WO2023237081A1

WO2023237081A1 - Parking obstacle avoidance method and apparatus, electronic device, and storage medium

Info

Publication number: WO2023237081A1
Application number: PCT/CN2023/099297
Authority: WO
Inventors: 李超; 杜建宇; 陈博; 刘斌; 陈�光; 王皓南; 黄显晴
Original assignee: 中国第一汽车股份有限公司
Priority date: 2022-06-10
Filing date: 2023-06-09
Publication date: 2023-12-14
Also published as: CN114919570A

Abstract

A parking obstacle avoidance method and apparatus, an electronic device, and a storage medium. The method comprises: determining target obstacle information corresponding to a target vehicle (S110); in response to a distance to be used between the target vehicle and the target obstacle information being less than a preset distance threshold, acquiring at least one parameter to be used corresponding to the target vehicle (S120); determining, on the basis of said at least one parameter, a distance to be determined between the target vehicle and the target obstacle information at the next moment (S130); and determining a target processing mode corresponding to the distance to be determined, and controlling, on the basis of the target processing mode, the target vehicle to perform parking obstacle avoidance, wherein the target processing mode comprises emergency braking and continued parking (S140).

Description

A parking obstacle avoidance method, device, electronic equipment and storage medium

This application claims priority to the Chinese patent application with application number 202210656179.0, which was submitted to the China Patent Office on June 10, 2022. The entire content of this application is incorporated into this application by reference.

Technical field

This application relates to the field of intelligent driving technology, for example, to a parking obstacle avoidance method, device, electronic equipment and storage medium.

Background technique

The automatic parking system can effectively solve the problem of difficult parking, reduce the driver's driving burden, and reduce the occurrence of accidents such as scratches during parking.

At present, the automatic parking system can collect the distance between surrounding obstacles and the vehicle through the ultrasonic radar in the vehicle, and use the distance information between the obstacles and the vehicle as the basis for whether the vehicle should avoid obstacles. However, with this method, when the automatic parking system detects that the distance between the obstacle and the vehicle is less than the safety threshold but has not yet completely stopped, the parking system will immediately control the vehicle to perform emergency braking. Once the vehicle enters the emergency obstacle avoidance area, Afterwards, the automatic parking system will enter a control blind spot and be unable to control the vehicle to continue parking, resulting in parking failure.

In order to effectively assist vehicles in parking and avoiding obstacles, it is necessary to improve the parking and obstacle avoidance methods of vehicles.

Contents of the invention

This application provides a parking obstacle avoidance method, device, electronic equipment and storage medium to solve the problem of emergency braking when the parking position of the vehicle is inaccurate when parking.

According to one aspect of this application, a parking obstacle avoidance method is provided, including:

Determine target obstacle information corresponding to the target vehicle;

In response to the distance to be used between the target vehicle and the target obstacle information being less than a preset distance away from the threshold, obtaining at least one parameter to be used corresponding to the target vehicle; wherein the parameter to be used includes at least one of steering wheel angle, vehicle speed and gear parameter;

Based on the at least one parameter to be used, determine the distance to be determined between the target vehicle and the target obstacle information at the next moment;

Determine a target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method; wherein the target processing method includes emergency braking and continued parking.

According to another aspect of the present application, a parking obstacle avoidance device is provided, including:

an obstacle information determination module, configured to determine target obstacle information corresponding to the target vehicle;

The parameter acquisition module to be used is configured to acquire at least one parameter to be used corresponding to the target vehicle in response to the distance to be used between the target vehicle and the target obstacle information being less than a preset distance threshold; wherein, The parameters to be used include at least one of steering wheel angle, vehicle speed and gear parameters;

A distance to be determined determination module, configured to determine the distance to be determined between the target vehicle and the target obstacle information at the next moment based on the at least one parameter to be used;

a processing method determination module, configured to determine a target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method; wherein the target processing method includes emergency braking and continue parking.

According to another aspect of the present application, an electronic device is provided, the electronic device including:

at least one processor; and

a memory communicatively connected to the at least one processor; wherein,

The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the method described in any embodiment of the present application. Parking and obstacle avoidance methods.

According to another aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the present application when executed by a processor. Please use any embodiment of the parking and obstacle avoidance method.

