Parking control method and device, vehicle, storage medium and program product

Abstract

The application provides a parking control method and device, a vehicle, a storage medium and a program product, and relates to the technical field of vehicle control. The method comprises the following steps: when it is determined that the vehicle is to be parked in a target obstacle parking space, the position relationship between the wheels of the vehicle and the obstacles corresponding to the target obstacle parking space is obtained; the motor output torque of the vehicle is determined according to the position relationship and a preset torque control rule; and the vehicle is controlled to drive into the target obstacle parking space according to the motor output torque. In the torque control rule, the torque is increased when the wheels approach the obstacles, and the torque is kept unchanged when the wheels contact the obstacles. The method can ensure the stability of the vehicle during parking, prevent obvious jerking, and thus enhances the parking experience of the user.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a parking control method, device, vehicle, storage medium, and program product. Background Technology

[0002] With the rapid development and popularization of automatic parking technology, this technology has gradually spread from high-end configurations to mainstream models, significantly improving the convenience and safety for users in standard parking scenarios (such as open and flat perpendicular or parallel parking spaces). In these standard parking scenarios, vehicles can efficiently identify parking spaces and complete parking operations accurately and smoothly.

[0003] In related technologies, existing automatic parking control solutions are mainly designed for standard parking scenarios, aiming to improve the parking experience under standard parking conditions. However, when faced with non-standard scenarios such as obstacles (such as curbs or steps) at the parking space entrance, existing automatic parking control solutions can cause noticeable jerking during the parking process, reducing the user's parking experience. Summary of the Invention

[0004] One objective of this invention is to provide a parking control method to solve the problem of poor user parking experience in the prior art; a second objective is to provide a parking control device; a third objective is to provide a vehicle; a fourth objective is to provide a computer-readable storage medium; and a fifth objective is to provide a computer program product.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] A parking control method, comprising:

[0007] When determining that the vehicle should be parked in the target obstacle parking space, the positional relationship between the vehicle's wheels and the obstacle corresponding to the target obstacle parking space is obtained;

[0008] Based on the positional relationship and the preset torque control rules, the motor output torque of the vehicle is determined; wherein, the torque control rules include: increasing the torque as the wheel approaches the obstacle, and maintaining the torque constant when the wheel contacts the obstacle;

[0009] The vehicle is controlled according to the output torque of the motor to drive to the target obstacle parking space.

[0010] Based on the aforementioned technical means, by acquiring the real-time positional relationship between the vehicle's wheels and obstacles, and dynamically adjusting according to preset torque control rules, the vehicle can be effectively controlled to overcome obstacles and reach the target obstacle parking space. Torque is increased as the wheels approach the obstacle to ensure the vehicle can smoothly overcome the obstacle's resistance, while torque remains constant when the wheels contact the obstacle, making the wheel crossing the obstacle more stable. This solves the problem of existing automatic parking control schemes causing noticeable jerking during parking when the vehicle faces an obstacle parking space, thus reducing the user's parking experience.

[0011] Furthermore, the torque control rule also includes reducing torque after the wheel has passed an obstacle.

[0012] Based on the above-mentioned technical means, the vehicle's wheels can be helped to quickly return to a stable driving state after passing over obstacles, avoiding sudden acceleration or unnecessary energy consumption caused by excessive torque, and improving the vehicle's driving stability and safety.

[0013] Furthermore, determining the vehicle's motor output torque based on the positional relationship and a preset torque control rule includes:

[0014] If the positional relationship indicates that the vehicle's wheels are approaching the obstacle, then the motor output torque is obtained based on the torque increment corresponding to the height of the obstacle and the current motor torque;

[0015] If the positional relationship indicates that the vehicle's wheel is in contact with the obstacle, then the motor torque determined just before the wheel contacts the obstacle is taken as the motor output torque.

[0016] If the positional relationship indicates that the vehicle's wheels cross the obstacle and move away from the obstacle, then the motor output torque is obtained by subtracting the torque increment corresponding to the height of the obstacle from the current motor torque.

[0017] Based on the aforementioned technical means, precise control of the vehicle's motor output torque can be achieved, avoiding the jerking sensation that occurs during parking. When the wheels approach an obstacle, the torque can be adjusted according to the obstacle's height to ensure the vehicle has sufficient power to overcome it; upon contact with the obstacle, a stable torque output is maintained to prevent unstable swaying of the vehicle; after overcoming the obstacle, the torque is reduced to restore smooth driving. This dynamic adjustment can improve the smoothness of parking the vehicle in complex obstacle parking spaces.

[0018] Furthermore, the method also includes:

[0019] When the vehicle's automatic parking function is activated and an obstacle parking space within a preset range of the vehicle is detected, the height of the obstacle corresponding to the obstacle parking space is obtained; wherein, the obstacle parking space is a parking space where there is an obstacle outside the entrance and no other obstacles within a preset distance on both sides;

[0020] If the height of the obstacle is less than the chassis height of the vehicle, then the obstacle parking space is determined as the target obstacle parking space, and the vehicle is determined to be parked in the target obstacle parking space.

[0021] Based on the aforementioned technical means, when the automatic parking function is activated, the vehicle can actively detect surrounding parking spaces and select a suitable parking position by determining whether the height of the obstacle is lower than the vehicle chassis. This ensures that the vehicle chassis will not be damaged due to obstacles that are too high when parking, thereby protecting the structural integrity and service life of the vehicle.

