CN113942495A - Parking assisting method and device, storage medium, electronic device and vehicle - Google Patents
Parking assisting method and device, storage medium, electronic device and vehicle Download PDFInfo
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- 238000004891 communication Methods 0.000 description 7
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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
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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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
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
- B60W2710/182—Brake pressure, e.g. of fluid or between pad and disc
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Abstract
The disclosure relates to a method, a device, a storage medium, an electronic device and a vehicle for assisting parking, wherein the method comprises the following steps: determining a target parking space into which a vehicle is to be parked; determining a target parking starting area according to the target parking space; calculating a target deceleration value of the vehicle according to the current running speed of the vehicle and the farthest distance from the current position of the vehicle to the target parking starting area; and executing a deceleration control strategy according to the target deceleration value so as to enable the vehicle to run in a deceleration mode and stop in the target parking starting area. Therefore, the method can assist the driver to accurately stop the vehicle in the parking starting area, avoid the problem of failure parking or low parking efficiency caused by the fact that the vehicle cannot stop in the corresponding parking starting area due to unskilled operation of the driver, and can obviously improve the efficiency and the success rate of parking and warehousing.
Description
Technical Field
The present disclosure relates to the field of automobile control technologies, and in particular, to a method and an apparatus for assisting parking, a storage medium, an electronic device, and a vehicle.
Background
With the increasing of the automobile keeping quantity in China, the parking space is tense, the parking environment is complex, high requirements are provided for the parking technology of drivers, and the automatic parking technology is gradually paid attention to by people in order to solve the problem that the parking of the drivers is difficult. In the related art, an automatic parking technology is a method for controlling a vehicle to automatically move to a parking space from a planned route of a parking starting area through an automatic parking module on the vehicle to complete parking. However, if the vehicle cannot be controlled to accurately enter the parking starting area, the parking adjustment times are too many, the parking efficiency is low, and even the parking fails.
Disclosure of Invention
In order to solve the above problems, the present disclosure provides a method, an apparatus, a storage medium, an electronic device, and a vehicle for assisting parking.
In a first aspect, the present disclosure provides a method for assisting parking, applied to a vehicle, the method comprising:
determining a target parking space into which the vehicle is to be parked;
determining a target parking starting area according to the target parking space;
calculating a target deceleration value of the vehicle according to the current running speed of the vehicle and the farthest distance from the current position of the vehicle to the target parking starting area;
and executing a deceleration control strategy according to the target deceleration value so as to enable the vehicle to run in a deceleration mode and stop in the target parking starting area.
Optionally, the determining a target parking space into which the vehicle is to be parked includes: taking a parking space selected by a driver of the vehicle from candidate parking spaces currently displayed by the vehicle as the target parking space; or, when the depth change rate of the brake pedal of the vehicle reaches a preset change rate threshold value, taking the current preselected parking space of the vehicle as the target parking space, where the preselected parking space includes the parking space closest to the vehicle in the candidate parking spaces.
Optionally, said executing a deceleration control strategy according to said target deceleration value comprises: acquiring a current deceleration of the vehicle; in the event that the current deceleration is less than the target deceleration value, executing the deceleration control strategy.
Optionally, the deceleration control strategy comprises at least one of the following strategies: reducing the output torque of the power system; increasing the generated power of the generator; increasing the brake pressure of the brake system; and sending prompt information, wherein the prompt information is used for prompting the driver to control the vehicle to decelerate.
In a second aspect, the present disclosure provides a parking assist apparatus comprising:
the parking space determining module is used for determining a target parking space into which the vehicle is to be parked;
the initial area determining module is used for determining a target parking initial area according to the target parking space;
the processing module is used for calculating a target deceleration value of the vehicle according to the current running speed of the vehicle and the farthest distance from the current position of the vehicle to the target parking starting area;
and the control module is used for executing a deceleration control strategy according to the target deceleration value so as to enable the vehicle to run in a deceleration mode and stop in the target parking starting area.
