Parking assistance control method and device, electronic equipment and storage medium

Abstract

The application relates to a parking assistance control method and device, electronic equipment and a storage medium. A safety parameter required for safe opening of a trunk of a vehicle is determined based on a structural attribute parameter of the vehicle. Obstacle sensor data behind the vehicle is obtained. In a case where it is determined that a preset trunk safe opening condition is not met according to the obstacle sensor data and the safety parameter, a displacement adjustment amount is determined according to the obstacle sensor data and the safety parameter, and the vehicle is controlled to move according to the displacement adjustment amount. The above-mentioned obtaining of the obstacle sensor data behind the vehicle and the subsequent steps are repeatedly performed until the trunk safe opening condition is met or a preset stop condition is met. The vehicle position is automatically adjusted through closed-loop iteration, the trunk can be safely opened after parking, manual vehicle moving operation of a user is reduced, and safety and convenience are considered.

Description

Technical Field

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

[0002] With the development of intelligent vehicles, parking assistance systems have become a common feature. Users frequently use their trunks in daily driving, and the ability to open the trunk smoothly during parking directly impacts the user experience. Currently, most intelligent vehicle parking assistance systems on the market focus on guiding and prompting drivers during the vehicle's entry into parking spaces.

[0003] However, existing parking assistance solutions lack a dedicated detection and adjustment mechanism for the trunk opening space, forcing users to rely solely on experience when parking, which can easily lead to situations where the trunk cannot be opened or there is a risk of collision. Furthermore, they lack the ability to automatically iterate and adjust, requiring users to manually move the car repeatedly, resulting in a poor user experience. Summary of the Invention

[0004] This application provides a parking assistance control method, device, electronic device, and storage medium to solve the technical problem that existing parking assistance control methods cannot automatically adjust the vehicle position according to the current environment, thereby ensuring that the trunk door can be opened without collision.

[0005] In a first aspect, this application provides a parking assistance control method, the method comprising: The safety parameters required for the safe opening of the vehicle's trunk are determined based on the vehicle's structural property parameters; the safety parameters include at least horizontal distance parameters and vertical height parameters. Obtain obstacle sensor data behind the vehicle; If, based on the obstacle sensor data and the safety parameters, it is determined that the preset conditions for safely opening the trunk are not met, a displacement adjustment amount is determined based on the obstacle sensor data and the safety parameters, and the vehicle is controlled to move according to the displacement adjustment amount. And, repeat the above steps of obtaining obstacle sensor data behind the vehicle and the subsequent steps until the trunk safety opening condition is met or the preset stopping condition is met.

[0006] In one embodiment, determining the safety parameters required for the safe opening of the vehicle's trunk based on the current vehicle's structural attribute parameters includes: Obtain the following structural attribute parameters of the vehicle: trunk door length L, maximum trunk door opening angle. The reference height H when the trunk door is closed, and the height increment during the opening of the trunk door. H; The safe horizontal distance required for the safe opening of the vehicle's trunk is calculated using the following formula. and safe vertical height :

[0007]

[0008] Determine the safety margin based on current environmental conditions; The safety margin is added to both the safe horizontal distance and the safe vertical height to obtain the final safety parameters.

[0009] In one embodiment, determining the safety margin based on current environmental conditions includes: The data quality of the obstacle sensor data is tested; If environmental conditions affecting sensor accuracy are detected, the preset basic safety threshold is increased to obtain a safety margin.

[0010] In one embodiment, the failure to meet the preset trunk safe opening conditions is determined by the following method: Extract the measured horizontal distance and measured vertical height behind the vehicle from the obstacle sensor data; Compare the measured horizontal distance and the measured vertical height with the horizontal distance parameter and the vertical height parameter in the safety parameters respectively; If the measured horizontal distance is less than the horizontal distance parameter and / or the measured vertical height is less than the vertical height parameter, it is determined that the preset conditions for safe opening of the trunk are not met.

[0011] In one embodiment, determining the displacement adjustment amount based on the obstacle sensor data and the safety parameters includes: Extract the measured horizontal distance behind the vehicle from the obstacle sensor data; Determine the difference between the horizontal distance parameter and the measured horizontal distance, and use the difference as the displacement adjustment amount; Specifically, when the measured horizontal distance is less than the horizontal distance parameter, the displacement adjustment is positive, indicating that the vehicle needs to move backward; when the measured horizontal distance is greater than or equal to the horizontal distance parameter, the displacement adjustment is negative, indicating that the vehicle needs to move forward.

[0012] In one embodiment, controlling the vehicle to move according to the displacement adjustment amount includes: The displacement adjustment amount is decomposed into multiple fine-tuning steps, and the vehicle is moved in a fine-tuning manner according to the fine-tuning steps. The process of repeatedly executing the above steps to obtain obstacle sensor data behind the vehicle and subsequent steps until the trunk safety opening condition is met or the preset stopping condition is met includes: After each fine-tuning step movement is completed, the obstacle sensor data behind the vehicle is reacquired and it is re-determined whether the conditions for safely opening the trunk are met. If the conditions for safely opening the trunk are not met, continue with the next fine-tuning step until the conditions for safely opening the trunk are met or the preset maximum number of fine-tuning steps is reached.

[0013] In one embodiment, the method further includes: In response to a user's command to enable or disable the automatic movement function, determine the on / off state of the vehicle's automatic movement function; If the switch is in the off state and it is determined that the conditions for safely opening the trunk are not met, a corresponding prompt message will be generated and output without controlling the vehicle to move. If the switch is in the open state and it is determined that the conditions for safely opening the trunk are not met, the vehicle will be moved directly according to the determined displacement adjustment amount.

[0014] Secondly, this application provides a parking assistance control device, the device comprising: The safety parameter determination module is used to determine the safety parameters required for the safe opening of the vehicle's trunk based on the vehicle's structural attribute parameters. The data acquisition module is used to acquire obstacle sensor data behind the vehicle; The vehicle control module is used to determine a displacement adjustment amount based on the obstacle sensor data and the safety parameters when it is determined that the preset safe opening conditions of the trunk are not met, and to control the vehicle to move according to the displacement adjustment amount. The iterative execution module is used to repeatedly execute the above steps of acquiring obstacle sensor data behind the vehicle and subsequent steps until the trunk safety opening condition is met or the preset stopping condition is met.

[0015] In one embodiment, the safety parameter determination module includes: The parameter acquisition unit is used to acquire the following structural attribute parameters of the vehicle: trunk door length L, and maximum opening angle of the trunk door. The reference height H when the trunk door is closed, and the height increment during the opening of the trunk door. H; The safety parameter calculation unit is used to calculate the safe horizontal distance required for the safe opening of the vehicle's trunk according to the following formula. and safe vertical height :

[0016]

[0017] Safety margin determination unit, used to determine safety margin based on current environmental conditions; The safety parameter determination unit is used to add the safety margin to both the safe horizontal distance and the safe vertical height to obtain the final safety parameters.

[0018] In one embodiment, the safety margin determination unit is specifically used for: The data quality of the obstacle sensor data is tested; If environmental conditions affecting sensor accuracy are detected, the preset basic safety threshold is increased to obtain a safety margin.

[0019] In one embodiment, the vehicle control module determines that the preset conditions for safely opening the trunk are not met by: Extract the measured horizontal distance and measured vertical height behind the vehicle from the obstacle sensor data; Compare the measured horizontal distance and the measured vertical height with the horizontal distance parameter and the vertical height parameter in the safety parameters respectively; If the measured horizontal distance is less than the horizontal distance parameter and / or the measured vertical height is less than the vertical height parameter, it is determined that the preset conditions for safe opening of the trunk are not met.

[0020] In one embodiment, the vehicle control module is specifically used for: Extract the measured horizontal distance behind the vehicle from the obstacle sensor data; Determine the difference between the horizontal distance parameter and the measured horizontal distance, and use the difference as the displacement adjustment amount; Specifically, when the measured horizontal distance is less than the horizontal distance parameter, the displacement adjustment is positive, indicating that the vehicle needs to move backward; when the measured horizontal distance is greater than or equal to the horizontal distance parameter, the displacement adjustment is negative, indicating that the vehicle needs to move forward.

[0021] In one embodiment, the vehicle control module is specifically used for: The displacement adjustment amount is decomposed into multiple fine-tuning steps, and the vehicle is moved in a fine-tuning manner according to the fine-tuning steps. The process of repeatedly executing the above steps to obtain obstacle sensor data behind the vehicle and subsequent steps until the trunk safety opening condition is met or the preset stopping condition is met includes: After each fine-tuning step movement is completed, the obstacle sensor data behind the vehicle is reacquired and it is re-determined whether the conditions for safely opening the trunk are met. If the conditions for safely opening the trunk are not met, continue with the next fine-tuning step until the conditions for safely opening the trunk are met or the preset maximum number of fine-tuning steps is reached.

[0022] In one embodiment, the device is further configured to: In response to a user's command to enable or disable the automatic movement function, determine the on / off state of the vehicle's automatic movement function; If the switch is in the off state and it is determined that the conditions for safely opening the trunk are not met, a corresponding prompt message will be generated and output without controlling the vehicle to move. If the switch is in the open state and it is determined that the conditions for safely opening the trunk are not met, the vehicle will be moved directly according to the determined displacement adjustment amount.

[0023] Thirdly, this application provides an electronic device, including: a processor and a memory, wherein the processor is configured to execute a parking assistance control program stored in the memory to implement the parking assistance control method described in any one of the first aspects.

[0024] Fourthly, this application provides a storage medium storing one or more programs that can be executed by one or more processors to implement the parking assistance control method described in any one aspect.

