CN109823340A - It is a kind of control vehicle parking method, control equipment - Google Patents
It is a kind of control vehicle parking method, control equipment Download PDFInfo
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- CN109823340A CN109823340A CN201910070958.0A CN201910070958A CN109823340A CN 109823340 A CN109823340 A CN 109823340A CN 201910070958 A CN201910070958 A CN 201910070958A CN 109823340 A CN109823340 A CN 109823340A
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Abstract
This application provides a kind of methods for controlling vehicle parking, this method is executed by control equipment, control equipment is located in vehicle, the vehicle further includes calculating equipment, the calculating equipment is connect with the control equipment, calculating equipment environmental parameter collected at the time of breaking down this method comprises: determining and calculating equipment, and obtain nearest from current time, generates cutoff command according to the environmental parameter.Equipment is controlled in technical solution provided by the present application can control vehicle parking according to the environmental information of vehicle periphery, so that the docking process of vehicle is more friendly, safer.
Description
Technical field
This application involves automatic Pilot fields, and set more particularly, to a kind of method for controlling vehicle parking, control
It is standby.
Background technique
With the development of technology, the technologies such as automatic Pilot, auxiliary driving have already appeared, this makes the control vehicle installed on vehicle
System can use the miscellaneous sensor being installed on vehicle, and acquire ambient enviroment in real time while the car is driving
Parameter information.Operation and analysis are carried out according to collected parameter information, and prompt driver may occur based on the analysis results
Danger or to vehicle driving carry out initiative intervention.
Control vehicle system may include calculating equipment and control equipment.Wherein, it calculates equipment and is mainly responsible for computing function, be used for
According to the miscellaneous sensor being installed on vehicle, specific barrier and route and parking to vehicle driving are identified
Route planned.Control equipment is mainly responsible for according to the route or travel by vehicle and parking route for calculating equipment output, is passed through
Vehicle body sensor connected to it controls vehicle driving or parking.
In traditional technical solution, calculate equipment by the collected parameter information of the sensor for being mounted on vehicle periphery into
Row operation and analysis cook up route or travel by vehicle and parking route, to control vehicle parking.It breaks down calculating equipment
In the case where, it is stopped in emergency by modes such as emergency brakings to vehicle by control equipment.But control equipment passes through promptly
Braking, which carries out parking, will cause safety problem.On the one hand, control equipment can be because of the relatively fast of vehicle by hard brake stop
Degree changes greatly, and may cause the case where rear car brake is not in time and by car rear-end.On the other hand, curved scene is passed by road
Under, control equipment may result in vehicle by hard brake stop and go out bend, hit highway edge.
Summary of the invention
The application provides a kind of method of control vehicle parking, control equipment, can be according to the environmental information of vehicle periphery
The parking route of vehicle and the acceleration of parking are accurately cooked up, so that vehicle parking is controlled, so that the docking process of vehicle
It is more friendly, safer.
In a first aspect, providing a kind of method of control vehicle parking, this method is executed by control equipment, controls equipment
For in vehicle, which further includes calculating equipment, which connect with the control equipment, calculated this method comprises: determining
Equipment breaks down, and calculating equipment environmental parameter collected at the time of obtain nearest from current time, according to described
Environmental parameter generates cutoff command.
It should be understood that the environmental parameter can be used to indicate that the environment of the vehicle periphery.
The component that calculating equipment failure can be in calculating equipment breaks down, and can also be and calculates in equipment
Software module breaks down.
In above-mentioned technical proposal, can accurately be cooked up according to the environmental information of vehicle periphery vehicle parking route and
The acceleration of parking, so that vehicle parking is controlled, so that the docking process of vehicle is more friendly, safer.
In one possible implementation, the environmental parameter is obtained from the control equipment, wherein the environment
Parameter is that the calculating equipment is sent to the control equipment.