Description of the drawings

Figure 1 is a flow chart of a parking obstacle avoidance method provided according to Embodiment 1 of the present application;

Figure 2 is a flow chart of a parking obstacle avoidance method provided according to Embodiment 2 of the present application;

Figure 3 is a schematic structural diagram of a parking obstacle avoidance device provided according to Embodiment 3 of the present application;

Figure 4 is a schematic structural diagram of the electronic device of the parking obstacle avoidance method implemented in this application.

Detailed ways

In order to enable those in the technical field to better understand the solution of the present application, the technical solution in the embodiment of the present application will be clearly and completely described below in conjunction with the drawings in the embodiment of the present application.

It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It is to be understood that the data so used are interchangeable under appropriate circumstances so that the embodiments of the application described herein can be practiced in sequences other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

Embodiment 1

Figure 1 is a flow chart of a parking obstacle avoidance method provided in Embodiment 1 of the present application. This embodiment can be applied to the situation of vehicle parking. The method can be executed by a parking obstacle avoidance device. The parking obstacle avoidance device The obstacle device can be implemented in the form of hardware and/or software, and the parking obstacle avoidance device can be configured in an electronic device that can execute a parking obstacle avoidance method.

As shown in Figure 1, the method includes:

S110. Determine target obstacle information corresponding to the target vehicle.

Among them, the target vehicle can be understood as the vehicle currently parking. When the target vehicle is parking, in order to ensure that the target vehicle can be accurately parked in the parking space, or to avoid collision between the target vehicle and the obstacle information, and to smoothly drive out of the parking space, it is necessary to obtain the obstacle information around the target vehicle. Perform obstacle avoidance. The target obstacle information can be understood as the obstacle information closest to the target vehicle, which can be a stationary object in the neighborhood of the target vehicle, such as a parking pile on the ground, etc.

For example, the parking state of the target vehicle during the parking process may include the vehicle parking state and the vehicle parking state, that is, driving into the parking space or driving out of the parking space. Usually there is at least one obstacle information around the target vehicle. In order to ensure that the target vehicle avoids collision with the surrounding obstacle information during parking, or the parking position is inaccurate, you can select from multiple obstacle information. Get the target obstacle information and perform parking based on the target obstacle information.

Optionally, determining the target obstacle information corresponding to the target vehicle includes: scanning at least one obstacle information to be referenced in the vicinity of the target vehicle based on a radar device installed on the target vehicle, and obtaining information corresponding to the at least one obstacle. The distance to be referenced corresponding to the obstacle information to be referenced; the obstacle information to be referenced corresponding to the shortest distance to be referenced is determined as the target obstacle information.

Among them, the radar device can be understood as a device used to scan the obstacle information in the neighborhood of the target vehicle. It determines the obstacle by sending signals to the obstacle information in the neighborhood of the target vehicle and receiving the signal reflected by the obstacle information. The distance between the information and the target vehicle. The obstacle information to be referenced can be understood as the obstacle information in the target neighborhood. The distance to be referenced can be understood as the distance between the obstacle information to be referenced and the target vehicle.

Exemplarily, the at least one obstacle information to be referenced in the neighborhood of the target vehicle is scanned by a radar device installed in the target vehicle to obtain the reference distance between the at least one obstacle information to be referenced and the target vehicle. In order to accurately park the target vehicle during the parking process, the obstacle information to be referenced with the closest distance to be referenced may be selected as the target obstacle information from at least one obstacle information to be referenced.

For example, a coordinate system can be established with the target vehicle as the center, the radar device can be used to scan the obstacle information to be referenced in the neighborhood, determine the position information of the obstacle information to be referenced, and calculate the obstacle information to be referenced. The distance between the obstacle information and the origin of the coordinate system is used as the reference distance corresponding to the obstacle information to be referenced, and the obstacle information to be referenced corresponding to the shortest reference distance is used as the target obstacle information.

S120. When the distance to be used between the target vehicle and the target obstacle information is less than the preset distance threshold, obtain at least one parameter to be used corresponding to the target vehicle.

Among them, the distance to be used can be understood as the distance between the target vehicle and the target obstacle information. The preset distance threshold can be understood as a preset safe distance threshold corresponding to the target vehicle, that is, the shortest distance at which obstacle information can approach the target vehicle. The parameters to be used can be understood as parameter information corresponding to each controller in the target vehicle. The parameters to be used include at least one of steering wheel angle, vehicle speed and gear parameters.

