CN109649379B

CN109649379B - Automatic parking control method and device

Info

Publication number: CN109649379B
Application number: CN201811573131.3A
Authority: CN
Inventors: 王彬; 苏冲; 孟祥雨; 孔凡忠
Original assignee: Beijing Automotive Group Co Ltd; Beijing Automotive Research Institute Co Ltd
Current assignee: Beijing Automotive Group Co Ltd; Beijing Automotive Research Institute Co Ltd
Priority date: 2018-12-21
Filing date: 2018-12-21
Publication date: 2020-09-04
Anticipated expiration: 2038-12-21
Also published as: CN109649379A

Abstract

The invention relates to a control method and a device for automatic parking, which are applied to a vehicle, wherein the vehicle is provided with an automatic passenger-replacing parking AVP module and a vehicle body Electronic Stability Program (ESP) module, and the method comprises the following steps: the method comprises the steps of obtaining a parking instruction, determining that a target parking space allows parking, sending a control request to an ESP (electronic stability program) module through an AVP (automatic parking protocol) module, sending a request response to the AVP module through the ESP module, sending a control instruction to the ESP module through the AVP module when a parking state included in the control request is an activated state and a control state included in the request response is the activated state, executing the control instruction by a control controller through the ESP module according to the control instruction, sending an instruction response to the AVP module, repeatedly executing the step of sending the control instruction to the ESP module through the AVP module until a vehicle drives into the target parking space. The automatic parking system can improve the accuracy and flexibility of automatic parking.

Description

Automatic parking control method and device

Technical Field

The disclosure relates to the field of vehicle control, in particular to a control method and device for automatic parking.

Background

With the increasing quantity of automobiles in China, the problem of 'difficult parking' is increasingly shown, higher requirements are put forward on the parking technology of drivers due to the fact that parking spaces are short and parking environments are complex, and in order to solve the problem that the drivers are difficult to park, the automatic parking technology capable of replacing manual parking of the drivers is gradually paid attention to by people. In the prior art, an automatic Parking technology completes Parking through an AVP (Automated Valet Parking, Chinese) module on a vehicle according to a preset route, cannot dynamically adjust the route so as to accurately park the vehicle in the center of a Parking space or press the vehicle to the sideline of the Parking space, and can cause the problem of frequently exiting the Parking function if an obstacle is encountered in the automatic Parking process or other conditions which do not meet the requirement of continuing Parking are met.

Disclosure of Invention

The invention aims to provide a control method and a control device for automatic parking, which can solve the problem that the automatic parking function of a vehicle in the prior art cannot accurately realize automatic parking.

In order to achieve the above object, according to a first aspect of the embodiments of the present disclosure, there is provided a control method for automatic parking, which is applied to a vehicle provided with an AVP module for automatic valet parking and an ESP module for electronic stability of a vehicle body, the method including:

after a parking instruction is acquired and a target parking space is determined to allow parking, sending a control request to the ESP module through the AVP module, wherein the control request comprises the current parking state of the vehicle;

sending, by the ESP module, a request response to the AVP module, the request response including a current control state of a controller of the vehicle;

when the parking state included in the control request is an activated state and the control state included in the request response is an activated state, sending a control instruction to the ESP module through the AVP module;

controlling the controller to execute the control command according to the control command through the ESP module, and sending a command response to the AVP module, wherein the command response comprises the current control state of the controller;

and repeatedly executing the steps that when the parking state included in the control request is an activated state and the control state included in the request response is an activated state, the AVP module sends a control instruction to the ESP module, the ESP module controls the controller to execute the control instruction according to the control instruction, and sends an instruction response to the AVP module until the vehicle drives into the target parking space.

Optionally, the method further comprises:

after the vehicle drives into the target parking space, first indication information is sent to the ESP module through the AVP module, and the first indication information is used for indicating that the current parking state of the vehicle is a finished state;

and sending second indication information to the AVP module through the ESP module, wherein the second indication information is used for indicating that the current control state of the vehicle is a waiting state.

