Automatic vehicle out-of-garage method and system, electronic equipment and storage medium

Abstract

The invention discloses an automatic vehicle out-of-garage method and system, electronic equipment and a storage medium. The method comprises the steps that the out-of-garage function of a current vehicle is started; under the condition that it is detected that the current vehicle is located in the vertical parking space and rearview mirrors are folded, the current vehicle is controlled to run straightly, and sensors are arranged at the rearview mirrors; under the condition that it is judged that the space of the side edge of the current vehicle is enough to unfold the rearview mirror, the current vehicle is controlled to unfold the rearview mirror; planning a safe collision-free track based on environment information acquired by a sensor at a rearview mirror, and controlling the current vehicle to drive according to the safe collision-free track so as to complete garage leaving; wherein the safe collision-free track is a track allowing transverse and longitudinal adjustment. Therefore, the method that the vehicle can be safely and automatically parked out in a narrow vertical parking space under the condition that the rearview mirror is folded is achieved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method and system for automatic vehicle exit from a parking garage, electronic equipment, and storage medium. Background Technology

[0002] Automatic Parking Assist (APA) and Remote Parking Assist (RPA) systems have become important components of modern intelligent vehicles. They can automatically control the vehicle to park in and out of parking spaces and drive parallel to the road, allowing the driver to drive away without further adjustments.

[0003] Specifically, since current automatic parking assistance systems and remote parking systems rely on surround-view perception systems, side cameras are integrated into the left and right rearview mirrors of the vehicle. These side cameras, along with other cameras and sensors, can collect information about the surrounding environment and the distribution of obstacles. Based on this information, a trajectory can be planned to safely exit the parking space, and the vehicle can be controlled to safely exit the parking space according to the planned trajectory.

[0004] However, in narrow perpendicular parking spaces, to avoid scratching the rearview mirrors against adjacent vehicles or walls, vehicles typically fold the mirrors after parking and before parking out. This obstructs or disables the field of view of the camera on the rearview mirror, creating a large blind spot for the perception system. The system cannot acquire complete information about the surrounding environment, and therefore, due to incomplete input information, it cannot safely plan a path to park directly onto the road, thus failing to automatically park. Summary of the Invention

[0005] In view of the shortcomings of the prior art, this application provides a method and system for automatic vehicle exit from a parking space, an electronic device, and a storage medium to solve the problem that the prior art cannot automatically exit from a narrow perpendicular parking space.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] The first aspect of this application provides a method for automatic vehicle exit from a parking space, including:

[0008] Activate the vehicle's outbound function;

[0009] If it is detected that the current vehicle is in a perpendicular parking space and the rearview mirrors are folded, the current vehicle is controlled to drive straight out. A sensor is installed at the rearview mirror.

[0010] If it is determined that there is enough space on the side of the current vehicle to unfold the rearview mirrors, control the current vehicle to unfold the rearview mirrors.

[0011] Based on environmental information obtained from sensors at the rearview mirror, a safe, collision-free trajectory is planned, and the current vehicle is controlled to drive along the safe, collision-free trajectory to complete the exit from the parking space; wherein, the safe, collision-free trajectory is a trajectory that allows for lateral and longitudinal adjustments.

[0012] Optionally, the above-mentioned automatic vehicle exit method also includes:

[0013] Detect whether the current vehicle is in a perpendicular parking space;

[0014] If the current vehicle is detected to be in a perpendicular parking space, then it is detected whether the current vehicle has folded its rearview mirrors.

[0015] If it is detected that the current vehicle's rearview mirrors are not folded, then it is detected whether the current vehicle is in a narrow space;

[0016] If the vehicle is detected to be in a confined space, the vehicle's side mirrors are folded.