For example, after determining the distance to be used between the target obstacle information and the target vehicle, it is determined whether the distance to be used is less than the preset distance threshold. If the distance to be used is less than the preset distance threshold, it is necessary to obtain the distance to the target. At least one parameter to be used corresponding to the vehicle. That is to say, during the parking process of the target vehicle, if the target obstacle information has entered the safe distance of the target vehicle, it means that the target obstacle information is too close to the target vehicle, and the target vehicle needs to be controlled to avoid collision with the target vehicle during the parking process. In the case of a scratch or collision when the target obstacle information is sent, at this time, the parameters to be used corresponding to the target vehicle are obtained to control the target vehicle based on the parameters to be used.

Optionally, obtaining at least one parameter to be used corresponding to the target vehicle includes: based on the control unit in the target vehicle, obtaining the parameter to be used corresponding to the controller to be used.

Among them, the control unit can be understood as the overall controller in the target vehicle. It is connected to the controller to be used and can obtain the usage information of the controller to be used, such as usage time and usage parameters. The controller to be used includes at least one of a steering wheel controller, a vehicle speed controller, and a gear position controller.

For example, when obtaining the parameters to be used of the target vehicle, a parameter acquisition instruction can be sent to the controller to be used through the control unit in the target vehicle. After the controller to be used receives the parameter acquisition instruction sent by the control unit, it responds The parameter acquisition instruction sends the parameters to be used corresponding to the controller to be used to the control unit. Alternatively, the control unit can monitor the use of the controller to be used, and when it is necessary to obtain the parameters to be used corresponding to the target vehicle, directly call the controller to be used. The corresponding parameters to be used.

S130. Based on the at least one parameter to be used, determine the distance to be determined between the target vehicle and the target obstacle information at the next moment.

The distance to be determined can be understood as the distance between the target obstacle information and the target vehicle at the next moment.

For example, in order to determine whether the target vehicle has successfully parked, after obtaining at least one parameter to be used corresponding to the target vehicle, it is necessary to determine the distance to be determined from the target obstacle information to the target vehicle at the next moment, so as to determine the distance to be determined based on the distance to be determined. Determine whether the distance between the target obstacle information and the target vehicle is increasing, and based on this, determine to perform parking control on the target vehicle.

Optionally, based on the at least one parameter to be used, determining the distance to be determined between the target vehicle and the target obstacle information at the next moment includes: for the at least one parameter to be used, determining the distance corresponding to the current parameter to be used. The historical information to be used corresponding to the controller to be used at multiple historical moments; based on the trajectory simulation model, the historical information to be used corresponding to the at least one parameter to be used is calculated to obtain the driving trajectory to be used corresponding to the target vehicle Information; based on the driving trajectory information to be used, determine the distance to be determined between the target vehicle and the target obstacle information at the next moment.

In practical applications, the current parameters to be used can be understood as parameters that currently need to be used. That is to say, when determining the distance to be determined of the target vehicle based on at least one parameter to be used, each parameter to be used needs to be processed one by one. The parameter currently being processed is used as the current parameter to be used. The historical information to be used can be understood as the parameter information corresponding to the controller corresponding to the current parameter to be used at multiple historical moments. The trajectory simulation model can be understood as a model used to simulate the driving trajectory of the target vehicle. For example, it can be a neural network model. The historical information to be used corresponding to the target vehicle is input into the trajectory simulation model for analysis and processing, and the target vehicle can be obtained. The driving trajectory information corresponding to the vehicle to be used. The driving trajectory information to be used can be understood as trajectory information generated based on the location information of the target vehicle at multiple historical moments.

It can be understood that the movement process of objects has certain regularity. According to the driving trajectory information to be used, the position information of the target vehicle at the next moment can be roughly determined, and based on the target vehicle at the next moment, The vehicle's position information is used to determine the distance to be determined between the target vehicle and the target obstacle information.

Optionally, based on the driving trajectory information to be used, determining the distance to be determined between the target vehicle and the target obstacle information at the next moment includes: processing the driving trajectory information to be used based on the prediction function, and predicting the distance of the target vehicle at the next moment. Determine the position; according to the distance processing function, determine the distance to be determined between the position to be determined and the target obstacle information.

Among them, the prediction function can be understood as a function used to predict the position information of the target vehicle at the next moment. For example, if a coordinate system is established with the target obstacle information as the center, and the target vehicle is in motion, the target vehicle's next position can be determined based on the prediction function. A position to be determined at a moment's notice. The position to be determined can be understood as the position information of the target vehicle at the next moment. The distance processing function can be understood as a function that calculates the distance between the target vehicle and the target obstacle information.