[0025] Compared with the prior art, the technical solution provided in this application has the following advantages: The method provided in this application determines the safety parameters required for the safe opening of the vehicle's trunk based on the vehicle's structural attribute parameters; acquires obstacle sensor data behind the vehicle; if, based on the obstacle sensor data and safety parameters, it is determined that the preset trunk opening conditions are not met, a displacement adjustment amount is determined based on the obstacle sensor data and safety parameters, and the vehicle is controlled to move according to the displacement adjustment amount; and the above steps of acquiring obstacle sensor data behind the vehicle and subsequent steps are repeated until the trunk opening conditions are met or the preset stopping conditions are met. By automatically adjusting the vehicle position through closed-loop iteration, the trunk can be safely opened after parking, while reducing the user's manual vehicle movement operations, thus balancing safety and convenience. Attached Figure Description

[0026] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0027] 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, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0029] Figure 1 A flowchart illustrating an embodiment of a parking assistance control method provided in this application; Figure 2 A flowchart illustrating an embodiment of another parking assistance control method provided in this application; Figure 3 A flowchart illustrating an embodiment of another parking assistance control method provided in this application; Figure 4 A structural block diagram of a parking assistance control device provided in this application; Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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, 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.

[0031] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0032] To address the technical problem that existing parking assistance control methods cannot automatically adjust the vehicle position according to the current environment, thereby ensuring that the trunk can be opened without collision, this application provides a parking assistance control method, device, electronic device, and storage medium. Through closed-loop iteration, the vehicle position is automatically adjusted to ensure that the trunk can be safely opened after parking, while reducing the user's manual vehicle movement operations, thus balancing safety and convenience.

[0033] Figure 1 A flowchart illustrating an embodiment of a parking assistance control method provided in this application includes the following steps: Step 101: Determine the safety parameters required for the safe opening of the vehicle's trunk based on the vehicle's structural attribute parameters.

[0034] Structural attribute parameters can refer to data such as geometric dimensions and kinematic characteristics inherent to the vehicle itself and related to the opening movement of the trunk door. Specifically, they may include: trunk door length L (unit: meters), maximum trunk door opening angle θ (unit: radians or degrees), trunk door reference height H (unit: meters) when closed, and trunk door height increase ΔH (unit: meters) during opening, etc. This is merely an example, and the embodiments of this application do not impose any limitations on it.

[0035] The aforementioned structural attribute parameters form the basis for calculating the space required for the safe opening of the trunk. The trunk door dimensions, opening angle, and lifting height vary between different vehicle models. Only by accurately obtaining the structural attribute parameters of the current vehicle can personalized safety distances and heights be calculated to adapt to various vehicle types.

[0036] Safety parameters are essentially two core thresholds used to determine whether the trunk can be opened without a collision. These include at least two parameters: horizontal distance and safe vertical height. The horizontal distance parameter refers to the horizontal distance that the rear of the vehicle must maintain between the trunk and any obstacles behind it to ensure that the farthest part of the trunk door does not collide with any such obstacle during opening. The vertical height parameter refers to the vertical height that the vehicle must maintain between the trunk and any obstacles behind it to ensure that the top of the trunk door does not collide with any obstacles above it (such as a ceiling or beam) during opening.

[0037] Safety parameters serve as a reference for subsequent judgments on whether safe opening conditions are met. Only when the measured horizontal distance and vertical height both meet or exceed the safety parameters can it be ensured that the trunk door will not collide with obstacles behind or above during opening. Safety parameters can also add a safety margin based on environmental conditions to compensate for sensor errors and the effects of inclement weather.

[0038] In one embodiment, the vehicle's trunk door length, maximum opening angle, reference height when the trunk door is closed, and height increase during trunk door opening are read from the vehicle control unit. These parameters are then used to calculate the safe horizontal distance and safe vertical height corresponding to the minimum space required for trunk door opening. After adding corresponding safety margins based on environmental conditions (i.e., after correcting the obtained safe horizontal distance and safe vertical height based on environmental conditions), the final safety parameters are obtained.

[0039] For example, assuming a vehicle activates its parking assist function, it first accesses the vehicle's electronic control unit (ECU) to read the pre-stored structural attribute parameters of the tailgate for that model. These parameters include: the length of the tailgate from the hinge to the outermost edge of the door, the maximum opening angle of the tailgate, the height of the highest point of the tailgate from the ground when fully closed, and the additional height the highest point of the tailgate rises relative to its closed state when fully open.

[0040] After obtaining these parameters, an internal algorithm calculates a safe horizontal distance: the minimum horizontal clearance that must be maintained between the rear of the vehicle and any obstacles behind it to ensure that the farthest point of the tailgate will not hit the rear wall or another vehicle during the outward and upward opening of the tailgate. Simultaneously, a safe vertical height is also calculated: the total vertical clearance that must exist above the vehicle to ensure that the top of the tailgate will not hit the upper beam or ceiling. Finally, based on the current environmental conditions, corresponding safety margins are added to these two calculations (i.e., the calculations are corrected based on the current environmental conditions), resulting in the safety parameters used in subsequent judgment steps. The entire process is completed automatically, without requiring any user input of vehicle model information. Furthermore, it adaptively reads the structural attribute parameters of different vehicle types, such as sedans, SUVs, and MPVs, and calculates the corresponding safety parameters based on environmental conditions.

[0041] By determining the safety parameters required for safe opening of the trunk based on the vehicle's own structural attribute parameters and environmental conditions, vehicle model self-adaptation is achieved. Different vehicles have significant differences in trunk door length, opening angle, and lifting height. There is no need to calibrate for each vehicle model separately. These parameters can be automatically read or measured, and the vehicle's current exclusive safety parameters can be determined based on the current environmental conditions. Therefore, it is applicable to various vehicle models and various environmental conditions, and has extremely high versatility and portability.

[0042] Furthermore, it provides a precise quantitative benchmark for subsequent intelligent control. Safety parameters are the core basis for judging whether the parking position is qualified, whether it needs to be adjusted, and how much to adjust. Precise calculation avoids the errors caused by estimation based on experience, ensuring that the trunk can be opened safely and avoiding parking the vehicle too conservatively (such as wasting space or making parking difficult due to being too far from the wall).

[0043] Step 102: Obtain obstacle sensor data behind the vehicle.

[0044] Obstacle sensor data refers to multimodal information collected by various sensors installed at the rear of a vehicle, used to describe the spatial position and geometric features of obstacles behind the vehicle. Specifically, it includes, but is not limited to: distance data (reflecting the horizontal distance from the rear of the vehicle to the obstacle, obstacle height information) and image data (reflecting the obstacle type, outline, and edge features).

[0045] Obstacle sensor data is the direct source of information for obtaining rear-view perception results for vehicles. By fusing ultrasonic sensors (for precise distance measurement) and cameras (for contour recognition and height assessment), the current measured horizontal distance and measured vertical height can be obtained in real time and accurately, providing reliable input for subsequent judgments and adjustments.

[0046] In one embodiment, image data and distance data of obstacles behind the vehicle are acquired using a rear camera and ultrasonic radar. After fusion processing, the measured horizontal distance and measured vertical height are output. This data acquisition action is performed when it is necessary to determine the conditions for safely opening the trunk, including but not limited to: after parking is completed, and after each automatic movement is completed.

[0047] Specifically, the rear sensor array is activated to collect data. The sensor array includes at least one wide-angle camera and a set of ultrasonic radars. The camera is responsible for acquiring grayscale or color images of the area behind the vehicle, using image processing algorithms to identify obstacle types (such as walls, vehicles, pillars, curbs) and extract their outline edges. At the same time, it uses image features to help estimate the approximate horizontal distance of obstacles from the rear of the vehicle and the vertical height of obstacles above.

[0048] Ultrasonic radar emits ultrasonic waves and receives the echoes, directly measuring the precise horizontal distance from the rear bumper to the surface of an obstacle behind it. It typically covers a range of 0.2 meters to 5 meters, with measurement accuracy down to the centimeter level. The image data collected by the camera is time-stamped and fused with the distance data measured by the ultrasonic radar, eliminating significant noise (such as false outlines caused by camera reflections or abnormal echoes from absorbing materials). The final output consists of two key values: the measured horizontal distance from the rear of the vehicle to the nearest horizontal obstacle; and the measured vertical height from the top of the vehicle (corresponding to the highest point of the trunk door opening motion envelope) to the lower edge of the obstacle above (marked as infinity if there is no obstacle above).

[0049] For example, in a scenario where a car reverses into a wall-mounted parking space in an underground garage and the driver engages P gear, data acquisition is immediately triggered based on the user's selection, trigger command, or preset control mechanism: the ultrasonic radar measures the horizontal distance between the rear of the car and the wall as 0.65 meters; the camera captures a fire hydrant pipe above the wall, and depth estimation shows the lower edge of the pipe is 1.2 meters above the ground. The system then integrates these measurements and outputs the measured horizontal distance of 0.65 meters and the measured vertical height of 1.2 meters, which are then passed to step 103 to determine safety.

[0050] For another example, in a vehicle movement scenario, the real-time data collection process is automatically triggered during vehicle movement: the ultrasonic radar measures the horizontal distance between the rear of the vehicle and the wall as 0.95 meters; the camera reconfirms the vertical height behind as 1.2 meters.

[0051] By employing the above steps to acquire data through the fusion of multimodal sensor data, measurement accuracy and robustness are significantly improved. Simultaneously, ultrasonic ranging itself has a microsecond-level response, and camera image processing, using a lightweight neural network on an embedded chip, can be completed within tens of milliseconds. Users experience virtually no delay, ensuring that rear environmental information is obtained immediately after parking, providing a timely and accurate data foundation for subsequent safety assessments and automatic adjustments.

[0052] Step 103: If, based on obstacle sensor data and safety parameters, it is determined that the preset trunk safety opening conditions are not met, control the vehicle to move based on the obstacle sensor data and the safety parameters; and repeat the above steps of obtaining obstacle sensor data behind the vehicle and the subsequent steps until the trunk safety opening conditions or the preset stopping conditions are met.

[0053] Displacement adjustment refers to the specific distance (unit: meters) that the vehicle needs to move longitudinally (forward or backward) to solve the problem of insufficient measured horizontal distance.