Optionally, the control instruction includes: a travel distance, a travel speed, and a steering angle, the controller comprising: a transverse controller, a longitudinal controller and a brake controller;

the controlling the controller to execute the control command according to the control command by the ESP module comprises:

when the moving distance is not zero, controlling the longitudinal controller and the transverse controller to execute the control instruction so as to enable the vehicle to run according to a control route, wherein the control route is determined according to the moving distance, the moving speed and the steering angle;

and when the moving distance is zero, controlling the brake controller to execute the control command so as to stop the vehicle.

Optionally, after the controlling the controller to execute the control command according to the control command by the ESP module and sending a command response to the AVP module, the method further includes:

when the control state included in the received command response is a failure state or the current parking state of the vehicle is a failure state, determining a first braking mode according to the moving distance through the AVP module, and sending the first braking mode to the ESP module, wherein the first braking mode comprises the following steps: emergency braking and normal braking;

controlling, by the ESP module, the brake controller to brake in the first braking mode based on the first braking mode to stop the vehicle.

when the controller fails, sending third indication information to the AVP module through the ESP module, wherein the third indication information is used for indicating that the current control state of the vehicle is a failure state;

determining, by the AVP module, a second braking mode according to the movement distance and sending the second braking mode to the ESP module, the second braking mode comprising: emergency braking and normal braking;

controlling, by the ESP module, the brake controller to brake in the second braking mode based on the second braking mode to stop the vehicle.

According to a second aspect of the embodiments of the present disclosure, there is provided a control device for automatic parking, applied to a vehicle, the device including: the automatic passenger-replacing parking AVP module and the vehicle body electronic stability ESP module;

the AVP module is used for sending a control request to the ESP module after a parking instruction is obtained and a target parking space is determined to allow parking, wherein the control request comprises the current parking state of the vehicle;

the ESP module is used for sending a request response to the AVP module, and the request response comprises the current control state of the controller of the vehicle;

the AVP module is further used for sending a control instruction to the ESP module when the parking state included in the control request is an activated state and the control state included in the request response is an activated state;

the ESP module is further used for controlling the controller to execute the control command according to the control command and sending a command response to the AVP module, wherein the command response comprises the current control state of the controller;

Optionally, the AVP module is further configured to send first indication information to the ESP module after the vehicle drives into the target parking space, where the first indication information is used to indicate that the current parking state of the vehicle is a complete state;

the ESP module is further used for sending second indication information to the AVP module, and the second indication information is used for indicating that the current control state of the vehicle is a waiting state.

the ESP module is further to:

Optionally, the AVP module is further configured to, after the ESP module controls the controller to execute the control command according to the control command and sends a command response to the AVP module, determine a first braking mode according to the moving distance when the control status included in the received command response is a failure status or the current parking status of the vehicle is a failure status, and send the first braking mode to the ESP module, where the first braking mode includes: emergency braking and normal braking;

the ESP module is further used for controlling the brake controller to brake according to the first brake mode so as to stop the vehicle.

Optionally, the ESP module is further configured to, after the ESP module controls the controller to execute the control command according to the control command and sends a command response to the AVP module, send third indication information to the AVP module when the controller fails, where the third indication information is used to indicate that the current control state of the vehicle is a failure state;

the AVP module is further configured to determine a second braking mode according to the moving distance, and send the second braking mode to the ESP module, where the second braking mode includes: emergency braking and normal braking;

the ESP module is further used for controlling the brake controller to brake according to the second brake mode so as to stop the vehicle.

