CN112158193A - Automatic parking system, parking safety protection method thereof and storage medium - Google Patents
Automatic parking system, parking safety protection method thereof and storage medium Download PDFInfo
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- CN112158193A CN112158193A CN202010593832.4A CN202010593832A CN112158193A CN 112158193 A CN112158193 A CN 112158193A CN 202010593832 A CN202010593832 A CN 202010593832A CN 112158193 A CN112158193 A CN 112158193A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/50—Barriers
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Abstract
The invention discloses an automatic parking system, a parking safety protection method thereof and a computer readable storage medium, wherein the method comprises the following steps: before parking begins, if the parking safety condition is detected to be not met, the parking function is forbidden to be started; in the parking process, if the control command sent by the mobile terminal is judged to have a safety problem, command safety protection measures are executed; and when the control instruction is executed, if abnormal information is detected, executing operation safety protection measures. The invention solves the problem that the parking controlled by the mobile terminal lacks a safety protection mechanism, realizes the safety detection of the parking controlled by the mobile terminal and the response to the non-safety condition, and provides safety protection for the parking controlled by the mobile terminal.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to an automatic parking system, a parking safety protection method thereof, and a computer-readable storage medium.
Background
In conventional automatic parking techniques, a driver is often required to perform certain parking operations in the vehicle, such as activating a parking function. Under the condition, if the vehicle is parked in a parking space with a narrow space, the vehicle door can not be opened, the driver can not get off the vehicle, and the parking experience of the driver can be seriously influenced. In addition, the conventional automatic parking technology has high requirements on the size of the parking space, and the parking space with small space can not be parked smoothly. The mobile terminal is used for controlling parking, so that the problems can be avoided, a driver can get off the vehicle in advance and control parking outside the vehicle, the parking can be better controlled, the vehicle can be smoothly parked even in a parking place with a narrow space, and the problem that the driver cannot get on or off the vehicle after parking the vehicle in the parking place with the narrow space can be avoided.
However, when the mobile terminal is used to control parking, since a driver is outside the vehicle, the safety of the vehicle in parking cannot be guaranteed directly through various operations, and the vehicle will be in a dangerous state in some emergency situations, a safety protection mechanism is urgently needed to be provided for parking controlled by using the mobile terminal.
Disclosure of Invention
By providing the automatic parking system, the parking safety protection method thereof and the computer readable storage medium, the embodiment of the application solves the problem that a safety protection mechanism is lacked in parking controlled by using a mobile terminal, realizes safety detection of parking controlled by using the mobile terminal and coping with non-safety conditions, and provides safety protection for parking controlled by using the mobile terminal.
The embodiment of the application provides a parking safety protection method of an automatic parking system, which comprises the following steps:
before parking begins, if the parking safety condition is detected to be not met, the parking function is forbidden to be started;
in the parking process, if the control command sent by the mobile terminal is judged to have a safety problem, command safety protection measures are executed;
and when the control instruction is executed, if abnormal information is detected, executing operation safety protection measures.
In one embodiment, the parking safety condition includes: the automatic parking system has no fault.
In an embodiment, the step of prohibiting starting the parking function if it is detected that the parking safety condition is not met specifically includes:
acquiring an environment image around the vehicle and ultrasonic echo information, and determining the size of a target parking area according to the environment image and the ultrasonic echo information;
and comparing the size of the target parking area with the size of the vehicle, and if the ratio of the size of the target parking area to the size of the vehicle is smaller than a preset ratio, forbidding starting of a parking function.
In an embodiment, if it is determined that the control command sent by the mobile terminal has a security problem, the step of executing a command security protection measure specifically includes:
and if the control commands sent by the mobile terminal at the same time are judged to have conflict, executing the braking operation of the vehicle.
In one embodiment, the method further comprises:
acquiring an image of the surrounding environment of the vehicle and ultrasonic echo information, and determining the position of a surrounding obstacle according to the image of the surrounding environment and the ultrasonic echo information;
and if the vehicle is judged to collide with the obstacle due to the execution of the control command, executing the braking operation of the vehicle.
In an embodiment, the step of executing the operation security protection measure if the abnormal information is detected specifically includes:
and if the automatic parking system is detected to be in failure, executing the braking operation of the vehicle.
