Parking control method, electronic device, medium, parking control system, and vehicle

Abstract

Disclosed is a vehicle, comprising a parking control system. Further disclosed are an electronic device, a medium, and a parking control method. The parking control method comprises: determining that a vehicle is in a parking condition; obtaining parking prediction information regarding parking the vehicle in each available parking space, wherein the parking prediction information at least comprises tire wear information; and recommending a target parking space on the basis of the parking prediction information.

Description

Parking control method, electronic device, medium, parking control system and vehicle

[0001] Cross-reference to related applications

[0002] The present application claims priority to the Chinese patent application No. 202411085519.4, filed on August 8, 2024, entitled “Parking control method, electronic device, medium, parking control system and vehicle”, the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the technical field of vehicles, and in particular to a parking control method, an electronic device, a medium, a parking control system and a vehicle. BACKGROUND

[0004] In the automatic parking process of a vehicle, after the vehicle searches for a parking space, the vehicle usually parks according to a system-recommended parking space or a manually selected parking space by the driver. In a common parking scenario, the designed algorithm usually evaluates a parking difficulty index of the vehicle parked on a target parking space according to the matching value of the vehicle position, the parking constraint information on the target parking space and each historical parking data. The parking difficulty index is calculated based on the parking success rate and the parking occupancy time. The parking prediction of an ordinary parking space is based on historical parking data, and the parking time and the parking success rate are estimated by a calculation module. The longer the parking time and the lower the parking success rate, the higher the parking difficulty, and vice versa. Finally, the evaluation module recommends a parking space with the minimum parking difficulty to the user.

[0005] In the prior art, most vehicles on the market are limited by the driving form, and the parking is based on Ackerman steering geometry. However, for the case of using the original turning function to park in a narrow scene, the vehicle can rotate around the center of mass or a single wheel during the parking process. The friction between the tire and the ground is sliding friction. The longer the rotation path, the more serious the wheel wear, which affects the service life of the wheel. This factor is not considered in the prior art.

[0006] SUMMARY

[0007] The present disclosure aims to at least solve one of the technical problems existing in the prior art. To this end, a first object of the present disclosure is to provide a parking control method that considers the tire wear when recommending a target parking space, improves the parking success rate, reduces the parking time cost, and improves the service life of the tire.

[0008] A second object of the present disclosure is to provide an electronic device.

[0009] A third object of the present disclosure is to provide a non-volatile computer readable storage medium.

[0010] A fourth object of the present disclosure is to provide a parking control system.

[0011] A fifth object of the present disclosure is to provide a vehicle.

[0012] To achieve the above objects, a first aspect of the present disclosure provides a parking control method, comprising: determining that a vehicle is in a parking condition; obtaining parking prediction information of the vehicle parking into each available parking space, the parking prediction information at least including tire wear information; and recommending a target parking space according to the parking prediction information.

[0013] According to the parking control method provided by the embodiments of the present disclosure, in the process of evaluating and recommending a target parking space when the vehicle is parking, the parking prediction information of each available parking space is considered, the wear caused by the sliding friction of the tire with the ground is considered, and the original rotation process is considered, so as to reduce the parking time cost of the user, reduce the tire wear, improve the service life of the tire, and further reduce the vehicle use cost of the user, and promote the intelligent development of the vehicle parking function.

[0014] In some embodiments of the present disclosure, the tire wear information at least includes a tire sliding distance of the vehicle when parking.

[0015] In some embodiments of the present disclosure, the tire wear information further includes a vehicle rotation angle, and the vehicle rotation angle is obtained according to a parking path of the available parking space.

[0016] In some embodiments of the present disclosure, the tire sliding distance of the vehicle when parking is obtained according to the vehicle rotation angle and vehicle body data.

[0017] In some embodiments of the present disclosure, the tire sliding distance of the vehicle when parking is obtained according to the following formula:

[0018] wherein i is the i th available parking space, D i is a tire sliding distance of the vehicle when parking into the i th available parking space, ε i is a vehicle rotation angle of the vehicle when parking into the i th available parking space, D 1 is a distance from a center of mass of the vehicle to a front left wheel, and D 2 is a distance from the center of mass of the vehicle to a rear left wheel. i i

[0019] In some embodiments of the present disclosure, the parking path of each available parking space is predicted according to surrounding environment information.

[0020] ​​In some embodiments of the present disclosure, the parking prediction information further comprises at least one of a parking success rate and a parking time; wherein the parking success rate of each of the available parking spaces is obtained according to historical parking data of the vehicle; and the parking time is obtained according to the parking path.

[0021] In some embodiments of the present disclosure, the target parking space is recommended according to the parking prediction information, comprising: calculating a parking recommendation value of each of the available parking spaces according to the tire slip distance, the parking success rate and the parking time; and recommending the target parking space according to the parking recommendation value.