[0022] Furthermore, the method also includes:

[0023] In response to the user activating the automatic parking function, the nearest parking space to the vehicle is detected;

[0024] If there is an obstacle outside the parking space entrance, then detect whether there are other obstacles within a preset distance on both sides of the parking space;

[0025] If there are no other obstacles within a preset distance on both sides of the parking space, then the parking space is identified as the obstacle parking space.

[0026] Based on the aforementioned technologies, the vehicle can intelligently identify and select suitable parking spaces, especially when there are other obstacles in the parking space. When the user activates the automatic parking function, the vehicle can actively detect the nearest parking space and assess whether there are any obstacles outside the parking space entrance. If obstacles exist, it can further detect whether there are other obstacles within a preset distance range on both sides of the parking space. Through this multi-layered detection mechanism, the vehicle can accurately determine the availability of the parking space, ensuring that the selected parking space avoids potential collision risks, thereby improving the safety and reliability of parking in obstructed parking spaces.

[0027] Furthermore, detecting the parking space closest to the vehicle includes:

[0028] Images of the area surrounding the vehicle are acquired using an image acquisition device located outside the vehicle.

[0029] Using a preset parking space recognition model, the parking space closest to the vehicle is identified from the parking spaces in the image. The parking space recognition model is a model for parking space recognition and distance judgment obtained by training a deep learning model.

[0030] Based on the aforementioned technologies, vehicles can significantly improve the accuracy and efficiency of parking space recognition. Specifically, by utilizing image acquisition devices installed outside the vehicle, the vehicle can acquire real-time images of its surrounding environment. Combined with a parking space recognition model trained through deep learning, the nearest parking space can be quickly identified from these images, providing crucial information for parking.

[0031] Furthermore, obtaining the positional relationship between the vehicle's wheels and the obstacle corresponding to the target obstacle parking space includes:

[0032] If the distance between the vehicle and the obstacle is determined to be gradually decreasing by the distance measuring device, then the positional relationship between the wheels of the vehicle and the obstacle is determined to be a close relationship.

[0033] If the distance between the vehicle and the obstacle is determined to be zero by the distance measuring device, then the positional relationship between the wheels of the vehicle and the obstacle is determined to be a contact relationship.

[0034] If the distance measuring device determines that the vehicle passes over the obstacle and the distance to the obstacle gradually increases, then the positional relationship between the vehicle's wheels and the obstacle is determined to be a crossing relationship.

[0035] Based on the aforementioned technologies, the vehicle can accurately monitor and determine the positional relationship between the wheels and obstacles, thereby improving parking safety and accuracy. The distance measurement device can detect changes in the distance between the vehicle and obstacles in real time, determining whether the positional relationship between the vehicle's wheels and the obstacle is one of approach, contact, or crossing. The motor output torque is then adjusted according to this positional relationship to achieve safer and more efficient jerky parking.

[0036] A parking control device, comprising:

[0037] The first processing module is used to obtain the positional relationship between the wheels of the vehicle and the obstacle corresponding to the target obstacle parking space when it is determined that the vehicle will be parked in the target obstacle parking space.

[0038] The second processing module is used to determine the motor output torque of the vehicle based on the positional relationship and a preset torque control rule; wherein the torque control rule includes: increasing the torque as the wheel approaches the obstacle, and keeping the torque constant when the wheel contacts the obstacle;

[0039] The control module is used to control the vehicle according to the output torque of the motor so that it can drive to the target obstacle parking space.

[0040] A vehicle includes: a vehicle body, a memory, and a processor;

[0041] The memory stores computer-executed instructions;

[0042] The processor executes the computer execution instructions stored in the memory, causing the processor to perform the above-described parking control method.

[0043] A computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the above-described parking control method.

[0044] A computer program product includes a computer program that, when executed by a processor, is used to implement the above-described parking control method.

[0045] The beneficial effects of this invention are:

[0046] (1) By monitoring the positional relationship between the vehicle's wheels and the corresponding obstacle in the target obstacle parking space in real time, the motor output torque can be dynamically adjusted according to the preset torque control rules. The torque is increased when the wheels approach the obstacle, remains unchanged when they make contact, and decreases after passing the obstacle. This intelligent torque management improves the safety and smoothness of the parking process, avoids the obvious jerking sensation that occurs when parking in obstacle parking spaces in existing automatic parking control schemes, and improves the user's parking experience.

[0047] (2) When the automatic parking function is activated, the vehicle can detect the parking situation around the vehicle, especially the height of the obstacle parking space and the vehicle chassis. By determining whether the height of the obstacle is lower than the vehicle chassis, the vehicle can intelligently select a suitable target obstacle parking space to ensure parking safety.

[0048] (3) By using an image acquisition device and a parking space recognition model trained by deep learning, the vehicle can accurately identify the nearest parking space and determine its availability. This high-precision recognition capability ensures that the vehicle can quickly find a suitable parking space in a complex parking environment. Attached Figure Description

[0049] Figure 1 A schematic flowchart illustrating the parking control method provided in an embodiment of this application;

[0050] Figure 2 A schematic diagram of positional relationships provided for an embodiment of this application;

[0051] Figure 3 A schematic diagram illustrating the process of determining a target obstacle parking space provided in an embodiment of this application;

[0052] Figure 4 A schematic diagram illustrating the process of determining an obstructed parking space as provided in an embodiment of this application;

[0053] Figure 5A schematic diagram showing the presence of a curb outside the parking space entrance provided in this embodiment of the application;

[0054] Figure 6 This is a schematic diagram of the sensing information clearing range provided in an embodiment of this application;

[0055] Figure 7 The entrance curb parking system provided in the embodiments of this application;

[0056] Figure 8 A flowchart illustrating the automatic parking control method for curb parking spaces provided in this application;

[0057] Figure 9 A schematic diagram of the parking control device provided in this application;

[0058] Figure 10 A structural schematic diagram of the vehicle provided in this application. Detailed Implementation

[0059] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0060] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0061] First, the background technology involved in this application will be explained in detail.

