CN114291049B - Automatic parking system and method - Google Patents
Automatic parking system and method Download PDFInfo
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- CN114291049B CN114291049B CN202210100341.0A CN202210100341A CN114291049B CN 114291049 B CN114291049 B CN 114291049B CN 202210100341 A CN202210100341 A CN 202210100341A CN 114291049 B CN114291049 B CN 114291049B
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Abstract
The embodiment of the invention discloses an automatic parking system level method. The system comprises an automatic parking control module, a surrounding environment information acquisition module and a braking module, wherein the automatic parking control module is in communication connection with the surrounding environment information acquisition module and used for acquiring vehicle state information and traffic information in front of a main vehicle, the automatic parking control module is in communication connection with the braking module and used for acquiring braking information according to the state of a brake pedal provided by the braking module, and the automatic parking control module is also used for controlling the main vehicle to activate an automatic parking function when the vehicle state information, the traffic information and the braking information in front of the main vehicle meet an automatic parking activation condition. According to the technical scheme, the additional operation of the user in the process of parking the vehicle automatically is reduced, and the driving experience of the user and the intelligent experience of the whole vehicle system are improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic control of vehicles, in particular to an automatic parking system and method.
Background
The parking brake can lock a rotating shaft or a rear wheel when the automobile is parked, so that resistance is provided for the automobile, the automobile does not slide, and the parking brake is a parking gear in the automatic gear automobile. The Automatic Vehicle Hold (AVH) function can automatically start a parking brake when an automobile is parked, and can help a driver to automatically maintain the braking force of the automobile through an electric control system when the driver needs the braking force, so that the right foot of the driver is released.
At present, there are several ways of activating AVH functions, generally without regard to road conditions, as follows: 1) And the brake pedal is lightly stepped to activate. The method for activating the AVH function is relatively simple, extra operation is not needed, but the brake pedal is positioned under the feet of a driver, so that the brake pedal is easily activated by mistake, the starting speed of a user is influenced, and the driving experience is reduced; 2) The method has the advantages that the independent activation switch with the AVH function is arranged, and the switch needs to be manually turned on or off by a driver after the driver brakes and stops the vehicle, so that the operation burden of the user is additionally increased, and the intelligent experience of the whole vehicle system is reduced; 3) The driver steps on the brake pedal and activates the AVH function through specific operation, for example, the function is activated through increasing the pedal stepping depth based on the brake pedal depth of brake stopping, the mode needs to be activated specially by the driver, even if the situation of false activation is avoided, the driver still needs additional operation, and the intelligent experience of the whole vehicle system is also reduced.
In addition, considering the road conditions, the following are generally used to activate the AVH function: 1) Based on the navigation information, the AVH function is closed under the condition of congestion, and the driver still needs to judge and activate the ACH function under the condition of congestion; 2) Compared with the mode, the mode only increases the active following-stopping function before the vehicle is braked and stopped, and under the congestion working condition, if the driver frequently activates or closes the AVH function, the driving experience of the driver is also reduced.
Disclosure of Invention
The embodiment of the invention provides an automatic parking system and method, so that additional operation of a user is reduced, and the driving experience of the user and the intelligent experience of a whole vehicle system are improved.
In a first aspect, an embodiment of the present invention provides an automatic parking system, including an automatic parking control module, a surrounding environment information acquisition module, and a braking module;
the automatic parking control module is in communication connection with the surrounding environment information acquisition module and is used for acquiring vehicle state information and traffic information in front of the main vehicle;
the automatic parking control module is in communication connection with the braking module and is used for acquiring braking information according to the state of a braking pedal provided by the braking module;
the automatic parking control module is further used for controlling the main vehicle to activate an automatic parking function when the vehicle state information in front of the main vehicle, the traffic information and the brake information meet an automatic parking activation condition.
Optionally, the ambient environment information collection module includes a sensing module and a cloud platform; the automatic parking system further comprises a communication module; the automatic parking control module, the braking module, the sensing module and the communication module are positioned at a vehicle end;
the sensing module is used for acquiring state information and first traffic information of a vehicle in front of the main vehicle, wherein the state information of the vehicle in front of the main vehicle comprises speed information of the vehicle in front of the main vehicle, relative distance information of the main vehicle and the vehicle in front and relative acceleration information of the main vehicle and the vehicle in front; the first traffic information comprises traffic light information and lane information of the position of the main vehicle;
the cloud platform is in communication connection with the communication module and is used for acquiring second traffic information of the current position of the main vehicle according to the positioning information provided by the communication module; the second traffic information includes traffic congestion condition information in the vicinity of the subject vehicle;
the automatic parking control module is in communication connection with the communication module and is used for acquiring the second traffic information provided by the cloud platform.