[0054] Displacement adjustment refers to the direct command value used to control the automatic movement of the vehicle. A positive value indicates that the vehicle needs to move backward (increasing the distance between the rear of the vehicle and the obstacle), while a negative value indicates that the vehicle needs to move forward (decreasing the distance). By accurately calculating the displacement adjustment, the vehicle can be moved to a position that meets the safe opening conditions in one go or in stages, avoiding repeated attempts.

[0055] Preset stopping conditions refer to a set of rules that control when the iteration loop ends. When at least one of these rules is met, the system will stop executing the "move → re-collect → re-judge" loop. Common stopping conditions include: reaching the maximum number of iterations (e.g., 3 times), user interruption (e.g., manually pressing the brake or turning off the function), detecting a collision risk during movement (e.g., a sudden appearance of a dynamic obstacle), and system timeout.

[0056] The aforementioned stopping conditions prevent the system from entering an infinite loop or causing unnecessary movement, ensuring the robustness and safety of the control method. Even if the vehicle cannot meet the safe opening conditions (e.g., there is a large, immovable obstacle behind it), it will disengage after reaching the stopping conditions to avoid over-adjustment or danger.

[0057] In one embodiment, the failure to meet the preset safe opening conditions for the trunk is determined by: extracting the measured horizontal distance and measured vertical height behind the vehicle from obstacle sensor data; comparing the measured horizontal distance with the horizontal distance parameter in the safety parameters, and comparing the measured vertical height with the vertical height parameter in the safety parameters; if the measured horizontal distance is less than the horizontal distance parameter and / or the measured vertical height is less than the vertical height parameter, it is determined that the preset safe opening conditions for the trunk are not met.

[0058] The measured horizontal distance refers to the shortest horizontal straight-line distance (unit: meters) between the most prominent point of the rear of the vehicle and the obstacle behind it, obtained directly by measuring or calculating data from obstacle sensors. It is usually provided by ultrasonic sensors or millimeter-wave radar.

[0059] The measured horizontal distance is the direct basis for judging whether the horizontal direction is safe. By comparing it with the horizontal distance parameter in the safety parameters, it can be quantified whether the current horizontal clearance is sufficient. If it is insufficient, the specific displacement adjustment amount can be determined.

[0060] The measured vertical height refers to the vertical clearance (in meters) between the highest point of the trunk door opening motion envelope and an overhead obstacle (such as a ceiling or beam), obtained through obstacle sensor data (usually relying on camera depth maps or LiDAR point clouds). If there is no obstacle above, the measured vertical height is a value much larger than the safe vertical height (or can be considered infinitely large).

[0061] The measured vertical height is used to determine whether there is enough space above. Since the vertical height usually cannot be changed by moving the vehicle (the obstacles above are fixed), if the measured vertical height is less than the vertical height parameter in the safety parameters, it is often directly determined that the trunk cannot be opened safely and an alarm will be triggered, rather than attempting to resolve the issue by moving the vehicle.

[0062] For example, a car parks in a wall-mounted parking space in an underground garage. Data from obstacle sensors reveals: the measured horizontal distance from the ultrasonic radar is 0.6 meters, and the estimated vertical height from the camera depth map is 1.2 meters. Simultaneously, based on the vehicle's structural attributes, pre-determined safety parameters for the horizontal distance are 0.98 meters and the safety parameters for the vertical height are 1.3 meters. Comparing the measured values ​​with these safety parameters: the measured horizontal distance of 0.6 meters is less than 0.98 meters, and the measured vertical height of 1.2 meters is less than 1.3 meters; both do not meet the requirements. Therefore, the system determines that the conditions for safely opening the trunk are not met.

[0063] In another scenario, the same vehicle is parked in an open-air, roofless parking space. The measured vertical height is marked as infinite (much greater than 1.3 meters), but the measured horizontal distance is still 0.6 meters. In this case, only the horizontal distance is insufficient, and the system also determines that the condition is not met. However, it prioritizes calculating the horizontal displacement adjustment and executes automatic movement.

[0064] For example, if there is a crossbeam only 1.1 meters high above the vehicle, the measured vertical height of 1.1 meters is less than the safety parameter of 1.3 meters, while the measured horizontal distance of 1.2 meters is greater than the safety parameter of 0.98 meters. The vertical direction is determined to be unsatisfactory. Since the obstacle above is fixed and cannot be moved, an alarm will be issued immediately stating "Insufficient space above, unable to safely open the trunk", and no automatic movement will be performed.

[0065] By comparing the measured horizontal distance and measured vertical height with the corresponding safety parameters and using an "AND / OR" judgment logic, independent and comprehensive safety assessments in both horizontal and vertical dimensions are achieved. This can capture the risk of the rear of the vehicle colliding with obstacles behind it, and also provide early warnings of insufficient headroom, thus avoiding safety hazards caused by single-dimensional judgments.

[0066] Furthermore, when only the horizontal distance is insufficient, the displacement adjustment amount can be calculated and resolved through automatic movement; when the vertical height is insufficient, an alarm is triggered directly without performing invalid movement, saving time and preventing users from mistakenly believing that movement can solve the problem. Adapting to various complex parking environments, whether there is a wall behind, a beam above, or no restrictions in the open, this judgment logic can accurately output whether the conditions are met, providing a reliable basis for subsequent automatic adjustments or prompts.

[0067] In one embodiment, when it is determined that the conditions for safely opening the trunk are not met, the system calculates the longitudinal displacement adjustment amount and controls the vehicle to move the corresponding distance; after moving, the sensor data is collected again and the judgment is made again, and so on, until the safety conditions are met or the preset stopping conditions are reached (such as the maximum number of iterations, user interruption, collision risk, etc.).

[0068] Specifically, after acquiring the obstacle sensor data (measured horizontal distance and measured vertical height) from the rear, the system compares it with pre-determined safety parameters. If the measured horizontal distance is less than the horizontal distance parameter in the safety parameters, or the measured vertical height is less than the vertical height parameter in the safety parameters, it is determined that the conditions for safely opening the trunk are not met. In this case, the system prioritizes calculating the longitudinal displacement adjustment amount (the difference between the safe horizontal distance and the measured horizontal distance) for insufficient horizontal distance, and executes the corresponding forward or backward movement through the vehicle's longitudinal control module.

[0069] Furthermore, after the movement is completed, the system automatically jumps back to step 102 to re-collect the latest sensor data and re-evaluate the safety conditions. This closed-loop process of "collection → judgment → movement → re-collection" will continue to repeat until any of the following preset stopping conditions are met: the trunk safety opening condition is met, the maximum number of iterations (e.g., 3 times) is reached, the user actively interrupts the process, a collision risk is detected during the movement triggering emergency braking, or the system times out. Through this iterative closed-loop control, the system can automatically adjust the vehicle to a position where the trunk can be safely opened with minimal user intervention, and safely exit if adjustment is not possible.

[0070] For example, based on the vehicle's structural properties, the horizontal distance parameter in the safety parameters is pre-determined to be 1.2 meters (including safety margin), and the vertical height parameter is 1.5 meters. During parking, the measured horizontal distance is 0.7 meters and the measured vertical height is 2.0 meters. Since the measured horizontal distance is less than the horizontal distance parameter, but the vertical height meets the requirement, it is determined that the conditions for safely opening the trunk are not met. A longitudinal displacement adjustment of 0.5 meters is calculated, and the vehicle is then controlled to move backward by 0.5 meters. After the movement is complete, the rear sensor data is automatically re-collected. At this point, the measured horizontal distance is 1.22 meters, meeting the horizontal distance parameter requirement, and the safe opening condition is met, ending the iteration. If the measured horizontal distance is still insufficient after the first movement, a new adjustment amount will be calculated, and the vehicle will move again, repeating this closed-loop process until the conditions are met or the maximum number of iterations (e.g., three) is reached, at which point the process exits and a corresponding prompt is given. If, during the movement, the ultrasonic radar suddenly detects a pedestrian approaching, emergency braking is immediately triggered, and the iteration terminates, thus ensuring safety.

[0071] Through iterative closed-loop control, sensor data is re-collected and reassessed after each movement, allowing for dynamic adjustments to subsequent actions based on the latest environmental conditions. Even with minor sensor errors or uneven ground causing deviations in movement distance, the vehicle can accurately approach the target position through multiple iterations. Furthermore, if the preset safe opening conditions for the trunk are not met, the vehicle can automatically correct its position, eliminating the need for repeated manual maneuvering or getting out to check. This significantly reduces user intervention and enhances the convenience and intelligent experience of using the trunk after parking. Furthermore, it incorporates multiple safety mechanisms: it prevents infinite loops by maximizing the number of iterations, responds to sudden appearances of dynamic obstacles by emergency braking, and provides an emergency exit channel through user interruption and timeout mechanisms, ensuring safe termination under any abnormal circumstances and avoiding collision risks. In addition, since vertical height is usually determined by fixed buildings and cannot be changed, it prioritizes adjusting horizontal distance, avoiding ineffective operations and improving adjustment efficiency.

[0072] The method provided in this application embodiment determines the safety parameters required for the safe opening of the vehicle's trunk based on the vehicle's structural attribute parameters; acquires obstacle sensor data behind the vehicle; if, based on the obstacle sensor data and safety parameters, it is determined that the preset trunk safe opening conditions are not met, a displacement adjustment amount is determined based on the obstacle sensor data and safety parameters, and the vehicle is controlled to move according to the displacement adjustment amount; and the above steps of acquiring obstacle sensor data behind the vehicle and subsequent steps are repeated until the trunk safe opening conditions or preset stopping conditions are met. By automatically adjusting the vehicle position through closed-loop iteration, the method ensures that the trunk can be safely opened after parking, while reducing manual vehicle movement operations by the user, thus balancing safety and convenience.