Through the technical scheme, after the parking instruction is acquired and the target parking space is determined to allow parking, firstly, the AVP module sends a control request comprising the current parking state of the vehicle to the ESP module, then the ESP module sends a request response comprising the current control state of the controller of the vehicle to the AVP module, when the parking state included in the control request is an activated state and the control state included in the request response is an activated state, the AVP module sends the control instruction to the ESP module, then the ESP module controls the controller to execute the control instruction according to the control instruction and sends an instruction response comprising the current control state of the controller to the AVP module, and finally, when the parking state included in the control request is an activated state and the control state included in the request response is an activated state, the AVP module sends the control instruction to the ESP module according to the control instruction, and the control controller executes the control command and sends a command response to the AVP module until the vehicle drives into the target parking space. The method and the device can flexibly control the vehicle to finish the parking instruction according to the real-time parking state, and improve the accuracy and the flexibility of automatic parking.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a flowchart illustrating a control method of automatic parking according to an exemplary embodiment.

Fig. 2 is a flowchart illustrating another control method for automatic parking according to an exemplary embodiment.

Fig. 3 is a flow chart illustrating one step 104 of the embodiment shown in fig. 1.

Fig. 4 is a flowchart illustrating another control method for automatic parking according to an exemplary embodiment.

Fig. 5 is a flowchart illustrating still another control method for automatic parking according to an exemplary embodiment.

Fig. 6 is a block diagram illustrating a control apparatus for automatic parking according to an exemplary embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

Before describing the control method and device for automatic parking provided by the present disclosure, an application scenario related to various embodiments of the present disclosure is first described. The application scenario may include a vehicle with an automatic parking function, where the vehicle is provided with an AVP module and an ESP (Electronic Stability Program, chinese) module, and may also be provided with a sensing system, where the sensing system may obtain sensing information of an environment where the vehicle is currently located, where the sensing information may include, for example: the distance between the vehicle and the surrounding obstacle, the size of the target parking space (which may include, for example, the length and width of the parking space), the relative positions of the vehicle and the target parking space, and the like, and the sensing system may include, for example: ultrasonic sensors, infrared sensors, radar, cameras, etc. The vehicle may be an automobile, which is not limited to a conventional automobile, a pure electric automobile or a hybrid automobile, but may also be applicable to other types of motor vehicles or non-motor vehicles.

Fig. 1 is a flowchart illustrating a control method of automatic parking according to an exemplary embodiment. As shown in fig. 1, the method is applied to a vehicle, an automatic valet parking AVP module and a vehicle body electronic stability ESP module are arranged on the vehicle, and the method comprises the following steps:

in step 101, after a parking instruction is acquired and it is determined that the target parking space allows parking, a control request is sent to the ESP module through the AVP module, wherein the control request includes a current parking state of the vehicle.

For example, when a driver needs to start an automatic parking function of a vehicle, the automatic parking function of the vehicle may be started by turning on a parking switch to issue a parking instruction, where the parking switch may be a physical switch disposed on the vehicle, a virtual button on a control interface (e.g., a central control display) of the vehicle, or a parking instruction issued by a mobile device (e.g., a mobile phone or a smart watch) bound to the vehicle. After a driver triggers a parking instruction, a vehicle acquires the parking instruction, a sensing system is started to acquire sensing information of the environment where the vehicle is located, the sensing information is sent to an AVP module, and the AVP module judges whether a target parking space allows parking according to the sensing information and parameter information of the vehicle, wherein the parameter information of the vehicle can comprise: vehicle length, vehicle width, wheel track and minimum turning radius. The method for judging whether the target parking space is allowed to park may be, for example, that the AVP module establishes a three-dimensional coordinate system according to the sensing information and the parameter information of the vehicle and performs parking path planning, when the AVP module can successfully plan a parking path and there is no obstacle in the parking path, it indicates that the target parking space is allowed to park, and when the AVP module does not plan a parking path or there is an obstacle in the parking path, it indicates that the target parking space is not allowed to park. After determining that the target parking space allows parking, a control request is sent to the ESP module through the AVP module, where the control request includes a current parking state of the vehicle (which may be represented by AVP _ AP _ BrakeModeStatus, for example). Wherein the parking state includes: an Active state (e.g., AVP _ AP _ BrakeModeStatus ═ Active), an inactive state (e.g., AVP _ AP _ BrakeModeStatus ═ Standby), and a complete state (e.g., AVP _ AP _ BrakeModeStatus ═ Maneuverfinished), an Active state in the parking state indicating that the vehicle parking function is Active, parking may be performed, an inactive state in the parking state indicating that the vehicle parking function is off (e.g., the driver actively turns off the parking function, or the AVP module fails), and a medium complete state in the parking state indicating that parking is complete.