Optionally, the ambient environment information collection module further comprises a roadside intelligent device; the automatic parking system also comprises a communication module; the automatic parking control module, the braking module and the communication module are positioned at a vehicle end;
the automatic parking control module is in communication connection with the roadside intelligent equipment through the communication module and is used for acquiring the vehicle state information in front of the main vehicle and the traffic information which are acquired by the roadside intelligent equipment;
the vehicle state information in front of the main vehicle comprises vehicle speed information of the front vehicle of the main vehicle, relative distance information of the main vehicle and the front vehicle and relative acceleration information of the main vehicle and the front vehicle; the traffic information includes traffic light information at a position where the subject vehicle is located, lane information, and traffic congestion condition information near the subject vehicle.
Optionally, the automatic parking control module is configured to determine that an automatic parking activation condition is satisfied when a traffic congestion time at a position of the subject vehicle is greater than a first preset time, and control the subject vehicle to activate an automatic parking function.
Optionally, the automatic parking control module is further configured to determine that an automatic parking activation condition is met and control the main vehicle to activate an automatic parking function when the main vehicle does not have a front vehicle, the traffic light information at the position of the main vehicle includes red light state information, and the remaining duration of the red light state is greater than a first preset duration.
Optionally, the automatic parking control system further comprises a power module, wherein the automatic parking control module is in communication connection with the power module and is used for acquiring driving information according to the state of an accelerator pedal provided by the power module;
and the automatic parking control module is also used for controlling the main vehicle to close the automatic parking function according to the driving information and/or the secondary braking information after the automatic parking function is activated.
In a second aspect, an embodiment of the present invention further provides an automatic parking method, which is applied to the automatic parking system described in the first aspect, and includes:
acquiring vehicle state information and traffic information in front of a host vehicle; (ii) a
Obtaining braking information according to the state of a brake pedal provided by a braking module;
and controlling the main vehicle to activate an automatic parking function when the vehicle state information in front of the main vehicle, the traffic information and the brake information meet an automatic parking activation condition.
Optionally, when the vehicle state information in front of the host vehicle, the traffic information, and the brake information satisfy an automatic parking activation condition, controlling the host vehicle to activate an automatic parking function includes:
the method comprises the steps that a front vehicle exists in a main vehicle, the speed of the front vehicle is smaller than a first preset vehicle speed, the relative distance between the main vehicle and the front vehicle is smaller than a first preset distance, the relative acceleration between the main vehicle and the front vehicle is 0, and when the traffic jam time of the position of the main vehicle is larger than a first preset time, the automatic parking activating condition is determined to be met, and the main vehicle is controlled to activate the automatic parking function.
Optionally, the method further comprises:
and if the main vehicle does not have a front vehicle, the traffic light information at the position of the main vehicle comprises red light state information, and the remaining duration of the red light state is longer than a first preset duration, determining that an automatic parking activating condition is met, and controlling the main vehicle to activate an automatic parking function.
Optionally, when the vehicle state information in front of the host vehicle, the traffic information, and the brake information satisfy an automatic parking activation condition, after controlling the host vehicle to activate an automatic parking function, the method further includes:
and controlling the main vehicle to close the automatic parking function according to the driving information and/or the secondary braking information.
The embodiment provides an automatic parking system, including automatic parking control module, surrounding environment information acquisition module and braking module, automatic parking control module and surrounding environment information acquisition module communication are connected, be used for acquireing main part vehicle place ahead vehicle state information and traffic information, automatic parking control module and braking module communication are connected, be used for acquireing braking information according to the brake pedal state that braking module provided, automatic parking control module still is used for when main part vehicle place ahead vehicle state information, traffic information and braking information satisfy the automatic parking activation condition, control main part vehicle activation automatic parking function. The state information and traffic information of the front vehicle of the main vehicle, which are acquired by the surrounding environment information acquisition module, cover various vehicle condition information including traffic jam condition information near the main vehicle, the brake pedal state provided by the brake module is combined to acquire brake information, the automatic parking module receives the information and comprehensively judges whether the automatic parking activation condition is met, additional operation of a driver is not needed, and the driving experience of a user and the intelligent experience of a whole vehicle system are improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments thereof, made with reference to the following drawings:
fig. 1 is a schematic structural diagram of an automatic parking system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of another automatic parking system provided by an embodiment of the invention;
FIG. 3 is a schematic structural diagram of another automatic parking system according to an embodiment of the present invention
Fig. 4 is a schematic flowchart of an automatic parking method according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
Before discussing exemplary embodiments in greater detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, subprograms, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
The term "include" and variations thereof as used herein are intended to be open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment".