[0022] In some embodiments of the present disclosure, the parking recommendation value of each of the available parking spaces is calculated according to the tire slip distance, the parking success rate and the parking time, comprising: the parking recommendation value of each of the available parking spaces is obtained according to the following formula: wherein i is the i th available parking space, a i is the parking recommendation value of the i th available parking space, D i is the tire slip distance when the vehicle parks in the i th available parking space, n is the number of available parking spaces, t i is the parking time when the vehicle parks in the i th available parking space, s i is the parking success rate when the vehicle parks in the i th available parking space, and t is an influence factor of the tire slip distance.

[0023] In some embodiments of the present disclosure, the parking control method further comprises: displaying each of the target parking spaces and the parking recommendation value of each of the target parking spaces.

[0024] To achieve the above object, the second aspect of the present disclosure provides an electronic device, comprising: at least one processor; a memory connected with the at least one processor, wherein the memory stores a computer program, and the computer program is executed by the at least one processor to implement the parking control method as described in the first aspect of the present disclosure.

[0025] The electronic device provided by the embodiments of the present disclosure, when the computer program stored in the memory is executed by the at least one processor, implements the parking control method as described in the first aspect of the present disclosure. In the process of parking the vehicle, the target parking space is evaluated and recommended, the parking prediction information of each available parking space is considered, the wear and tear of the tire caused by the sliding friction between the tire and the ground is considered, and the original rotation process is considered, which can meet the requirements of reducing the parking time cost of the user, reducing the tire wear and tear and improving the service life of the tire, thereby reducing the vehicle cost of the user and promoting the intelligent development of the vehicle parking function.

[0026] To achieve the above object, the third aspect of the present disclosure provides a non-volatile computer readable storage medium, which stores a computer program. When the computer program is executed by a processor, the parking control method according to the first aspect of the present disclosure is implemented.

[0027] The non-volatile computer readable storage medium according to the present disclosure stores a computer program. When the computer program is executed by a processor, the parking control method according to the first aspect of the present disclosure is implemented. In the process of parking the vehicle, the parking prediction information of each available parking space is comprehensively considered, and the loss of the tire brought by the sliding friction of the tire and the ground is considered. The parking time cost of the user can be reduced, the tire wear can be reduced, the service life of the tire can be improved, and the intelligent development of the vehicle parking function is promoted.

[0028] To achieve the above object, the fourth aspect of the present disclosure provides a parking control system, comprising: a perception module, configured to determine that a vehicle is in a parking working condition; and a parking control module, configured to obtain parking prediction information of the vehicle parking into each available parking space, the parking prediction information at least including tire wear information, and configured to recommend a target parking space according to the parking prediction information.

[0029] The parking control system according to the present disclosure is based on the architecture of the perception module and the parking control module. The parking control method according to the first aspect of the present disclosure is implemented. In the process of evaluating and recommending the target parking space by the parking control module when the vehicle is parking, the parking prediction information of each available parking space is comprehensively considered, the loss of the tire brought by the sliding friction of the tire and the ground is considered, and the original rotation process is considered. Therefore, the parking time cost of the user can be reduced, the tire wear can be reduced, the service life of the tire can be improved, the use cost of the user can be reduced, and the intelligent development of the vehicle parking function is promoted.

[0030] In some embodiments of the present disclosure, the parking prediction information further includes at least one of a parking success rate and a parking time.

[0031] In some embodiments of the present disclosure, the parking control system further comprises a display module, configured to display each of the target parking spaces and a parking space recommendation value of each of the target parking spaces.

[0032] To achieve the above object, the fifth aspect of the present disclosure further provides a vehicle, comprising a vehicle body and the parking control system according to the fourth aspect of the present disclosure, wherein the parking control system is arranged on the vehicle body.

[0033] According to the vehicle provided by the embodiment of the present disclosure, by arranging the parking control system of the fourth aspect, in the process of predicting the parking path and recommending the target parking space, the loss of the tire brought by the sliding friction between the tire and the ground in the process of the original rotation is considered, so that the tire wear is reduced, the service life of the tire is improved, the use cost of the user is reduced, the service life of the vehicle is prolonged, and the intelligent development of the vehicle parking function is promoted.