In step 102, a request response is sent by the ESP module to the AVP module, the request response including the current control state of the controller of the vehicle.

For example, after receiving the control request sent by the AVP module, the ESP module sends a request response to the AVP module, where the request response includes a current control status (e.g., indicated by ESP _ aplstatus) of a controller of the vehicle, the request response includes an Active status (e.g., ESP _ aplstatus ═ Active), a Standby status (e.g., ESP _ aplstatus ═ Standby), and a Failure status (e.g., ESP _ aplstatus ═ Failure), the Active status in the control status is used to indicate that the controller is in a normal operating state, the control command may be executed, the Standby status in the control status is used to indicate that the controller is waiting to receive the control command (at this time, the controller does not execute the control command), the Failure status in the control status is used to indicate that the controller is in an abnormal operating state, and the control command cannot be executed (e.g., the ESP module fails).

In step 103, when the parking state included in the control request is the active state and the control state included in the request response is the active state, a control command is sent to the ESP module through the AVP module.

In step 104, the ESP module executes the control command according to the control command, and sends a command response to the AVP module, where the command response includes the current control status of the controller.

In step 105, steps 103 to 104 are repeatedly executed until the vehicle enters the target parking space.

For example, when the parking status included in the control request is an Active status (AVP _ AP _ BrakeModeStatus), and the control status included in the request response is an Active status (ESP _ aplstatus), that is, the parking function of the vehicle is activated and the controller is in a normal working state, the vehicle can enter the parking mode, and the AVP module sends a control command to the ESP module, where the control command may include: travel distance, travel speed, and steering angle. After the ESP module receives the control instruction sent by the AVP module, the ESP module controls the controller to execute the control instruction according to the control instruction and simultaneously sends an instruction response to the AVP module, wherein the instruction response comprises the current control state of the controller, so that the controller can feed back the current state of the ESP module to the AVP module while executing the control instruction. In the whole parking process, the AVP module and the ESP module need to be communicated continuously, control instructions are corrected continuously to ensure that the vehicle enters a target parking space accurately, and the states of the AVP module and the ESP module can be monitored in real time. And after the AVP module receives the command response sent by the ESP module, the steps from the step 103 to the step 104 are repeatedly executed until the vehicle enters the target parking space.

In summary, in the disclosure, after a parking instruction is obtained and it is determined that a target parking space allows parking, a control request including a current parking state of a vehicle is first sent to an ESP module through an AVP module, a request response including a current control state of a controller of the vehicle is then sent to the AVP module through the ESP module, when the parking state included in the control request is an active state and the control state included in the request response is an active state, the control instruction is sent to the ESP module through the AVP module, then the controller executes the control instruction according to the control instruction through the ESP module and sends an instruction response including a current control state of the controller to the AVP module, and finally, when the parking state included in the control request is an active state and the control state included in the request response is an active state, the control instruction is sent to the ESP module through the AVP module according to the control instruction, and the control controller executes the control command and sends a command response to the AVP module until the vehicle drives into the target parking space. The method and the device can flexibly control the vehicle to finish the parking instruction according to the real-time parking state, and improve the accuracy and the flexibility of automatic parking.

Fig. 2 is a flowchart illustrating another control method for automatic parking according to an exemplary embodiment. As shown in fig. 2, the method further comprises the steps of:

in step 106, after the vehicle enters the target parking space, first indication information is sent to the ESP module through the AVP module, where the first indication information is used to indicate that the current parking state of the vehicle is a complete state.