It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used for distinguishing corresponding contents, and are not used for limiting the order or interdependence relationship.
It is noted that references to "a" or "an" or "the" modification(s) in the present invention are intended to be illustrative rather than limiting and that those skilled in the art will understand that reference to "one or more" unless the context clearly indicates otherwise.
Fig. 1 is a schematic structural diagram of an automatic parking system according to an embodiment of the present invention. As shown in fig. 1, the automatic parking system includes an automatic parking control module 110, a surrounding environment information collection module 120, and a brake module 130, wherein the automatic parking control module 110 is communicatively connected to the surrounding environment information collection module 120 and is configured to acquire vehicle state information and traffic information in front of a subject vehicle, the automatic parking control module 110 is communicatively connected to the brake module 130 and is configured to acquire brake information according to a brake pedal state provided by the brake module 130, and the automatic parking control module 110 is further configured to control the subject vehicle to activate an automatic parking function when the vehicle state information, the traffic information, and the brake information in front of the subject vehicle satisfy an automatic parking activation condition.
The automatic parking control module 110 is an automatic brake function, after the automatic brake function is started, the manual brake or the electronic manual brake can be avoided, so that the operation is simplified, the automatic parking function is realized, the electronic manual brake is not simply used for completing, when a main vehicle parks on an upper slope or a lower slope or in front of a traffic light, the parking can be performed by using the manual brake, at the moment, if the electronic manual brake is simply used, the corresponding speed is relatively slow, the time for a driver to pull and release the manual brake by hands is probably not more than 0.3 second, the manual control is more flexible than the electric control, a precondition action for stepping on the brake is needed for starting the electronic manual brake, the response time of a key is prolonged, and the operation time of a motor is about 0.5 second. The working principle of the automatic parking system is that a brake management system controls four-wheel brakes through the expansion function of an electronic hand brake, when a vehicle is temporarily parked and needs to be restarted after a short period of time, parking is finished through the brakes controlled by a vehicle body electronic stability control system, a computer can measure the levelness of a vehicle body and the torque of wheels through a series of sensors, judge the slipping trend of the vehicle, and apply a proper brake force to the wheels to make the vehicle stop. By using the automatic parking function, a driver does not need to brake for a long time when the vehicle stops, and unnecessary sliding of the vehicle can be avoided under the condition that the automatic parking brake is started.
In this embodiment, the brake module 130 includes a brake pedal (not shown in the drawings) for decelerating and stopping, the operation of the brake pedal is mainly divided into slow braking, emergency braking, combined braking and indirect braking, and the automatic parking control module 110 is in communication with the brake module 130 and can acquire the state of the brake pedal provided by the brake module 130, so as to acquire the current braking information of the host vehicle. In addition, the braking module 130 receives a parking command from the automatic parking control module 110 and controls the brake pedal to perform a braking action.
Specifically, the surrounding environment information collecting module 120 is configured to collect front vehicle state information and surrounding traffic information at a current position of the host vehicle, the braking module 130 is configured to collect braking information transmitted by a brake pedal, and the automatic parking control module 110 determines whether the information satisfies an automatic parking activation condition after receiving the front vehicle state information, the surrounding traffic information, and the braking information, and controls the host vehicle to activate an automatic parking function if the information satisfies the automatic parking activation condition, and does not activate the automatic parking function if the information does not satisfy the automatic parking activation condition.
It should be noted that, when the automatic parking control module 110 is respectively connected to the surrounding environment information acquisition module 120 and the brake module 130 in a communication manner, the connection manner may be any one of communication connection manners such as a hard wire, a LIN bus, a CAN bus, and the like, which is not limited in this embodiment.