[0062] With the development and popularization of automatic parking technology, its application has gradually expanded to thousands of households, greatly improving the convenience and safety of users in standard parking scenarios (such as spacious and flat perpendicular or parallel parking spaces). In these standard parking scenarios, vehicles can efficiently identify parking spaces and complete parking operations accurately and smoothly. However, with the acceleration of urbanization and the increase in parking demand, the parking environment has become increasingly complex, and non-standard parking scenarios are becoming more and more common.

[0063] In existing technologies, automatic parking control solutions are primarily designed for standard parking scenarios, aiming to optimize the parking experience in these situations. They typically rely on sensors and cameras around the vehicle to identify parking spaces and achieve automatic parking through preset path planning and control algorithms. However, when encountering non-standard scenarios such as obstacles (e.g., curbs or steps) at parking space entrances, the vehicle may experience noticeable jerking during parking, thus reducing the user's parking experience.

[0064] Based on the aforementioned problems, the technical concept of this application is as follows: When it is determined that a vehicle will park in a target obstacle parking space, the positional relationship between the vehicle's wheels and the corresponding obstacle in the target obstacle parking space can be obtained. Based on this positional relationship and a preset torque control rule, the vehicle's motor output torque is determined. The torque control rule may include: increasing torque when the wheels approach the obstacle, and maintaining constant torque when the wheels contact the obstacle. Finally, the vehicle is controlled according to the determined motor output torque to smoothly drive into the target obstacle parking space, achieving smooth parking without any jerking, thereby improving the user's parking experience.

[0065] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0066] Figure 1 This is a flowchart illustrating the parking control method provided in an embodiment of this application. Specifically, this method can be applied to vehicles with automatic parking functions. Taking the vehicle as the executing entity as an example, for instance... Figure 1 As shown, the method may include:

[0067] S101. When determining that the vehicle will be parked in the target obstacle parking space, obtain the positional relationship between the vehicle's wheels and the corresponding obstacle in the target obstacle parking space.

[0068] Among them, an obstacle parking space is a parking space where there is an obstacle outside the parking space entrance, but no other obstacles within a preset distance on both sides. The obstacle outside the parking space entrance can be a curb or step, or other obstacles that affect the smooth driving of vehicles; no other obstacles within a preset distance on both sides means that there are no other vehicles, traffic cones, pillars, or other obstacles within a preset distance on both sides of the parking space. For ease of understanding, we will use the example of a parking space with a curb outside the entrance, i.e., an obstacle parking space, as an example.

[0069] In one possible implementation, the positional relationship between the vehicle's wheels and the obstacle corresponding to the target obstacle parking space can be obtained using a distance measuring device installed on the outside of the vehicle. This positional relationship can be an approach relationship, a contact relationship, or a crossing relationship.

[0070] If the distance between the vehicle and the obstacle is determined to be gradually decreasing by the distance measuring device, then the positional relationship between the vehicle's wheels and the obstacle is determined to be a proximity relationship.

[0071] If the distance between the vehicle and the obstacle is determined to be zero by a distance measuring device, then the positional relationship between the vehicle's wheels and the obstacle is determined to be a contact relationship.

[0072] If a distance measuring device determines that a vehicle crosses an obstacle and the distance to the obstacle gradually increases, then the positional relationship between the vehicle's wheels and the obstacle is determined to be a crossing relationship.

[0073] For distance measurement devices, a lidar can be installed on the outside of the vehicle.

[0074] Vehicles typically include rear wheels and front wheels. For ease of understanding, the following embodiments will use the rear wheels of a vehicle as an example.

[0075] Figure 2 This is a schematic diagram illustrating a positional relationship provided for an embodiment of this application. For example... Figure 2 As shown, the obstacle parking space is a curb parking space with a curb. If the distance between the rear wheel and the curb is gradually reduced (from distance D1 to distance D2) as determined by the lidar, the positional relationship between the rear wheel and the curb can be determined to be a close relationship. If the distance between the rear wheel and the curb is 0 as determined by the lidar, the positional relationship between the rear wheel and the curb can be determined to be a contact relationship. If the rear wheel crosses the curb and the distance between the rear wheel and the curb gradually increases (from 0 to D3) as determined by the lidar, the positional relationship between the rear wheel and the curb can be determined to be a crossing relationship.

[0076] In the above implementation, the vehicle can accurately monitor and determine the positional relationship between the wheels and obstacles, thereby improving the safety and accuracy of parking. The distance measuring device can detect changes in the distance between the vehicle and obstacles in real time, determining whether the positional relationship between the vehicle's wheels and the obstacle is one of approach, contact, or crossing. Based on this positional relationship, the motor's output torque is adjusted to achieve safer and more efficient jerky parking.

[0077] S102. Determine the motor output torque of the vehicle based on the positional relationship and the preset torque control rules.

[0078] The torque control rules may include: increasing torque as the wheel approaches an obstacle, and maintaining constant torque when the wheel contacts the obstacle.

[0079] For example, increase torque as the rear wheel approaches the curb, and keep the torque constant when the rear wheel contacts the curb.

[0080] In one alternative implementation, the torque control rule further includes reducing torque after the wheel has passed an obstacle.

[0081] The above implementation method can help the vehicle's wheels quickly return to a stable driving state after passing over obstacles, avoiding sudden acceleration or unnecessary energy consumption caused by excessive torque, and improving the vehicle's driving stability and safety.