In one embodiment, the method further comprises:
acquiring an image of the surrounding environment of the vehicle and ultrasonic echo information;
and if the obstacle suddenly appears in the parking path is judged according to the environment image and the ultrasonic echo information, executing the braking operation of the vehicle.
In one embodiment, the method further comprises:
and in the parking process, if the control command sent by the mobile terminal is judged to be the termination command, executing the braking operation of the vehicle.
The embodiment of the present application further provides an automatic parking system, where the automatic parking system includes a processor, a memory, and a parking safety protection program stored in the memory and executable on the processor, and the parking safety protection program, when executed by the processor, implements the steps of the parking safety protection method of the automatic parking system as described above.
The embodiment of the present application further provides a computer-readable storage medium, in which a parking safeguard program is stored, and the parking safeguard program, when executed by a processor, implements the steps of the parking safeguard method of the automatic parking system as described above.
The technical scheme of the automatic parking system, the parking safety protection method thereof and the computer readable storage medium provided by the embodiment of the application has at least the following technical effects:
before the parking is started, if the parking safety condition is detected to be not met, the parking function is forbidden to be started; in the parking process, if the control command sent by the mobile terminal is judged to have a safety problem, command safety protection measures are executed; and when the control instruction is executed, if abnormal information is detected, executing the technical scheme of running safety protection measures. Therefore, the problem that a safety protection mechanism is lacked in parking controlled by using the mobile terminal is effectively solved, safety detection of parking controlled by using the mobile terminal and response to non-safety conditions are realized, and safety protection is provided for parking controlled by using the mobile terminal.
Drawings
Fig. 1 is a schematic structural diagram of an automatic parking system according to an embodiment of the present application;
fig. 2 is a schematic flowchart illustrating a parking safety protection method of the automatic parking system according to the first embodiment of the present application;
fig. 3 is a schematic flowchart illustrating a parking safety protection method of the automatic parking system according to a second embodiment of the present application;
fig. 4 is a schematic flowchart illustrating a parking safety protecting method of the automatic parking system according to a third embodiment of the present application;
fig. 5 is a flowchart illustrating a parking safety protecting method of the automatic parking system according to a fourth embodiment of the present invention.
Detailed Description
In order to solve the problem that a safety protection mechanism is lacked in parking controlled by a mobile terminal, before parking is started, if the fact that parking safety conditions are not met is detected, the parking function is forbidden to be started; in the parking process, if the control command sent by the mobile terminal is judged to have a safety problem, command safety protection measures are executed; and when the control instruction is executed, if abnormal information is detected, executing the technical scheme of running safety protection measures. The safety detection of parking controlled by the mobile terminal and the response to the non-safety condition are realized, and the safety protection is provided for the parking controlled by the mobile terminal.
For a better understanding of the above technical solutions, exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1, a schematic diagram of a hardware structure of an automatic parking system according to various embodiments of the present application is shown, where the system may include: processor 101, memory 102, camera 103, ultrasonic radar 104, vehicle control module 105, communication module 106, and the like. Those skilled in the art will appreciate that the hardware configuration of the automatic parking system shown in fig. 1 does not constitute a limitation of the automatic parking system, and that the automatic parking system may include more or less components than those shown, or may combine some components, or may be arranged in different components.
The following describes the components of the automatic parking system in detail with reference to fig. 1:
the processor 101 is a control center of the automatic parking system, connects various parts of the entire automatic parking system, and executes various functions of the automatic parking system and processes data by operating or executing a program stored in the memory 102 and calling up data stored in the memory 102, thereby performing overall monitoring of the automatic parking system.
The memory 102 may be used to store various programs and various data of the automatic parking system. The memory 102 mainly includes a storage program area and a storage data area, wherein the storage program area at least stores programs required for performing parking safety protection; the storage data area may store various data of the automatic parking system. Further, the memory 102 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The camera 103 may be configured to collect video information of a surrounding environment before and during parking, determine whether there are obstacles around and information of a position, a type (including vertical, horizontal, or diagonal parking spaces), a size, and the like of a selectable parking space, and send the collected video information to the processor 101.