[0073] In addition, this application provides an embodiment, which specifically includes: when it is determined, based on the obstacle sensor data and the safety parameters, that the preset safe opening conditions of the trunk are not met, determining the maximum opening angle of the trunk door based on the current measured horizontal distance and the length of the trunk door; outputting the maximum opening angle as a prompt to the user, and controlling the actual opening angle of the trunk door to be less than or equal to the maximum opening angle.

[0074] The maximum opening angle of the trunk lid refers to the maximum angle at which the lid can be safely opened, calculated based on the measured horizontal distance and the length of the trunk lid, without colliding with obstacles behind it. It provides an alternative solution for scenarios where the vehicle cannot be moved, by limiting the trunk lid opening angle to ensure safe opening within the existing clearance. This angle value serves as the upper limit for warning information and subsequent control.

[0075] The notification message can refer to user-generated information regarding the maximum safe opening angle of the trunk lid, and can be presented through instrument panel text, central control screen graphics, or voice announcements. By informing the user of the maximum opening angle of the trunk lid under current conditions, the message helps them understand the importance of controlling the opening angle to avoid collisions caused by forcing it open to the normal angle. For example, the central control screen might display "Insufficient rear space; it is recommended that the trunk lid opening angle not exceed 53°," while simultaneously announcing the same message via voice.

[0076] The actual opening angle refers to the angle the trunk door actually turns when the user operates it, typically detected by an angle sensor or controlled by an electric strut. By limiting the drive commands of the electronically controlled trunk door, or by alerting the user to manually control it, the actual opening angle is ensured not to exceed the calculated maximum opening angle, thus preventing collisions. For example, when the user presses the trunk opening button, the system sets the target angle to 53° instead of the default 80°, and the door only opens to 53° before stopping.

[0077] Specifically, after determining, based on obstacle sensor data and safety parameters, that the conditions for safely opening the trunk are not met (usually, the measured horizontal distance is less than the safe horizontal distance), the automatic movement adjustment in the main solution is executed first. If the problem cannot be resolved by moving the vehicle due to the presence of immovable obstacles behind (such as fixed ground locks or limit bars) or the user having disabled the automatic movement function, the backup solution of this embodiment is activated.

[0078] First, the current measured horizontal distance is extracted from obstacle sensor data. Simultaneously, the trunk door length is read from the vehicle's structural attribute parameters to calculate the maximum safe opening angle (in degrees) of the trunk door. This angle value is then displayed on the vehicle's central control screen and / or instrument panel, along with a voice prompt to the user: "Insufficient rear space; the maximum safe opening angle of the trunk door is XX degrees. Please do not exceed this angle." For vehicles equipped with a power trunk door, this maximum angle is also written into the control parameters of the power strut. When the user presses the open button, the actual opening angle is limited to this value. For manual trunk doors, only visual and auditory prompts are provided, and the user controls the opening angle manually.

[0079] In addition, dynamic updates are supported. If the vehicle undergoes a slight displacement after being alerted (such as being slightly pushed), the measured horizontal distance can be re-detected and the maximum angle refreshed to ensure the real-time accuracy of the alert information.

[0080] For example, a car is parked in a narrow parking space with a wall behind it. The measured horizontal distance is 0.7 meters, and the safe horizontal distance is 0.98 meters. The user has turned off the automatic moving function and does not want to move the car manually. The system calculates a maximum angle of 90°. The dashboard displays the message "Caution: The maximum safe opening angle of the trunk is 61°," and a warning light flashes to remind the user to carefully control the opening angle within 61° when manually opening the door, thus preventing a collision.

[0081] For another example, suppose there's a fixed barrier behind the vehicle, with a measured horizontal distance of only 0.6 meters. The required safe horizontal distance is 1.2 meters, and the barrier cannot be moved. The automatic movement function has been attempted but still cannot meet the requirements. In this case, the tailgate length is read as 1.0 meter, and the maximum safe opening angle is calculated to be 36.9°. The central control screen displays "Insufficient rear space; maximum safe tailgate opening angle is 37°," accompanied by a voice announcement. When the user presses the tailgate opening button, the electric strut only opens the tailgate to 37° before stopping, preventing the tailgate from colliding with the barrier.

[0082] The above embodiments provide users with safety assurance when they cannot move their vehicles. When the obstacle behind is fixed and the vehicle cannot move forward (such as when it is already close to the vehicle in front), directly limiting the trunk opening angle becomes the last line of defense to avoid collisions. Furthermore, it reduces user guesswork and misoperation: by accurately calculating and clearly informing users of the "maximum safe angle," users do not need to repeatedly try to open the door, and it also avoids damage caused by habitually opening the door to its maximum.

[0083] Figure 2 A flowchart illustrating another embodiment of the parking assistance control method provided in this application is shown below. Figure 1 Based on the illustrated process, this section mainly describes how to determine the safety parameters required for the safe opening of a vehicle's trunk based on the vehicle's structural attribute parameters, including the following steps: Step 201: Obtain the following structural attribute parameters of the vehicle: trunk door length, maximum opening angle of the trunk door, reference height when the trunk door is closed, and height increment during the opening process of the trunk door.

[0084] The length of the tailgate can be defined as the straight-line distance from the tailgate hinge axis to the farthest point of the door (usually the edge or end of the door), measured in meters. This length directly affects the horizontal distance the tailgate extends outward when open. The longer the door, the greater the required rear horizontal clearance. It is one of the key parameters for calculating safe horizontal distances. For example, the tailgate of a sedan is relatively short, at 0.7 meters in length; while the hatchback tailgate of a large SUV can be as long as 1.1 meters.

[0085] The maximum opening angle of a tailgate refers to the angle the tailgate rotates around its hinge axis when it moves from a fully closed position to its maximum open position, usually measured in degrees (°) or radians (rad). The maximum opening angle for common car models is between 60° and 90°. A larger opening angle means a greater horizontal distance the tailgate extends outward, requiring more horizontal clearance. This parameter, along with the tailgate length, determines the horizontal safety requirements. For example, a sedan's tailgate has a maximum opening angle of 75°, while an SUV's hatchback can reach a maximum opening angle of 85°.

[0086] The reference height when the trunk lid is closed refers to the vertical distance from the highest point of the trunk lid (or a specific point on the trunk lid) to the ground when the trunk lid is fully closed, measured in meters. This height typically depends on the vehicle's suspension, tire pressure, etc., but is generally stored as a fixed parameter in the vehicle system. When the trunk lid is open, the highest point of the trunk lid will rise further from this reference height; therefore, the reference height is the basis for determining the safe vertical height.

[0087] The height increment refers to the vertical increase in height of the tailgate from its fully closed state to its fully open state, relative to its closed state, measured in meters. This height increment is closely related to the structure of the vehicle door. It directly determines how much higher the tailgate is when open compared to when closed, and is a key parameter for calculating safe vertical height. The larger the increment, the higher the required overhead clearance. For example, the highest point of a hatchback SUV's tailgate rises 0.55 meters when open compared to when closed, i.e., a height increment of 0.55 meters; while the trunk lid of a sedan rises less, approximately 0.35 meters, i.e., a height increment of 0.35 meters.

[0088] In one embodiment, vehicle structural attribute parameters stored in the electronic control unit are read via the vehicle's bus network. These parameters include the tailgate length, maximum tailgate opening angle, base height when the tailgate is closed, and height increment during tailgate opening. These parameters are fixed values ​​calibrated at the vehicle's factory and correspond to the specific vehicle model's geometry and kinematic characteristics. Precise structural data can be obtained directly without additional measurements.

[0089] For example, the electronic control unit of a large SUV stores the following data: tailgate length 1.05 meters, maximum opening angle 85°, base closing height 0.85 meters, and height increment 0.55 meters. The corresponding data for a sedan is: tailgate length 0.70 meters, maximum opening angle 75°, base closing height 0.75 meters, and height increment 0.35 meters. When the vehicle's parking assist function is activated, the system automatically acquires these parameters to lay the foundation for subsequent safe distance calculations. If a vehicle's actual parameters deviate from the stored values ​​due to modifications or suspension adjustments, the system can also update them through manual user input or self-learning calibration.

[0090] By directly reading existing vehicle parameters, without adding any hardware or manual calibration, this method achieves low cost and high reliability. The parameter differences between different vehicle models are automatically adapted, making it seamlessly compatible with various vehicle models such as sedans, SUVs, and MPVs, demonstrating strong versatility. The parameter acquisition process is completed within milliseconds, without increasing user waiting time, ensuring the real-time performance of the parking assistance function.

[0091] Step 202: Use structural property parameters to determine the safe horizontal distance and safe vertical height required for the safe opening of the vehicle's trunk.

[0092] In one embodiment, the safe horizontal distance and safe vertical height required for the safe opening of the vehicle's trunk are calculated based on the obtained structural attribute parameters according to the following formula.

[0093] The safe horizontal distance refers to the minimum horizontal clearance that must be maintained between the rear of the vehicle and any obstacle to ensure that the farthest part of the tailgate does not collide with a rear obstacle during opening. It can be calculated using the following formula (I): Formula (1) The above The safe horizontal distance represents the length of the trunk door, and θ represents the maximum opening angle of the trunk door. Furthermore, the above-mentioned safe horizontal distance is the minimum safety threshold for horizontal safety assessment. The measured horizontal distance must be greater than or equal to the safe horizontal distance (usually with an additional safety margin) to ensure that there is no horizontal collision with the trunk door.

[0094] The safe vertical height refers to the sum of the base height of the vehicle's trunk door when closed and the height it rises after opening, to ensure that the highest point of the door does not collide with overhead obstacles (such as ceilings or beams) during the opening process. It can be calculated using the following formula (II): Formula (II); The above The vertical height represents the safe vertical height, where H represents the baseline height when the trunk door is closed, and ΔH represents the increase in height during the opening of the trunk door. The safe vertical height is the minimum safety threshold for vertical safety assessment. The measured vertical height above the trunk door must be ≥ the safe vertical height (usually with an additional safety margin) to avoid a top collision.