Optionally, the parking space determining module is further configured to use a parking space selected by a driver of the vehicle from candidate parking spaces currently shown by the vehicle as the target parking space; or, when the depth change rate of the brake pedal of the vehicle reaches a preset change rate threshold value, taking the current preselected parking space of the vehicle as the target parking space, where the preselected parking space includes the parking space closest to the vehicle in the candidate parking spaces.
Optionally, the control module is further configured to obtain a current deceleration of the vehicle; in the event that the current deceleration is less than the target deceleration value, executing the deceleration control strategy.
Optionally, the control module is further configured to execute at least one of the following deceleration control strategies: reducing the output torque of the power system; increasing the generated power of the generator; increasing the brake pressure of the brake system; and sending prompt information, wherein the prompt information is used for prompting the driver to control the vehicle to decelerate.
In a third aspect, the present disclosure provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method of the first aspect.
In a fourth aspect, the present disclosure provides an electronic device comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory, the steps of the method of the first aspect.
In a fifth aspect, the present disclosure provides a vehicle comprising the apparatus of the second aspect.
According to the technical scheme, in a vehicle parking scene, the target parking space and the parking starting area are determined, the target deceleration of the vehicle is further determined, the deceleration control strategy is executed according to the target deceleration, the driver is assisted to stop the vehicle in the parking starting area, the problem that due to inexperience of operation of the driver, the vehicle cannot stop to the corresponding parking starting area, parking failure or low parking efficiency is caused is solved, and the efficiency and the success rate of parking and warehousing can be obviously improved.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
FIG. 1 is a schematic view of a vehicle parking scenario in accordance with an embodiment of the present disclosure;
fig. 2 is a flowchart of a method for assisting in parking according to an embodiment of the present disclosure;
FIG. 3 is a flow chart of a method of implementing a deceleration control strategy based on a target deceleration value provided by an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a parking assistance device according to an embodiment of the present disclosure;
fig. 5 is a block diagram of an electronic device provided by an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a vehicle according to an embodiment of the present disclosure.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the description that follows, the terms "first," "second," and the like are used for descriptive purposes only and are not intended to indicate or imply relative importance nor order to be construed.
First, an application scenario of the present disclosure is described, as shown in fig. 1, fig. 1 is a schematic view of a scenario in which a vehicle parks, in order to park in a target parking space, a parking path is generally required to be planned, a target parking start area is determined according to the planned path, and a driver needs to control the vehicle to drive into the target parking start area, so that the vehicle starts to park in the target parking start area, and thus the vehicle can accurately park in the target parking space.
However, in the related art, due to factors such as a vehicle speed and a driver reaction time, a parking start area is often missed, and thus, in the related art, the vehicle cannot be accurately controlled to travel to the target parking start area, so that parking adjustment is frequently performed, and parking efficiency is low.
In order to solve the above problems, the present disclosure provides a method, an apparatus, a storage medium, and an electronic device for assisting parking, which determine a target parking space and a parking start area, further determine a target deceleration of a vehicle, and execute a deceleration control strategy according to the target deceleration, so as to assist a driver to stop the vehicle in the parking start area, thereby avoiding a problem of failed parking or low parking efficiency due to an inexperienced driver's operation, in which the vehicle cannot stop in the corresponding parking start area, and thus improving efficiency and success rate of parking.
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings.
Fig. 2 is a method for assisting parking according to an embodiment of the present disclosure, as shown in fig. 1, the method includes:
s201, determining a target parking space into which the vehicle is to be parked.
In this step, the vehicle may obtain the current environmental information, and determine the candidate parking slots allowing parking according to the environmental information and the parameter information of the vehicle, where the parameter information of the vehicle may include, for example: vehicle length, vehicle width, wheel track, minimum turning radius and maximum brake pressure; the environmental information may include the type of parking space (e.g., vertical, horizontal, or diagonal), the length of the parking space, the width of the parking space, the position of the parking space (e.g., left or right), the distance to a surrounding parking space, a surrounding obstacle. It should be noted that, the specific manner of determining whether the parking space allows parking according to the environmental information and the parameter information of the vehicle may refer to the manner in the related art, and details are not described here.