[0017] Optionally, in the above-described automatic vehicle exit method, detecting whether the current vehicle is in a perpendicular parking space includes:

[0018] Detect whether the parking space frame of the current vehicle is connected to other parking space frames by a long side, or detect whether there are obstacles on both sides of the current vehicle and no obstacles in front of it;

[0019] If it is detected that the parking space frame of the current vehicle is connected to other parking space frames by a long side, or if it is detected that there are obstacles on both sides of the current vehicle and no obstacles in front of it, then it is determined that the current vehicle is in a perpendicular parking space.

[0020] Optionally, the above-mentioned automatic vehicle exit method also includes:

[0021] While controlling the current vehicle to drive straight out, monitor in real time whether the driving space in front of the current vehicle is safe to drive.

[0022] When it is detected that the driving space in front of the current vehicle is safe to drive, the control to make the current vehicle drive straight out is executed;

[0023] If it is detected that the driving space in front of the current vehicle is not safe to drive, then the current vehicle will be braked.

[0024] Optionally, the above-mentioned automatic vehicle exit method also includes:

[0025] If the braking duration of the current vehicle exceeds a preset time, it is determined that the rearview mirror cannot be deployed, and the automatic exit from the parking space is terminated.

[0026] Optionally, in the above-described automatic vehicle exit method, the step of controlling the current vehicle to drive straight out when it is detected that the current vehicle is in a perpendicular parking space and the rearview mirrors are folded includes:

[0027] If it is detected that the current vehicle is in a perpendicular parking space and the rearview mirrors are folded, a straight-out trajectory is planned according to a first preset distance, and the current vehicle is controlled to drive straight out along the straight-out trajectory, wherein the straight-out trajectory is a trajectory that only allows longitudinal adjustment;

[0028] The method further includes:

[0029] If the current vehicle's straight-out travel distance is not less than the first preset distance, determine whether there is enough space on the side of the current vehicle to unfold the rearview mirror.

[0030] Optionally, the above-mentioned automatic vehicle exit method also includes:

[0031] If it is determined that the space on the side of the current vehicle is insufficient to unfold the rearview mirror, the current vehicle is controlled to travel straight at a distance not exceeding the second preset distance, and the space on the side of the current vehicle is determined in real time to be sufficient to unfold the rearview mirror; wherein, the second preset distance is set based on the driving space in front of the current vehicle;

[0032] If it is determined that there is enough space on the side of the current vehicle to unfold the rearview mirror before the straight-line distance reaches the second preset distance, then the control to unfold the rearview mirror of the current vehicle is executed.

[0033] If, after traveling a straight distance of the second preset distance, it is determined that the space on the side of the current vehicle is insufficient to unfold the rearview mirror, then it is determined that the rearview mirror cannot be unfolded, and the automatic exit from the parking space ends.

[0034] A second aspect of this application provides an electronic device, comprising:

[0035] Memory and processor;

[0036] The memory is used to store programs;

[0037] The processor is used to execute the program, which, when executed, is specifically used to implement the automatic vehicle exit method described above.

[0038] A third aspect of this application provides a vehicle that includes the electronic equipment described above.

[0039] The fourth aspect of this application provides a computer storage medium for storing a computer program, which, when executed by a processor, is used to implement the automatic vehicle exit method described above.

[0040] This application provides a method for automatically exiting a parking space. The method involves activating the vehicle's exit function. When the vehicle is detected to be in a perpendicular parking space with its side mirrors folded, it is controlled to drive straight out. A first sensor is installed at the side mirror. By restricting the vehicle to straight-line movement, scratches can be effectively avoided without comprehensive information, while allowing sufficient space for the side mirrors to unfold. If sufficient space is determined on the side of the vehicle to unfold the side mirrors, the mirrors are unfolded to prevent scratches. Then, a safe, collision-free trajectory is planned based on environmental information obtained from the camera at the side mirror, and the vehicle is controlled to follow this trajectory to complete the exit. This safe, collision-free trajectory allows for both lateral and longitudinal adjustments, enabling the vehicle to safely exit the parking space and reach the lane. This method provides a way to safely and automatically exit a vehicle in a narrow, perpendicular parking space with folded side mirrors. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0042] Figure 1 A flowchart of a method for automatic vehicle exit from a parking garage provided in this application embodiment;