[0095] For example, taking a mid-size SUV as an example, the tailgate of this vehicle is 1.05 meters long and has a maximum opening angle of 80 degrees. Based on geometric relationships, the horizontal distance that the furthest point of the tailgate extends outward when fully open can be calculated to be approximately 1.03 meters, which is the safe horizontal distance. Meanwhile, the highest point of the tailgate when closed is 0.85 meters above the ground. When fully open, the highest point of the tailgate rises an additional 0.55 meters compared to when closed. Adding these two figures together gives 1.04 meters, which is the safe vertical height. These two values ​​represent the minimum horizontal clearance that must be maintained between the rear of the vehicle and any obstacles behind it, and the minimum vertical clearance that must exist above the vehicle, respectively, without the possibility of a collision.

[0096] By using the vehicle's own structural attribute parameters for precise calculation, a unique theoretical safe space threshold can be adaptively determined for each model, avoiding the inaccuracy caused by relying on experience-based estimation. These quantified safe horizontal distances and safe vertical heights provide clear and reliable benchmarks for subsequent actual measurement comparisons and judgments, ensuring the scientific nature and consistency of trunk opening decisions. At the same time, the calculation method is simple, applicable to various models, and has good versatility.

[0097] Step 203: Determine the safety margin based on the current environmental conditions.

[0098] The safety margin is a redundant distance value used to compensate for sensor measurement errors and environmental interference.

[0099] Safety margin refers to the additional redundant distance value added to compensate for sensor measurement errors, environmental interference (such as rain, fog, and low light), and dynamic uncertainties, measured in meters. A basic safety threshold (e.g., 0.2 meters) is typically preset and dynamically adjusted according to environmental conditions. The safety margin provides redundancy for safety judgments, avoiding misjudgments caused by limited sensor accuracy or sudden environmental changes. Increasing the margin in harsh environments improves safety; in ideal environments, the margin can be appropriately reduced to improve space utilization. For example, if the basic safety threshold is 0.2 meters, and rain or fog is detected, the safety margin increases to 0.3 meters. The final safe horizontal distance = theoretically calculated value + 0.3 meters.

[0100] In one embodiment, determining the safety margin based on the current environmental conditions includes: detecting the data quality of obstacle sensor data; if the detected data quality is not satisfactory to a preset condition, it indicates that there are environmental conditions affecting the accuracy of the sensor, and the preset basic safety threshold is increased to obtain the safety margin.

[0101] The aforementioned environmental conditions refer to external physical environmental factors that affect the quality of sensor data acquisition, including but not limited to: rain, fog, snow, dust, low light, strong backlight, and sensor performance degradation caused by high or low temperatures. Environmental conditions directly affect the accuracy and reliability of sensor data. For example, rain and fog can attenuate ultrasonic signals and reduce camera visibility; low light can blur images. By detecting environmental conditions, the system can dynamically adjust the safety margin to achieve a balance between safety and availability.

[0102] For example, if a rain sensor detects that it is raining and a camera image clarity assessment reveals a decrease in contrast, it is determined to be a "severe environmental condition," thereby increasing the safety margin.

[0103] Data quality refers to the quantitative assessment of the reliability, completeness, and accuracy of obstacle sensor data (images, distance signals). Assessment metrics include at least: image signal-to-noise ratio, contrast, and blurriness; and ultrasonic echo signal-to-noise ratio and outlier ratio.

[0104] Data quality testing reveals the presence of environmental conditions that could affect sensor accuracy, providing a direct basis for determining whether to adjust the safety margin. High data quality indicates the sensor is functioning well, allowing for maintaining or reducing the margin; low data quality indicates environmental interference, necessitating an increased margin to mitigate risks. For example, analyzing rear camera images reveals histograms concentrated in low-brightness areas with blurred edges, indicating an image quality score below a threshold, thus confirming the presence of environmental conditions affecting accuracy.

[0105] The basic safety threshold can be a preset standard safety margin value used to compensate for safe horizontal distance and safe vertical height under normal environmental conditions. This value is usually determined based on typical sensor error statistics and industry experience, for example, 0.2 meters.

[0106] The baseline safety threshold serves as the benchmark for safety margin. Under normal environmental conditions, the safety margin is directly set to the baseline safety threshold. When environmental degradation is detected, an additional compensation value is added above the baseline safety threshold. For example, the default baseline safety threshold is 0.2 meters. During a clear day, the safety margin is 0.2 meters; in rainy or foggy weather, the system adjusts the safety margin to 0.3 meters (base 0.2 meters + compensation 0.1 meters).

[0107] Specifically, a preset basic safety threshold (e.g., 0.2 meters) is first obtained, which is determined based on typical sensor error statistics. Subsequently, data quality is checked on the obstacle sensor data: by evaluating the sharpness, contrast, and signal-to-noise ratio of the rear camera image, as well as the signal-to-noise ratio and outlier ratio of the ultrasonic echo, the current environment is quantified to determine whether it affects the sensor accuracy.

[0108] If environmental conditions such as rain, fog, snow, low light, or strong backlighting cause a decline in data quality, an additional compensation value will be added above the basic safety threshold to obtain a dynamically adjusted safety margin. If environmental conditions are good, the safety margin will be directly taken from the basic safety threshold. Finally, this safety margin will be added to the calculated safe horizontal distance and safe vertical height to obtain the final safety parameters.

[0109] For example, on a clear, cloudless day, the system detects a clear camera image and stable ultrasonic echoes, determining the data quality to be high. The safety margin is set at the preset 0.2 meters, and the final safe horizontal distance is the theoretically calculated value plus 0.2 meters. On another rainy day, the rain sensor emits a signal, and simultaneously, the camera image contrast decreases significantly and edges become blurred. The system determines that there are adverse environmental conditions affecting accuracy and increases the safety margin to 0.3 meters (i.e., the base 0.2 meters plus a compensation of 0.1 meters), making the safety parameters more conservative. This ensures the safety of opening the trunk even when sensor performance deteriorates.

[0110] By dynamically adjusting the safety margin, misjudgments caused by sensor errors in harsh environments are avoided, improving the robustness and safety of the system. In good environments, an excessively large fixed margin is not used, avoiding space waste or parking difficulties caused by the vehicle moving too far away from obstacles, thus balancing space utilization. The data quality detection mechanism can directly reuse existing sensor information without adding extra hardware, making it easy to implement in mass-produced vehicles. The safety margin changes in real time with the environment, enabling the system to adapt to different weather and lighting conditions, significantly enhancing the intelligence and practicality of the parking assistance function.

[0111] Step 204: Based on the safety margin, the safe horizontal distance and safe vertical height are corrected to obtain the final safety parameters.

[0112] The correction process refers to increasing the safety margin for both the safe horizontal distance and the safe vertical height.

[0113] The safe horizontal distance is essentially a theoretical value. It can be understood as the minimum horizontal clearance calculated based on the length of the trunk door and the maximum opening angle to ensure that the farthest end of the door does not collide with obstacles behind it. The unit is meters.

[0114] The safe vertical height is also a theoretical safety value, which can be understood as the minimum vertical clearance calculated based on the base height when the trunk door is closed and the height increment during the opening process, to ensure that the highest point of the door does not collide with obstacles above. The unit is meters.

[0115] Safety margin refers to the additional distance value, measured in meters, added to compensate for sensor measurement errors, environmental interference (such as rain, fog, and low light), and dynamic uncertainties. It can be dynamically adjusted from a base safety threshold; see the detailed explanation of the relevant steps above.

[0116] The final safety parameters can refer to the final safe horizontal distance and the final safe vertical height obtained by adding the theoretical safe horizontal distance and the theoretical safe vertical height to the safety margin, respectively.

[0117] In one embodiment, a safety margin is added to both the safe horizontal distance and the safe vertical height to obtain the final safety parameters. For example, the final horizontal distance parameter and the final horizontal height parameter can be calculated using the following formulas, and these final horizontal distance parameters and horizontal height parameters are determined as the final safety parameters. This allows for subsequent determination of whether the vehicle meets the preset conditions for safely opening the trunk based on these safety parameters.

[0118] Formula (III); Formula (IV); Wherein, S represents the safety margin determined based on the current environmental conditions; Represents a safe horizontal distance; the above Represents the safe vertical height; This represents the final horizontal distance parameter; This represents the final vertical height parameter.

[0119] For example, a vehicle has a theoretical safe horizontal distance of 1.034 meters and a theoretical safe vertical height of 1.40 meters. The current environmental conditions are good, the sensor data is high, and the safety margin is taken as the base value of 0.2 meters. The calculated final safety parameters require the rear of the vehicle to be 1.234 meters from the obstacle behind it and 1.60 meters above it.

[0120] For another example, the theoretical value remains the same, but if it is detected that the camera is currently outdoors and it is raining, the image clarity will decrease. If the safety margin is increased to 0.3 meters, the final calculated safety parameters will be more stringent than those for sunny days, with a horizontal distance parameter of 1.334 meters and a vertical height parameter of 1.70 meters, to compensate for the risk of increased sensor error under adverse weather conditions.

[0121] By superimposing a dynamically adjustable safety margin on top of the theoretical safety space requirement, the system effectively compensates for uncertainties caused by factors such as sensor measurement errors, uneven ground, and environmental interference, enabling the system to maintain reliable collision protection under various weather conditions.

[0122] Step 205: Obtain obstacle sensor data behind the vehicle.

[0123] Step 206: If, based on obstacle sensor data and safety parameters, it is determined that the preset trunk safety opening conditions are not met, determine the displacement adjustment amount based on obstacle sensor data and safety parameters, and control the vehicle to move according to the displacement adjustment amount; and repeat the above steps of obtaining obstacle sensor data behind the vehicle and the subsequent steps until the trunk safety opening conditions or the preset stopping conditions are met.

[0124] For steps 205-206 above, please refer to the above. Figure 1 Detailed description of the relevant embodiments.