For example, the prediction function is used to analyze and process the driving trajectory information to be used corresponding to the target vehicle, and based on the object movement rules, the to-be-determined position of the target vehicle at the next moment can be determined. Assume that a coordinate system is established with the target obstacle information as the center, and the distance between the position to be determined and the origin of the coordinate system is calculated through the distance processing function to obtain the distance to be determined between the position to be determined and the target obstacle information.

S140. Determine a target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method.

Among them, the target processing method can be understood as the control method of the target vehicle during the parking process, including emergency braking and continued parking.

For example, the control method for parking the target vehicle is determined according to the distance to be determined, so that the target vehicle avoids obstacles during parking. Optionally, determine the target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method, including: detecting the distance to be determined based on the distance detection condition, and determining whether the distance to be determined is greater than the distance to be determined. distance; when the distance to be determined is greater than the distance to be used, the target vehicle is controlled to continue parking; when the distance to be determined is less than or equal to the distance to be used, the target vehicle is controlled to brake urgently.

Among them, the distance detection condition can be understood as the condition used to detect the distance to be determined, used to Determine whether the distance to be determined increases relative to the distance to be used.

For example, during the parking process of the target vehicle, whether it is the vehicle parking state or the vehicle parking state, after determining the distance to be determined corresponding to the target vehicle, the distance to be determined is detected based on the distance detection condition, and the distance to be determined is determined. Determine whether the distance is increasing relative to the distance to be used. If it is increasing, it means that the distance between the target vehicle and the target obstacle information is getting farther and farther, and the probability of scratch or collision is reduced. Then control the target vehicle to continue to respond to the parking request. Continue to park. If it decreases, it means that the target vehicle is getting closer to the target obstacle information, and there may be a scratch or collision, and emergency braking of the target vehicle needs to be carried out immediately.

It should be noted that during the vehicle parking process, the target obstacle information can select the obstacle information in the parking direction of the target vehicle, and during the vehicle parking process, the target obstacle information can select the obstacle information in the parking out direction of the target vehicle.

The technical solution of this embodiment is to determine the target obstacle information corresponding to the target vehicle, scan the obstacle information in the neighborhood of the target vehicle through the radar equipment in the target vehicle, and use the obstacle information closest to the target vehicle as the target obstacle. material information. When the distance to be used between the target vehicle and the target obstacle information is less than the preset distance threshold, at least one parameter to be used corresponding to the target vehicle is obtained, and at least one controller to be used is obtained through the control unit in the target vehicle At least one parameter to be used, to determine the distance information between the target vehicle and the target obstacle information at the next moment based on the at least one parameter to be used. Based on the at least one parameter to be used, the distance to be determined between the target vehicle and the target obstacle information at the next moment is determined, the driving trajectory information to be used of the target vehicle is determined based on the at least one parameter to be used, and the target vehicle is predicted to be next The position information at a moment determines the distance to be determined between the target vehicle and the target obstacle information. Determine the target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method. Based on whether the distance to be determined increases relative to the distance to be used, determine whether to emergency brake or continue to park the target vehicle. car handling. It solves the problem of emergency braking when the parking position of the vehicle is inaccurate when parking, and achieves the effect of assisting the vehicle to park accurately.

Embodiment 2

In a specific example, as shown in Figure 2, after the parking function of the target vehicle is activated, at least one obstacle information in the neighborhood of the target vehicle can be scanned through the radar device on the target vehicle to obtain the information related to the target vehicle. The reference distance corresponding to at least one obstacle information to be referenced is used to establish a virtual wall of the target vehicle (that is, from the at least one obstacle information to be referenced, the obstacle information to be referenced with the shortest reference distance is selected as the target obstacle information). During the parking process, the parking system (ie, the control unit of the target vehicle) always uses the distance to be used between the target vehicle and the target obstacle information as a reference to control the parking of the target vehicle. It can be understood that when the distance to be used between the target obstacle information and the target vehicle is less than the preset distance threshold, the control unit of the target vehicle can obtain the parameters to be used corresponding to the target vehicle, such as steering wheel angle, vehicle speed and gear. bit information, etc., as well as the to-be-used historical information corresponding to the to-be-used controller corresponding to the to-be-used parameters at multiple historical moments. Based on the to-be-used historical information, the to-be-used driving trajectory information corresponding to the target vehicle can be determined. By inputting the driving trajectory information to be used into the prediction function, the to-be-determined position of the target vehicle at the next moment can be predicted, and the to-be-determined distance between the current target vehicle and the target obstacle information is determined based on the distance processing function. The distance to be determined is detected based on the distance detection condition. If the distance to be determined increases relative to the distance to be used, the target vehicle is controlled to respond to the parking control request and continues to park. If the distance to be determined decreases relative to the distance to be used, Then control the target vehicle to brake urgently.