[0043] Figure 2 A flowchart illustrating a method for detecting whether a vehicle is currently in a perpendicular parking space and whether its rearview mirrors are folded, provided in an embodiment of this application;

[0044] Figure 3 A schematic diagram illustrating an example of traveling a first preset distance, provided as an embodiment of this application;

[0045] Figure 4 A schematic diagram illustrating an example of traveling a second preset distance, provided as an embodiment of this application;

[0046] Figure 5 A schematic diagram illustrating an example of controlling a current vehicle to travel along a safe, collision-free trajectory, as provided in an embodiment of this application;

[0047] Figure 6This application provides an architectural diagram of an automated vehicle exit system.

[0048] Figure 7 This is a schematic diagram of the architecture of an electronic device provided in an embodiment of this application. Detailed Implementation

[0049] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] In this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0051] This application provides a method for automatic vehicle exit from a parking garage, such as... Figure 1 As shown, it includes the following steps:

[0052] S101. Activate the vehicle's outbound function.

[0053] Specifically, when it is necessary to automatically drive the current vehicle out of the parking space, the vehicle's exit function will be activated.

[0054] S102. If it is detected that the current vehicle is in a perpendicular parking space and the rearview mirrors are folded, control the current vehicle to drive straight out.

[0055] The first sensor is located at the rearview mirror.

[0056] It should be noted that when a vehicle is in a narrow, perpendicular parking space with the side mirrors folded, complete environmental information cannot be obtained. Therefore, lateral movement is likely to result in scratches, making conventional parking impossible. Unfolding the side mirrors directly is also not an option, as it might scratch them. Therefore, to prevent scratches, the vehicle is controlled to move straight out, allowing only longitudinal movement and restricting lateral adjustments (i.e., limiting steering wheel rotation).

[0057] Therefore, optionally, before executing step S102, it is necessary to first detect whether the current parking space is a perpendicular parking space and whether the rearview mirror is folded. If it is detected that the current parking space is a perpendicular parking space and the rearview mirror is folded, then in order to control the vehicle to park automatically, step S102 is executed at this time.

[0058] If the vehicle is not in a perpendicular parking space, its side mirrors can usually be unfolded, so it can be parked using the usual methods. If the side mirrors are not folded, it means that complete information about the surrounding environment can be obtained, so it can also be parked using the usual methods.

[0059] Optionally, in another embodiment of this application, a method for detecting the current parking space and rearview mirror status of a vehicle is provided, such as... Figure 2 As shown, it includes the following steps:

[0060] S201. Detect whether the current vehicle is in a perpendicular parking space.

[0061] If the vehicle is detected to be in a perpendicular parking space, step S202 is executed. If the vehicle is detected to be not in a perpendicular parking space, it can automatically park itself according to the normal logic.

[0062] Optionally, in another embodiment of this application, one specific implementation of step S201 includes:

[0063] Detect whether the current vehicle's parking space frame is connected to other parking space frames by a long side, or detect whether there are obstacles on both sides of the current vehicle and no obstacles directly in front of it.

[0064] Since standard perpendicular parking spaces are marked with parking space frames, and adjacent parking space frames are connected by their long sides, it's possible to detect whether the current vehicle's parking space frame is connected to other parking space frames by their long sides, thus determining whether the current vehicle is in a perpendicular parking space. Specifically, if the current vehicle's parking space frame is found to be connected to other parking space frames by their long sides, then the vehicle is confirmed to be in a perpendicular parking space.

[0065] Optionally, when a vehicle parks, the camera can acquire and store the parking space information. This information can then be retrieved when preparing to park out, allowing the system to determine if the vehicle is in a perpendicular parking space. Alternatively, after acquiring the parking space frame information, the system can detect whether the vehicle is in a perpendicular parking space, store the detection result, and retrieve it directly when needed later.