[0125] Through the above Figure 2 The description of the illustrated embodiment directly reads structural attribute parameters such as trunk door length, maximum opening angle, closing reference height, and height increment stored in the vehicle's electronic control unit. This enables automatic adaptation to different vehicle models without manual calibration or additional hardware, reducing costs while ensuring universality. A clear intelligent algorithm converts these parameters into safe horizontal distances and safe vertical heights, ensuring subsequent judgments are based on precise numerical values ​​and avoiding errors caused by empirical estimations.

[0126] Furthermore, the system dynamically adjusts the safety margin by detecting the quality of sensor data: a smaller base margin is used in ideal environments such as sunny days to prevent the vehicle from parking too far away and wasting space; in adverse environments such as rain, fog, and low light, the margin is automatically increased to effectively compensate for sensor performance degradation and reduce the risk of misjudgment due to environmental interference. Moreover, the entire safety parameter determination process is completed within milliseconds, without affecting the real-time performance of parking assistance. This allows the system to safely, intelligently, and efficiently adapt to various vehicle models and weather conditions, significantly improving the reliability of the trunk being safely opened after parking.

[0127] Figure 3 A flowchart illustrating another embodiment of the parking assistance control method provided in this application is shown below. Figure 1 Based on the existing process, this section mainly describes how to determine the displacement adjustment amount based on obstacle sensor data and safety parameters, and how to control the vehicle to move according to the displacement adjustment amount, including the following steps: Step 301: Determine the safety parameters required for the safe opening of the vehicle's trunk based on the vehicle's structural attribute parameters.

[0128] Step 302: Obtain obstacle sensor data behind the vehicle.

[0129] For steps 301-302 above, please refer to the above. Figure 1 Detailed description of the relevant embodiments.

[0130] Step 303: If, based on obstacle sensor data and safety parameters, it is determined that the preset conditions for safely opening the trunk are not met, the measured horizontal distance behind the vehicle is extracted from the obstacle sensor data.

[0131] The measured horizontal distance refers to the shortest horizontal straight-line distance between the most prominent point of the rear of the vehicle and the obstacle behind it, measured directly or calculated using obstacle sensor data (usually provided by ultrasonic radar or millimeter-wave radar), and is measured in meters. It is a direct basis for determining whether the horizontal clearance is safe, used to compare with a safe horizontal distance, quantify whether the current horizontal clearance is sufficient, and determine the amount of displacement adjustment if insufficient. For example, if ultrasonic radar shows that the rear of the vehicle is 0.6 meters from the rear wall, then the measured horizontal distance is 0.6 meters.

[0132] In one embodiment, after making a preliminary judgment based on obstacle sensor data and safety parameters, and determining that the conditions for safely opening the trunk are not met, the system immediately extracts the value representing the shortest straight-line distance from the most prominent point at the rear of the vehicle to the surface of the obstacle behind it, i.e., the measured horizontal distance, from the already collected and fused sensor data. This extraction process can directly read the distance field output by the sensor fusion module without additional calculation or filtering.

[0133] For example, after a car parks in a parking space, the ultrasonic radar measures the distance between the rear of the car and the wall behind it as 0.6 meters. The system determines that this value is less than the safe horizontal distance of 0.98 meters, so it extracts 0.6 meters from the sensor data as the measured horizontal distance, providing a basis for subsequent calculation of displacement adjustment.

[0134] By explicitly extracting the measured horizontal distance from sensor data, the calculation of displacement adjustment is ensured to be based on real and direct measurements, avoiding errors caused by using estimations or indirect values. At the same time, the extraction of actions and the judgment logic are closely linked, enabling the entire adjustment process to efficiently and accurately obtain key inputs, providing a reliable data foundation for subsequent automatic movement control.

[0135] Step 304: Determine the difference between the horizontal distance parameter and the measured horizontal distance, and use the difference as the displacement adjustment amount.

[0136] Specifically, when the measured horizontal distance is less than the horizontal distance parameter, the displacement adjustment is positive, indicating that the vehicle needs to move backward; when the measured horizontal distance is greater than or equal to the horizontal distance parameter, the displacement adjustment is negative, indicating that the vehicle needs to move forward.

[0137] Displacement adjustment refers to the specific distance the vehicle needs to move longitudinally (forward or backward) to address the issue of insufficient (or excessive) measured horizontal distance. The unit is meters. It is calculated as the difference between the measured horizontal distance and the horizontal distance parameter.

[0138] The displacement adjustment amount is the direct command value for automatic movement control. A positive value indicates that the vehicle needs to move backward (increasing the distance between the rear of the vehicle and the obstacle); a negative value indicates that the vehicle needs to move forward (decreasing the distance). Precisely calculating the displacement adjustment amount avoids repeated trial and error. For example, if the horizontal distance parameter is 1.0 meter and the actual measured horizontal distance is 0.6 meters, then the displacement adjustment amount is +0.4 meters, requiring a backward movement of 0.4 meters.

[0139] In one embodiment, the determined horizontal distance parameter is subtracted from the extracted measured horizontal distance; that is, the difference between the horizontal distance parameter and the measured horizontal distance is calculated, and this difference is directly used as the displacement adjustment amount. This calculation process can be completed in the vehicle control unit through a simple subtraction operation, without the need for complex algorithms. Based on the sign of the difference, the system automatically determines the direction of movement: if the difference is positive, it means that the measured distance is less than the safe distance, and the vehicle needs to move backward to increase the gap between the rear of the vehicle and the obstacle; if the difference is negative, it means that the measured distance is greater than the safe distance (this usually does not occur in cases where the condition is not met, but it may happen if the user manually adjusts excessively), and the vehicle needs to move forward to reduce the gap.

[0140] For example, if an SUV has a horizontal distance parameter of 1.2 meters and the actual horizontal distance measured by ultrasonic radar is 0.8 meters, the system calculates a difference of 0.4 meters (a positive value). Therefore, the displacement adjustment is determined to be +0.4 meters, and the vehicle is instructed to move backward by 0.4 meters. In another scenario, if the horizontal distance parameter is 1.0 meters and the actual horizontal distance is 1.3 meters (e.g., the user manually reverses too far), the difference is -0.3 meters, the displacement adjustment is -0.3 meters, and the vehicle is instructed to move forward by 0.3 meters.

[0141] By directly calculating the difference, a precise displacement adjustment amount is obtained, giving the control command a clear physical meaning and quantifiable value, avoiding the need to move the vehicle by trial and error based on experience; the distinction between positive and negative values ​​naturally corresponds to the backward or forward movement direction, making the control logic simple and clear; the entire calculation only requires one subtraction operation, which places a very low burden on the embedded system and ensures real-time performance.

[0142] Step 305: Decompose the displacement adjustment amount into multiple fine-tuning steps, and move the vehicle in sequence according to the fine-tuning steps.

[0143] Fine-tuning step size refers to dividing the total displacement adjustment into several equal or unequal parts of a single movement distance, typically set to a small step size of 0.1 to 0.2 meters. The fine-tuning step size is the basic unit for the system to perform step-by-step movements. Using a fine-tuning step size instead of moving the entire distance at once allows for the re-collection of sensor data after each movement, avoiding excessive movement due to sensor errors or uneven ground, while also improving the safety of the adjustment process (it can be terminated at any time due to dynamic obstacles). For example, with a total adjustment of 0.4 meters and a fine-tuning step size of 0.2 meters, the adjustment is completed in two steps: a first movement of 0.2 meters, followed by another 0.2 meters.

[0144] Fine-tuning movement refers to controlling the vehicle to move a short distance longitudinally (forward or backward) according to a set fine-tuning step size. After each fine-tuning movement, the system re-collects data and re-evaluates the situation. By approaching the target position through multiple small steps, precise and safe closed-loop control is achieved. For example, the system issues the command "move backward 0.2 meters," the vehicle executes the command and stops, waiting for the next command.

[0145] In one embodiment, after obtaining the displacement adjustment amount (e.g., +0.4 meters or -0.3 meters), the vehicle is not directly controlled to move the entire distance at once. Instead, the total displacement adjustment amount is divided into multiple single movement units according to a preset fine-tuning step size (usually set to 0.1 meters to 0.2 meters). First, the absolute value of the displacement adjustment amount is determined. If it is greater than the fine-tuning step size, it is decomposed into several complete step sizes plus possible remaining margin; if it is less than the fine-tuning step size, it is directly treated as a single step size. Subsequently, the first fine-tuning movement command is issued sequentially to control the vehicle to move backward or forward by one fine-tuning step size. After each movement is completed, the vehicle automatically stops, waiting to re-collect sensor data and make another judgment.

[0146] For example, if the total displacement adjustment is +0.4 meters (requiring a backward movement), and the fine-tuning step size is set to 0.2 meters, the system will decompose the movement into two actions: the first instruction is "move backward 0.2 meters," and the second instruction is "move backward 0.2 meters." As another example, if the total adjustment is +0.35 meters and the step size is 0.2 meters, it will be decomposed into one 0.2-meter movement and one 0.15-meter movement (with remaining margin). If the adjustment is less than the step size, such as +0.15 meters, only one 0.15-meter movement will be executed.

[0147] Based on the above description, if the ultrasonic sensor suddenly detects a pedestrian or other dynamic obstacle approaching during each short-distance movement, it can immediately apply emergency braking to avoid a collision.

[0148] The above steps use step-by-step fine-tuning instead of a single long-distance movement. After each fine-tuning, the latest sensor data can be collected again. If the actual movement distance does not match the command due to uneven ground, tire slippage, or sensor error, compensation can be made in the next step to achieve closed-loop correction and avoid excessive or insufficient movement in one go. Furthermore, step-by-step movement allows users to observe changes in vehicle position in real time, enhancing controllability and transparency. In addition, the fine-tuning step size can be configured according to actual needs (such as using a smaller step size in narrow parking spaces), balancing adjustment efficiency and precision.