The ultrasonic radar 104 may be used to acquire obstacle information around the vehicle, ensure that there is enough space for the vehicle to park in when parking, and ensure that an obstacle suddenly appearing during parking is found in time, and send the acquired obstacle information to the processor 101.
The vehicle control module 105 may be used to receive signals sent by the processor 101 to control the vehicle to perform various operations, such as: braking, steering, controlling vehicle speed, etc.
The communication module 106 may be used to implement communication between the vehicle and other devices, and is mainly used to implement communication between the vehicle and the mobile terminal.
In the embodiment of the present application, the processor 101 may be configured to invoke the parking safeguard program stored in the memory 102 and perform the following operations:
before parking begins, if the parking safety condition is detected to be not met, the parking function is forbidden to be started;
in the parking process, if the control command sent by the mobile terminal is judged to have a safety problem, command safety protection measures are executed;
and when the control instruction is executed, if abnormal information is detected, executing operation safety protection measures.
In one embodiment, the parking safety condition includes: the automatic parking system has no fault.
In one embodiment, the processor 101 may be configured to invoke a parking safeguard program stored in the memory 102 and perform the following operations:
acquiring an environment image around the vehicle and ultrasonic echo information, and determining the size of a target parking area according to the environment image and the ultrasonic echo information;
and comparing the size of the target parking area with the size of the vehicle, and if the ratio of the size of the target parking area to the size of the vehicle is smaller than a preset ratio, forbidding starting of a parking function.
In one embodiment, the processor 101 may be configured to invoke a parking safeguard program stored in the memory 102 and perform the following operations:
and if the control commands sent by the mobile terminal at the same time are judged to have conflict, executing the braking operation of the vehicle.
In one embodiment, the processor 101 may be configured to invoke a parking safeguard program stored in the memory 102 and perform the following operations:
acquiring an image of the surrounding environment of the vehicle and ultrasonic echo information, and determining the position of a surrounding obstacle according to the image of the surrounding environment and the ultrasonic echo information;
and if the vehicle is judged to collide with the obstacle due to the execution of the control command, executing the braking operation of the vehicle.
In one embodiment, the processor 101 may be configured to invoke a parking safeguard program stored in the memory 102 and perform the following operations:
and if the automatic parking system is detected to be in failure, executing the braking operation of the vehicle.
In one embodiment, the processor 101 may be configured to invoke a parking safeguard program stored in the memory 102 and perform the following operations:
acquiring an image of the surrounding environment of the vehicle and ultrasonic echo information;
and if the obstacle suddenly appears in the parking path is judged according to the environment image and the ultrasonic echo information, executing the braking operation of the vehicle.
In one embodiment, the processor 101 may be configured to invoke a parking safeguard program stored in the memory 102 and perform the following operations:
and in the parking process, if the control command sent by the mobile terminal is judged to be the termination command, executing the braking operation of the vehicle.
According to the technical scheme, before parking is started, if the parking safety condition is detected to be not met, the parking function is forbidden to be started; in the parking process, if the control command sent by the mobile terminal is judged to have a safety problem, command safety protection measures are executed; and when the control instruction is executed, if abnormal information is detected, executing the technical scheme of running safety protection measures. Therefore, the problem that a safety protection mechanism is lacked in parking controlled by using the mobile terminal is effectively solved, safety detection of parking controlled by using the mobile terminal and response to non-safety conditions are realized, and safety protection is provided for parking controlled by using the mobile terminal.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
Referring to fig. 2, in a first embodiment of the present application, a parking safety protection method for an automatic parking system specifically includes the following steps:
and step S110, before parking is started, if the parking safety condition is not met, the parking function is forbidden to be started.