[0066] Considering that parking space frames may not be detectable in some scenarios, we can also detect whether the vehicle is in a perpendicular parking space by checking if there are obstacles on both sides of the vehicle and no obstacles directly in front of it. If obstacles are detected on both sides of the vehicle and no obstacles are detected directly in front of it, then the vehicle is determined to be in a perpendicular parking space.

[0067] Of course, other methods can also be used for inspection, such as checking whether the vehicle is reversed into the parking space or driven directly into the parking space.

[0068] S202. Check if the rearview mirrors of the current vehicle are folded.

[0069] Optionally, it can be determined directly by reading the status of the rearview mirrors to see if the vehicle's rearview mirrors are folded.

[0070] If the vehicle's side mirrors are not folded, the parking space may be wide enough that folding the mirrors is unnecessary, and parking can proceed using standard logic. Alternatively, the mirrors may only be able to be unfolded at the current position, but the mirrors could still be scratched during parking. In this case, it's necessary to further determine whether folding the mirrors is required. Therefore, step S203 is executed. If the side mirrors are detected as folded, step S205 can be executed directly.

[0071] S203. Detect whether the current vehicle is in a confined space.

[0072] If the vehicle is detected to be in a narrow space, it means that not folding the side mirrors in this environment may cause scratches, so step S204 is executed. If the vehicle is detected to be not in a narrow space, it means that folding the side mirrors is not necessary, so parking can proceed directly according to the normal logic.

[0073] S204, Control the folding rearview mirrors of the current vehicle.

[0074] In this process, after controlling the current vehicle to fold the rearview mirror, the rearview mirror of the current vehicle is already folded, so step S205 is executed at this time.

[0075] S205. Confirm that the current vehicle is in a perpendicular parking space and the rearview mirrors are folded.

[0076] Optionally, to avoid collisions with static and dynamic obstacles in front of the current vehicle when the rearview mirrors are deployed, in another embodiment of this application, step S102 further includes:

[0077] While controlling the current vehicle to travel straight out, monitor in real time whether the driving space in front of the current vehicle is safe to drive.

[0078] If the system detects that there is sufficient space in front of the vehicle to drive safely, it will control the vehicle to proceed straight ahead. If the system detects that there is insufficient space in front of the vehicle to drive safely, it will brake the vehicle to prevent a collision.

[0079] It should be noted that since obstacles ahead may be dynamic, in order to continue automatic parking after the obstacle moves away, the system continuously monitors the driving space in front of the vehicle after braking to ensure safe passage. Once the system detects that the driving space ahead is safe, it releases the brakes and continues straight out.

[0080] Optionally, to avoid prolonged waiting, in another embodiment of this application, after braking the current vehicle, the following can be further performed:

[0081] If the braking duration of the current vehicle exceeds the preset time, it is determined that the rearview mirror cannot be deployed, and the automatic exit from the parking space is terminated.

[0082] Optionally, the braking duration can be timed after braking the current vehicle. If the braking duration exceeds a preset time, it is determined that the rearview mirror cannot be deployed, and the automatic exit function is terminated, i.e., the automatic exit function is deactivated.

[0083] Optionally, in order to ensure that the vehicle can be controlled to drive straight out to a position where the rearview mirrors can be deployed, in another embodiment of this application, step S102 includes the following specific implementation:

[0084] If the system detects that the vehicle is in a perpendicular parking space and the rearview mirrors are folded, it plans a straight-out trajectory according to the first preset distance and controls the vehicle to drive straight out along the trajectory.

[0085] The first preset distance is a pre-set distance that precisely meets the driving distance required for a vehicle to unfold its rearview mirrors in most narrow perpendicular parking scenarios. In other words, the vehicle only needs to travel this distance to directly unfold the rearview mirrors. For example, ... Figure 3As shown, after the vehicle has traveled a first preset distance A, there are no more obstacles on its side, and there is enough space to unfold its rearview mirrors. However, since there are usually other obstacles or parking spaces in front of the parking space, the first preset distance cannot be set too large, otherwise the vehicle will not be able to drive out of the parking space, or it will only be able to drive out perpendicularly, and will not be able to drive out parallel to the road.