[0149] Step 306: After each fine-tuning step movement is completed, reacquire the obstacle sensor data behind the vehicle and re-determine whether the conditions for safely opening the trunk are met; if the conditions for safely opening the trunk are not met, proceed to step 307; if the conditions for safely opening the trunk are met, proceed to step 308.

[0150] Step 307: Continue the next fine-tuning step size movement until the conditions for safely opening the trunk are met or the preset maximum number of fine-tuning steps are reached.

[0151] Step 308: Control the vehicle to stop moving and activate the parking mode.

[0152] The following is a unified explanation of steps 306-308 above: The maximum number of fine-tuning moves can refer to a preset upper limit on the number of allowed fine-tuning moves, such as 3 times. When the cumulative number of fine-tuning moves reaches this value, the system will stop moving and exit the adjustment process even if the safe opening conditions are not met. This prevents the system from endlessly trying in situations where there is insufficient physical space or the sensors continue to malfunction, ensuring safety and resource efficiency.

[0153] For example, suppose the maximum number of fine-tuning attempts is 3. If the condition is not met after the first move, the second move, and the third move, the system will stop and display the message "Unable to adjust to a safe position".

[0154] Parking mode refers to a stable state that the system automatically enters after the vehicle has completed automatic movement and adjustment and determines that the conditions for safely opening the trunk are met (or after the vehicle has actively stopped). In this state, the vehicle remains stationary, the electronic parking brake is automatically activated, and the gear can remain in P or the auto hold function can be activated. This ensures that the vehicle will not accidentally slip after adjustment, while providing a stable and safe vehicle state for the user to open the trunk. For example, if the system determines that the position meets the conditions, it automatically engages the electronic parking brake, and the instrument panel displays "Ready to open the trunk safely."

[0155] In one embodiment, after each fine-tuning step movement, the system automatically reactivates the rear sensor group, collects the latest obstacle sensor data, and extracts the current measured horizontal distance and measured vertical height from it. Subsequently, the system compares the newly acquired measured data with safety parameters again to determine whether the conditions for safely opening the trunk are met. If the conditions are met, the system directly jumps to step 308, controlling the vehicle to a complete stop, automatically activating the electronic parking brake to ensure the vehicle is securely parked, and simultaneously informing the user of the current status via the instrument panel display or voice announcement (e.g., "Position adjusted, trunk can be safely opened").

[0156] If the conditions are not met, proceed to step 307. First, check if the number of fine-tuning moves performed so far has reached the preset maximum number of fine-tuning moves (e.g., 3 times). If not, continue to perform the next fine-tuning step size move and repeat the closed-loop process of "move → collect → judge". If the maximum number of moves has been reached, stop moving, exit the adjustment process, and prompt the user through the dashboard or voice with "Unable to adjust to a safe position, please check manually".

[0157] For example, after parking an SUV, the measured horizontal distance is 0.6 meters, the horizontal distance parameter is 1.0 meter, the displacement adjustment amount is 0.4 meters, the fine-tuning step size is set to 0.2 meters, and the maximum number of fine-tuning adjustments is set to 3. After the first fine-tuning movement of 0.2 meters, the measured horizontal distance is re-collected and found to be 0.8 meters, which is still less than 1.0 meter and does not meet the condition. Furthermore, the current number of movements (1) has not reached the upper limit, so a second fine-tuning movement of 0.2 meters is performed. After the second movement, the measured horizontal distance is re-collected and found to be 1.02 meters, which meets the safety condition. The system immediately jumps to step 308, controls the vehicle to stop, and engages the electronic parking brake. The instrument panel displays "The trunk can be safely opened."

[0158] In another scenario, if there is a fixed obstacle behind the vehicle, the vehicle can only move a maximum of 0.9 meters. After the first movement, the distance is 0.8 meters, after the second movement, it is 0.9 meters, and after the third movement, it is still 0.9 meters (it cannot go any further). At this point, the cumulative number of movements has reached 3, but the condition of 1.0 meter is still not met. The system will then stop moving, exit, and prompt "Unable to adjust to a safe position, please check manually".

[0159] First, by re-collecting and evaluating data after each fine-tuning, closed-loop feedback control is achieved. This allows for dynamic adjustments to subsequent actions based on actual movement results. Even with uneven ground or minor sensor errors, the target position can be reached through multiple approximations, avoiding excessive or insufficient movement in a single attempt. Second, setting a maximum number of fine-tuning attempts as a stopping condition prevents the system from endlessly attempting adjustments when physical space is insufficient or the environment is abnormal, ensuring resource rationality and system robustness. Third, the parking mode is automatically activated when the condition is met, ensuring the vehicle is stably stationary and providing a reliable vehicle status for the user to safely open the trunk. Clear prompts also inform the user whether the vehicle is in position. Finally, this closed-loop iterative mechanism works in conjunction with step-by-step fine-tuning, improving adjustment accuracy while controlling adjustment costs, achieving safe, efficient, and intelligent post-parking position optimization.

[0160] Through the above Figure 3 The description of the illustrated embodiment decomposes the displacement adjustment amount into multiple fine-tuning steps and adopts a closed-loop iterative mechanism of "movement → resampling → re-judgment". This enables the system to dynamically correct subsequent actions based on the latest sensor data after each movement. This avoids excessive or insufficient movement caused by uneven ground, tire slippage, or sensor errors. Under the constraint of the maximum number of fine-tunings, it safely exits the scenario where adjustment is impossible. Finally, it parks the vehicle in a position where the trunk can be safely opened in a precise and controllable manner and automatically activates the parking mode, thereby significantly improving the accuracy, safety, and intelligence level of post-parking position adjustment.

[0161] In addition, this application provides an embodiment for determining whether to automatically move the vehicle to a designated location based on the switch state when the vehicle's current position does not meet the preset safe opening conditions for the trunk door.

[0162] In one embodiment, in response to a user's command to enable or disable the automatic movement function, the on / off state of the vehicle's automatic movement function is determined; if the on / off state is disabled, and it is determined that the conditions for safely opening the trunk are not met, a corresponding prompt message is generated and output without controlling the vehicle to move; if the on / off state is enabled, and it is determined that the conditions for safely opening the trunk are not met, the vehicle is directly controlled to move based on the determined displacement adjustment amount.

[0163] The on / off status refers to the enable flag in the system regarding "whether the vehicle is allowed to move automatically after parking to adjust the trunk opening space". This can be set by the user through the vehicle interface or physical buttons, and the values ​​include "on" and "off".

[0164] Automatic movement function can refer to an optional capability of a vehicle. When activated, if the vehicle determines that the trunk cannot be opened safely, it will automatically calculate the displacement adjustment amount and perform longitudinal movement. When deactivated, it will only output a prompt message and will not perform any automatic movement.

[0165] The prompt message can refer to the information displayed on the central control screen and / or broadcasted through voice when the automatic moving function is off, informing the user of the difference between the current measured distance and the safe distance, the suggested direction and distance of movement, etc., such as "Please move back about 0.4 meters to safely open the trunk".

[0166] The displacement adjustment amount refers to the difference between the horizontal distance parameter and the measured horizontal distance, and the unit is meters; a positive value indicates that it needs to be moved backward, and a negative value indicates that it needs to be moved forward.

[0167] Specifically, during vehicle parking or pausing, the system reads the user-preset automatic movement function switch status (this status is stored in the vehicle's non-volatile memory and can be modified by the user at any time). If the conditions for safely opening the trunk are met, the process ends; otherwise, it branches according to the switch status: When the switch is off, no vehicle movement command is issued. Instead, a prompt message containing the displacement adjustment amount and suggested direction of movement is generated and presented to the user through instrument panel text, central control pop-up, and / or voice broadcast. The user then decides whether to manually move the vehicle. The prompt message can be designed as "Insufficient rear distance, it is recommended to move back 0.4 meters" and will continue to be displayed until the user manually deactivates the switch or the vehicle is restarted.

[0168] When the switch is on, it directly enters the automatic adjustment process, decomposes the displacement adjustment amount into fine-tuning step size, controls the longitudinal movement of the vehicle, and iterates through a closed loop until the safety conditions are met or the stopping conditions are reached.

[0169] In addition, a "single authorization" mechanism can be provided: when the switch is off, the user can temporarily confirm automatic movement once through the central control screen. During this parking cycle, it will be executed as if it were on, and the next parking cycle will automatically return to the off state.

[0170] For example, a user who prefers manual vehicle control might disable the automatic tailgate function in the car's settings. During parking, if the system detects insufficient horizontal distance behind the vehicle, it determines that the conditions for safely opening the trunk are not met. Since the switch is off, the system doesn't move the vehicle but instead displays on the central control screen, "Only 0.6 meters from the rear wall, 0.98 meters required for safety, please move back approximately 0.38 meters," while simultaneously providing the same message via voice. Following the prompts, the user manually engages reverse gear and moves back approximately 0.4 meters. After parking again, the system detects that the conditions are met and displays, "The trunk can be safely opened."

[0171] For another example, a user might have turned off the automatic moving function, but after parking, find the distance is a bit too short and don't want to move the car manually. The user can tap the "Automatic Adjustment This Time" button on the central control screen to temporarily activate the automatic moving function once, and then turn it off again after the adjustment. This satisfies the user's temporary needs while avoiding the inconvenience of having it on all the time.

[0172] Through the above description of the embodiments, the system respects users' individual preferences. Users who prefer fully automatic operation can enable the function to enjoy a worry-free experience, while users who are used to manual control or are worried about the unease caused by automatic movement can turn off the function and only receive prompts, thus meeting the needs of different driving habits. At the same time, it improves safety and controllability. When the system is turned off, it will never move the vehicle without authorization, avoiding panic or misjudgment that may be caused by the vehicle moving on its own when the user does not expect it.

[0173] Furthermore, to reduce the risk of accidental operation, especially for users who are using the function for the first time, the off switch can serve as a safety lock, which can be turned on after familiarization; the single authorization mechanism provides flexibility, allowing users to temporarily use automatic adjustment once in off mode without having to frequently enter the settings menu to switch states, thus balancing convenience and control.