In the present embodiment, the parking safety condition is a condition that can ensure safe parking, and it is necessary to be able to detect whether or not the parking safety condition has been satisfied by the automatic parking system before the start of parking. The parking safety condition at least needs to include the following two conditions: first, the automatic parking system has no fault, and at least hardware of the automatic parking system has no fault and communication in the automatic parking system has no fault, so that it can be understood that if the automatic parking system has a fault, a vehicle may be dangerous in the parking process. For example, if a brake device of the automatic parking system fails, the vehicle may not be braked when encountering an obstacle, thereby causing a collision accident; if there is a failure in the communication between the vehicle and the mobile terminal in the automatic parking system, the mobile terminal may not be able to control the vehicle correctly, which may result in a danger to the vehicle. Second, the parking path and the selected parking space need to be safe, which is similar to the first condition as the reason for the parking safe condition. The safety of the parking path at least needs to comprise the existence of a path capable of parking and the absence of obstacles which can influence the safety of the vehicle in the path; the safety of the selected parking space at least needs to include that the space size of the parking space can meet the space size required by the vehicle to park and no obstacle which can influence the vehicle to park exists in the selected parking space.
If the parking safety condition is not met, danger may occur to the vehicle during parking, so the parking safety condition needs to be detected before the start of parking, and if the parking safety condition is not met, the start of the parking function must be prohibited to avoid danger occurring to the vehicle during parking. It is worth noting that the parking safety conditions must be met to ensure the safety of the vehicle during parking, and if any parking safety condition is not met, the safety of the vehicle during parking may be damaged, that is, the starting of the parking function is prohibited when any parking safety condition is detected to be not met.
And step S120, in the parking process, if the control instruction sent by the mobile terminal is judged to have safety problems, executing instruction safety protection measures.
In this embodiment, the mobile terminal may be a mobile terminal such as a commonly-used smart phone or a tablet computer, or may be another mobile terminal that can implement connection communication with a vehicle and can send a control instruction to the vehicle. The mobile terminal and the vehicle can be connected and communicated in the modes of Bluetooth, WiFi, cellular data and the like. However, in order to avoid the problem that the vehicle cannot be controlled in time due to too high delay or unstable connection, a communication mode with low delay and stable connection needs to be selected to implement the connection communication between the mobile terminal and the vehicle.
When the mobile terminal is used for controlling parking, the mobile terminal needs to send a control instruction to the vehicle to realize control of the vehicle. The control instructions mainly comprise instructions for starting, advancing, backing, steering, braking, flameout, locking and the like, and the control of the running state of the vehicle can be realized on the mobile terminal by sending the control instructions to the vehicle.
The safety problem is the problem that the safety of the vehicle in the parking process can be damaged, and the safety problem of the control command mainly comprises the conflict of a plurality of control commands sent by the mobile terminal at the same time and the dangerous state of the vehicle caused by the control command sent by the mobile terminal. For example, if a user mistakenly operates the mobile terminal to simultaneously send two control commands of forward and backward, the vehicle obviously cannot simultaneously execute the two control commands because of the conflict between the two control commands, and if one control command is selected to be executed, the wrong control command may be executed, so that the vehicle is dangerous; on the other hand, if the control command sent by the mobile terminal is "turn left", but an obstacle exists on the path after the vehicle turns left, if the vehicle executes the control command, the vehicle collides with the obstacle.
The command safety protection measures are measures which are adopted for solving the safety problems existing in the control commands and ensure the safety of the vehicle in the parking process. When the safety problem exists in the operation instruction, the measures which can be taken generally comprise refusing to execute the control instruction and decelerating the vehicle or braking the vehicle, and the specific taken instruction safety protection measures need to be decided according to different practical situations and different emergency degrees of the safety problem existing in the control instruction. For example, when the obstacle distance is judged to be far, the execution of the control instruction can be refused and the vehicle can be decelerated, and meanwhile, the user is prompted to change the control instruction and wait for the mobile terminal to send other control instructions.
If the control instruction has a safety problem, the vehicle may be dangerous in the parking process, so the control instruction needs to be judged before the control instruction is executed in the parking process, and if the control instruction has the safety problem, corresponding instruction safety protection measures need to be taken to avoid the danger of the vehicle when the control instruction is executed. The control instruction can be executed only after judging that the control instruction has no safety problem.
Step S130, when the control instruction is executed, if the abnormal information is detected, executing a safety protection measure.
In this embodiment, the control command in this step is the control command that is determined in step S120 that there is no safety problem, and therefore, the control command itself does not cause a danger to the vehicle during execution. It is necessary to consider whether other factors may cause the vehicle to be dangerous during operation.