[0082] Specifically, if the positional relationship indicates that the vehicle's wheels are close to an obstacle, the motor output torque is obtained based on the torque increment corresponding to the height of the obstacle and the current motor torque.

[0083] The current motor torque can be the torque output by the motor when the distance between the vehicle's wheels and the obstacle meets a distance threshold. This distance threshold can be preset according to the user's needs.

[0084] For example, when the distance between the rear wheel and the curb is 30 centimeters (cm), the current motor torque can be 100 Newton-meters (N·m).

[0085] Optionally, this distance threshold can be used as a condition for determining proximity. When the vehicle's wheels approach an obstacle and the distance between them is equal to the distance threshold, the positional relationship is determined to be proximity.

[0086] In one optional implementation, the torque increment corresponding to the height of the obstacle can be obtained by looking up a table. Specifically, a lookup table of torque increments corresponding to the obstacle height can be pre-established. When the height of the obstacle is determined, the torque increment can be obtained by looking up the table. For example, if the curb height is 10cm, the torque increment can be obtained as 200 N·m by looking up the table.

[0087] In another optional implementation, the torque increment corresponding to the height of the obstacle can be calculated based on a preset torque increment calculation formula and the determined height of the obstacle.

[0088] The height of obstacles can also be measured using a lidar sensor mounted on the exterior of the vehicle.

[0089] For example, if the positional relationship indicates that the rear wheel is close to the curb, then based on the torque increment of 200 N·m corresponding to the curb height of 10 cm and the current motor torque of 100 N·m, the motor output torque is obtained as 300 N·m.

[0090] Specifically, if the positional relationship indicates that the vehicle's wheels are in contact with an obstacle, then the motor torque determined just before the wheels contact the obstacle is used as the motor's output torque. The motor torque determined just before contact can be the torque at which the vehicle's wheels first touch the obstacle.

[0091] For example, if the positional relationship indicates that the rear wheel is in contact with the curb, then the motor torque of 300 N·m, determined just before the rear wheel contacts the curb, is taken as the motor output torque. It should be understood that the motor output torque usually increases gradually rather than abruptly; therefore, the motor output torque can reach 300 N·m just before the rear wheel contacts the curb.

[0092] Specifically, if the positional relationship indicates that the vehicle's wheels cross and move away from the obstacle, the motor output torque is obtained by subtracting the torque increment corresponding to the height of the obstacle from the current motor torque.

[0093] For example, if the positional relationship indicates that the rear wheel crosses the curb and moves away from the curb, then the current motor torque of 300 N·m is reduced by the torque increment of 200 N·m corresponding to the curb height of 10 cm, resulting in a motor output torque of 100 N·m.

[0094] The above implementation method enables precise control of the vehicle's motor output torque, avoiding any jerking sensation during parking. When the wheels approach an obstacle, the torque can be adjusted according to the obstacle's height to ensure the vehicle has sufficient power to overcome it. Upon contact with the obstacle, a stable torque output is maintained to prevent unstable swaying. After overcoming the obstacle, the torque is reduced to restore smooth driving. This dynamic adjustment improves the smoothness of parking in complex obstacle parking spaces.

[0095] S103. Control the vehicle according to the output torque of the motor to drive it to the target obstacle parking space.

[0096] Among these, the positional relationship can indicate that the vehicle's wheels are approaching an obstacle and the torque is increased during the approach; the positional relationship can indicate that the vehicle's wheels are in contact with an obstacle and the torque remains constant when the wheels are in contact with the obstacle; the positional relationship can indicate that the vehicle's wheels are crossing an obstacle and moving away from the obstacle and the torque is reduced after the wheels have crossed the obstacle.

[0097] For example, when the rear wheel is 30cm from the curb, the system can instruct the rear wheel to approach the curb based on its position. During this approach, the torque is increased. Based on the torque increment of 200 N·m corresponding to a curb height of 10cm and the current motor torque of 100 N·m, the motor output torque is obtained as 300 N·m. Alternatively, the system can instruct the rear wheel to contact the curb based on its position, maintaining the torque at 300 N·m. Or, the system can instruct the rear wheel to cross the curb and move away from it. The current motor torque of 300 N·m is then subtracted from the torque increment of 200 N·m corresponding to a curb height of 10cm to obtain the motor output torque of 100 N·m, allowing the vehicle to reach the target obstacle parking space.

[0098] In one alternative implementation, the process of the front wheels crossing the obstacle is the same as that of the rear wheels. When the front wheels cross the obstacle, the vehicle is about to reach the target position, i.e., the parking spot. At this point, the output torque of the motor can be further limited to allow the vehicle to move into the target obstacle parking space. The target position can be the center of the obstacle parking space. For example, after the front wheels cross the curb, the output torque of the motor can be reduced from 300 N·m to 0 N·m. The motor no longer provides driving force, and the vehicle can continue to move using inertia or other external forces (such as gravity) until it reaches the target position.

[0099] In this embodiment, by acquiring the real-time positional relationship between the vehicle's wheels and obstacles and dynamically adjusting it according to preset torque control rules, the vehicle can be effectively guided to overcome obstacles and enter the target obstacle parking space. When the wheels approach the obstacle, the output torque of the motor can be increased to ensure that the vehicle can overcome the resistance of the obstacle; when the wheels contact the obstacle, the torque is kept constant to achieve a smoother crossing. By dynamically adjusting the torque, the vehicle can more smoothly overcome obstacles and park in the target obstacle parking space, ensuring the smoothness and comfort of the parking process and improving the user's parking experience.