[0174] Figure 4 A structural block diagram of a parking assistance control device provided in this application, the device comprising: The safety parameter determination module 41 is used to determine the safety parameters required for the safe opening of the vehicle's trunk based on the vehicle's structural attribute parameters. Data acquisition module 42 is used to acquire obstacle sensor data behind the vehicle; The vehicle control module 43 is used to determine a displacement adjustment amount based on the obstacle sensor data and the safety parameters when it is determined that the preset trunk safety opening conditions are not met, and to control the vehicle to move according to the displacement adjustment amount. The iterative execution module 44 is used to repeatedly execute the above steps of acquiring obstacle sensor data behind the vehicle and subsequent steps until the trunk safety opening condition is met or the preset stopping condition is met.

[0175] In one embodiment, the safety parameter determination module 41 includes: The parameter acquisition unit is used to acquire the following structural attribute parameters of the vehicle: trunk door length L, and maximum opening angle of the trunk door. The reference height H when the trunk door is closed, and the height increment during the opening of the trunk door. H; The safety parameter calculation unit is used to calculate the safe horizontal distance required for the safe opening of the vehicle's trunk according to the following formula. and safe vertical height :

[0176]

[0177] Safety margin determination unit, used to determine safety margin based on current environmental conditions; The safety parameter determination unit is used to add the safety margin to both the safe horizontal distance and the safe vertical height to obtain the final safety parameters.

[0178] In one embodiment, the safety margin determination unit is specifically used for: The data quality of the obstacle sensor data is tested; If environmental conditions affecting sensor accuracy are detected, the preset basic safety threshold is increased to obtain a safety margin.

[0179] In one embodiment, the vehicle control module determines that the preset conditions for safely opening the trunk are not met by: Extract the measured horizontal distance and measured vertical height behind the vehicle from the obstacle sensor data; Compare the measured horizontal distance and the measured vertical height with the horizontal distance parameter and the vertical height parameter in the safety parameters respectively; If the measured horizontal distance is less than the horizontal distance parameter and / or the measured vertical height is less than the vertical height parameter, it is determined that the preset conditions for safe opening of the trunk are not met.

[0180] In one embodiment, the vehicle control module 43 is specifically used for: Extract the measured horizontal distance behind the vehicle from the obstacle sensor data; Determine the difference between the horizontal distance parameter and the measured horizontal distance, and use the difference as the displacement adjustment amount; Specifically, when the measured horizontal distance is less than the horizontal distance parameter, the displacement adjustment is positive, indicating that the vehicle needs to move backward; when the measured horizontal distance is greater than or equal to the horizontal distance parameter, the displacement adjustment is negative, indicating that the vehicle needs to move forward.

[0181] In one embodiment, the vehicle control module 43 is specifically used for: The displacement adjustment amount is decomposed into multiple fine-tuning steps, and the vehicle is moved in a fine-tuning manner according to the fine-tuning steps. The process of repeatedly executing the above steps to obtain obstacle sensor data behind the vehicle and subsequent steps until the trunk safety opening condition is met or the preset stopping condition is met includes: After each fine-tuning step movement is completed, the obstacle sensor data behind the vehicle is reacquired and it is re-determined whether the conditions for safely opening the trunk are met. If the conditions for safely opening the trunk are not met, continue with the next fine-tuning step until the conditions for safely opening the trunk are met or the preset maximum number of fine-tuning steps is reached.

[0182] In one embodiment, the device is further configured to: In response to a user's command to enable or disable the automatic movement function, determine the on / off state of the vehicle's automatic movement function; If the switch is in the off state and it is determined that the conditions for safely opening the trunk are not met, a corresponding prompt message will be generated and output without controlling the vehicle to move. If the switch is in the open state and it is determined that the conditions for safely opening the trunk are not met, the vehicle will be moved directly according to the determined displacement adjustment amount.

[0183] like Figure 5 As shown, Figure 5 This application provides a schematic diagram of the structure of an electronic device, including a processor 111, a communication interface 112, a memory 113, and a communication bus 114. The processor 111, communication interface 112, and memory 113 communicate with each other via the communication bus 114. Memory 113 is used to store computer programs; In one embodiment of this application, when the processor 111 executes the program stored in the memory 113, it implements the parking assistance control method provided in any of the foregoing method embodiments, including: The safety parameters required for the safe opening of the vehicle's trunk are determined based on the vehicle's structural property parameters; the safety parameters include at least a safe horizontal distance and a safe vertical height. Obtain obstacle sensor data behind the vehicle; If, based on the obstacle sensor data and the safety parameters, it is determined that the preset conditions for safely opening the trunk are not met, a displacement adjustment amount is determined based on the obstacle sensor data and the safety parameters, and the vehicle is controlled to move according to the displacement adjustment amount. And, repeat the above steps of obtaining obstacle sensor data behind the vehicle and the subsequent steps until the trunk safety opening condition is met or the preset stopping condition is met.

[0184] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the parking assistance control method provided in any of the foregoing method embodiments.

[0185] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0186] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0187] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0188] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement 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 claimed herein.

Claims

1. A parking assistance control method, characterized in that, The method includes: The safety parameters required for the safe opening of the vehicle's trunk are determined based on the vehicle's structural property parameters; the safety parameters include at least horizontal distance parameters and vertical height parameters. Obtain obstacle sensor data behind the vehicle; If, based on the obstacle sensor data and the safety parameters, it is determined that the preset conditions for safely opening the trunk are not met, the vehicle is controlled to move according to the obstacle sensor data and the safety parameters. And, repeat the above steps of obtaining obstacle sensor data behind the vehicle and the subsequent steps until the trunk safety opening condition is met or the preset stopping condition is met.

2. The method according to claim 1, characterized in that, Based on the current structural attribute parameters of the vehicle, the safety parameters required for the safe opening of the vehicle's trunk are determined, including: Obtain the following structural attribute parameters of the vehicle: trunk door length, maximum opening angle of the trunk door, reference height when the trunk door is closed, and height increment during the opening process of the trunk door; The structural property parameters are used to determine the safe horizontal distance and safe vertical height required for the safe opening of the vehicle's trunk. The safety margin is determined based on the current environmental conditions; the safety margin is a redundant distance value used to compensate for sensor measurement errors and environmental interference. Based on the safety margin, the safe horizontal distance and the safe vertical height are respectively corrected to obtain the final safety parameters; wherein, the correction process refers to increasing the safety margin by the safety horizontal distance and the safety vertical height respectively.

3. The method according to claim 2, characterized in that, Determine the safety margin based on current environmental conditions, including: The data quality of the obstacle sensor data is tested; If the data quality is found to be unsatisfactory under preset conditions, the preset basic security threshold is increased to obtain a security margin.

4. The method according to claim 1, characterized in that, The following methods can be used to determine if the preset conditions for safely opening the trunk are not met: Extract the measured horizontal distance and measured vertical height behind the vehicle from the obstacle sensor data; Compare the measured horizontal distance and the measured vertical height with the horizontal distance parameter and the vertical height parameter in the safety parameters respectively; If the measured horizontal distance is less than the horizontal distance parameter and / or the measured vertical height is less than the vertical height parameter, it is determined that the preset conditions for safe opening of the trunk are not met.

5. The method according to claim 1, characterized in that, Controlling the vehicle's movement based on the obstacle sensor data and the safety parameters includes: The displacement adjustment amount is determined based on the obstacle sensor data and the safety parameters; Once it is determined that the surrounding environment of the vehicle is safe, the vehicle is controlled to move according to the displacement adjustment amount.

6. The method according to claim 5, characterized in that, Determining the displacement adjustment amount based on the obstacle sensor data and the safety parameters includes: Extract the measured horizontal distance behind the vehicle from the obstacle sensor data; Determine the difference between the horizontal distance parameter and the measured horizontal distance, and use the difference as the displacement adjustment amount; Specifically, when the measured horizontal distance is less than the horizontal distance parameter, the displacement adjustment is positive, indicating that the vehicle needs to move backward; when the measured horizontal distance is greater than or equal to the horizontal distance parameter, the displacement adjustment is negative, indicating that the vehicle needs to move forward.

7. The method according to claim 5, characterized in that, Controlling the vehicle to move according to the displacement adjustment amount includes: The displacement adjustment amount is decomposed into multiple fine-tuning steps, and the vehicle is moved in a fine-tuning manner according to the fine-tuning steps. The process of repeatedly executing the above steps to obtain obstacle sensor data behind the vehicle and subsequent steps until the trunk safety opening condition is met or the preset stopping condition is met includes: After each fine-tuning step movement is completed, the obstacle sensor data behind the vehicle is reacquired and it is re-determined whether the conditions for safely opening the trunk are met. If the conditions for safely opening the trunk are not met, continue with the next fine-tuning step until the conditions for safely opening the trunk are met or the preset maximum number of fine-tuning steps is reached.

8. The method according to claim 1, characterized in that, The method further includes: In response to a user's command to enable or disable the automatic movement function, determine the on / off state of the vehicle's automatic movement function; If the switch is in the off state and it is determined that the conditions for safely opening the trunk are not met, a corresponding prompt message will be generated and output without controlling the vehicle to move. If the switch is in the open state and it is determined that the conditions for safely opening the trunk are not met, the vehicle will be moved directly according to the determined displacement adjustment amount.

9. The method according to claim 1, characterized in that, The method further includes: If, based on the obstacle sensor data and the safety parameters, it is determined that the preset safe opening conditions for the trunk are not met, the maximum opening angle of the trunk door is determined based on the current measured horizontal distance and the trunk door length. The maximum opening angle is output to the user as a prompt, and the actual opening angle of the trunk door is controlled to be less than or equal to the maximum opening angle.

10. A storage medium, characterized in that, The storage medium stores one or more programs, which can be executed by one or more processors to implement the parking assistance control method according to any one of claims 1-7.

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