The automatic parking system comprises an automatic parking control module, a surrounding environment information acquisition module and a braking module, wherein the automatic parking control module is in communication connection with the surrounding environment information acquisition module and used for acquiring vehicle state information and traffic information in front of a main vehicle, the automatic parking control module is in communication connection with the braking module and used for acquiring braking information according to the state of a brake pedal provided by the braking module, and the automatic parking control module is further used for controlling the main vehicle to activate an automatic parking function when the vehicle state information in front of the main vehicle, the traffic information and the braking information meet an automatic parking activation condition. The state information and the traffic information of the front vehicle of the main vehicle, which are acquired by the surrounding environment information acquisition module, cover various vehicle condition information including traffic jam condition information near the main vehicle, the brake pedal state provided by the brake module is combined to acquire brake information, the automatic parking module receives the information and comprehensively judges whether the automatic parking activation condition is met, additional operation of a driver is not needed, and the driving experience of a user and the intelligent experience of a whole vehicle system are improved.
Fig. 2 is a schematic structural diagram of another automatic parking system according to an embodiment of the present invention. As shown in fig. 2, the surrounding environment information collecting module 120 includes a sensing module 121 and a cloud platform 122, the automatic parking system further includes a communication module 140, the automatic parking control module 110, the braking module 130, the sensing module 121 and the communication module 140 are located at a vehicle end, the sensing module 121 is configured to collect vehicle state information and first traffic information in front of the subject vehicle, the vehicle state information in front of the subject vehicle includes vehicle speed information of a vehicle in front of the subject vehicle, relative distance information between the subject vehicle and the vehicle in front, and relative acceleration information between the subject vehicle and the vehicle in front, the first traffic information includes traffic light information and lane information at a position where the subject vehicle is located, the cloud platform 122 is communicatively connected to the communication module 140, and is configured to obtain second traffic information of a current position of the subject vehicle according to positioning information provided by the communication module 140, the second traffic information includes traffic jam condition information near the subject vehicle, and the automatic parking control module 110 is communicatively connected to the communication module 140 for obtaining the second traffic information provided by the cloud platform 122.
In the present embodiment, the automatic parking system includes a vehicle end 101 and a cloud platform 122.
In this embodiment, the sensing module 121 includes a front-view camera (not shown in the figure), when the sensing module 121 is located at the vehicle end, the front-view camera is generally disposed at the front of the main vehicle, and can acquire the status information of the vehicle located in front of the main vehicle, including: in addition to the speed information of the front vehicle, the relative distance information between the main vehicle and the front vehicle, and the relative acceleration information between the main vehicle and the front vehicle, the traffic light information in front of the current position of the main vehicle and the lane information of the current position of the main vehicle CAN be acquired by using the front-view camera, and the acquired information is transmitted to the automatic parking control module 110 through one of a hard line, a LIN bus and a CAN bus.
The cloud platform 122 is in communication connection with the communication module 140, information interaction can be achieved, the communication module 140 is located at a vehicle end, positioning information of a main vehicle can be obtained, a current lane where the main vehicle is located is accurate, the positioning information of the vehicle end is sent to the cloud platform, the cloud platform 122 provides an online service platform of traffic jam condition information near the main vehicle for the main vehicle according to the positioning information, the cloud platform 122 can achieve information interaction with the main vehicle, vehicle end information of the vehicle matched with the cloud platform 122 is obtained, traffic information of positions near the main vehicle is obtained, data calculation can be conducted on the basis of the information, traffic jam conditions near the main vehicle are given, and the traffic jam condition information is sent to the communication module 140.
It should be noted that, the cloud platform 122 analyzes the positioning information transmitted by the communication module 140 to obtain the traffic congestion information near the host vehicle, and this process has a lot of data input, calculation, output and other operations, and the calculation and processing of the data information by the cloud platform are well known to those skilled in the art, and will not be described in detail here.
In addition, in this embodiment, the cloud platform 122 and the communication module 140 implement information interaction by using 4G communication, and in other embodiments, information transmission may also be implemented by using other remote communication methods, which is not limited herein.
Specifically, the forward-looking camera transmits acquired vehicle speed information of a vehicle ahead of the main vehicle, relative distance information of the main vehicle and the vehicle ahead, relative acceleration information of the main vehicle and the vehicle ahead, traffic light information and lane information at the position of the main vehicle to the automatic parking control module 110 in a communication manner, the communication module 140 transmits positioning information to the cloud platform 122 in a communication manner, the cloud platform 122 analyzes the positioning information to obtain traffic jam condition information near the main vehicle and transmits the traffic jam condition information to the communication module 140, the automatic parking control module 110 comprehensively judges whether the information meets the condition for activating automatic parking activation after acquiring the traffic jam condition information near the main vehicle, and if the information meets the condition, the main vehicle is controlled to activate the automatic parking function.