After determining the candidate parking space, the target parking space may be determined in any one of the following two ways:
the first method is as follows: and taking the parking space selected by the driver of the vehicle from the candidate parking spaces currently displayed by the vehicle as the target parking space, so that the target parking space is determined by the selection of the driver, the controllability of the vehicle can be increased, and the user experience is improved.
In this mode, the vehicle may include a vehicle-mounted terminal, a display screen of the vehicle-mounted terminal displays candidate parking spaces, and a driver may select a target parking space from the candidate parking spaces displayed by the display screen, in one possible implementation manner, the display screen may be a touch screen, the driver may select the target parking space by directly clicking the parking space displayed on the touch screen, in another possible implementation manner, a parking space identifier corresponding to each candidate parking space may be displayed on the display screen, and the driver may select the target parking space by using a voice, for example, the driver may input a parking space identifier of a corresponding candidate parking space through a microphone, so that the candidate parking space corresponding to the parking space identifier is used as the target parking space.
The second method comprises the following steps: and under the condition that the depth change rate of the brake pedal of the vehicle reaches a preset change rate threshold value, taking the current preselected parking space of the vehicle as the target parking space, so that the parking intention of the driver is actively judged through the depth change of the brake pedal, the target parking space is further determined, the operation of the driver can be reduced, the phenomenon that the driver misses an effective parking space due to factors such as the vehicle speed or the reaction time of the driver is avoided, and the parking efficiency is improved.
The preselected parking space may be a parking space closest to the current position of the vehicle among the candidate parking spaces.
In this manner, after the vehicle determines the candidate parking space, the candidate parking space closest to the current position of the vehicle may be used as the preselected parking space, and at this time, if the depth change rate of the brake pedal of the vehicle reaches the preset change rate threshold, it is determined that the driver has an intention to park, and the current preselected parking space of the vehicle is used as the target parking space.
The brake pedal depth change rate may refer to a ratio of a change in the brake pedal depth to a current brake pedal depth, and the preset change rate threshold may be any value between 10% and 100% of a preset value, or may be set by a driver.
It should be noted that, in the above method, if the target parking space into which the vehicle is to be parked cannot be determined, the parking space search process is continued until the target parking space into which the vehicle is to be parked is determined in any one of the first and second manners, or the driver exits the parking mode.
S202, determining a target parking starting area according to the target parking space.
The target parking start area is a start area for parking the vehicle, that is, when the vehicle determines to park in a target parking space, the vehicle first needs to travel into the target parking start area, and then starts to park.
In this step, the position information of the target parking space and the driving parameters of the vehicle may be obtained, a parking path is planned, and the target parking start area is determined according to the planned path. For example, the shaded portion shown in fig. 1 is a target parking starting area, the rightmost boundary of the target parking starting area is a parking space loss boundary, and when a vehicle arrives at or exits from the parking space loss boundary, it indicates that the vehicle cannot park in the target parking space, and the target parking space needs to be determined again.
It should be noted that, as for a specific manner of obtaining the target parking start area, reference may be made to manners in the related art, and details are not described herein again.
S203, calculating a target deceleration value of the vehicle according to the current running speed of the vehicle and the farthest distance from the current position of the vehicle to the target parking starting area.
Wherein the farthest distance may be a distance between the position of the vehicle and a boundary of the target parking start area farthest from the vehicle. For example, as shown in fig. 1, the distance between the current position of the vehicle and the rightmost boundary in the target parking start area is the farthest distance.
In this step, the target deceleration value may be calculated by the following formula:
where a denotes a target deceleration value, Vo denotes an initial speed of the vehicle ready to be parked in the target parking start area, and s denotes a farthest distance from a current position of the vehicle to the parking start area.