[0034] Additional aspects and advantages of the present disclosure will be described in the following description, some of which will become apparent from the following description, or will be learned by practice of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0035] The above and / or additional aspects and advantages of the present disclosure will become apparent and be readily understood from the following description, taken in conjunction with the accompanying drawings, in which:

[0036] FIG. 1 is a schematic diagram of a common parking scene;

[0037] FIG. 2 is a flowchart of a parking control method according to an embodiment of the present disclosure;

[0038] FIG. 3 is a schematic diagram of the original turning of a vehicle according to an embodiment of the present disclosure;

[0039] FIG. 4 is a flowchart of a parking control method according to another embodiment of the present disclosure;

[0040] FIG. 5 is a flowchart of a parking control method according to still another embodiment of the present disclosure;

[0041] FIG. 6 is a schematic diagram of the display of a target parking space according to an embodiment of the present disclosure;

[0042] FIG. 7 is a flowchart of a parking control method according to still another embodiment of the present disclosure;

[0043] FIG. 8 is a block diagram of an electronic device according to an embodiment of the present disclosure;

[0044] FIG. 9 is a block diagram of a parking control system according to an embodiment of the present disclosure;

[0045] FIG. 10 is a block diagram of a parking control system according to another embodiment of the present disclosure;

[0046] FIG. 11 is a block diagram of a vehicle according to an embodiment of the present disclosure.

[0047] Reference signs: electronic device 100; processor 101; memory 102; vehicle 10; parking control system 1; vehicle body 2; perception module 11; parking control module 12; display module 13. DETAILED DESCRIPTION

[0048] Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0049] In the prior art, when parking in a general parking mode, the static friction between the tire and the ground drives the wheel when the wheel and the ground do not slide, at which time the static friction has less wear on the tire. For parking in some narrow passages, a vehicle based on four-wheel independent drive can realize automatic parking operation in a narrow scene through the function of turning around in place. The automatic parking technology based on the function of turning around in place of four-wheel independent drive can rotate the vehicle around the center of mass or a single wheel during parking, and the friction between the tire and the ground is sliding friction. The huge friction greatly increases the wear of the tire, greatly reduces the service life of the tire, and increases the maintenance cost of the vehicle in the later period. Moreover, when parking in a narrow scene, in the case of similar parking success rate and / or parking time, the longer the rotation path of the vehicle when rotating in place, the more serious the wear of the wheel, and the more it will affect the service life of the wheel. Therefore, in the evaluation process, in addition to considering reducing the parking time, the wear condition of the wheel during the rotation in place also needs to be considered. Based on this, an embodiment of the present disclosure proposes a parking control method. For the case of using the automatic parking technology of the turning around in place function when parking in some narrow passages, and for the case of using the turning around in place function to realize automatic parking operation in the corresponding scene for a vehicle based on four-wheel independent drive in some common parking scenes. As shown in FIG. 1, it is a schematic diagram of a common parking scene. In the scene shown in FIG. 1, the parking control method of the embodiment of the present disclosure can also be used for parking. By using the parking control method, when the vehicle uses the turning around in place function to park, the tire wear condition can be considered when recommending the target parking space, which has the beneficial effects of improving the parking success rate, reducing the parking time cost, and improving the service life of the tire.

[0050] The parking control method according to an embodiment of the present disclosure is described below with reference to FIGS. 2-7.

[0051] In some embodiments of the present disclosure, as shown in FIG. 2, it is a flowchart of the parking control method according to an embodiment of the present disclosure, wherein the parking control method at least includes steps S1-S3, which are as follows.

[0052] S1, determine that the vehicle is in a parking working condition.

[0053] Wherein, after determining that the vehicle enters the automatic parking function, first, through the ultrasonic radar, visual sensor such as a camera and laser radar, according to the vehicle configuration and the like device, information for detecting available parking spaces can be used. Specifically, the ultrasonic radar and the visual sensor can obtain information including vehicle position information, vehicle body data and vehicle surrounding environment information, etc., which are not specifically limited here. Among them, the vehicle body data can include data such as the shape and size of the parking space, and the vehicle surrounding environment information can include information such as the position of the parking space, the position of the obstacle around the vehicle, the size of the obstacle and the shape, and the distance between the vehicle and the obstacle is determined according to the vehicle position information and the position of the obstacle around the vehicle.

[0054] Wherein, for the vehicle configured with the automatic parking function, the vehicle generally has the function of planning the parking path, and the vehicle can directly determine that at least one available parking space exists around the vehicle according to the vehicle position information, the vehicle body data and the vehicle surrounding environment information, etc., and further plan the parking path of each available parking space.

[0055] S2, obtaining parking prediction information of the vehicle parking into each available parking space, the parking prediction information at least including tire wear information.

[0056] In some embodiments of the present disclosure, the tire wear information at least includes the tire sliding distance when the vehicle is parked.

[0057] It can be understood that based on the automatic parking technology of the four-wheel independent drive U-turn function, the vehicle can rotate around the center of mass or a single wheel during parking, and the friction between the tire and the ground is sliding friction. Rubber is the base body of the tire rubber material, and the ratio of rubber in the tire formula rubber material will exceed 50%, and the main component in the tire formula rubber material is rubber. The rubber used in the radial tire is divided into natural rubber and synthetic rubber. The most common form of rubber wear is abrasive wear, which can be divided into single-point wear, linear wear and multi-point wear according to the contact state; and divided into sharp abrasive particles and blunt abrasive particles according to the morphology of the abrasive particles. The wear rate expressions for the above two are formula (1-1) and formula (1-2), respectively.