[0100] In one possible implementation, before determining whether to park the vehicle in the target obstacle parking space, the vehicle's automatic parking function needs to be activated to judge whether the detected obstacle parking spaces within the vehicle's preset range are the target obstacle parking spaces. If the obstacle parking spaces within the vehicle's preset range are the target obstacle parking spaces, then it can be determined whether to park the vehicle in the target obstacle parking spaces.

[0101] Figure 3 This is a schematic diagram illustrating the process of determining a target obstacle parking space as provided in an embodiment of this application. Figure 3 As shown, the method may include:

[0102] S301. When the vehicle's automatic parking function is activated and an obstacle parking space within the vehicle's preset range is detected, obtain the height of the obstacle corresponding to the obstacle parking space.

[0103] Among them, obstacle parking spaces are those where there are obstacles outside the entrance, but no other obstacles within a preset distance on both sides. The preset range can be preset according to actual parking needs.

[0104] Before automatic parking, if there are other obstacles (such as other vehicles, traffic cones, or pillars) within a preset distance on both sides of the obstacle parking space, the obstacle parking space can be regarded as a narrow parking space. Narrow parking spaces are usually not suitable for the strategy of increasing torque to pass through in advance, because there is a risk of subsequent collision.

[0105] Furthermore, during automatic parking, when the vehicle's wheels approach an obstacle parking space, if the vehicle is at a certain angle to the obstacle parking space (the direction of the vehicle's movement trend) and is close to other obstacles (such as other vehicles, traffic cones, or posts), the strategy of increasing torque in advance to pass over them is not applicable. In this case, it is possible to choose not to send a command to increase torque to the motor controller.

[0106] For example, when the vehicle's automatic parking function is activated and a curb parking space within the vehicle's preset range is detected, the curb height corresponding to the curb parking space is obtained as 10cm.

[0107] S302. If the height of the obstacle is less than the chassis height of the vehicle, then the obstacle parking space is determined as the target obstacle parking space, and the vehicle is parked in the target obstacle parking space.

[0108] Specifically, whether a vehicle can be parked in a parking space with an obstacle is often determined by the vehicle's chassis height. If the height of the obstacle is less than the height of the vehicle's chassis, the vehicle is considered to be able to cross the obstacle, and the parking space with the obstacle can be identified as the target obstacle parking space, and the vehicle can be parked in the target obstacle parking space.

[0109] Conversely, if the height of the obstacle is greater than or equal to the height of the vehicle's chassis, it can be determined that the vehicle cannot pass over the obstacle, and there is a risk of collision with the vehicle's chassis. By identifying the parking space, the risk of vehicle collision damage caused by obstacle height issues can be avoided.

[0110] In this embodiment of the application, when the automatic parking function is activated, the vehicle can actively detect surrounding obstacle parking spaces and select a target obstacle parking space by judging whether the height of the obstacle is lower than the vehicle chassis, so as to ensure that the vehicle chassis will not be damaged due to excessively high obstacles during the parking process, thereby maintaining the structural integrity of the vehicle and extending its service life.

[0111] Figure 4 This is a schematic diagram illustrating the process of determining an obstructed parking space as provided in an embodiment of this application. Figure 4 As shown, the method may include:

[0112] S401, In response to the user activating the automatic parking function, detects the nearest parking space to the vehicle.

[0113] Specifically, the vehicle's automatic parking function can be activated using any of the following methods.

[0114] Method (1): Users can activate the automatic parking function by pressing a dedicated button or switch inside the vehicle;

[0115] Method (2): In vehicles equipped with touch screens, users can select and activate the automatic parking function through the interface of the in-vehicle infotainment system;

[0116] Method (3): In vehicles equipped with voice recognition, users can activate the automatic parking function via voice commands.

[0117] In one possible implementation, detecting the parking space closest to the vehicle can be achieved through the following steps 1-2:

[0118] Step 1: Acquire images of the area around the vehicle using an image acquisition device installed on the exterior of the vehicle.

[0119] The image acquisition device can be a camera installed on the outside of the vehicle, which can acquire images of the area around the vehicle.

[0120] Step 2: Using a preset parking space recognition model, identify the parking space closest to the vehicle from the parking spaces in the image. The parking space recognition model is a model for parking space recognition and distance judgment obtained by training a deep learning model.

[0121] For example, a deep learning model can employ a convolutional neural network (CNN) model. By annotating images containing parking spaces, corresponding labels can be generated. These labels can include the location of the parking space and the distance between the parking space and the vehicle. By training the CNN model using a training set, the resulting parking space recognition model can effectively identify parking spaces and their distances from images. The training set can include a large number of images containing parking spaces, each image precisely labeled with the location of the parking space and the distance between the parking space and the vehicle.

[0122] In the above implementation, by utilizing an external image acquisition device and combining it with a parking space recognition model trained by deep learning, the parking space closest to the vehicle can be efficiently identified from the images acquired by the image acquisition device, providing key information for parking.

[0123] S402. If there are obstacles outside the parking space entrance, detect whether there are other obstacles within a preset distance on both sides of the parking space.

[0124] The presence of other obstacles within a preset distance on both sides of the parking space can be identified using a distance measuring device.

[0125] Specifically, the preset distance range on both sides of the parking space can be preset. For example, the preset distance range on both sides of the parking space can be a range of 0.5m from the left side of the parking space and a range of 0.5m from the right side of the parking space.

[0126] In one possible implementation, the presence of other obstacles within a preset distance on both sides of the parking space can be obtained through ultrasonic sensors, millimeter-wave radar, cameras combined with computer vision, infrared sensors, or multi-sensor fusion.