The abnormal information is abnormal information generated in the running process of the vehicle, and at least comprises the fault of the automatic parking system and the sudden obstacle in the parking path. The automatic parking system is in failure, which mainly comprises hardware failure of the automatic parking system and communication failure in the automatic parking system, for example, a brake system of a vehicle is in failure in the running process; during operation of the vehicle, its communication with the mobile terminal is suddenly interrupted. When an obstacle suddenly appears in a parking path, if a user cannot find the obstacle in time and controls the vehicle to react through the mobile terminal, the vehicle may collide with the suddenly appearing obstacle. Such abnormal information may, of course, cause a hazard to the vehicle during operation.
The operation safety protection measures are measures which are taken for responding to abnormal information occurring in the operation process and ensure the safety of the vehicle in the operation process. When abnormal information occurs in the running process, the measures which can be taken generally comprise the deceleration of the vehicle or the braking of the vehicle, and the specific running safety protection measures need to be determined according to different actual conditions and different emergency degrees of the abnormal information. For example, when a service brake device of an automatic parking system fails, the vehicle cannot be decelerated or braked, and the parking brake device may be selected to be used for braking.
If abnormal information appears in the running process, danger can possibly occur to the vehicle in the running process, so that the abnormal information needs to be detected in real time in the running process, and if the abnormal information appears, corresponding running safety protection measures need to be taken to avoid the danger of the vehicle in the running process.
The method has the advantages that before parking is started, if the parking safety condition is detected to be not met, the parking function is forbidden to be started; in the parking process, if the control command sent by the mobile terminal is judged to have a safety problem, command safety protection measures are executed; and when the control instruction is executed, if abnormal information is detected, executing the technical scheme of running safety protection measures. Therefore, the problem that a safety protection mechanism is lacked in parking controlled by using the mobile terminal is effectively solved, safety detection of parking controlled by using the mobile terminal and response to non-safety conditions are realized, and safety protection is provided for parking controlled by using the mobile terminal.
Referring to fig. 3, in a second embodiment of the present application, a parking safety protection method for an automatic parking system specifically includes the following steps:
and step S210, before parking is started, if the parking safety condition is not met, the parking function is forbidden to be started.
Step S220, in the parking process, if the control instruction sent by the mobile terminal is judged to have safety problems, instruction safety protection measures are executed.
Step S230, when the control instruction is executed, if the abnormal information is detected, executing a safety protection measure.
And step S240, in the parking process, if the control instruction sent by the mobile terminal is judged to be the termination instruction, executing the braking operation of the vehicle.
In this embodiment, the termination instruction is an instruction for terminating the control of parking using the mobile terminal, and when the automatic parking system determines that a received control instruction is the termination instruction, the parking using the mobile terminal can be safely terminated only by executing the braking operation of the vehicle to stop the vehicle, but when the vehicle is dangerous due to the fact that the vehicle is immediately executed to terminate the control of parking using the mobile terminal, it is necessary to consider taking other safety measures to safely terminate the parking. For example, if it is detected that another vehicle is moving behind the vehicle when the termination instruction is received, the braking operation of the vehicle needs to be executed only after a certain safety distance is ensured to the following vehicle, so as to avoid the vehicle from colliding.
The method has the advantages that the step of braking the vehicle after the termination instruction is judged is added on the basis of the first embodiment, and before the parking is started, if the parking safety condition is detected to be not met, the parking function is prohibited to be started; in the parking process, if the control command sent by the mobile terminal is judged to have a safety problem, command safety protection measures are executed; and when the control instruction is executed, if abnormal information is detected, executing the technical scheme of running safety protection measures. Therefore, the problem that a safety protection mechanism is lacked in parking controlled by using the mobile terminal is further effectively solved, safety detection of parking controlled by using the mobile terminal and response to non-safety conditions are realized, and safety protection is provided for parking controlled by using the mobile terminal.
Referring to fig. 4, in a third embodiment of the present application, a parking safety protection method for an automatic parking system specifically includes the following steps:
step S310, before parking begins, obtaining an environment image around the vehicle and ultrasonic echo information, and determining the size of a target parking area according to the environment image and the ultrasonic echo information.
