Vehicle control system, method, device, equipment, storage medium, program product and vehicle

Abstract

The invention relates to a vehicle control system, method, device and equipment, a storage medium, a program product and a vehicle, the vehicle control system comprises a parking controller and a vehicle controller, and the vehicle controller is used for generating parking information according to sensing data collected by the vehicle; and the parking controller is used for receiving the parking information and controlling the vehicle to park based on the parking information. The automatic parking function is achieved through cooperation of the vehicle controller and the parking controller, the calculation amount of the parking controller is reduced, and then the cost of the parking controller is reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more particularly to a vehicle control system, method, apparatus, equipment, storage medium, program product, and vehicle. Background Technology

[0002] According to the development trend of the automatic parking industry, the adoption rate of automatic parking will gradually increase, and the configuration will be extended to mid-range and even low-end models. Cost-effective automatic parking solutions will become a key requirement for vehicle development.

[0003] In related technologies, the automatic parking function is implemented independently by the parking controller. Therefore, the parking controller needs to perform a lot of calculations, which requires multiple chips, resulting in a relatively high cost for the parking controller. Summary of the Invention

[0004] This application provides a vehicle control system that reduces the cost of parking controllers, thereby at least partially solving the aforementioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of this application, a vehicle control system is provided, the vehicle control system comprising a parking controller and a vehicle controller, wherein:

[0006] The vehicle controller is used to generate parking information based on the sensor data collected by the vehicle.

[0007] The parking controller is used to receive the parking information and control the vehicle to park based on the parking information.

[0008] Optionally, the vehicle controller is configured to release hardware resources according to preset rules when the vehicle is in a parked state, and process the sensor data based on the released hardware resources to generate parking information.

[0009] Optionally, the sensing data includes first sensing data collected by a first sensor connected to the vehicle controller, and / or second sensing data sent by the parking controller.

[0010] Optionally, the first sensor includes at least one of a non-visual sensor and a visual sensor.

[0011] Optionally, the parking controller is further configured to process the second sensing data collected by the second sensor connected to the parking controller, and send the processed second sensing data to the vehicle controller.

[0012] Optionally, the second sensor includes at least one of a non-visual sensor and a visual sensor.

[0013] Optionally, the sensing data includes at least one of non-visual sensing data and visual sensing data.

[0014] Optionally, the parking controller is used to acquire the vehicle's driving information and control the vehicle to park based on the driving information and the parking information.

[0015] Optionally, the parking controller is used to determine a parking path based on the driving information and the parking information, and to control the vehicle to park according to the parking path.

[0016] Optionally, the parking information includes at least one of parking space information and environmental information.

[0017] Optionally, the parking information includes the parking route;

[0018] The vehicle controller is used to generate a parking path based on the sensor data collected by the vehicle and the vehicle's driving information, and send the parking path to the parking controller.

[0019] Optionally, the vehicle controller is further configured to generate a panoramic image based on the sensing data and control a display device to display the panoramic image.

[0020] Optionally, the vehicle controller includes at least one of a smart cockpit controller, a vehicle power controller, and a vehicle safety controller.

[0021] Optionally, the vehicle controller is a smart cockpit controller, wherein:

[0022] The intelligent cockpit controller is used to collect first sensor data, generate parking information based on the first sensor data and second sensor data sent by the parking controller, and return the parking information to the parking controller.

[0023] The parking controller is used to collect second sensor data and send it to the smart cockpit controller, and to control the vehicle to park based on the parking information returned by the smart cockpit controller.

[0024] Optionally, the intelligent cockpit controller is connected to the visual sensor, and the first sensing data is the visual sensing data.

[0025] Optionally, the intelligent cockpit controller is also used to perform cockpit control functions based on the visual sensing data collected by the visual sensor.

[0026] Optionally, the parking controller is connected to the non-visual sensor, and the second sensing data is the non-visual sensing data.

[0027] According to a second aspect of this application, embodiments of this application also provide a vehicle control method, the vehicle control method being applied to a parking controller in a vehicle control system, the vehicle control system further including a vehicle controller, the method comprising:

[0028] The vehicle controller receives parking information sent by the vehicle controller, which is generated by the vehicle controller based on sensor data collected from the vehicle.

[0029] The vehicle is controlled to park based on the parking information.

[0030] Optionally, controlling the vehicle to park based on the parking information includes:

[0031] Obtain the vehicle's driving information;

[0032] Based on the driving information and the parking information, the vehicle is controlled to park.

[0033] Optionally, the parking information includes parking space information and environmental information, and controlling the vehicle to park based on the driving information and the parking information includes:

[0034] A parking path is generated based on the driving information, the parking space information, and the environmental information.

[0035] The vehicle is controlled to park according to the parking path.

[0036] Optionally, a parking path is generated based on the driving information, the parking space information, and the environmental information, including:

[0037] Based on the parking space information and the environmental information, the target parking space data is determined.

[0038] Based on the target parking space data and the driving information, a parking path is generated.

[0039] Optionally, controlling the vehicle to park according to the parking path includes:

[0040] Obtain the target position of the vehicle on the parking path;

[0041] A control command is generated based on the target location, and the vehicle is controlled to park based on the control command.

[0042] Optionally, the control command includes at least one of: longitudinal control command, lateral control command, and parking speed limit command.

[0043] Optionally, the method further includes:

[0044] The second sensing data collected by the second sensor connected to the parking controller is processed to obtain the processed second sensing data;

[0045] The processed second sensing data is sent to the vehicle controller, so that the vehicle sensor generates the parking information based on the second sensing data and the first sensing data collected by the first sensor connected to the vehicle controller.

[0046] Optionally, the parking information includes the parking route.

[0047] According to a third aspect of this application, embodiments of this application also provide a vehicle control method, characterized in that the vehicle control method is applied to a vehicle controller in a vehicle control system, the vehicle control system further including a parking controller, the method comprising:

[0048] Parking information is generated based on sensor data collected from the vehicle.