[0127] Specifically, when it is determined that there are obstacles (such as curbs or steps) outside the parking space entrance, it is possible to further detect whether there are other obstacles (vehicles, traffic cones, pillars) within a preset range on both sides of the parking space, and determine whether the parking space is an obstacle parking space based on the detection results.

[0128] S403. If there are no other obstacles within a preset distance on both sides of the parking space, the parking space will be designated as an obstacle parking space.

[0129] For example, a parking space can be designated as an obstacle parking space if there is a curb outside the parking space entrance and there are no other vehicles, traffic cones, or pillars within a 0.5m radius on either side of the parking space.

[0130] In one possible implementation, for scenarios where the parking space recognition model fails to identify obstacles (such as curbs or steps) outside the parking space entrance, or where the training set used to train the deep learning model does not include scenarios where obstacles exist outside the parking space entrance, recognition can be achieved through post-processing. By setting a judgment region, parking spaces in the image can be identified to determine whether there are obstacles outside the parking space entrance in the image.

[0131] Figure 5 This is a schematic diagram illustrating a parking space entrance with a curb as provided in an embodiment of this application. Figure 5 As shown, side AB is the parking space entrance side, and the upper and lower 0.3m are the judgment areas. Based on the existence of a curb within the judgment area, it is determined that there is a curb outside the parking space entrance. The judgment area consists of the area enclosed by points E, F, G, and H.

[0132] In some embodiments, by using a parking space recognition model or post-processing, an obstacle is detected outside the parking space entrance. Typically, a series of impassable points are detected and output, which prevents vehicles from passing. Therefore, the detected information including impassable points output outside the parking space entrance can be cleared.

[0133] Specifically, if the height of an obstacle is less than the vehicle's chassis height, the sensor information indicating impassable points outside the parking space entrance can be cleared. After clearing the sensor information of impassable points, subsequent parking operations can be performed. The clearing range can be preset.

[0134] Figure 6 This is a schematic diagram illustrating the sensing information clearing range provided in an embodiment of this application. Figure 6 As shown, the preset clearing range can include a range 1m in front of the parking space entrance (AB side), 0.3m behind the parking space entrance (AB side), 0.5m to the left of the parking space (AC side), and 0.5m to the right of the parking space (BD side).

[0135] In this embodiment, the vehicle can intelligently identify and select suitable parking spaces, especially when there are other obstacles in the parking space. When the user activates the automatic parking function, the vehicle can actively detect the nearest parking space and assess whether there are obstacles outside the parking space entrance. If obstacles exist, it can further detect whether there are other obstacles within a preset distance range on both sides of the parking space. Through this multi-layered detection mechanism, the vehicle can accurately determine the availability of the parking space, ensuring that the selected parking space avoids potential collision risks, thereby improving the safety and reliability of parking in obstructed parking spaces.

[0136] Figure 7 An entrance curbside parking system provided as an embodiment of this application. For example... Figure 7 As shown, vehicles can park in curbside parking spaces through this entrance curbside parking system. Specifically, the entrance curbside parking system 700 includes: a parking space perception and processing module 701, a longitudinal speed planning module 702, and a longitudinal control module 703.

[0137] The parking space perception and processing module 701 includes a curb parking space scene recognition module 7011, a curb height recognition module 7012, and a perception information clearing module 7013. The curb parking space scene recognition module 7011 identifies the parking space closest to the vehicle, determining it as a curb parking space based on the presence of a curb outside the parking space entrance and the absence of other vehicles, traffic cones, pillars, or other obstacles within a preset distance on both sides of the parking space. The curb height recognition module 7012 identifies the height of the curb. The perception information clearing module 7013 clears the perception information of impassable points outside the parking space entrance based on the curb height being less than the vehicle's chassis height.

[0138] The longitudinal speed planning module 702 includes a curb position relationship recognition module 7021 and a scene restriction module 7022. The curb position relationship recognition module 7021 is used to identify the positional relationship between the vehicle's wheels and the curb during parking; the positional relationship includes: proximity, contact, or crossing. The scene restriction module 7022 is mainly used to restrict certain specific scenarios where pre-emptive torque increase to cross the curb is not applicable (such as narrow parking spaces, or when the vehicle's movement trend is close to other vehicles, pillars, or traffic cones).

[0139] The longitudinal speed control module 703 is used to adjust the motor output torque according to the positional relationship determined by the curb positional relationship identification module 721, so as to change the vehicle speed and control the vehicle to drive to the curb parking space.

[0140] The aforementioned entrance curbside parking system enables vehicles to park more intelligently in curbside spaces. Through the collaborative work of multiple modules, the system achieves perception of the parking space environment, torque planning, and control. This entrance curbside parking system allows vehicles to complete curbside parking operations more efficiently and safely, reducing the driver's workload and improving the user's parking experience.

[0141] Figure 8 This is a flowchart illustrating the automatic parking control method for curbside parking spaces provided in this application. Figure 8 As shown, the method may include:

[0142] S801, Start parking and find a parking space.

[0143] In response to the user activating the automatic parking function, it detects the nearest parking space to the vehicle.

[0144] S802, the parking space perception and processing module identifies curbside parking spaces.

[0145] Among them, the parking space perception and processing module can identify the entrance parking space scene and indicate that the parking space type is a curb parking space. The attributes of the curb parking space include the existence of a curb outside the entrance, the absence of other obstacles within a preset distance on both sides of the curb parking space, and the height of the curb being less than the chassis height of the vehicle.