In this embodiment, the image of the environment around the vehicle is obtained by a camera of the automatic parking system, and the ultrasonic echo information is information returned by an ultrasonic wave emitted by an ultrasonic radar of the automatic parking system after encountering an object. Since the camera and the ultrasonic radar are the most commonly used devices for acquiring the environmental information in the current automatic parking technology, they are used in the present application to acquire the environmental information. If the same effect of obtaining the environmental information can be achieved by using other devices, the devices used in the present application may also be added or replaced by using other devices.
The environmental information around the vehicle, such as the position and size information of the parking space available for parking, and the position and size information of the obstacle existing around the vehicle, including the size of the target parking area, i.e., the size of the selected parking space, can be obtained from the two types of information. By acquiring the environment information, an information basis can be provided for the parking route planning of the vehicle and the safety detection in the parking process.
And step S320, comparing the size of the target parking area with the size of the vehicle, and if the ratio of the size of the target parking area to the size of the vehicle is smaller than a preset ratio, forbidding starting of a parking function.
In this embodiment, the size of the target parking area is the environmental information acquired in step S310, and the size of the vehicle is the size of the vehicle for controlling parking using the mobile terminal. Since a certain extra space is required for parking the vehicle in the parking space, the vehicle can be parked in the parking space only when the ratio of the size of the target parking area to the size of the vehicle is greater than or equal to a certain preset ratio. If the ratio of the size of the target parking area to the size of the vehicle is smaller than the preset ratio, the vehicle cannot be parked in the selected parking space, and at this time, in order to avoid collision between the vehicle and the vehicles on two sides or obstacles caused by reluctant parking, the parking function needs to be prohibited to be started so as to ensure the safety of the vehicle in the parking process.
The preset proportion is different under different parking space types, and in a vertical or inclined parking space, a vehicle only needs to directly drive into the parking space without being adjusted to move left and right, so that the preset proportion capable of meeting the requirement of parking the vehicle only needs to be slightly larger than 1; in parallel parking spaces, the vehicles need to move back and forth for multiple times to adjust the vehicle bodies to be parallel to the parking spaces, and the parking space is larger, so that the requirement that the preset proportion for parking the vehicles needs to be larger than the preset proportion of the vehicles in vertical or inclined parking spaces is met.
And step S330, in the parking process, if the conflict of the plurality of control commands simultaneously sent by the mobile terminal is judged, executing the braking operation of the vehicle.
In the present embodiment, the conflicting control commands mainly include a start command and a stop command, a forward command and a reverse command, and a left turn command and a right turn command, and it is obvious that the vehicle cannot simultaneously execute the paired control commands. When a plurality of commands sent by the mobile terminal at the same time include the control command with the conflict, the user often performs an incorrect operation, and therefore, in order to avoid the vehicle from being dangerous in the parking process due to the execution of the incorrect control command, the execution of the control command with the conflict needs to be refused and a corresponding safety protection measure needs to be taken, where the selected safety protection measure is to execute the braking operation of the vehicle, and if the same effect of avoiding the vehicle from being dangerous in the parking process can be achieved, other safety protection measures can also be selected to be executed.
And step S340, when the control command is executed, if it is detected that the automatic parking system is out of order, executing a braking operation of the vehicle.
In the embodiment, the failure of the automatic parking system mainly includes the failure of hardware of the automatic parking system and the failure of communication in the automatic parking system, for example, the failure of a brake system of a vehicle during operation; during operation of the vehicle, its communication with the mobile terminal is suddenly interrupted. In the event of a failure of the automatic parking system, the vehicle will likely be dangerous. Therefore, certain safety protection measures need to be taken, the selected safety protection measures are braking operation of the vehicle, and if the same effect of avoiding danger in the running process of the vehicle caused by failure of the automatic parking system can be achieved, other safety protection measures can be selected to be executed.