[0058] Wherein, R L is the apparent wear rate, k is a constant, P is the normal pressure, f is the friction coefficient, u is the fracture energy density, and P0 and m are both test constants.

[0059] And the wear amount of the tire can be understood according to formula (1-3). Wherein, A TE is the wear amount of the tire, A S is the tire wear rate, Y u is the tire sliding distance when the vehicle rotates, P zmThe average contact pressure of the tire is obtained. It can be seen that the wear of the tire is proportional to the tire sliding distance during vehicle rotation and the average contact pressure of the tire during tire ground contact under the premise that the tire wear rate is consistent. That is, when the vehicle load and the tire contact area with the ground are fixed values, the average contact pressure of the tire during tire ground contact can be regarded as a constant value, and the wear of the tire is related to the tire sliding distance during vehicle rotation. And it can be understood that the tire sliding distance during vehicle rotation is related to the vehicle rotation angle and the vehicle itself. TE = A S Y u P zm Formula (1-3)

[0060] Based on this, in some embodiments of the present disclosure, the tire wear information at least includes the tire sliding distance during vehicle rotation. The tire wear information at least further includes the vehicle rotation angle, and the vehicle rotation angle is obtained according to the parking path of the available parking space, and the parking path of each available parking space and the parking success rate of each available parking space are matched according to the historical parking data of the vehicle.

[0061] In the parking working condition, when the vehicle needs to perform the parking operation in the way of U-turn, the vehicle rotation mode and the vehicle rotation angle of the vehicle when performing the parking operation according to the parking path of each available parking space can be obtained after the vehicle plans the parking path of each available parking space.

[0062] S3, recommending a target parking space according to the parking prediction information.

[0063] Specifically, the parking recommendation value of each available parking space can be calculated according to the parking prediction information, and the target parking space can be recommended according to the parking recommendation value. For example, different digital numbers can be given to each available parking space according to the parking recommendation value, and all target parking spaces can be arranged in a certain order, for example, the target parking spaces can be sorted according to the suitability of parking, and the system preferentially recommends the best target parking space for the driver to choose the appropriate target parking space.

[0064] The parking control method provided by the embodiments of the present disclosure considers the parking prediction information of each available parking space and the wear of the tire caused by the sliding friction between the tire and the ground when using the U-turn function to park in a narrow scene during the process of evaluating and recommending the target parking space, and considers the U-turn process, so as to reduce the parking time cost of the user, reduce the tire wear, improve the service life of the tire, and further reduce the vehicle use cost of the user, and promote the intelligent development of the vehicle parking function.

[0065] In some embodiments of the present disclosure, the tire slip distance of the vehicle during rotation is obtained according to the vehicle rotation angle and the vehicle body data.

[0066] Specifically, the tire slip distance of the vehicle during rotation is obtained according to formula (1-4). Wherein, i is the i th available parking space, D i is the tire slip distance of the vehicle when parking in the i th available parking space, ε i is the vehicle rotation angle when the vehicle parks in the i th available parking space, D1 is the distance from the center of mass of the vehicle to the front left wheel, and D2 is the distance from the center of mass of the vehicle to the rear left wheel. It can be understood that D i is actually the sum of the four tire slip distances when the vehicle parks in the i th available parking space.

[0067] Further, the distance D1 from the center of mass of the vehicle to the front left wheel and the distance D2 from the center of mass of the vehicle to the rear left wheel are obtained according to formula (1-5) and formula (1-6), respectively. Specifically, the U-turn process of the present embodiment can be understood in combination with FIG. 3, which is a schematic diagram of a vehicle U-turn according to an embodiment of the present disclosure.

[0068] Wherein, for the rotation mode as shown in FIG. 3, x is the distance from the center of mass of the vehicle to the front axle, x1 is the front track of the vehicle, x2 is the rear track of the vehicle, and x3 is the wheelbase of the vehicle.

[0069] In some embodiments of the present disclosure, the parking prediction information further includes at least one of a parking success rate and a parking time; wherein the parking success rate of each available parking space is matched according to the historical parking data of the vehicle; and the parking time is calculated according to the parking path.

[0070] Wherein, the historical parking data of the vehicle can include a relationship model between the parking success rate and the safety distance. Specifically, the relationship between the parking success rate and the safety distance can be established first, and the safety distance is the distance between the vehicle and the obstacles around the vehicle. When the user selects the parking space and parks, the vehicle controller can record whether the parking operation is successful this time, and record the corresponding relationship between the parking result and the safety distance at the same time, and record the parking time through the state machine state jump in the case of successful parking. The time consumed from the control state of the vehicle to the completion state of the parking is the time of one successful parking of the vehicle in this scenario. Upload the above data to the cloud, and analyze the recorded historical parking data to obtain the matching relationship between the parking success rate and the safety distance, and obtain the matching relationship between the parking path and the parking time.