[0049] The parking information is sent to the parking controller so that the parking controller can control the vehicle to park based on the parking information.

[0050] Optionally, generating parking information based on the sensor data collected from the vehicle includes:

[0051] Parking information is generated based on first sensing data collected by a first sensor connected to the vehicle controller; or

[0052] Parking information is generated based on first sensing data collected by a first sensor connected to the vehicle controller and second sensing data sent by the parking controller.

[0053] Optionally, the parking information includes at least one of parking space information and environmental information.

[0054] Optionally, the parking information includes the parking route.

[0055] Optionally, the method further includes:

[0056] A panoramic image is generated based on the sensor data;

[0057] The control display device displays the panoramic image.

[0058] According to a fourth aspect of this application, embodiments of this application also provide a vehicle control device, the vehicle control device comprising:

[0059] A receiving unit is used to receive parking information sent by the vehicle controller, wherein the parking information is generated by the vehicle controller based on sensor data collected by the vehicle.

[0060] A control unit is used to control the vehicle to park based on the parking information.

[0061] According to a fifth aspect of this application, embodiments of this application also provide a vehicle control device, the vehicle control device comprising:

[0062] The generation unit is used to generate parking information based on the sensor data collected by the vehicle.

[0063] The sending unit is used to send the parking information to the parking controller, so that the parking controller can control the vehicle to park based on the parking information.

[0064] According to a sixth aspect of this application, embodiments of this application also provide an electronic device, the electronic device including: one or more processors and a memory; and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to perform steps of any of the vehicle control methods provided in embodiments of this application.

[0065] According to a seventh aspect of this application, embodiments of this application also provide a computer-readable storage medium storing a plurality of computer programs adapted for loading by a processor to perform the steps of any of the vehicle control methods provided in embodiments of this application.

[0066] According to an eighth aspect of this application, embodiments of this application also provide a computer program product, including a computer program or computer program that, when executed by a processor, implements the steps in any of the vehicle control methods provided in embodiments of this application.

[0067] According to a ninth aspect of this application, embodiments of this application also provide a vehicle, the vehicle including a vehicle control system, or including a vehicle control device, or including electronic equipment.

[0068] The vehicle control system of this application embodiment includes a parking controller and a vehicle controller. The vehicle controller is used to generate parking information based on sensor data collected by the vehicle. The parking controller is used to receive the parking information and control the vehicle to park based on the parking information. The automatic parking function is achieved through the cooperation of the vehicle controller and the parking controller, reducing the computational load of the parking controller and thus lowering its cost.

[0069] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0070] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0071] Figure 1 A schematic diagram of a vehicle control system provided in an embodiment of this application;

[0072] Figure 2 Another structural schematic diagram of the vehicle control system provided in the embodiments of this application;

[0073] Figure 3 Another structural schematic diagram of the vehicle control system provided in the embodiments of this application;

[0074] Figure 4 Another structural schematic diagram of the vehicle control system provided in the embodiments of this application;

[0075] Figure 5 A schematic flowchart of the first embodiment of the vehicle control method provided in this application;

[0076] Figure 6 A schematic flowchart of a second embodiment of the vehicle control method provided in this application;

[0077] Figure 7 A schematic flowchart of the third embodiment of the vehicle control method provided in this application;

[0078] Figure 8 A schematic flowchart of the fourth embodiment of the vehicle control method provided in this application;

[0079] Figure 9 A schematic flowchart of the fifth embodiment of the vehicle control method provided in this application;

[0080] Figure 10 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0081] Figure 11 This is a schematic diagram of another vehicle control device provided in an embodiment of this application;

[0082] Figure 12 This is a schematic diagram of the vehicle structure provided in an embodiment of this application. Detailed Implementation

[0083] 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 a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0084] This application provides a vehicle control system; please refer to [link / reference]. Figure 1 , Figure 1 This is a schematic diagram of a vehicle control system provided in an embodiment of this application.

[0085] The vehicle control system includes a parking controller and a vehicle controller, wherein:

[0086] The vehicle controller is used to generate parking information based on the sensor data collected by the vehicle.

[0087] The parking controller is used to receive the parking information and control the vehicle to park based on the parking information.

[0088] In one embodiment, when the vehicle detects an automatic parking command, it collects sensor information through sensors deployed throughout the vehicle. The vehicle controller generates parking information based on the collected sensor data and sends this information to the parking controller. The parking controller receives the parking information and controls the vehicle to park based on it.

[0089] Optionally, the vehicle controller is a pre-set controller for the vehicle, including at least one of a smart cockpit controller, a vehicle power controller, and a vehicle safety controller. These controllers can be connected to sensors in the vehicle to receive sensor data collected by the sensors. Then, when the vehicle detects an automatic parking command, the vehicle controller generates parking information based on the sensor data for use by the parking controller.

[0090] Optionally, the sensing data includes first sensing data collected by a first sensor connected to the vehicle controller, and / or second sensing data sent by the parking controller. The vehicle controller may be connected to some sensors in the vehicle, and the parking controller may be connected to another set of sensors in the vehicle. The vehicle controller receives sensing data collected by the connected sensors and also receives sensing data sent by the parking controller. When the vehicle detects an automatic parking command, the vehicle controller generates parking information based on the sensing data for use by the parking controller.

[0091] In this embodiment of the vehicle control system, the vehicle controller processes the sensor data required for automatic parking to obtain parking information. The function of processing sensor data can be separated from the parking controller, which reduces the computational load of the parking controller, reduces the use of related chips in the parking controller, and lowers the cost of the parking controller.

[0092] In one embodiment, the vehicle controller is configured to release hardware resources according to preset rules when the vehicle is in a parked state, and process the sensor data based on the released hardware resources to generate parking information.

