various embodiments have their own emphases. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0153] Those of ordinary skill in the art will realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled professionals can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0154] In the embodiments provided in this application, it should be understood that the disclosed device / brake controller and method can be implemented in other ways. For example, the device / brake controller embodiments described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections between each other can be through some interfaces. The indirect couplings or communication connections of devices or units can be in electrical, mechanical or other forms.

[0155] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0156] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. And these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included in the protection scope of this application.

[0157] Please refer to Figure 10 , Figure 10 which is a schematic diagram of a vehicle provided by an embodiment of the present invention. The vehicle includes an automatic parking control device.

Claims

1. An automatic parking control method for a vehicle, characterized in that, the automatic parking control method includes: If the detected signal information meets the activation condition of the automatic parking function, the automatic parking function is activated; After activating the automatic parking function, collect the surrounding environment information and traffic information of the vehicle, perform scene recognition on the surrounding environment information and traffic information to obtain the current driving scene of the vehicle; According to the current driving scene of the vehicle, determine the automatic parking function activation condition matching the current driving scene; Obtain the vehicle parameters of the automatic parking function activation condition matching the current driving scene. If the vehicle parameters meet the automatic parking function activation condition, judge the driver's operation behavior and vehicle state; If the operation behavior is stepping on the brake pedal and the vehicle state is a stationary state, activate the automatic parking function and control the vehicle to automatically park.

2. The automatic parking control method according to claim 1, characterized in that, the judgment that the vehicle parameters meet the automatic parking function activation condition includes: If the current driving scene is a preset first driving scene, judge whether there are no other vehicles in the front lane of the vehicle; If there are no other vehicles in the same front lane of the vehicle, obtain the predicted time for the vehicle to reach the lane stop line and the remaining time of the traffic stop signal; If the difference between the predicted time and the remaining time is not less than a preset critical time representing the activation of the automatic parking function, it is determined that the vehicle parameters meet the automatic parking function activation condition.

3. The automatic parking control method according to claim 1, characterized in that, the judgment that the vehicle parameters meet the automatic parking function activation condition includes: If the current driving scene is a preset second driving scene, the vehicle parameters obtained include the speed of the vehicle in front of the vehicle corresponding to the vehicle and the relative distance between the vehicle and the vehicle in front; If the speed of the vehicle in front is zero and the relative distance is not greater than a preset critical distance between the vehicle and the vehicle in front representing the activation of the automatic parking function, it is determined that the vehicle parameters meet the automatic parking function activation condition.

4. The automatic parking control method according to claim 1, characterized in that, the judgment that the vehicle parameters meet the automatic parking function activation condition includes: If the current driving scene is a preset third driving scene, obtain the time for a pedestrian in front of the vehicle to pass horizontally and safely through the vehicle, and the horizontal relative distance between the vehicle and the pedestrian; If the time is not less than a preset critical time representing the activation of the automatic parking function and the horizontal relative distance is not greater than a preset critical distance between the vehicle and the pedestrian representing the activation of the automatic parking function, it is determined that the vehicle parameters meet the automatic parking function activation condition.

5. The automatic parking control method according to claim 1, characterized in that, the judgment that the vehicle parameters meet the automatic parking function activation condition includes: If the current driving scenario is a preset fourth driving scenario, the vehicle parameters obtained include the distance between the vehicle and a preset parking space line; If the distance is not greater than the critical distance of the parking space line, it is determined that the vehicle parameters meet the activation condition of the automatic parking function.

6. The automatic parking control method according to any one of claims 1-5, characterized in that, after activating the automatic parking function and controlling the vehicle to automatically park, it further includes: judging the operation behavior of the driver and the driving torque signal of the engine; If the operation behavior is stepping on the accelerator pedal and the torque in the driving torque signal is greater than the resistance that the vehicle needs to overcome, the automatic parking function is exited.

7. An automatic parking control device for a vehicle, characterized in that, the automatic parking control device includes: an enabling condition judgment module, configured to enable the automatic parking function if the detected signal information meets the enabling condition of the automatic parking function; a visual perception module, configured to collect the surrounding environment information and traffic information of the vehicle after enabling the automatic parking function, perform scene recognition on the surrounding environment information and traffic information, and obtain the current driving scenario of the vehicle; a matching module, configured to determine the automatic parking function activation condition matching the current driving scenario according to the current driving scenario of the vehicle; an activation condition judgment module, configured to obtain the vehicle parameters of the automatic parking function activation condition matching the current driving scenario, and if the vehicle parameters meet the automatic parking function activation condition, judge the operation behavior of the driver and the vehicle state; a control module, configured to activate the automatic parking function and control the vehicle to automatically park if the operation behavior is stepping on the brake pedal and the vehicle state is a stationary state.

8. A brake controller, characterized in that, the brake controller includes a processor, a memory, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the automatic parking control method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that, when the computer program is executed by a processor, the automatic parking control method according to any one of claims 1 to 6 is implemented.

10. A vehicle, characterized in that, the vehicle includes the automatic parking control device according to claim 7.

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