In above-mentioned technical proposal, it can use the detection link transmitting for calculating equipment and controlling between equipment and calculate equipment
The collected ambient parameter information of sensor promotes resource utilization, avoids system so as to be multiplexed existing physical link
Design iterations.Simultaneously as the detection link safety for calculating equipment and controlling between equipment is higher ranked, therefore, pass through the inspection
Surveyor's chain road sends ambient parameter information, and the reliable of transmitting information can be improved.
In alternatively possible implementation, using remote direct data access RDMA mode by detecting link from institute
It states to calculate in equipment and obtains the environmental parameter.
It should be understood that detection link is to calculate equipment and control between equipment for sending the link of heartbeat message.
In above-mentioned technical proposal, it can be synchronized when calculating device fails and calculate the environment collected of equipment 110 ginseng
Number information, can be to avoid calculating equipment during normal operation, the frequent data synchronous interaction between control equipment, from
And it can be with the expense of lower system.
In alternatively possible implementation, the environmental parameter includes visual end point length, according to the institute detected
It states the current speed of vehicle and the visual end point length determines the first acceleration that the vehicle travels on forthright；And root
The cutoff command is generated according to first acceleration.
In above-mentioned technical proposal, the vehicle can be determined straight according to the current speed of vehicle and visual end point length
First acceleration of road traveling, so that vehicle realizes safe stopping in visual end point length range on forthright
Vehicle, so that realizing safer, more friendly parking.
In alternatively possible implementation, the environmental parameter includes visual end point length, visual length, direction
Angle, according to the current speed of the vehicle detected and the visual end point length, the visual length, the deflection
Determine the second acceleration that the vehicle travels on detour；And the cutoff command is generated according to second acceleration.
It, can be according to the current speed of vehicle and visual end point length, visual length, deflection in above-mentioned technical proposal
The first acceleration that the vehicle travels on detour is determined, so that vehicle is real on detour in visual end point length range
Existing secure parking.
In alternatively possible implementation, environmental parameter further includes road curvature, is determined according to the road curvature
The steering wheel angle that the vehicle travels on detour；And the cutoff command is generated according to the steering wheel angle.
In above-mentioned technical proposal, the side that can be travelled on detour according to the current speed of vehicle and road curvature vehicle
To disk corner, vehicle is preferably coped with and passes by curved scene, avoid in the prior art vehicle may result in vehicle
The case where going out bend, hitting highway edge.
Second aspect, the application provide a kind of control equipment, and the control equipment is for controlling vehicle parking, the control
Equipment is located in the vehicle, and the vehicle further includes calculating equipment, and the calculating equipment is connect with the control equipment, described
Controlling equipment includes:
Determining module, for determining that the calculating equipment breaks down.
Module is obtained, calculating equipment environmental parameter collected at the time of for obtaining nearest from current time,
In, the environmental parameter is used to indicate the environment of the vehicle periphery.
Processing module, for generating cutoff command according to the environmental parameter.
In one possible implementation, the calculating equipment is collected at the time of obtaining nearest from current time
When environmental parameter, the acquisition module is specifically used for: obtaining the control parameter from the control equipment, the control parameter is
The equipment that calculates is sent to the control equipment.
In alternatively possible implementation, the calculating equipment is acquired at the time of obtaining nearest from current time
Environmental parameter when, the acquisition module is specifically used for: using remote direct data access RDMA mode by detection link from
The environmental parameter is obtained in the calculating equipment.
Wherein, the detection link is for sending heartbeat message between the calculating equipment and the control equipment.
In alternatively possible implementation, the environmental parameter includes visual end point length, when according to the environment
When parameter generates cutoff command, the processing module is specifically used for: according to the current speed of the vehicle detected and institute
It states visual end point length and determines the first acceleration that the vehicle travels on forthright；According to first acceleration generation
Cutoff command.
In alternatively possible implementation, the environmental parameter includes visual end point length, visual length, direction
Angle, when generating cutoff command according to the environmental parameter, the processing module is also used to: being worked as according to the vehicle detected
Preceding speed and the visual end point length, the visual length, the deflection determines that the vehicle travels on detour
The second acceleration；The cutoff command is generated according to second acceleration.