[0093] Specifically, the vehicle controller is used to perform other functions of the vehicle during operation. When the vehicle detects an automatic parking command, the vehicle controller checks whether its remaining hardware resources are sufficient. If sufficient, it uses the remaining hardware resources to process the sensor data and generate parking information. If insufficient, it releases the hardware resources according to preset rules and then uses the released hardware resources to process the sensor data and generate parking information.

[0094] In this embodiment of the vehicle control system, the vehicle controller can release some hardware resources when there are insufficient remaining hardware resources. The released hardware resources are then used to process the sensor data and generate parking information. This avoids the problem of insufficient hardware resources for the vehicle controller and further improves the reliability of the vehicle controller's participation in automatic parking.

[0095] Please see Figure 2 , Figure 2 This is another structural schematic diagram of the vehicle control system provided in an embodiment of this application.

[0096] In one embodiment, the vehicle controller is connected to a first sensor in the vehicle, and the parking controller is connected to a second sensor in the vehicle. The vehicle controller receives first sensing data collected by the first sensor and second sensing data sent by the parking controller through the second sensor. Then, when the vehicle detects an automatic parking command, the vehicle controller generates parking information based on the first and second sensing data for use by the parking controller.

[0097] Specifically, the parking controller is further configured to process the second sensing data collected by the second sensor connected to the parking controller, and send the processed second sensing data to the vehicle controller. Upon receiving the second sensing data from the second sensor, the parking controller processes the data, including signal filtering and noise suppression. Irrelevant noise is removed using filtering algorithms to improve the accuracy of the second sensing data, thus avoiding potential interference from environmental noise, reflections, and other factors. Common filtering methods include low-pass filtering and Kalman filtering.

[0098] Specifically, the first sensor includes at least one of a non-visual sensor and a visual sensor. The second sensor includes at least one of a non-visual sensor and a visual sensor. The sensing data includes at least one of non-visual sensing data and visual sensing data. It is understood that both the vehicle controller and the parking controller can be connected to at least one of the non-visual sensor and the visual sensor. When the vehicle controller is connected to the non-visual sensor, the parking controller is connected to the visual sensor; when the vehicle controller is connected to the visual sensor, the parking controller is connected to the non-visual sensor.

[0099] Preferably, the vehicle controller is connected to the vision sensor, and the parking controller is connected to the non-vision sensor. Since the vehicle controller performs functions related to vehicle vision, this setup does not require changing the connection between the vehicle controller and the vision sensor. The vehicle controller can still be used to process the visual sensor data required for automatic parking, thus improving the ease of setting up the vehicle control system.

[0100] In one embodiment, the parking controller is used to acquire the vehicle's driving information and control the vehicle to park based on the driving information and the parking information.

[0101] The parking controller, upon receiving parking information from the vehicle controller, acquires the vehicle's driving information, including its direction of movement and position. Based on this driving and parking information, the parking controller then controls the vehicle to park. Specifically, the parking information includes at least one of parking space information and environmental information.

[0102] Furthermore, the parking controller is used to determine a parking path based on the driving information and the parking information, and to control the vehicle to park according to the parking path.

[0103] The parking controller determines the parking path based on the vehicle's direction of movement and position, and then controls the vehicle to park according to the parking path. During the parking process, the parking controller acquires the vehicle's real-time position along the parking path and outputs corresponding control commands to move the vehicle, thus enabling it to park.

[0104] The vehicle control system in this embodiment acquires vehicle driving information through a parking controller, determines a parking path based on the driving and parking information, and controls the vehicle to park according to the parking path. Determining the optimal parking path and controlling the vehicle to park helps improve the practicality of automatic parking and enhances the user experience.

[0105] In one embodiment, the parking information includes a parking path; the vehicle controller is configured to generate a parking path based on sensor data collected by the vehicle and the vehicle's driving information, and send the parking path to the parking controller.

[0106] The vehicle controller is connected to a first sensor in the vehicle, and the parking controller is connected to a second sensor in the vehicle. The vehicle controller receives first sensor data collected by the first sensor and second sensor data sent by the parking controller via the second sensor. When the vehicle detects an automatic parking command, the vehicle controller generates parking space information and environmental information based on the first and second sensor data, and simultaneously acquires the vehicle's driving information. Based on the driving information, parking space information, and environmental information, it generates a parking path and sends the parking path to the parking controller. The parking controller then controls the vehicle to park according to the parking path. During the parking process, the parking controller acquires the vehicle's real-time position on the parking path and outputs corresponding control commands to move the vehicle, enabling it to park.

[0107] In this embodiment, the vehicle control system generates a parking path through the vehicle controller and then sends the parking path to the parking controller. The parking controller controls the vehicle to park according to the parking path, which can further reduce the computational load of the parking controller, further reduce the use of related chips in the parking controller, and further reduce the cost of the parking controller.

[0108] Please refer to Figure 3 , Figure 3 This is another schematic diagram of the vehicle control system provided in an embodiment of this application. The vehicle controller is connected to a display device in the vehicle.

[0109] In one embodiment, the vehicle controller is further configured to generate a panoramic image based on the sensing data and control a display device to display the panoramic image.

[0110] Specifically, the vehicle controller connects to the vision sensor to acquire images of the vehicle's surrounding environment when parking, and performs distortion correction, rendering, stitching, stretching, and other processing on the images. The processed image data is then sent directly to the display device to control the display device to show the panoramic image, ultimately realizing the panoramic imaging function.

[0111] In this embodiment, the vehicle control system generates a panoramic image based on sensor data through the vehicle controller and controls the display device to display the panoramic image. This allows users to understand the panoramic image of the surrounding environment through the display device during the vehicle's automatic parking process, improving the user experience.

[0112] Please refer to Figure 4 , Figure 4This is another schematic diagram of the vehicle control system provided in an embodiment of this application. The vehicle controller is an intelligent cockpit controller, which is connected to the vision sensor, and the parking controller is connected to the non-visual sensor.