[0146] Furthermore, the sensor information indicating impassable points outside the parking space entrance can be cleared from the sensor output. It should be understood that if the height of the curb is greater than or equal to the chassis height of the vehicle, then it is not necessary to clear the sensor information indicating impassable points outside the parking space entrance, and the curb parking space can be directly determined as an unusable parking space.

[0147] S803, Determine the target parking space and begin route planning.

[0148] Specifically, the identified curbside parking spaces can be designated as target obstacle parking spaces, and automatic parking path planning can begin.

[0149] S804 identifies the positional relationship during the automatic parking process and sends it to the longitudinal speed control module.

[0150] Specifically, the longitudinal speed planning module can identify positional relationships during the automatic parking process and send them to the longitudinal speed control module. The positional relationships can be proximity, contact, or crossing.

[0151] S805 When the positional relationship is close, torque begins to increase, increasing vehicle speed.

[0152] Specifically, the longitudinal speed control module can indicate the vehicle's wheels to approach the curb based on the positional relationship, and obtain the motor output torque based on the torque increment corresponding to the curb height and the current motor torque.

[0153] S806 When the positional relationship is a contact relationship, the motor maintains the torque output after the torque is increased.

[0154] Specifically, the longitudinal speed control module can determine the contact relationship between the vehicle's wheels and the curb based on the positional relationship, and use the motor torque determined just before the wheels contact the curb as the motor output torque.

[0155] S807. When the positional relationship is a crossing relationship, start canceling the torque increase.

[0156] Specifically, the longitudinal speed control module can instruct the vehicle's wheels to cross the curb and move away from it based on the positional relationship, and subtract the torque increment corresponding to the height of the curb from the current motor torque to obtain the motor output torque.

[0157] Furthermore, if the rear wheels cross the curb first, the timing for the front wheels to cross the curb can be determined by combining the vehicle's current speed and wheelbase. The motor's output torque can then be adjusted to achieve smooth speed control during the transition from the rear wheels crossing the curb to the front wheels crossing the curb, preventing sudden acceleration or deceleration that could degrade the user experience.

[0158] The automatic parking control method for curb parking spaces provided in this application can be referred to the technical solution shown in the above method embodiments for its specific execution process. The implementation principle and beneficial effects are similar, and will not be repeated here.

[0159] Figure 9 This is a structural schematic diagram of the parking control device provided in this application. Figure 9 As shown, the parking control device 900 provided in this embodiment includes:

[0160] The first processing module 901 is used to obtain the positional relationship between the wheels of the vehicle and the obstacle corresponding to the target obstacle parking space when it is determined that the vehicle will be parked in the target obstacle parking space.

[0161] The second processing module 902 is used to determine the motor output torque of the vehicle based on the positional relationship and a preset torque control rule; wherein the torque control rule includes: increasing the torque as the wheel approaches the obstacle, and keeping the torque constant when the wheel contacts the obstacle;

[0162] The control module 903 is used to control the vehicle according to the output torque of the motor so that it can drive to the target obstacle parking space.

[0163] Optionally, the torque control rule may also include reducing torque after the wheel has passed an obstacle.

[0164] Optionally, the second processing module 902 is specifically used for:

[0165] If the positional relationship indicates that the vehicle's wheels are approaching the obstacle, then the motor output torque is obtained based on the torque increment corresponding to the height of the obstacle and the current motor torque;

[0166] If the positional relationship indicates that the vehicle's wheel is in contact with the obstacle, then the motor torque determined just before the wheel contacts the obstacle is taken as the motor output torque.

[0167] If the positional relationship indicates that the vehicle's wheels cross the obstacle and move away from the obstacle, then the motor output torque is obtained by subtracting the torque increment corresponding to the height of the obstacle from the current motor torque.

[0168] Optionally, the first processing module 901 is further configured to:

[0169] When the vehicle's automatic parking function is activated and an obstacle parking space within a preset range of the vehicle is detected, the height of the obstacle corresponding to the obstacle parking space is obtained; wherein, the obstacle parking space is a parking space where there is an obstacle outside the entrance and no other obstacles within a preset distance on both sides;

[0170] If the height of the obstacle is less than the chassis height of the vehicle, then the obstacle parking space is determined as the target obstacle parking space, and the vehicle is determined to be parked in the target obstacle parking space.

[0171] Optionally, the parking control device 900 further includes a detection module 904, which is used for:

[0172] In response to the user activating the automatic parking function, the nearest parking space to the vehicle is detected;

[0173] If there is an obstacle outside the parking space entrance, then detect whether there are other obstacles within a preset distance on both sides of the parking space;

[0174] If there are no other obstacles within a preset distance on both sides of the parking space, then the parking space is identified as the obstacle parking space.

[0175] Optionally, the detection module 904 is specifically used for:

[0176] Images of the area surrounding the vehicle are acquired using an image acquisition device located outside the vehicle.

[0177] Using a preset parking space recognition model, the parking space closest to the vehicle is identified from the parking spaces in the image. The parking space recognition model is a model for parking space recognition and distance judgment obtained by training a deep learning model.

[0178] Optionally, the first processing module 901 is specifically used for:

[0179] If the distance between the vehicle and the obstacle is determined to be gradually decreasing by the distance measuring device, then the positional relationship between the wheels of the vehicle and the obstacle is determined to be a close relationship.

[0180] If the distance between the vehicle and the obstacle is determined to be zero by the distance measuring device, then the positional relationship between the wheels of the vehicle and the obstacle is determined to be a contact relationship.