And S204, executing a deceleration control strategy according to the target deceleration value to enable the vehicle to run in a deceleration mode, and stopping in the target parking starting area.
At this step, a current deceleration of the vehicle may be obtained, and in the event that the current deceleration is less than the target deceleration value, a deceleration control strategy is executed.
For example, the deceleration control strategy may include at least one of the following strategies:
strategy one: the output torque of the power system is reduced.
The output torque of the power system is used for driving the vehicle to move forward, the larger the output torque is, the faster the vehicle runs, and conversely, the smaller the output torque is, the slower the vehicle runs. By reducing this output torque, the vehicle deceleration can be increased to control a faster decrease in the vehicle travel speed due to the mass of the vehicle itself and the presence of environmental resistance.
And (2) strategy two: the generated power of the generator is increased.
The motor can be automatically converted into the generator in the driving process of the new energy vehicle, so that the energy recycling in the driving process is realized, and the battery module of the vehicle is charged. The larger the generated power for the generator, the larger the resistance of the vehicle, whereas the smaller the generated power for the generator, the smaller the resistance of the vehicle. By increasing the generated power of the generator, more energy is used to charge the battery module of the vehicle, increasing the resistance of the vehicle, thereby increasing the deceleration of the vehicle to control a faster decrease in the vehicle speed.
Strategy three: the brake pressure of the brake system is increased.
The main function of the brake system is to decelerate and even stop a running vehicle, wherein the higher the brake pressure of the brake system is, the higher the deceleration of the vehicle is, so that the vehicle can decelerate or stop more quickly, and conversely, the lower the brake pressure of the brake system is, the lower the deceleration of the vehicle is, so that the vehicle can decelerate more slowly.
And (4) strategy four: and sending prompt information, wherein the prompt information is used for prompting the driver to control the vehicle to decelerate.
In the strategy, the prompt information can be displayed through a display screen of the vehicle-mounted terminal, and can also be sent out in a voice mode.
For example, to further increase the efficiency of deceleration control, the above strategies may be combined to more efficiently implement deceleration control, with the deceleration control strategies including: to illustrate the reduction of the output torque of the powertrain, the increase of the generated power of the generator, and the increase of the braking pressure of the braking system, as shown in fig. 3, fig. 3 is a schematic diagram of a method for executing a deceleration control strategy according to a target deceleration value, which may include:
and S301, reducing the output torque of the power system until the current deceleration value of the vehicle reaches the target deceleration value.
And S302, under the condition that the output torque of the power system is reduced to the minimum value, if the deceleration value of the vehicle is still larger than the target deceleration value, increasing the power generation power of the generator until the current deceleration value of the vehicle reaches the target deceleration value.
And S303, under the condition that the generated power of the generator is increased to the maximum value, if the deceleration value of the vehicle is also larger than the target deceleration value, the braking pressure of the braking system is increased until the current deceleration value of the vehicle reaches the target deceleration value.
By using the deceleration control strategy, the power system output is preferentially reduced and the generated power of the generator is preferentially increased to brake, so that the energy consumption of the whole vehicle can be effectively reduced on the basis of assisting the driver to drive into the parking starting position.
For example, the output torque of the powertrain, the generated power of the generator, and the brake pressure of the brake system in the deceleration control strategy may be determined by the following equations:
Wo＝ηg*∫Pgdt+∫Pbdt－∫Pddt+∫∑Fz(t)V(t)dt，
where Wo represents energy of an initial state of the vehicle,
m represents a vehicle mass, Vo represents an initial speed of the vehicle ready to stop in a target parking start region, η g represents energy recovery efficiency, Pg represents a generated power of a vehicle generator, ^ Pgdt represents a recovered energy of the vehicle generator, Pb represents a braking power of a vehicle braking system, ^ Pbdt represents an energy consumed by the vehicle braking system, ^ Pddt represents an energy generated by the vehicle power system, Pd represents a power generated by an output torque of the vehicle power system, ^ fz (t) v (t) dt represents an energy loss generated by an environmental resistance, fz (t) represents an environmental resistance including a slope resistance, a vehicle air resistance, a vehicle rolling resistance, and v (t) represents a current running speed of the vehicle. It should be noted that the above example is described by combining the first strategy, the second strategy and the third strategy, and the three strategies are combined into an example, the disclosure is not limited to this, and other combination manners may also be included, for example, the second strategy and the third strategy may also be combined, that is, according to the target deceleration value, the generated power of the generator is increased, and at the same time, the brake pressure of the brake system is increased, so as to reduce the running speed of the vehicle.