[0071] More specifically, the matching relationship between the parking success rate and the safety distance can be a relationship model between the parking success rate and the safety distance. The trained relationship model between the parking success rate and the safety distance can be stored in the cloud. The relationship model is actually also part of the historical parking data in the cloud, and the relationship model can be continuously optimized according to the historical parking data stored or updated in the cloud at any time. Thus, when the vehicle is in a parking working condition, the vehicle can directly obtain the parking success rate of the vehicle parking into each available parking space based on the relationship model between the parking success rate and the safety distance after uploading the distance between the vehicle and the obstacles around the vehicle at each available parking space and other data to the cloud. In addition, the matching relationship between the parking path and the parking time can be a relationship model between the parking path and the parking time. The cloud can deploy the trained relationship model between the parking path and the parking time to the vehicle machine. When the vehicle is in a parking working condition and the parking path of each available parking space is planned, the parking path of each available parking space can be input into the relationship model between the parking path and the parking time, so that the parking time of each available parking space can be directly calculated according to the parking path of each available parking space.

[0072] In some embodiments of the present disclosure, as shown in FIG. 4, a flowchart of a parking control method according to another embodiment of the present disclosure is shown. In the flowchart, a target parking space is recommended according to the parking success rate, the parking time and the tire wear information, i.e., step S3 specifically includes step S31 and step S32.

[0073] S31, calculating a parking recommendation value of each available parking space according to the tire sliding distance, the parking success rate and the parking time.

[0074] In some embodiments, after the path planning is completed, the ratio of the average U-turn mileage to the parking space U-turn mileage and the ratio of the average parking time to the parking space parking time can be calculated, and then the parking success rate is multiplied by the above values to obtain the parking recommendation value.

[0075] Specifically, the parking recommendation value of the available parking space can be calculated according to formula (1-7). Wherein, i is the i th available parking space, a i is the parking recommendation value of the i th available parking space, D i is the tire sliding distance when the vehicle parks into the i th available parking space, n is the number of available parking spaces, t i is the parking time when the vehicle parks into the i th available parking space, s i is the parking success rate when the vehicle parks into the i th available parking space, and t is the influence factor of the tire sliding distance. It can be understood that the value of the influence factor t can be set as needed, which is not specifically limited here.

[0076] S32, recommending the target parking space according to the parking-in recommendation value.

[0077] According to the above, when the target parking space is recommended, the parking success rate and the wheel wear are considered, and finally the parking-in recommendation value corresponding to each available parking space is obtained. If the calculated parking-in recommendation value is high, it means that the convenience, success rate, parking time, and wheel wear of parking in the target parking space are high, the system can preferentially recommend the best available parking space, and the intelligent recommendation of parking is realized.

[0078] According to the parking control method provided in the embodiments of the present disclosure, when the in-place U-turn function is used for parking in a narrow scene, the parking-in time length and the parking success rate are estimated according to a preset algorithm, the parking space recommendation value is calculated according to path planning, and the target parking space is recommended according to the parking space recommendation value. The parking success rate, the parking time, and the tire wear information of each available parking space are comprehensively considered, the time cost of selecting a parking space by a user is reduced, the tire wear is reduced, and the service life of the tire is improved. The parking control method provided in the embodiments of the present disclosure is more reasonable.

[0079] The prior art provides a display of a vertically parked parking space. During vehicle driving, a camera detects a parking line. When the parking space is identified as a parking-in space, the parking space text is an Arabic numeral, and the numeral means the number of the parking space. This display means that the parking space is a parking-in space. The parking space outline is a single solid line with a rounded rectangle, and the parking space area is consistent with the rendering area interface and is not specially processed. In this scenario, the parking space text numerals 1 to 8 are only the numbers of the released parking spaces, lack the richness of information transmission, and may make it difficult for the driver to make a selection and be in a dilemma, thereby increasing the parking time cost and reducing the parking efficiency to some extent.

[0080] Based on this, in some embodiments of the present disclosure, as shown in FIG. 5, a flowchart of a parking control method according to still another embodiment of the present disclosure is provided, wherein the parking control method further specifically includes step S4.

[0081] S4, displaying each target parking space and the parking space recommendation value of each target parking space.

[0082] Each available parking space can be given a different digital number according to the parking-in recommendation value. The numbers and positions of all the parking spaces are displayed on the parking interface. The system preferentially recommends the best target parking space. The parking spaces are displayed by a preset algorithm, and the preferentially recommended positions are displayed on the parking interface, so that the driver can select a suitable target parking space. Further, a jumping car model can be used to increase the visual impact, and the driver can also select other parking spaces to be parked in by touching the screen or voice control.