[0113] In one embodiment, the vehicle controller is a smart cockpit controller, wherein:

[0114] The intelligent cockpit controller is used to collect first sensor data, generate parking information based on the first sensor data and second sensor data sent by the parking controller, and return the parking information to the parking controller.

[0115] The parking controller is used to collect second sensor data and send it to the smart cockpit controller, and to control the vehicle to park based on the parking information returned by the smart cockpit controller.

[0116] The intelligent cockpit controller is connected to the visual sensor, and the first sensing data is the visual sensing data.

[0117] The parking controller is connected to the non-visual sensor, and the second sensing data is the non-visual sensing data.

[0118] Specifically, the visual sensor is a surround-view camera, the first sensing data is image data, the non-visual sensor is an ultrasonic sensor, and the second sensing data is ultrasonic data.

[0119] For example, 12 ultrasonic sensors are connected to the parking controller, with 6 sensors on each of the vehicle's bumpers (front and rear). Four surround-view cameras are connected to the smart cockpit controller, positioned at the four corners of the vehicle. The parking controller receives and processes the ultrasonic data collected by the ultrasonic sensors and sends the processed data to the smart cockpit controller. The smart cockpit controller receives image data from the surround-view cameras and, based on the image and ultrasonic data, generates parking space and environmental information, which is then sent to the parking controller. The parking controller receives the parking space and environmental information from the smart cockpit controller and, combined with the vehicle's actual driving information, automatically plans a parking path and sends control command signals to the vehicle's CAN bus to control the vehicle's parking. These control command signals include: longitudinal control commands, lateral control commands, and maximum speed limits.

[0120] Furthermore, the intelligent cockpit controller is also used to execute cockpit control functions based on the visual sensing data collected by the visual sensor. This allows for the processing of visual sensing data required for automatic parking using the vehicle controller without altering the connection between the vehicle controller and the visual sensor, thus improving the ease of setting up the vehicle control system.

[0121] The vehicle control system of this embodiment includes an intelligent cockpit controller and a parking controller. The intelligent cockpit controller is used to collect first sensor data, generate parking information based on the first sensor data and second sensor data sent by the parking controller, and return the parking information to the parking controller. The parking controller is used to collect the second sensor data and send it to the intelligent cockpit controller, and control the vehicle to park based on the parking information returned by the intelligent cockpit controller. The intelligent cockpit controller processes the visual sensor data required for automatic parking and the non-visual sensor data sent by the parking controller to obtain parking information. This decouples the visual sensor data processing function of the parking controller, reducing the computational load of the parking controller, reducing the use of related chips in the parking controller, and lowering the cost of the parking controller.

[0122] Please see Figure 5 , Figure 5 This is a flowchart illustrating a first embodiment of the vehicle control method provided in this application. The vehicle control method is applied to a parking controller in a vehicle control system, which further includes a vehicle controller. The method includes:

[0123] Step 101: Receive parking information sent by the vehicle controller, wherein the parking information is generated by the vehicle controller based on sensor data collected by the vehicle.

[0124] In this step, the parking controller receives parking information sent by the vehicle controller. This parking information is generated by the vehicle controller based on sensor data collected by the vehicle. Specifically, when the vehicle detects an automatic parking command, it collects sensor information through sensors deployed throughout the vehicle. The vehicle controller generates parking information based on the collected sensor data and sends the parking information to the parking controller.

[0125] Step 102: Control the vehicle to park based on the parking information.

[0126] In this step, after receiving parking information, the parking controller controls the vehicle to park based on that information. Specifically, the parking information includes parking space information and environmental information. The parking space information specifies the location of the parking space where the vehicle needs to park and the parking direction, while the environmental information describes any obstacles that may exist during the parking process.

[0127] The parking controller in this embodiment receives parking information sent by the vehicle controller and controls the vehicle to park based on the parking information. The automatic parking function is achieved through the cooperation of the vehicle controller and the parking controller, reducing the computational load on the parking controller and thus lowering its cost.

[0128] Please see Figure 6 , Figure 6 A schematic flowchart of a second embodiment of the vehicle control method provided in this application. The step of controlling the vehicle to park based on the parking information includes:

[0129] Step 201: Obtain the driving information of the vehicle;

[0130] Step 202: Based on the driving information and the parking information, control the vehicle to park.

[0131] In steps 201 to 202, the parking controller acquires the vehicle's driving information, including the vehicle's direction of movement and position, and then controls the vehicle to park based on the driving information and parking information.

[0132] Specifically, controlling the vehicle to park based on the driving information and the parking information includes:

[0133] Step 2021: Generate a parking path based on the driving information, the parking space information, and the environmental information;

[0134] In this step, the parking controller generates a parking path based on driving information, parking space information, and environmental information. Specifically, the parking controller first determines whether there are obstacles in the surrounding environment and the status of the parking space based on the parking space information and environmental information. Based on the vehicle's driving information and the target parking space, a path planning algorithm (such as A* algorithm, Dijkstra's algorithm, etc.) is used to generate the optimal path from the current position to the parking space. These algorithms take into account information such as obstacles, driving direction, and road width.

[0135] Specifically, generating a parking path based on the driving information, the parking space information, and the environmental information includes:

[0136] Step 20211: Determine the target parking space data based on the parking space information and the environmental information.

[0137] Step 20212: Generate a parking path based on the target parking space data and the driving information.

[0138] In steps 20211 and 20212, the parking space information includes multiple vacant parking spaces. The parking controller, based on the parking space information and environmental information, determines the target parking space from among the multiple vacant spaces and obtains the target parking space data. Based on the target parking space data and the vehicle position and driving direction in the driving information, the vehicle controller uses a path planning algorithm to generate the optimal path from the current position to the parking space. These algorithms take into account obstacles and road width, among other information.

[0139] Step 2022: Control the vehicle to park according to the parking path.