It should be noted that, when the peripheral information collection module includes the sensing module 121 and the cloud platform 122, since the front of each host vehicle is provided with a sensing module similar to a forward-looking camera in the vehicle manufacturing process, the sensing module 121 is used to obtain the vehicle speed information of the front vehicle of the host vehicle, the relative distance information between the host vehicle and the front vehicle, the relative acceleration information between the host vehicle and the front vehicle, the traffic light information in front of the current position of the host vehicle, the lane information of the current position of the host vehicle, and the information interaction between the cloud platform 122 and the communication module 140 in the vehicle end 101, so as to obtain the traffic jam condition information near the host vehicle, which can be applied to all vehicles in the industry.
Fig. 3 is a schematic structural diagram of another automatic parking system according to an embodiment of the present invention. As shown in fig. 3, the surrounding environment information collecting module further includes a roadside intelligent device 123, the automatic parking system further includes a communication module 140, the automatic parking control module 110, the braking module 130, and the communication module 140 are located at the vehicle end 101, the automatic parking control module 110 is in communication connection with the roadside intelligent device 123 through the communication module 140, and is configured to obtain vehicle state information in front of the main vehicle and traffic information collected by the roadside intelligent device 123, the vehicle state information in front of the main vehicle includes vehicle speed information of the front vehicle of the main vehicle, relative distance information between the main vehicle and the front vehicle, and relative acceleration information between the main vehicle and the front vehicle, and the traffic information includes traffic light information, lane information at a position where the main vehicle is located, and traffic jam condition information near the main vehicle.
In the present embodiment, the automatic parking system is composed of a vehicle end 101 and a roadside intelligent device 123.
The roadside intelligent devices 123 may be fixed point detectors arranged on both sides of a road, and may obtain traffic flow data information of vehicles running in real time based on vehicles that change continuously, in this embodiment, the roadside intelligent devices 123 may be one of devices such as a transponder, an automatic vehicle detection device, and a global positioning system. The communication connection mode between the communication module 140 in the vehicle end 101 and the roadside intelligent device 123 may be mobile communication connection, so as to realize information interaction, and the command information in the communication module 140 is utilized to analyze and calculate dynamic traffic conditions, which may be summarized as wide road coverage, relatively low data acquisition cost, relatively high data accuracy, and the like.
Specifically, the vehicle end 101 is provided with the communication module 140, when the current host vehicle runs on the lane, the communication module 140 sends positioning information to the roadside intelligent device 123, so that the roadside intelligent device 123 determines specific traffic information of the current host vehicle on the lane according to the received positioning information, specifically, the traffic information includes vehicle speed information of a vehicle ahead of the host vehicle, relative distance information of the host vehicle and the vehicle ahead, relative acceleration information of the host vehicle and the vehicle ahead, traffic light information of a position where the host vehicle is located, lane information, and traffic jam condition information near the host vehicle, and transmits the information to the communication module 140 in a communication manner, and the automatic parking control module 110 of the vehicle end 101 receives the information and determines whether an automatic parking activation condition is met, and if so, controls the host vehicle to activate an automatic parking function.
Optionally, the automatic parking control module is configured to determine that an automatic parking activation condition is met and control the main vehicle to activate an automatic parking function when the main vehicle has a preceding vehicle, a speed of the preceding vehicle is less than a first preset vehicle speed, a relative distance between the main vehicle and the preceding vehicle is less than a first preset distance, a relative acceleration between the main vehicle and the preceding vehicle is 0, and a traffic congestion time at a position of the main vehicle is greater than a first preset time.
In this embodiment, the peripheral information collection module is described by taking the example of including a sensing module and a cloud platform, and in some other embodiments, the peripheral information collection module may also include a roadside intelligent device to collect peripheral information.
The automatic parking control module comprehensively judges whether the main vehicle meets the automatic parking activation condition or not according to the received vehicle speed information of the front vehicle of the main vehicle, the relative distance information of the main vehicle and the front vehicle, the relative acceleration information of the main vehicle and the front vehicle, the traffic light information and the lane information of the position where the main vehicle is located and the traffic jam condition information near the main vehicle.
In this embodiment, the first preset vehicle speed is 3kph, the first preset distance is 2m, and the first preset time is 5min.