[0181] If the distance measuring device determines that the vehicle passes over the obstacle and the distance to the obstacle gradually increases, then the positional relationship between the vehicle's wheels and the obstacle is determined to be a crossing relationship.

[0182] The parking control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0183] Figure 10 This is a structural diagram of the vehicle provided in this application. Figure 10 As shown, the vehicle 1000 provided in this embodiment includes: a vehicle body 1001, at least one processor 1002, and a memory 1003. Optionally, the vehicle 1000 also includes a communication component 1004. The processor 1002, the memory 1003, and the communication component 1004 are connected via a bus 1005.

[0184] In a specific implementation, at least one processor 1002 executes computer execution instructions stored in memory 1003, causing at least one processor 1002 to perform the above-described method.

[0185] The specific implementation process of processor 1002 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0186] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0187] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0188] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0189] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0190] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0191] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0192] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0193] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0194] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0195] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0196] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0197] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0198] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

[0199] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A parking control method, characterized in that, include: When the vehicle's automatic parking function is activated and an obstacle parking space within a preset range is detected, the height of the obstacle corresponding to the obstacle parking space is obtained; wherein, the obstacle parking space is a parking space where there is an obstacle outside the entrance and no other obstacles within a preset distance on both sides; If the height of the obstacle is less than the chassis height of the vehicle, then the obstacle parking space is determined as the target obstacle parking space, and the vehicle is determined to be parked in the target obstacle parking space. When determining that the vehicle should be parked in the target obstacle parking space, the positional relationship between the vehicle's wheels and the obstacle corresponding to the target obstacle parking space is obtained; The motor output torque of the vehicle is determined based on the positional relationship and a preset torque control rule, including: if the positional relationship indicates that the vehicle's wheels are approaching the obstacle, the motor output torque is obtained based on the torque increment corresponding to the height of the obstacle and the current motor torque; if the positional relationship indicates that the vehicle's wheels are in contact with the obstacle, the motor torque determined just before the wheels contact the obstacle is used as the motor output torque; if the positional relationship indicates that the vehicle's wheels are crossing the obstacle and moving away from the obstacle, the current motor torque is subtracted from the torque increment corresponding to the height of the obstacle to obtain the motor output torque; wherein, the torque control rule includes: increasing the torque as the wheels approach the obstacle, and keeping the torque constant when the wheels contact the obstacle; The vehicle is controlled according to the output torque of the motor to drive to the target obstacle parking space.

2. The method according to claim 1, characterized in that, The torque control rules also include reducing torque after the wheel has passed an obstacle.

3. The method according to claim 1, characterized in that, The method further includes: In response to the user activating the automatic parking function, the nearest parking space to the vehicle is detected; If there is an obstacle outside the parking space entrance, then detect whether there are other obstacles within a preset distance on both sides of the parking space; If there are no other obstacles within a preset distance on both sides of the parking space, then the parking space is identified as the obstacle parking space.

4. The method according to claim 3, characterized in that, The detection of the parking space closest to the vehicle includes: Images of the area surrounding the vehicle are acquired using an image acquisition device located outside the vehicle. Using a preset parking space recognition model, the parking space closest to the vehicle is identified from the parking spaces in the image. The parking space recognition model is a model for parking space recognition and distance judgment obtained by training a deep learning model.

5. The method according to any one of claims 1 to 4, characterized in that, The step of obtaining the positional relationship between the vehicle's wheels and the obstacle corresponding to the target obstacle parking space includes: If the distance between the vehicle and the obstacle is determined to be gradually decreasing by the distance measuring device, then the positional relationship between the wheels of the vehicle and the obstacle is determined to be a close relationship. If the distance between the vehicle and the obstacle is determined to be zero by the distance measuring device, then the positional relationship between the wheels of the vehicle and the obstacle is determined to be a contact relationship. If the distance measuring device determines that the vehicle passes over the obstacle and the distance to the obstacle gradually increases, then the positional relationship between the vehicle's wheels and the obstacle is determined to be a crossing relationship.

6. A parking control device, characterized in that, include: The first processing module is used to obtain the height of the obstacle corresponding to the obstacle parking space when the vehicle's automatic parking function is activated and an obstacle parking space within a preset range of the vehicle is detected; wherein, the obstacle parking space is a parking space where there is an obstacle outside the entrance and no other obstacles within a preset distance on both sides; The first processing module is further configured to determine the obstacle parking space as a target obstacle parking space if the height of the obstacle is less than the chassis height of the vehicle, and to determine to park the vehicle in the target obstacle parking space. The first processing module is also used to obtain the positional relationship between the wheels of the vehicle and the obstacle corresponding to the target obstacle parking space when it is determined that the vehicle will be parked in the target obstacle parking space. The second processing module is used to determine the motor output torque of the vehicle according to the positional relationship and a preset torque control rule, including: if the positional relationship indicates that the vehicle's wheels are approaching the obstacle, then the motor output torque is obtained according to the torque increment corresponding to the height of the obstacle and the current motor torque; if the positional relationship indicates that the vehicle's wheels are in contact with the obstacle, then the motor torque determined just before the wheels contact the obstacle is used as the motor output torque; if the positional relationship indicates that the vehicle's wheels cross the obstacle and move away from the obstacle, then the current motor torque is subtracted from the torque increment corresponding to the height of the obstacle to obtain the motor output torque; wherein, the torque control rule includes: increasing the torque as the wheels approach the obstacle, and keeping the torque constant when the wheels contact the obstacle; The control module is used to control the vehicle according to the output torque of the motor so that it can drive to the target obstacle parking space.

7. A vehicle, characterized in that, include: Vehicle body, memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-5.

9. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-5.

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