[0083] Specifically, the display and recommendation of the target parking space can be understood in combination with FIG. 6, which is a schematic diagram of the display of the target parking space according to an embodiment of the present disclosure. In the figure, the parking space words are numbers 1 to 8, representing the selection order of the available parking spaces recommended by the system in the current scenario. The selection of the target parking space corresponds to the parking space recommendation value. The smaller the number, the higher the priority of the target parking space, which means that the target parking space is more worthy of priority selection.

[0084] According to the parking control method provided by the embodiments of the present disclosure, the target parking space is recommended by displaying each target parking space and the parking space recommendation value of each target parking space. The parking space word number can be used to distinguish the parking space and as an index of parking space recommendation. The display of the target parking space increases the richness of the parking information, reduces the user's indecisive psychology, obtains the user's visual attention and improves the user's interest in using the parking function in a more flexible rendering manner, increases the use frequency of the parking function, and further makes it a feature of the vehicle. The parking space display information is rich in transmission and can improve the user's visual experience.

[0085] In some embodiments of the present disclosure, as shown in FIG. 7, a flowchart of a parking control method according to another embodiment of the present disclosure is shown, wherein the parking control method can include steps S101-S104, which are as follows.

[0086] S101, in the parking working condition, the information of the available parking space is detected by using the ultrasonic radar and the visual sensor.

[0087] S102, the parking success rate and the parking time rate are predicted, and the parking path of each available parking space is planned. The parking path at least includes the original turning path.

[0088] S103, the ratio of the average original turning mileage to the parking space original turning mileage and the ratio of the average parking time to the parking space single parking time are calculated. The parking success rate is multiplied by the above values to obtain the parking recommendation value. The larger the calculated parking recommendation value, the higher the priority of the parking space, and the smaller the number displayed by the corresponding parking space word.

[0089] S104, based on the parking recommendation value, the target parking space with a large parking recommendation value is displayed on the parking interface for the driver to select a suitable target parking space.

[0090] According to the industry standard, the tire crown pattern depth is within 6mm, and the tire can be scrapped. According to the existing statistical data, when the vehicle is parked in the parking space shown in Figure 6 according to the display and recommendation of the target parking space of the embodiment of the present disclosure, when the vehicle is parked in the No. 4 parking space shown in Figure 6, the vehicle needs to rotate 90° clockwise, and the upper limit of tire wear is about 700 times. From the theoretical analysis, in the vehicle pre-planning, according to the principle of one-time entering, the vehicle is parked in the No. 4 parking space and the mass center is rotated 90° clockwise, and the vehicle is parked in the No. 2 parking space and rotated β clockwise, wherein β is greater than 0° and less than 90°, according to the above formula (1-3), calculation, then the wear and tear of the four tires of the vehicle parked in the No. 2 parking space is reduced compared with the No. 4 parking space:

[0091] Wherein, the tire wear of the vehicle parked in the No. 2 parking space is β / 90 of the No. 4 parking space, so that the number of tire use is increased to 90 / β under the original parking space recommendation algorithm, and under the parking space distribution shown in Figure 6 on the cement ground, the parking control method of the embodiment of the present disclosure can adjust the value of the influence factor τ, the system recommends and parks in the No. 2 parking space, and the upper limit of the parking number can be increased to 63000 / β at most.

[0092] According to the parking control method proposed in the embodiment of the present disclosure, the parking success rate and parking time of the vehicle parked in each available parking space are estimated according to the preset algorithm, the parking recommendation value of each available parking space is calculated according to the parking path, and the target parking space is recommended according to the parking recommendation value. The time cost of the user selecting the parking space can be reduced, and the parking space recommendation method is more reasonable. And in the process of evaluating and recommending the target parking space, the original rotation process is considered, that is, the wear and tear of the tire and the ground are considered, so as to reduce the parking time cost of the user, reduce the tire wear, prolong the service life of the tire, and further reduce the vehicle use cost of the user, and promote the intelligent development of the vehicle parking function.

[0093] In some embodiments of the present disclosure, an electronic device is also proposed, as shown in Figure 8, which is a block diagram of the electronic device according to an embodiment of the present disclosure. Wherein, the electronic device 100 comprises at least one processor 101 and a memory 102.

[0094] Wherein, the memory 102 is connected with the at least one processor 101, and the memory 102 stores a computer program, and the computer program is executed by the at least one processor 101 to realize the parking control method of any one of the above embodiments.

[0095] The electronic device 100 provided in the embodiments of the present disclosure, when the computer program stored in the memory 102 is executed by the at least one processor 101, implements the parking control method in the first aspect of the embodiments. In the process of parking in a narrow scene using the original turning function, when evaluating and recommending the target parking space, not only the parking success rate and the parking time of each available parking space are considered, but also the loss of the tire and the ground sliding friction to the wheel is considered, which can meet the requirements of reducing the parking time cost of the user, reducing the tire wear, and improving the service life of the tire, thereby reducing the vehicle use cost of the user and promoting the intelligent development of the vehicle parking function.