Specifically, after a driver drives a main vehicle to normally run, a front-view camera in a sensing module acquires vehicle speed information of the front vehicle of the main vehicle, relative distance information of the main vehicle and the front vehicle, relative acceleration information of the main vehicle and the front vehicle, traffic light information and lane information of the position of the main vehicle in real time, the traffic light information and the lane information are transmitted to an automatic parking control module in a communication mode, the communication module acquires positioning information of the main body of the current vehicle in real time and uploads the positioning information to a cloud platform, the cloud platform acquires real-time traffic jam conditions around the main vehicle from navigation service of the cloud platform according to the positioning information, including jam time, transmits the traffic jam condition information to a communication module at a vehicle end, the communication module transmits the traffic jam conditions to the automatic parking control module in a communication mode, when the driver steps on a brake pedal and stops the vehicle, the automatic parking control module comprehensively judges whether an automatic parking activation condition is met or not according to the received information, when the main vehicle is in the front vehicle, the speed of the front vehicle is less than 3kph, the relative distance between the main vehicle and the front vehicle is less than 2m, the relative acceleration of the main vehicle and the parked vehicle is 0, the position of the main vehicle is located in the front parked, and the main vehicle is more than 5min, and the current automatic parking control module judges that the automatic parking control module automatically activates the current traffic jam condition.
After the automatic parking is activated, the driver may lift or depress the brake pedal to trigger the automatic parking function.
Optionally, the automatic parking control module is further configured to determine that an automatic parking activation condition is met and control the main vehicle to activate an automatic parking function when there is no front vehicle in the main vehicle, traffic light information at a position where the main vehicle is located includes red light state information, and a remaining duration of the red light state is greater than a first preset duration.
In this embodiment, the first preset time period is 60s.
Similar to the above embodiment, when the driver steps on the brake pedal and stops the vehicle, the automatic parking control module comprehensively judges whether the automatic parking activation condition is met according to the received information, when the main vehicle has no front vehicle, the traffic light information of the position of the main vehicle comprises red light state information, and the remaining duration of the red light state is greater than 60s, at this time, the automatic parking control module judges that the current main vehicle meets the automatic parking activation condition.
In addition, in combination with the automatic parking activating condition provided by the above embodiment, if the host vehicle meets one of the two activating conditions, the host vehicle may be controlled to activate the automatic parking function.
Optionally, the automatic parking system further comprises a power module, the automatic parking control module is in communication connection with the power module and is used for acquiring driving information according to the state of an accelerator pedal provided by the power module, and the automatic parking control module is further used for controlling the main vehicle to close the automatic parking function according to the driving information and/or the secondary braking information after the automatic parking function is activated.
In the embodiment, the power module comprises an accelerator pedal, and the driving intention of the driver of the main vehicle can be acquired.
Specifically, on the basis of the above embodiment, when the automatic parking function is activated, the driver depresses the accelerator pedal again, at which time the automatic parking function is turned off, and the host vehicle is in a normal fuel feeding type state, or the driver depresses the brake pedal again, and controls the host vehicle to brake, thereby controlling the host vehicle to turn off the automatic parking function.
Fig. 4 is a flowchart illustrating an automatic parking method according to an embodiment of the present invention. The method is applicable to the automatic parking system provided by any one of the above embodiments, and as shown in fig. 4, the method specifically includes:
and S410, acquiring the vehicle state information and the traffic information in front of the main vehicle.
As described above, the automatic parking control module is in communication connection with the surrounding environment information acquisition module to acquire vehicle state information and traffic information in front of the host vehicle.
As described above, the surrounding environment information collecting module includes a sensing module and a cloud platform, wherein the sensing module collects vehicle state information in front of the vehicle and first traffic information, the vehicle state information in front of the subject vehicle includes vehicle speed information of the subject vehicle in front of the vehicle, relative distance information of the subject vehicle and the vehicle in front of the vehicle, and relative acceleration information of the subject vehicle and the vehicle in front of the vehicle, the first traffic information includes traffic light information and lane information of a position where the subject vehicle is located, the cloud platform is in communication connection with the communication module and is configured to obtain second traffic information of the current position of the subject vehicle according to the positioning information provided by the communication module, and the second traffic information includes traffic jam condition information near the subject vehicle.
In addition, the surrounding environment information acquisition module can also comprise roadside intelligent equipment, the roadside intelligent equipment acquires vehicle state information and traffic information in front of the main vehicle, the vehicle state information in front of the main vehicle comprises vehicle speed information of the front vehicle of the main vehicle, relative distance information of the main vehicle and the front vehicle and relative acceleration information of the main vehicle and the front vehicle, and the traffic information comprises traffic light information and lane information of the position of the main vehicle and traffic jam condition information near the main vehicle
And S420, obtaining braking information according to the state of the brake pedal provided by the braking module.