[0140] In this step, the parking controller sends control commands to the vehicle's CAN bus according to the parking path. The control commands are transmitted to the vehicle's wheel controllers via the CAN bus, thereby controlling the vehicle to park.

[0141] Specifically, controlling the vehicle to park according to the parking path includes:

[0142] Step 20221: Obtain the target position of the vehicle on the parking path;

[0143] Step 20222: Generate control commands based on the target location, and control the vehicle to park based on the control commands.

[0144] In steps 20221 and 20222, during the parking process, the parking controller acquires the target position of the vehicle on the parking path in real time, generates control commands based on the target position, and controls the vehicle to park according to the control commands. The control commands include at least one of longitudinal control commands, lateral control commands, and parking speed limit commands. For example, if the target position of the vehicle on the parking path is a right-turn position, the parking controller needs to issue a lateral control command to control the vehicle to turn right; if the target position of the vehicle on the parking path is a straight-ahead position, the parking controller needs to issue a longitudinal control command to control the vehicle to turn right. Simultaneously, the parking controller issues a parking speed limit command in real time to ensure that the vehicle does not exceed a preset parking speed during the parking process, thus guaranteeing the safety of automatic parking.

[0145] The parking controller in this embodiment acquires the vehicle's driving information; based on the driving information and the parking information, it controls the vehicle to park. By combining the vehicle's actual driving information and parking information, the controller improves the accuracy of automatic parking.

[0146] Please see Figure 7 , Figure 7 A schematic flowchart of a third embodiment of the vehicle control method provided in this application. The method further includes:

[0147] Step 301: Process the second sensing data collected by the second sensor connected to the parking controller to obtain the processed second sensing data;

[0148] In this step, the parking controller processes the second sensing data collected by the second sensor connected to it, obtaining processed second sensing data. Specifically, the second sensor is an ultrasonic sensor, and the second sensing data is ultrasonic data. The parking controller collects the ultrasonic data and performs signal filtering and noise suppression processing on it. Irrelevant noise is removed using filtering algorithms to improve the accuracy of the ultrasonic data, thus avoiding the influence of environmental noise, reflection interference, and other factors on the collected ultrasonic data. Common filtering methods include low-pass filtering and Kalman filtering.

[0149] Step 302: The processed second sensing data is sent to the vehicle controller so that the vehicle sensor generates the parking information based on the second sensing data and the first sensing data collected by the first sensor connected to the vehicle controller.

[0150] In this step, the parking controller sends the processed second sensing data to the vehicle controller, enabling the vehicle sensors to generate parking information based on the second sensing data and the first sensing data collected by the first sensor connected to the vehicle controller. Specifically, the first sensor is a surround-view camera, and the first sensing data is image data. The vehicle controller is connected to the surround-view camera in the vehicle, receiving the image data collected by the surround-view camera and the ultrasonic data sent by the parking controller. The vehicle controller then generates parking information based on the image data and the ultrasonic data for its use.

[0151] In this embodiment, the parking controller processes the second sensing data collected by the second sensor connected to it and sends it to the vehicle controller. This avoids all data being processed by the vehicle controller, balances the computational load distribution between the vehicle controller and the parking controller, avoids problems caused by excessive computational load on one controller, and improves the reliability of controlling the vehicle to park automatically.

[0152] Furthermore, the parking information includes the parking route.

[0153] Specifically, the vehicle controller is connected to a first sensor in the vehicle, and the parking controller is connected to a second sensor in the vehicle. The vehicle controller receives first sensing data collected by the first sensor and second sensing data sent by the parking controller via the second sensor. When the vehicle detects an automatic parking command, the vehicle controller generates parking space information and environmental information based on the first and second sensing data, while simultaneously acquiring the vehicle's driving information. Based on the driving information, parking space information, and environmental information, it generates a parking path and sends the parking path to the parking controller. The parking controller then controls the vehicle to park according to the parking path.

[0154] The parking controller in this embodiment directly controls the vehicle to park based on the parking path sent by the vehicle controller. By generating the parking path through the vehicle controller and then sending the parking path to the parking controller, the parking controller can control the vehicle to park according to the parking path. This can further reduce the computational load of the parking controller, further reduce the use of related chips in the parking controller, and further reduce the cost of the parking controller.

[0155] Please see Figure 8 , Figure 8 A schematic flowchart of a fourth embodiment of the vehicle control method provided in this application. The vehicle control method is applied to a vehicle controller in a vehicle control system, which further includes a parking controller. The method includes:

[0156] Step 401: Generate parking information based on the sensor data collected by the vehicle;

[0157] In this step, the vehicle controller generates parking information based on the sensor data collected by the vehicle. The vehicle controller is a pre-configured controller in the vehicle, including at least one of the following: intelligent cockpit controller, vehicle power controller, autonomous driving controller, and vehicle safety controller. These controllers can connect to sensors in the vehicle, receive sensor data collected by the sensors, and then generate parking information based on the sensor data when the vehicle detects an automatic parking command, for use by the parking controller.

[0158] Specifically, step 401 includes:

[0159] Step 4011: Generate parking information based on the first sensing data collected by the first sensor connected to the vehicle controller; or

[0160] In this step, the vehicle controller generates parking information based on the first sensing data collected by the first sensor connected to it. Specifically, the first sensor can be a visual sensor or a non-visual sensor. The vehicle controller generates parking information based on the visual sensing data collected by the visual sensor connected to it and the non-visual sensing data collected by the non-visual sensor.

[0161] For example, the visual sensor is a surround-view camera, and the visual sensing data is image data; the non-visual sensor is an ultrasonic sensor, and the non-visual sensing data is ultrasonic data; the parking information includes at least one of parking space information and environmental information. The vehicle controller generates at least one of parking space information and environmental information based on the image data and ultrasonic data.

[0162] Step 4012: Generate parking information based on the first sensing data collected by the first sensor connected to the vehicle controller and the second sensing data sent by the parking controller.