The technical solution of this embodiment is to determine the target obstacle information corresponding to the target vehicle, scan the obstacle information in the neighborhood of the target vehicle through the radar equipment in the target vehicle, and use the obstacle information closest to the target vehicle as the target obstacle. material information. When the distance to be used between the target vehicle and the target obstacle information is less than the preset distance threshold, at least one parameter to be used corresponding to the target vehicle is obtained, and at least one controller to be used is obtained through the control unit in the target vehicle At least one parameter to be used, to determine the distance information between the target vehicle and the target obstacle information at the next moment based on the at least one parameter to be used. Based on the at least one parameter to be used, the distance to be determined between the target vehicle and the target obstacle information at the next moment is determined, the driving trajectory information to be used of the target vehicle is determined based on the at least one parameter to be used, and the target vehicle is predicted to be next location information at a moment to determine the target The distance to be determined between the target vehicle and the target obstacle information. Determine the target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method. Based on whether the distance to be determined increases relative to the distance to be used, determine whether to emergency brake or continue to park the target vehicle. car handling. It solves the problem of emergency braking when the parking position of the vehicle is inaccurate when parking, and achieves the effect of assisting the vehicle to park accurately.

Embodiment 3

Figure 3 is a schematic structural diagram of a parking obstacle avoidance device provided in Embodiment 3 of the present application. The device includes: an obstacle information determination module 210, a parameter acquisition module 220 to be used, a distance determination module 230 and a processing method determination module. 240.

Among them, the obstacle information determination module 210 is configured to determine the target obstacle information corresponding to the target vehicle;

The parameter acquisition module 220 to be used is configured to acquire at least one parameter to be used corresponding to the target vehicle when the distance to be used between the target vehicle and the target obstacle information is less than a preset distance threshold; wherein the parameter to be used includes a steering wheel. At least one of the parameters of turning angle, vehicle speed and gear;

The distance to be determined determining module 230 is configured to determine the distance to be determined between the target vehicle and the target obstacle information at the next moment based on the at least one parameter to be used;

The processing method determination module 240 is configured to determine a target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method; wherein the target processing method includes emergency braking and continued parking.

The technical solution of this embodiment is to determine the target obstacle information corresponding to the target vehicle, scan the obstacle information in the neighborhood of the target vehicle through the radar equipment in the target vehicle, and use the obstacle information closest to the target vehicle as the target obstacle. material information. When the distance to be used between the target vehicle and the target obstacle information is less than the preset distance threshold, at least one parameter to be used corresponding to the target vehicle is obtained, and at least one controller to be used is obtained through the control unit in the target vehicle at least one parameter to be used, to determine the position between the target vehicle and the target obstacle information based on the at least one parameter to be used distance information at the next moment. Based on the at least one parameter to be used, the distance to be determined between the target vehicle and the target obstacle information at the next moment is determined, the driving trajectory information to be used of the target vehicle is determined based on the at least one parameter to be used, and the target vehicle is predicted to be next The position information at a moment determines the distance to be determined between the target vehicle and the target obstacle information. Determine the target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method. Based on whether the distance to be determined increases relative to the distance to be used, determine whether to emergency brake or continue to park the target vehicle. car handling. It solves the problem of emergency braking when the parking position of the vehicle is inaccurate when parking, and achieves the effect of assisting the vehicle to park accurately.

Optionally, the obstacle information determination module includes: a reference distance determination unit configured to scan at least one obstacle information to be referenced in the neighborhood of the target vehicle based on a radar device installed on the target vehicle, and obtain the at least one obstacle information that is to be referenced. A distance to be referenced corresponding to the obstacle information to be referenced;

The obstacle information determining unit is configured to determine the obstacle information to be referenced corresponding to the shortest distance to be referenced as the target obstacle information.

Optionally, the parameter acquisition module to be used is configured to obtain the parameters to be used corresponding to the controller to be used based on the control unit in the target vehicle; where the controller to be used includes a steering wheel controller, a vehicle speed controller, and a gear position. At least one of the controllers.