As described above, the automatic parking control module is in communication connection with the brake module, and acquires brake information according to the state of the brake pedal provided by the brake module.
And S430, controlling the main vehicle to activate the automatic parking function when the vehicle state information, the traffic information and the brake information in front of the main vehicle meet the automatic parking activation condition.
Optionally, when the vehicle state information, traffic information and brake information in front of the subject vehicle satisfy an automatic parking activation condition, controlling the subject vehicle to activate an automatic parking function includes: the method comprises the steps that a front vehicle exists in a main vehicle, the speed of the front vehicle is smaller than a first preset speed, the relative distance between the main vehicle and the front vehicle is smaller than a first preset distance, the relative acceleration between the main vehicle and the front vehicle is 0, and when the traffic jam time of the position of the main vehicle is larger than the first preset time, the condition that the automatic parking activation is met is determined, and the main vehicle is controlled to activate the automatic parking function.
Specifically, after a driver drives a main vehicle to normally run, a front-view camera in a sensing module acquires vehicle speed information of a front vehicle of the main vehicle, relative distance information of the main vehicle and the front vehicle, relative acceleration information of the main vehicle and the front vehicle, traffic light information and lane information of the position of the main vehicle in real time, the traffic light information and the lane information are transmitted to an automatic parking control module in a communication mode, the communication module acquires positioning information of a current vehicle main body in real time and uploads the positioning information to a cloud platform, the cloud platform acquires real-time traffic jam conditions around the main vehicle from navigation service of the cloud platform according to the positioning information, including jam time, the traffic jam condition information is transmitted to a communication module at a vehicle end and is transmitted to the automatic parking control module in a communication mode through the communication module, when the driver steps on a brake pedal and stops the vehicle, the automatic parking control module comprehensively judges whether an automatic parking activation condition is met or not according to the received traffic jam information, when the main vehicle exists in the front vehicle and the speed of the front vehicle is less than 3kph, the relative distance between the main vehicle and the front vehicle is less than 2m, the relative acceleration of the main vehicle and the parking vehicle is 0, and the current parking function of the automatic parking control module is judged, and the automatic parking control module is obtained.
Optionally, the method further comprises: when the main vehicle does not have a front vehicle, the traffic light information of the position of the main vehicle comprises red light state information, and the remaining duration of the red light state is longer than a first preset duration, the condition that the automatic parking activation is met is determined, and the main vehicle is controlled to activate the automatic parking function.
Similar to the above embodiment, when the driver steps on the brake pedal and stops the vehicle, the automatic parking control module comprehensively judges whether the automatic parking activation condition is met according to the received information, when the main vehicle has no front vehicle, the traffic light information of the position of the main vehicle comprises red light state information, and the remaining duration of the red light state is greater than 60s, at this time, the automatic parking control module judges that the current main vehicle meets the automatic parking activation condition, and controls the main vehicle to activate the automatic parking function.
Optionally, when the vehicle state information in front of the host vehicle, the traffic information, and the brake information satisfy the automatic parking activation condition, after controlling the host vehicle to activate the automatic parking function, the method further includes: and controlling the main vehicle to close the automatic parking function according to the driving information and/or the secondary braking information.
Specifically, when the automatic parking function is activated, the driver depresses the accelerator pedal again, at this time, the automatic parking function is turned off, and the host vehicle is in a normal oil supply form state, or the driver depresses the brake pedal again to control the host vehicle to brake, so that the host vehicle is controlled to turn off the automatic parking function.
It is to be noted that the foregoing description is only exemplary of the invention and that the principles of the technology may be employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.
Claims (9)
1. An automatic parking system is characterized by comprising an automatic parking control module, a surrounding environment information acquisition module and a braking module;
the automatic parking control module is in communication connection with the surrounding environment information acquisition module and is used for acquiring vehicle state information and traffic information in front of the main vehicle;
the peripheral environment information acquisition module comprises a sensing module and a cloud platform; the automatic parking system also comprises a communication module; the automatic parking control module, the braking module, the sensing module and the communication module are positioned at a vehicle end;
the sensing module is used for acquiring state information and first traffic information of a vehicle in front of the main vehicle, wherein the state information of the vehicle in front of the main vehicle comprises speed information of the vehicle in front of the main vehicle, relative distance information of the main vehicle and the vehicle in front and relative acceleration information of the main vehicle and the vehicle in front; the first traffic information comprises traffic light information and lane information of the position of the main vehicle;
the cloud platform is in communication connection with the communication module and is used for acquiring second traffic information of the current position of the main vehicle according to the positioning information provided by the communication module; the second traffic information includes traffic congestion condition information in the vicinity of the subject vehicle;
the automatic parking control module is in communication connection with the communication module and is used for acquiring the second traffic information provided by the cloud platform;
the automatic parking control module is in communication connection with the braking module and is used for acquiring braking information according to the state of a braking pedal provided by the braking module;
the automatic parking control module is further used for controlling the main vehicle to activate an automatic parking function when the vehicle state information in front of the main vehicle, the traffic information and the brake information meet an automatic parking activation condition.