[0163] In this step, the vehicle controller generates parking information based on first sensing data collected by a first sensor connected to the vehicle controller and second sensing data sent by the parking controller. Specifically, the first sensor can be a visual sensor, and the second sensor can be a non-visual sensor. The vehicle controller is connected to the first sensor in the vehicle, and the parking controller is connected to the second sensor in the vehicle. The vehicle controller receives the first sensing data collected by the first sensor and receives the second sensing data sent by the parking controller through the second sensor. Then, when the vehicle detects an automatic parking command, the vehicle controller generates parking information based on the first and second sensing data.

[0164] For example, the visual sensor is a surround-view camera, and the visual sensing data is image data; the non-visual sensor is an ultrasonic sensor, and the non-visual sensing data is ultrasonic data; the parking information includes at least one of parking space information and environmental information. The vehicle controller is connected to the surround-view camera in the vehicle, and the parking controller is connected to the ultrasonic sensor in the vehicle. The vehicle controller receives image data collected by the surround-view camera and ultrasonic data collected by the ultrasonic sensor for parking control. Then, when the vehicle detects an automatic parking command, the vehicle controller generates parking information based on the image data and the ultrasonic data.

[0165] Optionally, the parking information includes a parking path. The vehicle controller is connected to a first sensor in the vehicle, and the parking controller is connected to a second sensor in the vehicle. The vehicle controller receives first sensing data collected by the first sensor and second sensing data sent by the parking controller via the second sensor. When the vehicle detects an automatic parking command, the vehicle controller generates parking space information and environmental information based on the first and second sensing data, and simultaneously acquires the vehicle's driving information. Based on the driving information, parking space information, and environmental information, it generates a parking path and sends the parking path to the parking controller. The parking controller controls the vehicle to park according to the parking path. During the process of controlling the vehicle to park according to the parking path, the parking controller acquires the real-time position of the vehicle on the parking path and outputs corresponding control commands to control the vehicle's movement, thus enabling the vehicle to park.

[0166] Step 402: Send the parking information to the parking controller so that the parking controller can control the vehicle to park based on the parking information.

[0167] In this step, the vehicle controller sends parking information to the parking controller, which, upon receiving the parking information, controls the vehicle to park accordingly. Specifically, the parking information includes parking space information and environmental information. The parking space information specifies the location and direction of the parking space where the vehicle needs to park, while the environmental information describes any obstacles that may exist during the parking process.

[0168] In this embodiment of the vehicle control system, the vehicle controller processes the sensor data required for automatic parking to obtain parking information. The function of processing sensor data can be separated from the parking controller, which reduces the computational load of the parking controller, reduces the use of related chips in the parking controller, and lowers the cost of the parking controller.

[0169] Please see Figure 9 , Figure 9 A schematic flowchart of the fifth embodiment of the vehicle control method provided in this application. The method further includes:

[0170] Step 501: Generate a panoramic image based on the sensor data;

[0171] Step 502: Control the display device to display the panoramic image.

[0172] In steps 501 to 502, the vehicle controller connects to the vision sensor to acquire images of the surrounding environment when the vehicle is parked, and performs distortion correction, rendering, stitching, stretching and other processing on the images. The processed image data is then sent directly to the display device to control the display device to display the panoramic image, thus realizing the panoramic imaging function.

[0173] In this embodiment, the vehicle control system generates a panoramic image based on sensor data through the vehicle controller and controls the display device to display the panoramic image. This allows users to understand the panoramic image of the surrounding environment through the display device during the vehicle's automatic parking process, improving the user experience.

[0174] Please see Figure 10 , Figure 10 This is a schematic diagram of a vehicle control device provided in an embodiment of this application. The vehicle control device includes:

[0175] The receiving unit 1001 is used to receive parking information sent by the vehicle controller, wherein the parking information is generated by the vehicle controller based on sensor data collected by the vehicle.

[0176] Control unit 1002 is used to control the vehicle to park based on the parking information.

[0177] Optionally, the control unit is also used for:

[0178] The vehicle controller receives parking information sent by the vehicle controller, which is generated by the vehicle controller based on sensor data collected from the vehicle.

[0179] The vehicle is controlled to park based on the parking information.

[0180] Optionally, the control unit is also used for:

[0181] Obtain the vehicle's driving information;

[0182] Based on the driving information and the parking information, the vehicle is controlled to park.

[0183] Optionally, the control unit is also used for:

[0184] A parking path is generated based on the driving information, the parking space information, and the environmental information.

[0185] The vehicle is controlled to park according to the parking path.

[0186] Optionally, the control unit is also used for:

[0187] Based on the parking space information and the environmental information, the target parking space data is determined.

[0188] Based on the target parking space data and the driving information, a parking path is generated.

[0189] Optionally, the control unit is also used for:

[0190] Obtain the target position of the vehicle on the parking path;

[0191] A control command is generated based on the target location, and the vehicle is controlled to park based on the control command.

[0192] Optionally, the control unit is also used for:

[0193] The second sensing data collected by the second sensor connected to the parking controller is processed to obtain the processed second sensing data;

[0194] The processed second sensing data is sent to the vehicle controller, so that the vehicle sensor generates the parking information based on the second sensing data and the first sensing data collected by the first sensor connected to the vehicle controller.

[0195] The vehicle control device in this embodiment achieves automatic parking function through the cooperation of the vehicle controller and the parking controller, which reduces the computational load of the parking controller and thus reduces the cost of the parking controller.

[0196] Please see Figure 11 , Figure 11 A schematic diagram of another vehicle control device provided in an embodiment of this application. The vehicle control device includes:

[0197] The generation unit 1003 is used to generate parking information based on the sensor data collected by the vehicle;

[0198] The sending unit 1004 is used to send the parking information to the parking controller so that the parking controller can control the vehicle to park based on the parking information.