[0086] Optionally, the first preset distance can be specified based on the vehicle's specific parameters. Specifically, it can be set based on parameters such as the vehicle's wheelbase, total length, longitudinal distance from the rearview mirror to the rear axle, and the length of a typical parking space in a narrow perpendicular parking scenario.

[0087] Because the vehicle is in a narrow, perpendicular parking space and the rearview mirrors are folded, a complete view of the surrounding environment is not possible. Therefore, lateral movement of the vehicle could easily result in scratches. To prevent this, the first stage requires controlling the vehicle to move only straight. Thus, the generated straight-out trajectory is one that only allows longitudinal adjustment. In other words, only longitudinal control is permitted, and lateral adjustment is not allowed, restricting steering wheel rotation. Furthermore, the planned length of the straight-out trajectory is a first preset distance.

[0088] It should be noted that the first preset distance is the driving distance required for a vehicle to unfold its rearview mirrors in most narrow perpendicular parking scenarios, but it cannot completely guarantee that the rearview mirrors can be unfolded. Therefore, to avoid scratches, the following is further included in this embodiment:

[0089] If the current straight-out driving distance of the vehicle is not less than the first preset distance, determine whether there is enough space on the side of the vehicle to unfold the rearview mirror.

[0090] If it is determined that there is sufficient space on the side of the vehicle to unfold the rearview mirror, then step S103 can be executed. Optionally, the space on the side can be detected by other cameras or sensors and compared with the size of the rearview mirror to determine whether it is sufficient to unfold the rearview mirror.

[0091] Optionally, in another embodiment of this application, in order to adapt to the current environment and attempt to automatically dock as much as possible, the following may also be included:

[0092] If it is determined that there is not enough space on the side of the vehicle to unfold the rearview mirror, the vehicle is controlled to move straight at a distance not exceeding the second preset distance, and the space on the side of the vehicle is determined in real time to be sufficient to unfold the rearview mirror.

[0093] The second preset distance is set based on the current driving space in front of the vehicle, ensuring that even after the vehicle moves further, there is still enough space in front to allow for automatic parking.

[0094] In this embodiment of the application, after traveling a first preset distance, a second preset distance is set based on the current driving space ahead of the vehicle, allowing for a maximum further driving distance. For example, such as... Figure 4 As shown, for three different situations, a corresponding second preset distance B is set, so that the total distance the current vehicle travels straight is the sum of the first preset distance A and the second preset distance B, i.e., A+B.

[0095] Therefore, if it is determined that there is enough space on the side of the current vehicle to unfold the rearview mirror before the straight-line distance reaches the second preset distance, then step S103 can be executed to control the current vehicle to unfold the rearview mirror.

[0096] If, after traveling a straight distance of the second preset distance, it is determined that there is insufficient space on the side of the vehicle to unfold the rearview mirror, then it is determined that the rearview mirror cannot be unfolded, and the automatic exit from the parking space is terminated.

[0097] S103. If it is determined that there is enough space on the side of the current vehicle to unfold the rearview mirror, control the current vehicle to unfold the rearview mirror.

[0098] Specifically, "the space on the side of the vehicle is sufficient to unfold the rearview mirror" means that the space between the rearview mirror and the obstacle on the side of the vehicle is greater than the space occupied by the unfolded rearview mirror. In other words, the space on the side of the vehicle is sufficient to ensure that the unfolded rearview mirror will not come into contact with the obstacle.

[0099] Optionally, it can determine whether there is enough space on the side of the vehicle to unfold the rearview mirror after the vehicle has traveled a certain distance straight ahead, or it can determine whether there is enough space on the side of the vehicle to unfold the rearview mirror in real time.

[0100] S104. Based on the environmental information obtained by the sensors at the rearview mirror, plan a safe and collision-free trajectory and control the current vehicle to drive along the safe and collision-free trajectory to complete the exit from the warehouse.