2. The automatic parking system of claim 1, wherein the ambient environment information collection module further comprises roadside intelligent devices; the automatic parking system further comprises a communication module; the automatic parking control module, the braking module and the communication module are positioned at a vehicle end;
the automatic parking control module is in communication connection with the roadside intelligent equipment through the communication module and is used for acquiring the vehicle state information in front of the main vehicle and the traffic information which are acquired by the roadside intelligent equipment;
the vehicle state information in front of the main vehicle comprises vehicle speed information of the front vehicle of the main vehicle, relative distance information of the main vehicle and the front vehicle, and relative acceleration information of the main vehicle and the front vehicle; the traffic information includes traffic light information at a position where the subject vehicle is located, lane information, and traffic congestion condition information near the subject vehicle.
3. The automatic parking system according to claim 2, wherein the automatic parking control module is configured to determine that an automatic parking activation condition is satisfied and control the host vehicle to activate an automatic parking function when the host vehicle has a leading vehicle, a speed of the leading vehicle is less than a first preset vehicle speed, a relative distance between the host vehicle and the leading vehicle is less than a first preset distance, a relative acceleration of the host vehicle and the leading vehicle is 0, and a traffic congestion time at a position of the host vehicle is greater than a first preset time.
4. The automatic parking system according to claim 2, wherein the automatic parking control module is further configured to determine that an automatic parking activation condition is satisfied and control the main vehicle to activate an automatic parking function when there is no front vehicle in the main vehicle, traffic light information at a position where the main vehicle is located includes red light state information, and a remaining duration of the red light state is greater than a first preset duration.
5. The automatic parking system according to claim 1, further comprising a power module, wherein the automatic parking control module is in communication connection with the power module and is used for acquiring driving information according to the state of an accelerator pedal provided by the power module;
and the automatic parking control module is also used for controlling the main vehicle to close the automatic parking function according to the driving information and/or the secondary braking information after the automatic parking function is activated.
6. An automatic parking method applied to the automatic parking system according to any one of claims 1 to 5, comprising:
acquiring vehicle state information and traffic information in front of a host vehicle; the vehicle state information in front of the main vehicle comprises vehicle speed information of the front vehicle of the main vehicle, relative distance information of the main vehicle and the front vehicle and relative acceleration information of the main vehicle and the front vehicle, and the traffic information comprises traffic light information and lane information of the position of the main vehicle and traffic jam condition information near the main vehicle;
obtaining braking information according to the state of a brake pedal provided by a braking module;
and controlling the main vehicle to activate an automatic parking function when the vehicle state information in front of the main vehicle, the traffic information and the brake information meet an automatic parking activation condition.
7. The automatic parking method according to claim 6, wherein controlling the subject vehicle to activate an automatic parking function when the subject vehicle front vehicle state information, the traffic information, and the brake information satisfy an automatic parking activation condition includes:
the main part vehicle has the front car, and the front car speed is less than first preset speed of a motor vehicle, the relative distance of main part vehicle and front car is less than first preset distance, the relative acceleration of main part vehicle and front car is 0, just when the traffic jam time of main part vehicle position department is greater than first preset time, confirm to satisfy automatic parking activation condition, and control the main part vehicle activates automatic parking function.
8. The automatic parking method according to claim 7, further comprising:
and if the main vehicle does not have a front vehicle, the traffic light information at the position of the main vehicle comprises red light state information, and the remaining duration of the red light state is longer than a first preset duration, determining that an automatic parking activating condition is met, and controlling the main vehicle to activate an automatic parking function.
9. The automatic parking method according to claim 6, further comprising, after controlling the subject vehicle to activate an automatic parking function when the subject vehicle front vehicle state information, the traffic information, and the brake information satisfy an automatic parking activation condition:
and controlling the main vehicle to close the automatic parking function according to the driving information and/or the secondary braking information.
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