In alternatively possible implementation, the environmental parameter includes road curvature, when according to the environmental parameter
When generating cutoff command, the processing module is also used to: determining the vehicle in the detour uplink according to the road curvature
The steering wheel angle sailed；The cutoff command is generated according to the steering wheel angle.
The third aspect, provides a kind of control equipment, and the control equipment includes processor and memory, the memory
For storing computer executed instructions, when the control equipment is run, the processor executes the computer in the memory
It executes instruction to be executed by control equipment such as the method in first aspect and first aspect in any possible implementation
Step.
Fourth aspect provides a kind of non-transient readable storage medium storing program for executing, including program instruction, when described program instructs quilt
When controlling equipment operation, the control equipment is executed in such as first aspect and first aspect in any possible implementation
Method.
5th aspect, provides a kind of computer program product, including program instruction, sets up when described program instruction is controlled
When received shipment row, the control equipment is executed such as the method in first aspect and first aspect in any possible implementation.
The application can also be further combined on the basis of the implementation that above-mentioned various aspects provide to provide more
More implementations.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of the control vehicle system 100 of vehicle provided by the embodiments of the present application.
Fig. 2 is a kind of schematic flow chart of method for controlling vehicle parking provided by the embodiments of the present application.
Fig. 3 is the schematic flow of the method for another control equipment control vehicle parking provided by the embodiments of the present application
Figure.
Fig. 4 is the schematic diagram that a kind of vehicle 400 provided by the embodiments of the present application travels on forthright.
Fig. 5 is the schematic diagram that a kind of vehicle 500 provided by the embodiments of the present application travels on detour.
Fig. 6 is the schematic diagram that a kind of vehicle 500 provided by the embodiments of the present application travels on detour.
Fig. 7 is a kind of structural schematic figure for controlling equipment 700 provided by the embodiments of the present application.
Fig. 8 is a kind of structural schematic figure for controlling equipment 800 provided by the embodiments of the present application.
Specific embodiment
Below in conjunction with attached drawing, the technical solution in the application is described.
With the development of technology, automatic Pilot, auxiliary drive, intelligent automobile has already appeared.The control vehicle system installed on vehicle
System can use the miscellaneous sensor being installed on vehicle, and acquire the ginseng of ambient enviroment in real time while the car is driving
Number information.Operation and analysis are carried out to collected parameter information, and the danger that prompt driver may occur based on the analysis results
Danger or the intervention that initiative is carried out to the driving of vehicle.
Above-mentioned vehicle can be car, truck, bus, construction equipment etc., and the embodiment of the present application is not done this especially
Restriction.
Fig. 1 is a kind of schematic diagram of the control vehicle system 100 of vehicle provided by the embodiments of the present application.Control vehicle system
100 may include calculating equipment 110 and control equipment 120, carry out in detail to calculating equipment 110 and control equipment 120 separately below
Thin description.
(1) equipment 110 is calculated
It calculates equipment 110 and is mainly responsible for computing function, for according to the miscellaneous sensor that is installed on vehicle,
The parameter information of the vehicle-periphery is acquired during vehicle driving in real time.To collected parameter information carry out operation with
Analysis, and control vehicle instruction can be determined based on the analysis results.
The embodiment of the present application is not especially limited the sensor being installed on vehicle, and can include but is not limited to: several
A camera 130, at least one radar (radar) 135, at least one positioning system 140, at least one Inertial Measurement Unit
(inertial measurement unit, IMU) 145.
Wherein, several cameras 130 can be deployed in the surrounding of vehicle respectively, and to the environmental parameter of vehicle periphery into
Row acquisition.For example, a few camera 130 can be mounted respectively on the front/rear collision bumper of vehicle, side-view mirror, windshield.
Radar 135 can measure the parameter informations such as distance and the speed of vehicle.Radar 135 can also utilize aerogram
The object in surrounding enviroment number to sense vehicle.Optionally, in some embodiments, other than sensing object, radar 135
It can also be used in the direction of advance for sensing object.