Optionally, the distance to be determined determination module includes: a history information determination unit configured to determine, for the at least one parameter to be used, the history of use of the controller to be used corresponding to the current parameter to be used at multiple historical moments. information;

The driving trajectory information determination unit is configured to calculate the to-be-used historical information corresponding to the at least one to-be-used parameter based on the trajectory simulation model to obtain the to-be-used driving trajectory information corresponding to the target vehicle;

The distance to be determined determination unit is configured to determine the distance to be determined between the target vehicle and the target obstacle information at the next moment based on the driving trajectory information to be used.

Optionally, the distance-to-be-determined determination unit includes: a position-to-be-determined determination subunit, which is configured to process the driving trajectory information to be used based on the prediction function, and predict the target vehicle's to-be-determined distance at the next moment. Location;

The distance to be determined determining subunit is configured to determine the distance to be determined between the position to be determined and the target obstacle information based on the distance processing function.

Optionally, the processing method determination module includes: a distance to be used detection unit, configured to detect the distance to be determined based on the distance detection condition, and determine whether the distance to be determined is greater than the distance to be used;

The first unit is configured to control the target vehicle to continue parking when the distance to be determined is greater than the distance to be used;

The second unit is configured to control the target vehicle to brake urgently when the distance to be determined is less than or equal to the distance to be used.

Optionally, the parking status of the target vehicle includes vehicle parking status and vehicle parking status.

The parking obstacle avoidance device provided by the embodiments of this application can execute the parking obstacle avoidance method provided by any embodiment of this application, and has functional modules corresponding to the execution method.

Embodiment 4

FIG. 4 shows a schematic structural diagram of an electronic device 10 that can be used to implement embodiments of the present application. Electronic devices are intended to refer to various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (eg, helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are examples only and are not intended to limit the implementation of the present application as described and/or claimed herein.

As shown in Figure 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (Read-Only Memory, ROM) 12, a random access memory (Random Access Memory, RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can be loaded into the random access memory (RAM) according to the computer program stored in the read-only memory (ROM) 12 or from the storage unit 18. RAM)13 in Computer programs to perform various appropriate actions and processes. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via the bus 14. An input/output (I/O) interface 15 is also connected to the bus 14 .

Multiple components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc. etc.; and communication unit 19, such as network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices through computer networks such as the Internet and/or various telecommunications networks.

Processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU), various dedicated artificial intelligence (Artificial Intelligence, AI) computing chips, various running Machine learning model algorithm processor, digital signal processor (Digital Signal Process, DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes various methods and processes described above, such as parking and obstacle avoidance methods.

In some embodiments, the parking obstacle avoidance method may be implemented as a computer program, which is tangibly included in a computer-readable storage medium, such as the storage unit 18 . In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, at least one step of the parking obstacle avoidance method described above can be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the parking obstacle avoidance method in any other suitable manner (eg, by means of firmware).

Various implementations of the systems and techniques described above may be implemented in digital electronic circuit systems, integrated circuit systems, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Parts (ASSP), System on Chip (SOC), Complex Programmable Logic Device (CPLD), computer hardware, firmware, software, and/or they realized in a combination. These various implementations The formula may include: implemented in at least one computer program executable and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general purpose programmable processor. A device that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

Computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that the computer program, when executed by the processor, causes the functions/operations specified in the flowcharts and/or block diagrams to be implemented. A computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this application, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, laptop disks, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory ((Erasable Programmable Read-Only Memory, EPROM) or flash memory), optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device, magnetic storage device, or the above any suitable combination.

In order to provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having a display device (eg, CRT (Cathode Ray Tube, cathode ray tube) or LCD) for displaying information to the user. (Liquid Crystal Display, LCD monitor); and a keyboard and pointing device (eg, a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; e.g. For example, the feedback provided to the user can be any form of sensory feedback (for example, visual feedback, auditory feedback, or tactile feedback); and can be received from the user in any form (including acoustic input, voice input, or tactile input). input of.

The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., A user's computer having a graphical user interface or web browser through which the user can interact with implementations of the systems and technologies described herein), or including such backend components, middleware components, or any combination of front-end components in a computing system. The components of the system may be interconnected by any form or medium of digital data communication (eg, a communications network). Examples of communication networks include: Local Area Network (LAN), Wide Area Network (WAN), blockchain network, and the Internet.