Optionally, during the deceleration running of the vehicle, the vehicle may display at least one of the following information in real time: target parking space, target parking starting area, current position of vehicle, current deceleration, target deceleration, deceleration control strategy executed by vehicle. The method and the device are convenient for a driver to observe the condition that the vehicle drives into the target parking starting area in real time, and timely adjust related operations according to the observed condition.
In addition, in the case where the current deceleration is greater than or equal to the target deceleration value, the current deceleration running is maintained until the vehicle enters the target parking start area.
In this way, after the vehicle reaches the target parking start area, the vehicle may park from the target parking start area, one possible implementation may be that the vehicle automatically parks the vehicle in the target parking space, and another possible implementation may be that the driver controls the vehicle to park in the target parking space according to the planned parking path.
It should be noted that, in the method, the target parking space may be any one of a vertical parking space, a horizontal parking space, and an inclined parking space.
By adopting the method, the target parking space and the parking starting area are determined, the target deceleration of the vehicle is further determined, the deceleration control strategy is executed according to the target deceleration value, the driver is assisted to stop the vehicle in the parking starting area, the problem that due to inexperience of operation of the driver, the vehicle cannot stop to the corresponding parking starting area, so that the parking failure or the parking efficiency is low is solved, and the efficiency and the success rate of parking and warehousing can be obviously improved.
Fig. 4 is a schematic structural diagram of a parking assistance device according to an embodiment of the present disclosure, and as shown in fig. 4, the parking assistance device includes:
a parking space determining module 401, configured to determine a target parking space into which a vehicle is to be parked;
an initial area determining module 402, configured to determine an initial area of target parking according to the target parking space;
a processing module 403, configured to calculate a target deceleration value of the vehicle according to a current driving speed of the vehicle and a farthest distance from a current position of the vehicle to the target parking start area;
and the control module 404 is configured to execute a deceleration control strategy according to the target deceleration value, so that the vehicle decelerates to travel and stops in the target parking start area.
Optionally, the parking space determining module 401 is further configured to use a parking space selected by a driver of the vehicle from candidate parking spaces currently shown by the vehicle as a target parking space; or, taking the current preselected parking space of the vehicle as a target parking space under the condition that the depth change rate of the brake pedal of the vehicle reaches a preset change rate threshold value, wherein the preselected parking space comprises the parking space closest to the vehicle in the candidate parking spaces.
Optionally, the control module 404 is further configured to obtain a current deceleration of the vehicle; in the event that the current deceleration is less than the target deceleration value, a deceleration control strategy is executed.
Optionally, the control module 404 is further configured to execute at least one of the following deceleration control strategies: reducing the output torque of the power system; increasing the generated power of the generator; increasing the brake pressure of the brake system; and sending prompt information, wherein the prompt information is used for prompting the driver to control the vehicle to decelerate.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 5 is a block diagram illustrating an electronic device 500 in accordance with an example embodiment. As shown in fig. 5, the electronic device 500 may include: a processor 501 and a memory 502. The electronic device 500 may also include one or more of a multimedia component 503, an input/output (I/O) interface 504, and a communication component 505.