In step 107, second indication information indicating that the current control state of the vehicle is the waiting state is sent to the AVP module by the ESP module.

For example, after the vehicle successfully enters the target parking space, first indication information may be sent to the ESP module by the AVP module, where the first indication information is used to indicate that the current parking state of the vehicle is a complete state (for example, the first indication information may include AVP _ AP _ BrakeModeStatus ═ Maneuver finished). The method for judging whether the vehicle successfully drives into the target parking space can be that whether a first distance between a central axis of the vehicle and a central axis of the target parking space is within a preset first range and a second distance between a tail of the vehicle and a rear edge line of the target parking space is within a preset second range is judged through a sensing system, when the first distance is within the first range and the second distance is within the second range, the vehicle is indicated to successfully drive into the target parking space, and when the first distance is not within the first range or the second distance is not within the second range, the vehicle is indicated to not successfully drive into the target parking space. After receiving the first indication information sent by the AVP module, the ESP module changes the control state of the controller from an active state to a Standby state (ESP _ aplstatus), and sends second indication information to the AVP module, where the second indication information is used to indicate that the current control state of the vehicle is the Standby state (for example, the second indication information may include AVP _ AP _ BrakeModeStatus).

Fig. 3 is a flow chart illustrating one step 104 of the embodiment shown in fig. 1. As shown in fig. 3, the control instructions include: a travel distance, a travel speed, and a steering angle, the controller comprising: a lateral controller, a longitudinal controller and a brake controller.

Step 104 includes the steps of:

in step 1041, when the moving distance is not zero, the longitudinal controller and the lateral controller are controlled to execute a control command to cause the vehicle to travel according to a control route, which is a route determined according to the moving distance, the moving speed, and the steering angle.

In step 1042, when the moving distance is zero, the brake controller is controlled to execute a control command to stop the vehicle.

For example, by controlling the controller to execute the control command according to the control command by the ESP module, the controller may include: a lateral controller for controlling the movement of the vehicle in the longitudinal direction (e.g., movement distance, movement speed), a longitudinal controller for controlling the movement of the vehicle in the lateral direction (e.g., steering angle), and a brake controller for controlling the vehicle braking. When the parking state included in the control request is an Active state (AVP _ AP _ BrakeModeStatus), and the control state included in the request response is an Active state (ESP _ aplstatus), the AVP module determines the control command through a parking path algorithm according to the sensing information acquired by the sensing system, where the parking path algorithm may be a path planning algorithm (e.g., a minimum radius parking method) or a fuzzy control algorithm. The control instructions include: a moving distance (which represents a distance that the vehicle needs to move currently, for example, 6m, and may be represented by AVP _ AP _ StopDistance ═ 6), a moving speed (which represents a maximum value of the current moving speed of the vehicle, for example, 5km/h, and may be represented by AVP _ AP _ maxvelocity limit ═ 5), and a steering angle (which represents an angle that the vehicle needs to steer at the current steering wheel). And when the moving distance is not zero, controlling the longitudinal controller and the transverse controller to execute a control command so that the vehicle runs according to a control route, wherein the control route is determined according to the moving distance, the moving speed and the steering angle. When the moving distance is zero, the brake controller is controlled to execute a control command to stop the vehicle.

Fig. 4 is a flowchart illustrating another control method for automatic parking according to an exemplary embodiment. As shown in fig. 4, after step 104, the method further comprises:

in step 108, when the control state included in the received command response is a failure state or the current parking state of the vehicle is a failure state, determining a first braking mode according to the moving distance through the AVP module, and sending the first braking mode to the ESP module, wherein the first braking mode includes: emergency braking and normal braking.

In step 109, the ESP module controls the brake controller to brake in the first braking mode based on the first braking mode to stop the vehicle.