[0199] Optionally, the generating unit is also used for:

[0200] Parking information is generated based on first sensing data collected by a first sensor connected to the vehicle controller; or

[0201] Parking information is generated based on first sensing data collected by a first sensor connected to the vehicle controller and second sensing data sent by the parking controller.

[0202] Optionally, the generating unit is also used for:

[0203] A panoramic image is generated based on the sensor data;

[0204] The control display device displays the panoramic image.

[0205] The vehicle control device in this embodiment achieves automatic parking function through the cooperation of the vehicle controller and the parking controller, which reduces the computational load of the parking controller and thus reduces the cost of the parking controller.

[0206] Accordingly, embodiments of this application also provide a vehicle, such as Figure 12 As shown, Figure 12 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle 1100 includes a processor 1101 with one or more processing cores, a memory 1102 with one or more computer-readable storage media, and a computer program stored on the memory 1102 and executable on the processor. The processor 1101 and the memory 1102 are electrically connected. Those skilled in the art will understand that the vehicle structure shown in the figure does not constitute a limitation on the vehicle, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0207] The processor 1101 is the control center of the vehicle 1100. It connects to various parts of the vehicle 1100 via various interfaces and lines. By running or loading software programs and / or units stored in the memory 1102, and by calling data stored in the memory 1102, it executes various functions of the vehicle 1100 and processes data, thereby performing overall monitoring of the vehicle 1100. The processor 1101 can be a CPU, GPU, network processor (NP), etc., and can implement or execute the methods, steps, and logic diagrams disclosed in the embodiments of this application.

[0208] In this embodiment of the application, the processor 1101 in the vehicle 1100 will load the computer program corresponding to the process of one or more applications into the memory 1102 according to the following steps, and the processor 1101 will run the applications stored in the memory 1102 to execute the vehicle control method.

[0209] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0210] Optional, such as Figure 12 As shown, the vehicle 1100 also includes: a touch screen display 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch screen display 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107. Those skilled in the art will understand that... Figure 12 The vehicle structure shown does not constitute a limitation on the vehicle and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0211] The touch display screen 1103 can be used to display a graphical user interface (GUI) and receive operation commands generated by the user interacting with the GUI. The touch display screen 1103 may include a display panel and a touch panel. The display panel can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces of the vehicle. These graphical user interfaces can be composed of graphics, text, icons, video, and any combination thereof. Optionally, the display panel can be configured using a liquid crystal display (LCD), organic light-emitting diode (OLED), or other similar technologies. The touch panel can be used to collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch panel), generate corresponding operation commands, and execute the corresponding program according to the operation commands. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch location and the signal generated by the touch operation, transmitting the signal to the touch controller. The touch controller receives touch information from the touch detection device, converts it into touch point coordinates, and sends it to the processor 1101. It can also receive and execute commands from the processor 1101. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it transmits the information to the processor 1101 to determine the type of touch event. Subsequently, the processor 1101 provides corresponding visual output on the display panel based on the type of touch event. In this embodiment, the touch panel and the display panel can be integrated into the touch display screen 1103 to achieve input and output functions. However, in some embodiments, the touch panel and the touch display screen 1103 can be implemented as two independent components to achieve input and output functions. That is, the touch display screen 1103 can also be used as part of the input unit 1106 to achieve input functions.

[0212] The radio frequency circuit 1104 can be used to transmit and receive radio frequency signals to establish wireless communication with network devices or other vehicles, and to transmit and receive signals with network devices or other vehicles.

[0213] Audio circuit 1105 can be used to provide an audio interface between the user and the vehicle via a speaker and a microphone. Audio circuit 1105 can convert received audio data into electrical signals and transmit them to the speaker, where the speaker converts them into sound signals for output. Conversely, the microphone converts collected sound signals into electrical signals, which are then received by audio circuit 1105, converted back into audio data, and processed by processor 1101 before being transmitted via radio frequency circuit 1104 to, for example, another vehicle, or output to memory 1102 for further processing. Audio circuit 1105 may also include an earphone jack to provide communication between external headphones and the vehicle.

[0214] The input unit 1106 can be used to receive input numbers, characters, or user characteristic information (such as fingerprints, iris, facial information, etc.), and to generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control.

[0215] Power supply 1107 is used to supply power to various components of vehicle 1100. Optionally, power supply 1107 can be logically connected to processor 1101 through a power management device, thereby enabling functions such as charging, discharging, and power consumption management through the power management device. Power supply 1107 may also include one or more DC or AC power supplies, recharging devices, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0216] although Figure 12 As not shown in the diagram, vehicle 1100 may also include cameras, sensors, wireless fidelity modules, Bluetooth modules, etc., which will not be described in detail here.

[0217] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0218] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by a computer program, or by a computer program controlling related hardware. The computer program can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0219] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0220] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0221] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0222] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A vehicle control system characterized by comprising: The vehicle control system comprises a parking controller and a vehicle controller, wherein: The vehicle controller is configured to generate parking information based on sensing data collected by the vehicle; The parking controller is configured to receive the parking information and control the vehicle to park based on the parking information.

2. The vehicle control system according to claim 1, characterized by, The vehicle controller is configured to release hardware resources according to a preset rule when the vehicle is in a parking state, so as to process the sensing data based on the released hardware resources to generate parking information.

3. The vehicle control system according to claim 1, characterized by, The sensing data comprises first sensing data collected by a first sensor connected to the vehicle controller and / or second sensing data sent by the parking controller.

4. The vehicle control system according to claim 3, characterized by The first sensor comprises at least one of a non-vision sensor and a vision sensor.

5. The vehicle control system according to claim 3, characterized by The parking controller is further configured to process second sensing data collected by a second sensor connected to the parking controller to obtain processed second sensing data and send the processed second sensing data to the vehicle controller.

6. The vehicle control system according to claim 5, characterized by The second sensor comprises at least one of a non-vision sensor and a vision sensor.