The processor 501 is configured to control the overall operation of the electronic device 500, so as to complete all or part of the steps in the parking assistance method. The memory 502 is used to store various types of data to support operation at the electronic device 500, such as instructions for any application or method operating on the electronic device 500 and application-related data, such as contact data, messaging, pictures, audio, video, and so forth. The Memory 502 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia component 503 may include a screen and an audio component. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may further be stored in the memory 502 or transmitted through the communication component 505. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 504 provides an interface between the processor 501 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 505 is used for wired or wireless communication between the electronic device 500 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or a combination of one or more of them, which is not limited herein. The corresponding communication component 505 may thus comprise: Wi-Fi module, Bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the parking assistance method described above.
In another exemplary embodiment, a computer-readable storage medium is also provided that includes program instructions, which when executed by a processor, implement the steps of the parking assist method described above. For example, the computer readable storage medium may be the memory 502 including program instructions executable by the processor 501 of the electronic device 500 to perform the method for assisting in parking described above.
FIG. 6 is a schematic diagram of a vehicle according to an exemplary embodiment. As shown in fig. 6, the vehicle may include the parking assist apparatus described above.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. A method of assisting parking of a vehicle, comprising:
determining a target parking space into which the vehicle is to be parked;
determining a target parking starting area according to the target parking space;
calculating a target deceleration value of the vehicle according to the current running speed of the vehicle and the farthest distance from the current position of the vehicle to the target parking starting area;
and executing a deceleration control strategy according to the target deceleration value so as to enable the vehicle to run in a deceleration mode and stop in the target parking starting area.
2. The method of claim 1, wherein the determining the target slot into which the vehicle is to be parked comprises:
taking a parking space selected by a driver of the vehicle from candidate parking spaces currently displayed by the vehicle as the target parking space; alternatively, the first and second electrodes may be,
and taking the current preselected parking space of the vehicle as the target parking space under the condition that the depth change rate of the brake pedal of the vehicle reaches a preset change rate threshold value, wherein the preselected parking space comprises the parking space closest to the vehicle in the candidate parking spaces.
3. The method of claim 1, wherein the executing a deceleration control strategy according to the target deceleration value comprises:
acquiring a current deceleration of the vehicle;
in the event that the current deceleration is less than the target deceleration value, executing the deceleration control strategy.
4. A method according to any of claims 1-3, characterized in that the deceleration control strategy comprises at least one of the following strategies:
reducing the output torque of the power system;
increasing the generated power of the generator;
increasing the brake pressure of the brake system;
and sending prompt information, wherein the prompt information is used for prompting the driver to control the vehicle to decelerate.
5. A device for assisting parking, comprising:
the parking space determining module is used for determining a target parking space into which the vehicle is to be parked;
the initial area determining module is used for determining a target parking initial area according to the target parking space;
the processing module is used for calculating a target deceleration value of the vehicle according to the current running speed of the vehicle and the farthest distance from the current position of the vehicle to the target parking starting area;
and the control module is used for executing a deceleration control strategy according to the target deceleration value so as to enable the vehicle to run in a deceleration mode and stop in the target parking starting area.
6. The apparatus of claim 5, wherein the control module is configured to obtain a current deceleration of the vehicle; in the event that the current deceleration is less than the target deceleration value, executing the deceleration control strategy.
7. The apparatus of claim 5 or 6, wherein the control module is configured to implement at least one of the following deceleration control strategies: reducing the output torque of the power system; increasing the generated power of the generator; increasing the brake pressure of the brake system; and sending prompt information, wherein the prompt information is used for prompting the driver to control the vehicle to decelerate.
8. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
9. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 4.
10. A vehicle, characterized in that the vehicle comprises:
an apparatus for assisting parking according to any one of claims 5 to 7.
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| CN202010620679.XA CN113942495A (en) | 2020-06-30 | 2020-06-30 | Parking assisting method and device, storage medium, electronic device and vehicle |
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| CN202010620679.XA CN113942495A (en) | 2020-06-30 | 2020-06-30 | Parking assisting method and device, storage medium, electronic device and vehicle |
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