The method has the advantages that the steps are refined and exemplified on the basis of the first embodiment, and before parking is started, if the parking safety condition is detected to be not met, the parking function is forbidden to be started; in the parking process, if the control command sent by the mobile terminal is judged to have a safety problem, command safety protection measures are executed; and when the control instruction is executed, if abnormal information is detected, executing the technical scheme of running safety protection measures. Therefore, the specific implementation of the method and the device for controlling the parking of the mobile terminal is further explained, the problem that the parking using the mobile terminal for controlling is lack of a safety protection mechanism is effectively solved, the safety detection of the parking using the mobile terminal for controlling and the response to the non-safety condition are realized, and the safety protection is provided for the parking using the mobile terminal for controlling.
Referring to fig. 5, in a fourth embodiment of the present application, a parking safety protection method for an automatic parking system specifically includes the following steps:
step S410, before parking begins, obtaining an environment image around the vehicle and ultrasonic echo information, and determining the size of a target parking area according to the environment image and the ultrasonic echo information.
And step S420, comparing the size of the target parking area with the size of the vehicle, and if the ratio of the size of the target parking area to the size of the vehicle is smaller than a preset ratio, prohibiting starting of a parking function.
And step S430, in the parking process, if the conflict of the plurality of control commands simultaneously sent by the mobile terminal is judged, executing the braking operation of the vehicle.
Step S440, obtaining the surrounding image of the vehicle and the ultrasonic echo information, and determining the position of the surrounding obstacle according to the surrounding image and the ultrasonic echo information.
And step S450, if the vehicle is judged to collide with the obstacle due to the execution of the control command, the braking operation of the vehicle is executed.
In this embodiment, the obstacle information around the vehicle can be obtained according to the environment information obtained in step S440, and if it is determined that executing the control command sent by the mobile terminal would cause the vehicle to collide with the obstacle around the vehicle, a corresponding safety protection measure needs to be executed, where the selected safety protection measure is to execute a braking operation of the vehicle, and if the same effect of avoiding a danger from occurring during the operation of the vehicle can be achieved, other safety protection measures can also be selected to be executed.
And step S460, when the control command is executed, if it is detected that the automatic parking system is out of order, executing a braking operation of the vehicle.
Step S470 is to acquire an image of the surrounding environment of the vehicle and the ultrasonic echo information.
And step S480, if the obstacle suddenly appears in the parking path is judged according to the environment image and the ultrasonic echo information, executing the braking operation of the vehicle.
In this embodiment, the environment information around the vehicle may be obtained according to the environment image and the ultrasonic echo information, and when it is determined that a person or an obstacle suddenly appears on a moving path of the vehicle according to the environment information, a corresponding safety protection measure needs to be performed, where the selected safety protection measure is to perform a braking operation of the vehicle. Because the suddenly appearing people or obstacles usually only pass through the driving route and disappear in a short time, in order to avoid restarting the vehicle after braking, the vehicle can be selectively decelerated when the suddenly appearing people or obstacles are judged to be a long distance away from the vehicle, and the parking operation is continuously performed after the suddenly appearing people or obstacles disappear. But it does not disappear when the suddenly appearing person or obstacle is close to the vehicle or after being decelerated to approach the person or obstacle, it is still necessary to perform a braking operation of the vehicle to ensure safety of the vehicle during operation.
The method has the advantages that more detailed steps are added on the basis of the third embodiment, and before parking is started, if the parking safety condition is detected to be not met, the parking function is forbidden to be started; in the parking process, if the control command sent by the mobile terminal is judged to have a safety problem, command safety protection measures are executed; and when the control instruction is executed, if abnormal information is detected, executing the technical scheme of running safety protection measures. Therefore, the specific implementation of the present application is further described, which effectively solves the problem that the parking using the mobile terminal for control lacks a safety protection mechanism, realizes the safety detection of the parking using the mobile terminal for control and the response to the unsafe condition, and provides safety protection for the parking using the mobile terminal for control.
Based on the same inventive concept, an embodiment of the present application further provides an automatic parking system, where the automatic parking system includes a processor, a memory, and a parking safety protection program that is stored in the memory and can be run on the processor, and when the parking safety protection program is executed by the processor, the processes of the embodiment of the parking safety protection method for an automatic parking system are implemented, and the same technical effects can be achieved, and are not described herein again to avoid repetition.