7. The vehicle control system according to claim 3, characterized by The sensing data comprises at least one of non-vision sensing data and vision sensing data.

8. The vehicle control system according to any one of claims 1-7, characterized by, The parking controller is configured to obtain driving information of the vehicle and control the vehicle to park based on the driving information and the parking information.

9. The vehicle control system according to claim 8, characterized by The parking controller is configured to determine a parking path based on the driving information and the parking information and control the vehicle to park based on the parking path.

10. The vehicle control system of claim 8, wherein The parking information comprises at least one of parking space information and environment information.

11. The vehicle control system according to any one of claims 1-7, characterized by, The parking information comprises a parking path. The vehicle controller is configured to generate a parking path based on sensing data collected by the vehicle and driving information of the vehicle and send the parking path to the parking controller.

12. The vehicle control system according to any one of claims 1-7, characterized by, The vehicle controller is further configured to generate a panoramic image based on the sensing data and control a display device to display the panoramic image.

13. The vehicle control system according to any one of claims 1-7, characterized by, The vehicle controller comprises at least one of an intelligent cockpit controller, a vehicle power controller and a vehicle safety controller.

14. The vehicle control system of claim 13, wherein The vehicle controller is an intelligent cockpit controller, wherein: The intelligent cockpit controller is configured to collect first sensing data, generate parking information based on the first sensing data and second sensing data sent by the parking controller, and return the parking information to the parking controller. The parking controller is configured to collect second sensing data and send the second sensing data to the intelligent cockpit controller, and control the vehicle to park based on the parking information returned by the intelligent cockpit controller.

15. The vehicle control system of claim 14, wherein The intelligent cockpit controller is connected to the vision sensor, and the first sensing data is vision sensing data.

16. The vehicle control system of claim 15, wherein The intelligent cockpit controller is further configured to perform a cockpit control function based on the vision sensing data collected by the vision sensor.

17. The vehicle control system of claim 14, wherein The parking controller is connected to the non-vision sensor, and the second sensing data is non-vision sensing data.

18. A vehicle control method characterized by, The vehicle control method is applied to a parking controller in a vehicle control system, and the vehicle control system further comprises a vehicle controller, and the method comprises: receive parking information sent by the vehicle controller, the parking information being generated by the vehicle controller according to sensing data collected by the vehicle; control the vehicle to park based on the parking information.

19. The vehicle control method according to claim 18, characterized by, The control of the vehicle to park based on the parking information comprises: obtain driving information of the vehicle; control the vehicle to park according to the driving information and the parking information.

20. The vehicle control method according to claim 19, characterized by, The parking information comprises parking space information and environment information, and the control of the vehicle to park according to the driving information and the parking information comprises: generate a parking path according to the driving information, the parking space information and the environment information; control the vehicle to park according to the parking path.

21. The vehicle control method according to claim 20, characterized by, The generation of the parking path according to the driving information, the parking space information and the environment information comprises: determine target parking space data of a target parking space according to the parking space information and the environment information; generate a parking path based on the target parking space data and the driving information.

22. The vehicle control method according to claim 20, characterized by, The control of the vehicle to park according to the parking path comprises: obtain a target position of the vehicle on the parking path; generate a control instruction according to the target position, and control the vehicle to park according to the control instruction.

23. The vehicle control method according to claim 22, characterized by, The control instruction comprises at least one of a longitudinal control instruction, a lateral control instruction and a parking speed limit instruction.

24. The vehicle control method according to any one of claims 18-23, characterized by, The method further comprises: process second sensing data collected by a second sensor connected to the parking controller to obtain processed second sensing data; send the processed second sensing data to the vehicle controller, so that the vehicle controller generates the parking information according to the second sensing data and first sensing data collected by a first sensor connected to the vehicle controller.

25. The vehicle control method according to claim 18, characterized by, The parking information comprises a parking path.

26. A vehicle control method characterized by, The vehicle control method is applied to a vehicle controller in a vehicle control system, and the vehicle control system further comprises a parking controller, and the method comprises: generate parking information according to sensing data collected by the vehicle; send the parking information to the parking controller, so that the parking controller controls the vehicle to park based on the parking information.

27. The vehicle control method according to claim 26, characterized by, The generation of the parking information according to sensing data collected by the vehicle comprises: generate the parking information according to first sensing data collected by a first sensor connected to the vehicle controller; or generate the parking information according to first sensing data collected by a first sensor connected to the vehicle controller and second sensing data sent by the parking controller.

28. The vehicle control method of any one of claims 26-27, wherein, The parking information comprises at least one of parking space information and environment information.

29. The vehicle control method of any one of claims 26-27, wherein, The parking information comprises a parking path.

30. The vehicle control method according to any one of claims 26-27, characterized by, The method further comprises: generate a panoramic image based on the sensing data; control a display device to display the panoramic image.

31. A vehicle control device characterized by comprising: The vehicle control device comprises: a receiving unit, configured to receive parking information sent by the vehicle controller, the parking information being generated by the vehicle controller according to sensing data collected by the vehicle; a control unit, configured to control the vehicle to park based on the parking information.

32. A vehicle control device characterized by comprising: The vehicle control device comprises: The generating unit is configured to generate parking information according to the sensing data collected by the vehicle. The sending unit is configured to send the parking information to the parking controller, so that the parking controller controls the vehicle to park based on the parking information.

33. An electronic device, comprising: The electronic device includes one or more processors and memory, and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the vehicle control method of any one of claims 18-25 or 26-30.

34. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in the vehicle control method of any one of claims 18-25 or 26-30.

35. A computer program product, characterised in that, The computer program product includes a computer program, and the computer program is executed by a processor to enable the computer program product to execute the steps in the vehicle control method of any one of claims 18-25 or 26-30.

36. A vehicle characterized by The vehicle control system of any one of claims 1-17, or the vehicle control device of claim 31 and claim 32, or the electronic device of claim 33.

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