[0101] Among them, the safe collision-free trajectory is a collision-free trajectory that allows for lateral and longitudinal adjustments.

[0102] Since the rearview mirrors are now deployed, complete environmental information can be obtained through sensors located in the mirrors, specifically cameras. Therefore, there are no longer any restrictions on the vehicle's movement; it can adjust laterally and longitudinally, and even shift gears, as long as a collision is avoided. This allows for the planning of a trajectory to exit the parking space. Based on the environmental information collected by the sensors in the rearview mirrors, a collision-free trajectory is planned. In other words, the trajectory is planned according to the actual situation, allowing the vehicle to be controlled to travel along this safe, collision-free path until it reaches the road and maintains the correct orientation.

[0103] For example, such as Figure 5 As shown, when there is sufficient space in front of the vehicle, a parking trajectory can be planned directly using a single steering wheel. If space is limited, the parking trajectory will be planned using multiple gear shifts and steering maneuvers to achieve the final parking maneuver.

[0104] Optionally, in another embodiment of this application, one specific implementation of step S107 includes:

[0105] Based on real-time environmental information obtained from sensors at the rearview mirror, a safe, collision-free trajectory is planned, and the vehicle is controlled to drive along the safe, collision-free trajectory until it reaches the road and maintains the correct orientation.

[0106] Specifically, based on the surrounding environment and obstacle distribution at the time of parking, a safe and collision-free parking trajectory is planned using real-time perceived information. This trajectory allows for lateral adjustments and gear shifting, thereby controlling the vehicle to park onto the road and maintain the correct orientation.

[0107] This application provides a method for automatically exiting a parking space. The method involves activating the vehicle's exit function. When the vehicle is detected to be in a perpendicular parking space with its side mirrors folded, it is controlled to drive straight out. A first sensor is installed at the side mirror. By restricting the vehicle to straight-line movement, scratches can be effectively avoided without comprehensive information, while allowing sufficient space for the side mirrors to unfold. If sufficient space is determined on the side of the vehicle to unfold the side mirrors, the mirrors are unfolded to prevent scratches. Then, a safe, collision-free trajectory is planned based on environmental information obtained from the camera at the side mirror, and the vehicle is controlled to follow this trajectory to complete the exit. The safe, collision-free trajectory allows for both lateral and longitudinal adjustments, enabling the vehicle to safely exit the parking space and reach the lane. This method provides a way to safely and automatically exit a vehicle in a narrow, perpendicular parking space with folded side mirrors.

[0108] Another embodiment of this application provides an automatic vehicle exit system, such as... Figure 6 As shown, it includes:

[0109] Function activation unit 601 is used to activate the outbound function of the current vehicle.

[0110] The first driving unit 602 is used to control the current vehicle to drive straight out when it is detected that the current vehicle is in a perpendicular parking space and the rearview mirror is folded. The rearview mirror is equipped with a sensor.

[0111] The rearview mirror unfolding unit 603 is used to control the current vehicle to unfold the rearview mirror when it is determined that there is enough space on the side of the current vehicle to unfold the rearview mirror.

[0112] The second driving unit 604 is used to plan a safe and collision-free trajectory based on environmental information obtained by sensors at the rearview mirror, and to control the current vehicle to drive along the safe and collision-free trajectory to complete the exit from the warehouse.

[0113] Among them, the safe collision-free trajectory is a trajectory that allows for lateral and longitudinal adjustments.

[0114] Optionally, in another embodiment of the vehicle automatic exit device provided in this application, the device further includes:

[0115] The parking space detection unit is used to detect whether the current vehicle is in a perpendicular parking space.

[0116] The rearview mirror status detection unit is used to detect whether the rearview mirrors of the current vehicle have been folded when the vehicle is in a perpendicular parking space.

[0117] The control detection unit is used to detect whether the current vehicle is in a narrow space when the rearview mirror is not folded.