[0096] In some embodiments of the present disclosure, a non-volatile computer readable storage medium is also provided, and the computer program is stored on the non-volatile computer readable storage medium. When the computer program is executed by the processor, the parking control method in any one of the above embodiments is implemented.

[0097] According to the embodiments of the present disclosure, the computer program stored on the non-volatile computer readable storage medium is executed by the processor, and the parking control method according to the first aspect of the embodiments is implemented. In the process of parking in a narrow scene using the original turning function, the parking success rate, the parking time, and the loss of the tire and the ground sliding friction to the wheel of each available parking space are comprehensively considered, which can reduce the parking time cost of the user, reduce the tire wear, improve the service life of the tire, and promote the intelligent development of the vehicle parking function.

[0098] In some embodiments of the present disclosure, a parking control system 1 is also provided, as shown in FIG. 9, which is a block diagram of the parking control system 1 according to an embodiment of the present disclosure. The parking control system 1 includes a perception module 11 and a parking control module 12.

[0099] The perception module 11 is configured to determine that the vehicle is in a parking working condition.

[0100] The perception module 11 can include an ultrasonic radar, a visual sensor such as a camera, and a laser radar. After determining that the vehicle enters the automatic parking function, according to the vehicle configuration and the like, the device can be used to detect the information of the available parking space.

[0101] The parking control module 12 is configured to obtain parking prediction information of the vehicle parking into each available parking space, and the parking prediction information at least includes tire wear information. The parking control module 12 is configured to recommend a target parking space according to the parking prediction information.

[0102] The parking control module 12 can include a planning module and a calculation module. Specifically, for a vehicle configured with an automatic parking function, the vehicle generally has a function of planning a parking path, and the planning module can directly determine that there is at least one available parking space around the vehicle according to vehicle position information, vehicle body data, and environmental information around the vehicle, and further plan a parking path for each available parking space.

[0103] In some embodiments, the parking prediction information further includes at least one of a parking success rate and a parking time. The calculation module can predict the parking success rate, the parking time, and the tire wear information of the vehicle parking in each available parking space according to the parking path, and recommend a target parking space according to the parking success rate, the parking time, and the tire wear information. Further, the specific functions of the parking control module 12 can be understood according to the above embodiments, and will not be described here.

[0104] According to the parking control system 1 provided by the embodiments of the present disclosure, based on the architecture of the perception module 11 and the parking control module 12, the parking control method of the first aspect embodiment is implemented. When the perception module 11 perceives that the parking is performed using the original turning function in a narrow scene, the parking control module 12 comprehensively considers the parking success rate, the parking time, and the tire wear information of each available parking space in the process of evaluating and recommending a target parking space, and considers the original rotation process, that is, considers the loss of the tire and the ground sliding friction to the wheel, thereby reducing the parking time cost of the user, reducing the tire wear, improving the service life of the tire, and further reducing the vehicle use cost of the user, and promoting the intelligent development of the vehicle parking function.

[0105] In some embodiments of the present disclosure, as shown in FIG. 10, a block diagram of a parking control system 1 according to another embodiment of the present disclosure is shown, wherein the parking control system 1 further includes a display module 13. The display module 13 is used to display each target parking space and a parking space recommendation value of each target parking space.

[0106] The display module 13 can be a center console and a multimedia display screen in the vehicle, etc.

[0107] Specifically, each available parking space can be assigned a different number according to the different parking recommendation values, and the numbers and positions of all parking spaces are displayed on the parking interface, the system preferentially recommends the best target parking space, and the parking spaces are displayed through a preset algorithm, and the preferentially recommended positions are displayed on the parking interface for the driver to select a suitable target parking space. Further, a jumping car model can be used to increase the visual impact, and the driver can also select other parking spaces to be parked in through touch screen or voice control. For example, as shown in FIG. 6, the parking space numbers are numbers 1 to 8, indicating the selection order of the available parking spaces recommended by the system in the current scenario, the selection of the target parking space corresponds to the parking space recommendation value, the smaller the number, the higher the priority of the target parking space, which means that the target parking space is more worthy of priority selection.

[0108] According to the parking control system 1 provided by the embodiments of the present disclosure, the display module 13 recommends the target parking space by displaying each target parking space and the parking space recommendation value of each target parking space, so that the parking space number can be used to distinguish the parking spaces and as an indicator of parking space recommendation. The display of the target parking space increases the richness of the available parking information, reduces the user's indecision, captures the user's visual attention in a more dynamic rendering manner, and increases the user's interest in using the parking function, thereby increasing the use frequency of the parking function, making it a feature of the vehicle, and the rich parking space display information transmission can also improve the user's visual experience.