For example, when the control status included in the command response received by the AVP module is a Failure status (ESP _ aplstatus), for example: when the vehicle is parked, a special situation is encountered, for example, the vehicle sensing system detects that a pedestrian passes through the parking process, the vehicle deviates from a control route, and the ESP control module sends a command response that the control state is a Failure state (ESP _ aplstatus) to the AVP module. Or when the current parking state of the vehicle is a failure state (AVP _ AP _ BrakeModeStatus ═ Standby), for example: during automatic parking, the driver can terminate the parking function of the vehicle by actively closing the parking switch, and send a control request with the parking state as a failure state (AVP _ AP _ BrakeModeStatus) to the ESP module through the AVP module. The AVP module determines a first braking mode according to the movement distance and sends the first braking mode to the ESP module, and the first braking mode comprises the following steps: emergency braking and normal braking (which may be denoted by AVP _ AP _ FailureBrakeMode ═ Comfort | | | Emergency). After the ESP module receives the first braking mode, the ESP module controls the brake controller to brake in the first braking mode to stop the vehicle according to the first braking mode. For example, a threshold value may be set, the ESP module controlling the brake to brake in emergency braking when the movement distance is less than the threshold value, and in ordinary braking when the movement distance is greater than the threshold value.

Fig. 5 is a flowchart illustrating still another control method for automatic parking according to an exemplary embodiment. As shown in fig. 5, after step 104, the method further comprises:

in step 110, when the controller fails, third indication information is sent to the AVP module through the ESP module, and the third indication information is used for indicating that the current control state of the vehicle is a failure state.

In step 111, determining a second braking mode according to the moving distance by the AVP module, and sending the second braking mode to the ESP module, the second braking mode comprising: emergency braking and normal braking.

In step 112, the ESP module controls the brake controller to brake in the second braking mode based on the second braking mode to stop the vehicle.

For example, when the controller fails, the ESP module sends third indication information to the AVP module, where the third indication information is used to indicate that the current control state of the vehicle is a Failure state (for example, the third indication information may include ESP _ applstatus ═ Failure). The AVP module determines a second braking mode according to the movement distance and sends the second braking mode to the ESP module, and the second braking mode comprises the following steps: emergency braking and normal braking. And after the ESP module receives the second braking mode sent by the AVP module, the ESP module controls the braking controller to brake according to the second braking mode so as to stop the vehicle. For example, a threshold value may be set, the ESP module controlling the brake to brake in emergency braking when the movement distance is less than the threshold value, and in ordinary braking when the movement distance is greater than the threshold value.

Fig. 6 is a block diagram illustrating a control apparatus for automatic parking according to an exemplary embodiment. As shown in fig. 6, the apparatus 200 is applied to a vehicle, and includes: an automatic valet parking AVP module 201 and a vehicle body electronic stability ESP module 202.

The AVP module 201 is configured to, after acquiring the parking instruction and determining that the target parking space allows parking, send a control request to the ESP module, where the control request includes a current parking state of the vehicle.

The ESP module 202 is configured to send a request response to the AVP module, the request response including a current control state of a controller of the vehicle.

The AVP module 201 is further configured to send a control command to the ESP module when the parking state included in the control request is the active state and the control state included in the request response is the active state.

The ESP module 202 is further configured to control the controller to execute the control command according to the control command, and send a command response to the AVP module, where the command response includes a current control status of the controller.

And repeatedly executing the steps of sending a control instruction to the ESP module through the AVP module, controlling the controller to execute the control instruction according to the control instruction through the ESP module, and sending an instruction response to the AVP module until the vehicle drives into the target parking space when the parking state included in the control request is the activated state and the control state included in the request response is the activated state.

Optionally, the AVP module 201 is further configured to send first indication information to the ESP module after the vehicle enters the target parking space, where the first indication information is used to indicate that the current parking state of the vehicle is a complete state.

The ESP module 202 is further configured to send second indication information to the AVP module, where the second indication information is used to indicate that the current control status of the vehicle is a waiting status.

Optionally, the control instructions include: a travel distance, a travel speed, and a steering angle, the controller comprising: a lateral controller, a longitudinal controller and a brake controller.