[0118] The rearview mirror folding unit is used to control the folding of the rearview mirrors of the current vehicle when it is detected that the current vehicle is in a narrow space.

[0119] Optionally, in another embodiment of the automatic vehicle exit device provided in this application, the parking space detection unit includes:

[0120] The parking space detection subunit is used to detect whether the parking space frame of the current vehicle is connected to other parking space frames by a long side, or to detect whether there are obstacles on both sides of the current vehicle and no obstacles in front of it.

[0121] If it is detected that the current vehicle's parking space frame is connected to other parking space frames by a long side, or if it is detected that there are obstacles on both sides of the current vehicle and no obstacles in front of it, then the current vehicle is determined to be in a perpendicular parking space.

[0122] Optionally, in another embodiment of the vehicle automatic exit device provided in this application, the device further includes:

[0123] The safety detection unit is used to monitor in real time whether the driving space in front of the current vehicle is safe to drive while controlling the current vehicle to drive straight out.

[0124] When it is detected that the driving space in front of the current vehicle is safe to drive, the first driving unit will control the current vehicle to drive straight out.

[0125] The braking unit is used to brake the vehicle when it is detected that the driving space in front of the vehicle is not safe to drive.

[0126] Optionally, in another embodiment of the vehicle automatic exit device provided in this application, the device further includes:

[0127] The first termination unit is used to determine that the rearview mirror cannot be deployed and terminate the automatic exit when the braking duration of the current vehicle is greater than a preset time.

[0128] Optionally, in another embodiment of the vehicle automatic exit device provided in this application, the first driving unit includes:

[0129] The first driving control unit is used to plan a straight-out trajectory according to a first preset distance when it is detected that the current vehicle is in a perpendicular parking space and the rearview mirrors are folded, and to control the current vehicle to drive straight out along the straight-out trajectory, wherein the straight-out trajectory is a trajectory that only allows longitudinal adjustment.

[0130] The automatic vehicle exit device also includes:

[0131] The space judgment unit is used to determine whether there is enough space on the side of the current vehicle to unfold the rearview mirror, provided that the straight-out driving distance of the current vehicle is not less than a first preset distance.

[0132] Optionally, in another embodiment of the vehicle automatic exit device provided in this application, the device further includes:

[0133] The third driving unit is used to control the vehicle to travel straight at a distance not exceeding a second preset distance when it is determined that the space to the side of the vehicle is insufficient to unfold the rearview mirrors, and to determine in real time whether the space to the side of the vehicle is sufficient to unfold the rearview mirrors. The second preset distance is set based on the driving space in front of the vehicle.

[0134] If it is determined that there is enough space on the side of the vehicle to unfold the rearview mirror before the straight-line distance reaches the second preset distance, the rearview mirror unfolding unit will control the vehicle to unfold the rearview mirror.

[0135] The second termination unit is used to determine that the rearview mirror cannot be unfolded when the straight-line distance reaches the second preset distance, and then terminates the automatic exit from the parking space.

[0136] Another embodiment of this application provides an electronic device, such as... Figure 7 As shown, it includes:

[0137] Memory 701 and processor 702.

[0138] The memory 701 is used to store the program.

[0139] The processor 702 is used to execute the program stored in the memory 701. When the program is executed, it is specifically used to implement the automatic vehicle exit method provided in any of the above embodiments.

[0140] Another embodiment of this application provides a vehicle that includes the electronic equipment described above for implementing the automatic vehicle exit method provided in any of the above embodiments.

[0141] Another embodiment of this application provides a computer storage medium for storing a computer program, which, when executed by a processor, is used to implement the automatic vehicle exit method provided in any of the above embodiments.