[0109] In some embodiments of the present disclosure, a vehicle is also provided. As shown in FIG. 11, it is a block diagram of a vehicle according to an embodiment of the present disclosure, wherein the vehicle 10 includes a vehicle body 2 and the parking control system 1 of any of the above embodiments, and the parking control system 1 is arranged on the vehicle body 2.

[0110] According to the vehicle 10 provided by the embodiments of the present disclosure, by arranging the parking control system 1 of the fourth aspect of the above embodiments, in the process of predicting the parking path and recommending the target parking space, the wear of the tire caused by the sliding friction between the tire and the ground during the original rotation is considered, so as to reduce the tire wear and improve the service life of the tire while reducing the parking time cost of the user, thereby reducing the vehicle use cost of the user, prolonging the service life of the vehicle, and promoting the intelligent development of the vehicle parking function.

[0111] The other configurations and operations of the vehicle 10 and the parking control system 1 according to the embodiments of the present disclosure are known to those skilled in the art, and will not be described in detail here.

[0112] In the description of the disclosure, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the disclosure. In the description of the disclosure, the exemplary description of the above terms does not necessarily mean the same embodiment or example.

[0113] Although the embodiments of the disclosure have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to the embodiments without departing from the principles and spirit of the disclosure, and the scope of the disclosure is defined by the claims and their equivalents.

Claims

1. A parking control method characterized by, The method comprises: determining that a vehicle is in a parking working condition; obtaining parking prediction information of the vehicle parking into each available parking space, the parking prediction information at least including tire wear information; and recommending a target parking space according to the parking prediction information.

2. The parking control method according to claim 1, characterized by, The tire wear information at least includes a tire sliding distance when the vehicle is parked.

3. The parking control method according to claim 2, characterized by, The tire wear information further includes a vehicle rotation angle, which is obtained according to a parking path of the available parking space.

4. The parking control method according to claim 3, wherein The tire sliding distance when the vehicle is parked is obtained according to the vehicle rotation angle and vehicle body data.

5. The parking control method according to claim 4, wherein The tire slip distance of the vehicle when parking is obtained according to the following formula: where i is the ith available parking space, D i is the tire slip distance when the vehicle parks in the ith available parking space, ε i is the vehicle rotation angle when the vehicle parks in the ith available parking space, D1 is the distance from the center of mass of the vehicle to the center of the front left wheel, and D2 is the distance from the center of mass of the vehicle to the center of the rear left wheel.

6. The parking control method according to any one of claims 3 to 5, characterized by, The parking path of each available parking space is predicted according to surrounding environment information.

7. The parking control method according to any one of claims 3 to 6, characterized by, The parking prediction information further includes at least one of a parking success rate and a parking time; The parking success rate of each available parking space is matched according to historical parking data of the vehicle; The parking time is calculated according to the parking path.

8. The parking control method according to claim 7, characterized by, Recommending a target parking space according to the parking prediction information comprises: calculating a parking recommendation value of each available parking space according to the tire sliding distance, the parking success rate and the parking time; and recommending the target parking space according to the parking recommendation value.

9. The parking control method according to claim 8, characterized by, Calculating a parking recommendation value of each available parking space according to the tire sliding distance, the parking success rate and the parking time comprises: The parking entry recommendation value of the available parking space is obtained according to the following formula: wherein i is the ith available parking space, a i is the parking recommendation value of the ith available parking space, D i is the tire slip distance when the vehicle parks in the ith available parking space, n is the number of available parking spaces, t i is the parking time when the vehicle parks in the ith available parking space, σ i is the parking success rate when the vehicle parks in the ith available parking space, τ is the influence factor of the tire slip distance.

10. The parking control method according to any one of claims 1 to 9, characterized by, Further comprising: displaying each target parking space and a parking recommendation value of each target parking space.

11. An electronic device (100), characterized by The method comprises: at least one processor (101); and a memory (102) connected with the at least one processor (101), the memory (102) storing a computer program, the computer program being executed by the at least one processor (101) to implement the parking control method according to any one of claims 1-10.

12. A non-transitory computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor (101) to implement the parking control method according to any one of claims 1-10.

13. A parking control system (1), characterized in that The method comprises: a perception module (11) for determining that a vehicle (10) is in a parking working condition; and a parking control module (12) for obtaining parking prediction information of the vehicle (10) parking into each available parking space, the parking prediction information at least including tire wear information, and for recommending a target parking space according to the parking prediction information.

14. The parking control system (1) according to claim 13, characterized in that The parking prediction information further includes at least one of a parking success rate and a parking time.

15. The parking control system (1) according to claim 13 or 14, characterized in that Further comprising: a display module (13) for displaying each target parking space and a parking recommendation value of each target parking space.

16. A vehicle (10) characterized by, The method comprises: a vehicle body (2); and the parking control system (1) according to any one of claims 13-15, the parking control system (1) being arranged on the vehicle body (2).

Images