The ESP module 202 is also operable to:

and when the moving distance is not zero, controlling the longitudinal controller and the transverse controller to execute a control command so that the vehicle runs according to a control route, wherein the control route is determined according to the moving distance, the moving speed and the steering angle.

When the moving distance is zero, the brake controller is controlled to execute a control command to stop the vehicle.

Optionally, the AVP module 201 is further configured to, after the ESP module executes the control command according to the control command and sends a command response to the AVP module, determine a first braking mode according to the moving distance when the control status included in the received command response is a failure status or the current parking status of the vehicle is a failure status, and send the first braking mode to the ESP module, where the first braking mode includes: emergency braking and normal braking.

The ESP module 202 is further configured to control the brake controller to brake in the first braking mode to stop the vehicle based on the first braking mode.

Optionally, the ESP module 202 is further configured to send third indication information to the AVP module when the controller fails after the ESP module controls the controller to execute the control command according to the control command and sends a command response to the AVP module, where the third indication information is used to indicate that the current control status of the vehicle is a failure status.

The AVP module 201 is further configured to determine a second braking mode according to the moving distance, and send the second braking mode to the ESP module, where the second braking mode includes: emergency braking and normal braking.

The ESP module 202 is further configured to control the brake controller to brake in the second braking mode to stop the vehicle based on the second braking mode.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. A control method for automatic parking is applied to a vehicle, an AVP module for automatic valet parking and an ESP module for electronic stability of a vehicle body are arranged on the vehicle, and the method comprises the following steps:

when the parking state included in the control request is an activated state and the control state included in the request response is an activated state, sending a control instruction to the ESP module through the AVP module, wherein the control instruction is determined by the AVP module according to the acquired perception information by using a preset parking path algorithm, and the perception information comprises: the distance between the vehicle and surrounding obstacles, the size of the target parking space, and the relative position between the vehicle and the target parking space;

2. The method of claim 1, further comprising:

3. The method of claim 1, wherein the control instructions comprise: a travel distance, a travel speed, and a steering angle, the controller comprising: a transverse controller, a longitudinal controller and a brake controller;

4. The method of claim 3, wherein after the controlling, by the ESP module, the controller to execute the control command according to the control command and sending a command response to the AVP module, the method further comprises:

5. The method of claim 3, wherein after the controlling, by the ESP module, the controller to execute the control command according to the control command and sending a command response to the AVP module, the method further comprises:

6. A control device for automatic parking, applied to a vehicle, comprising: the automatic passenger-replacing parking AVP module and the vehicle body electronic stability ESP module;

the AVP module is further configured to send a control instruction to the ESP module when the parking status included in the control request is an active status and the control status included in the request response is an active status, where the control instruction is determined by the AVP module according to the obtained awareness information by using a preset parking path algorithm, and the awareness information includes: the distance between the vehicle and surrounding obstacles, the size of the target parking space, and the relative position between the vehicle and the target parking space;

7. The device of claim 6, wherein the AVP module is further configured to send first indication information to the ESP module after the vehicle enters the target parking space, and the first indication information is used for indicating that the current parking state of the vehicle is a complete state;

8. The apparatus of claim 6, wherein the control instructions comprise: a travel distance, a travel speed, and a steering angle, the controller comprising: a transverse controller, a longitudinal controller and a brake controller;

the ESP module is further to:

9. The apparatus of claim 8, wherein the AVP module is further configured to, after the controller is controlled by the ESP module to execute the control command according to the control command and send a command response to the AVP module, determine a first braking mode according to the moving distance and send the first braking mode to the ESP module when the control status included in the received command response is a failure status or the current parking status of the vehicle is a failure status, and wherein the first braking mode includes: emergency braking and normal braking;

10. The apparatus of claim 8, wherein the ESP module is further configured to send third indication information to the AVP module when the controller fails after the controller is controlled to execute the control command according to the control command by the ESP module and send a command response to the AVP module, the third indication information indicating that the current control status of the vehicle is a failure status;