[0142] Computer storage media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0143] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0144] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for automatic vehicle exit from a parking garage, characterized in that, include: Activate the vehicle's outbound function; If it is detected that the current vehicle is in a perpendicular parking space and the rearview mirrors are folded, the current vehicle is controlled to drive straight out. A sensor is installed at the rearview mirror. If it is determined that there is enough space on the side of the current vehicle to unfold the rearview mirrors, control the current vehicle to unfold the rearview mirrors. Based on environmental information obtained from sensors at the rearview mirror, a safe, collision-free trajectory is planned, and the current vehicle is controlled to drive along the safe, collision-free trajectory to complete the exit from the parking space; wherein, the safe, collision-free trajectory is a trajectory that allows for lateral and longitudinal adjustments.

2. The method according to claim 1, characterized in that, The method further includes: Detect whether the current vehicle is in a perpendicular parking space; If the current vehicle is detected to be in a perpendicular parking space, then it is detected whether the current vehicle has folded its rearview mirrors. If it is detected that the current vehicle's rearview mirrors are not folded, then it is detected whether the current vehicle is in a narrow space; If the vehicle is detected to be in a confined space, the vehicle's side mirrors are folded.

3. The method according to claim 2, characterized in that, The detection of whether the current vehicle is in a perpendicular parking space includes: Detect whether the parking space frame of the current vehicle is connected to other parking space frames by a long side, or detect whether there are obstacles on both sides of the current vehicle and no obstacles in front of it; If it is detected that the parking space frame of the current vehicle is connected to other parking space frames by a long side, or if it is detected that there are obstacles on both sides of the current vehicle and no obstacles in front of it, then it is determined that the current vehicle is in a perpendicular parking space.

4. The method according to claim 1, characterized in that, The method further includes: While controlling the current vehicle to drive straight out, monitor in real time whether the driving space in front of the current vehicle is safe to drive. When it is detected that there is enough space in front of the current vehicle to drive safely, the control to make the current vehicle drive straight out is executed; If it is detected that the driving space in front of the current vehicle is not safe to drive, then the current vehicle will be braked.

5. The method according to claim 4, characterized in that, The method further includes: If the braking duration of the current vehicle exceeds a preset time, it is determined that the rearview mirror cannot be deployed, and the automatic exit from the parking space is terminated.

6. The method according to claim 1, characterized in that, The step of controlling the current vehicle to drive straight out when it is detected that the current vehicle is in a perpendicular parking space and the rearview mirrors are folded includes: If it is detected that the current vehicle is in a perpendicular parking space and the rearview mirrors are folded, a straight-out trajectory is planned according to a first preset distance, and the current vehicle is controlled to drive straight out along the straight-out trajectory, wherein the straight-out trajectory is a trajectory that only allows longitudinal adjustment; The method further includes: If the current vehicle's straight-out travel distance is not less than the first preset distance, determine whether there is enough space on the side of the current vehicle to unfold the rearview mirror.

7. The method according to claim 6, characterized in that, The method further includes: If it is determined that the space on the side of the current vehicle is insufficient to unfold the rearview mirror, the current vehicle is controlled to travel straight at a distance not exceeding the second preset distance, and the space on the side of the current vehicle is determined in real time to be sufficient to unfold the rearview mirror; wherein, the second preset distance is set based on the driving space in front of the current vehicle; If it is determined that there is enough space on the side of the current vehicle to unfold the rearview mirror before the straight-line distance reaches the second preset distance, then the control to unfold the rearview mirror of the current vehicle is executed. If, after traveling a straight distance of the second preset distance, it is determined that the space on the side of the current vehicle is insufficient to unfold the rearview mirror, then it is determined that the rearview mirror cannot be unfolded, and the automatic exit from the parking space ends.

8. An electronic device, characterized in that, include: Memory and processor; The memory is used to store programs; The processor is used to execute the program, which, when executed, is specifically used to implement the automatic vehicle exit method as described in any one of claims 1 to 7.

9. A vehicle, characterized in that, The vehicle includes the electronic equipment as described in claim 8.

10. A computer storage medium, characterized in that, Used to store a computer program, which, when executed by a processor, is used to implement the automatic vehicle exit method as described in any one of claims 1 to 7.

Images