Computer systems may include clients and servers. Clients and servers are generally remote from each other and typically interact over a communications network. The relationship of client and server is created by computer programs running on corresponding computers and having a client-server relationship with each other. The server can be a cloud server, also known as cloud computing server or cloud host. It is a host product in the cloud computing service system to solve the problems that exist in traditional physical host and virtual private server (VPS) services. It has the disadvantages of difficult management and weak business scalability.

It should be understood that various forms of the process shown above may be used, with steps reordered, added or deleted. For example, each step described in this application can be executed in parallel, sequentially, or in a different order. As long as the desired results of the technical solution of this application can be achieved, there is no limitation here.

Claims

A parking obstacle avoidance method includes:

Determine target obstacle information corresponding to the target vehicle;

In response to the distance to be used between the target vehicle and the target obstacle information being less than a preset distance threshold, at least one parameter to be used corresponding to the target vehicle is obtained; wherein the parameter to be used includes a steering wheel angle. , at least one of vehicle speed and gear parameters;

Based on the at least one parameter to be used, determine the distance to be determined between the target vehicle and the target obstacle information at the next moment;

Determine a target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method; wherein the target processing method includes emergency braking and continued parking.
The method according to claim 1, wherein determining the target obstacle information corresponding to the target vehicle includes:

Based on the radar equipment installed on the target vehicle, scan at least one obstacle information to be referenced in the neighborhood of the target vehicle to obtain the distance to be referenced corresponding to the at least one obstacle information to be referenced;

The obstacle information to be referenced corresponding to the shortest distance to be referenced is determined as the target obstacle information.
The method according to claim 1, wherein said obtaining at least one parameter to be used corresponding to the target vehicle includes:

Based on the control unit in the target vehicle, parameters to be used corresponding to the controller to be used are obtained; wherein the controller to be used includes at least one of a steering wheel controller, a vehicle speed controller, and a gear position controller.
The method according to claim 1, wherein determining the distance to be determined between the target vehicle and the target obstacle information at the next moment based on the at least one parameter to be used includes:

For the at least one to-be-used parameter, determine the to-be-used historical information corresponding to the to-be-used controller corresponding to the current to-be-used parameter at multiple historical moments;

Based on the trajectory simulation model, calculate the to-be-used historical information corresponding to the at least one to-be-used parameter to obtain the to-be-used driving trajectory information corresponding to the target vehicle;

Based on the driving trajectory information to be used, the distance to be determined between the target vehicle and the target obstacle information at the next moment is determined.
The method according to claim 4, wherein determining the distance to be determined between the target vehicle and the target obstacle information at the next moment based on the driving trajectory information to be used includes:

Process the to-be-used driving trajectory information based on a prediction function to predict the to-be-determined position of the target vehicle at the next moment;

According to the distance processing function, the distance to be determined between the position to be determined and the target obstacle information is determined.
The method according to claim 1, wherein determining a target processing method corresponding to the distance to be determined, and controlling the target vehicle to park and avoid obstacles based on the target processing method includes:

Detect the distance to be determined based on the distance detection condition, and determine whether the distance to be determined is greater than the distance to be used;

In response to the distance to be determined being greater than the distance to be used, controlling the target vehicle to continue parking;

In response to the distance to be determined being less than or equal to the distance to be used, emergency braking of the target vehicle is controlled.
The method according to claim 1, wherein the parking status of the target vehicle includes a vehicle parking status and a vehicle parking status.
A parking obstacle avoidance device, including:

an obstacle information determination module, configured to determine target obstacle information corresponding to the target vehicle;

The parameter acquisition module to be used is configured to acquire at least one parameter to be used corresponding to the target vehicle in response to the distance to be used between the target vehicle and the target obstacle information being less than a preset distance threshold; wherein, The parameters to be used include at least one of steering wheel angle, vehicle speed and gear parameters;

A distance to be determined determination module, configured to determine the distance to be determined between the target vehicle and the target obstacle information at the next moment based on the at least one parameter to be used;

a processing method determination module, configured to determine a target processing method corresponding to the distance to be determined, and control the target vehicle to park and avoid obstacles based on the target processing method; wherein the target processing method includes emergency braking and continue parking.
An electronic device including:

at least one processor; and

a memory communicatively connected to the at least one processor; wherein,

The memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor, so that the at least one processor can execute any one of claims 1-7 Described parking obstacle avoidance method.
A computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the parking obstacle avoidance method described in any one of claims 1-7 when executed by a processor.