Since the automatic parking system provided in the embodiment of the present application is an automatic parking system used for implementing the method in the embodiment of the present application, based on the method described in the embodiment of the present application, a person skilled in the art can understand the specific structure and the modification of the automatic parking system, and thus details are not described herein. The automatic parking system adopted by the method of the embodiment of the present application is within the protection scope of the present application.
Based on the same inventive concept, an embodiment of the present application further provides a computer-readable storage medium, where a parking safety protection program is stored on the computer-readable storage medium, and when executed by a processor, the parking safety protection program implements each process of the above-mentioned embodiment of the parking safety protection method for an automatic parking system, and can achieve the same technical effect, and is not described herein again to avoid repetition.
Since the computer-readable storage medium provided in the embodiments of the present application is a computer-readable storage medium used for implementing the method in the embodiments of the present application, based on the method described in the embodiments of the present application, those skilled in the art can understand the specific structure and modification of the computer-readable storage medium, and thus details are not described herein. Any computer-readable storage medium that can be used with the methods of the embodiments of the present application is intended to be within the scope of the present application.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A parking safety protection method of an automatic parking system is applied to parking controlled by a mobile terminal, and is characterized by comprising the following steps:
before parking begins, if the parking safety condition is detected to be not met, the parking function is forbidden to be started;
in the parking process, if the control command sent by the mobile terminal is judged to have a safety problem, command safety protection measures are executed;
and when the control instruction is executed, if abnormal information is detected, executing operation safety protection measures.
2. The parking safety protection method for an automatic parking system according to claim 1, wherein the parking safety condition includes: the automatic parking system has no fault.
3. The parking safety protection method for an automatic parking system according to claim 1, wherein the step of prohibiting starting the parking function if it is detected that the parking safety condition is not satisfied specifically includes:
acquiring an environment image around the vehicle and ultrasonic echo information, and determining the size of a target parking area according to the environment image and the ultrasonic echo information;
and comparing the size of the target parking area with the size of the vehicle, and if the ratio of the size of the target parking area to the size of the vehicle is smaller than a preset ratio, forbidding starting of a parking function.
4. The parking safety protection method for the automatic parking system according to claim 1, wherein the step of executing the command safety protection measure if it is determined that the control command sent by the mobile terminal has a safety problem specifically comprises:
and if the control commands sent by the mobile terminal at the same time are judged to have conflict, executing the braking operation of the vehicle.
5. The parking safety protection method for an automatic parking system according to claim 4, further comprising:
acquiring an image of the surrounding environment of the vehicle and ultrasonic echo information, and determining the position of a surrounding obstacle according to the image of the surrounding environment and the ultrasonic echo information;
and if the vehicle is judged to collide with the obstacle due to the execution of the control command, executing the braking operation of the vehicle.
6. The parking safety protection method for the automatic parking system according to claim 1, wherein the step of executing the operation safety protection measure if the abnormal information is detected specifically includes:
and if the automatic parking system is detected to be in failure, executing the braking operation of the vehicle.
7. The parking safety protection method for an automatic parking system according to claim 6, further comprising:
acquiring an image of the surrounding environment of the vehicle and ultrasonic echo information;
and if the obstacle suddenly appears in the parking path is judged according to the environment image and the ultrasonic echo information, executing the braking operation of the vehicle.
8. The parking safety protection method for an automatic parking system according to claim 1, further comprising:
and in the parking process, if the control command sent by the mobile terminal is judged to be the termination command, executing the braking operation of the vehicle.
9. An automatic parking system, comprising a processor, a memory and a parking safeguard program stored on the memory and executable on the processor, wherein the parking safeguard program, when executed by the processor, implements the steps of the parking safeguard method of the automatic parking system according to any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that a parking safeguard program is stored thereon, which when executed by a processor implements the steps of the parking safeguard method of the automatic parking system according to any one of claims 1 to 8.
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| CN202010593832.4A CN112158193A (en) | 2020-06-24 | 2020-06-24 | Automatic parking system, parking safety protection method thereof and storage medium |
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| CN202010593832.4A CN112158193A (en) | 2020-06-24 | 2020-06-24 | Automatic parking system, parking safety protection method thereof and storage medium |
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Application publication date: 20210101 |