Positioning system 140 can be global positioning system (global positioning system, GPS), dipper system
Or other positioning systems, for receiving satellite-signal, and the position current to vehicle positions.
IMU 145 can sense the position and orientation variation of vehicle based on inertial acceleration.Optionally, implement at one
In example, IMU 145 can be the combination of accelerometer and gyroscope, for measuring angular speed, the acceleration of vehicle.
Camera 130, radar 135, positioning system 140, Inertial Measurement Unit 145 in the embodiment of the present application can connect
On calculating equipment 110, also it can connect in control equipment 120.It as an example, can be by several cameras 130
It is attached with equipment 110 is calculated.As another example, calculate equipment 110 in addition to connect several cameras 130 it
Outside, there are also in the case where the extra interface for connecting sensor, calculating equipment 110 may also connect to a few radar
(radar) 135, at least one positioning system 140, at least one Inertial Measurement Unit (inertial measurement
Unit, IMU) 145.As another example, equipment 110 is being calculated other than connecting several cameras 130, it is not extra
For connecting the interface of sensor in the case where, can be by least one radar 135, at least one positioning system 140, at least
One Inertial Measurement Unit IMU 145 be connected to control equipment 120 on, and by control equipment 120 by least one radar 135,
At least one positioning system 140, the collected parameter information of at least one Inertial Measurement Unit IMU 145 are forwarded to calculating equipment
110 are calculated, are analyzed.
Detection link 180, data link 185 are deployed between equipment 110 and control equipment 120 it should be understood that calculating.Its
In, detection link 180, which can be used for calculating, sends heartbeat message between equipment 110 and control equipment 120, and data link 185 can
To send data information between equipment 110 and control equipment 120 for calculating.Under normal conditions, control equipment 120 can be by thunder
Meter is forwarded to by data link 185 up to 135, positioning system 140, the collected parameter information of Inertial Measurement Unit IMU 145
It calculates equipment 110 to be calculated, but above-mentioned parameter information can also be forwarded to by calculating equipment 110 by detection link 180 and carried out
It calculates, the application is defined not to this.
For ease of description, with the positioning system 140, one of a radar 135, one Inertial Measurement Unit IMU in Fig. 1
145 be connected to control equipment 120 on be illustrated as example.
Calculating equipment 110 can be according to camera 130, radar 135, positioning system 140 and Inertial Measurement Unit IMU 145
The equal collected parameter information of sensors carries out operation and analysis, and generates control instruction based on the analysis results.
Various computing functions are provided specifically, calculating and can have in equipment 110, comprising: perceptional function, it can be according to taking the photograph
As the ambient enviroment in first 130 collected parameter information perception vehicle travel process；Positioning function, can be according to positioning system
The geographical location of 140 collected parameter information estimation vehicles；Decision making function, can be according to camera 130, radar 135, positioning
System 140 and the collected parameter information of Inertial Measurement Unit IMU 145 carry out operation and analyze to determine what vehicle can travel
Region.Rule control function can generate control instruction according to the collected parameter information of the sensor, for example, generating control vehicle
The steering wheel angle of traveling instructs, and for another example, generates the instruction of the hydraulic brake pressure size of control vehicle driving.Calculate equipment
Control vehicle instruction further can be sent to control equipment 120, and by controlling after generating control vehicle instruction by 110 rule control function
Control equipment 120 controls onboard sensor according to the instruction of control vehicle.
It calculates and is also deployed with health monitoring (health monitor, HM) module 111 in equipment 110, which can
To calculate whether equipment 110 breaks down for detecting.As an example, HM module 111 can by detection component it
Between link whether normally connect, so as to judge calculate equipment 110 in component whether break down.As another
Example, HM module 111 can also judge whether the component is sent out according to the fault message that the component calculated in equipment 110 is sent
Raw failure.As another example, HM module 111 can be also used for detection and calculate whether the software run in equipment 110 occurs
Failure,
Calculating equipment 110 further includes caching, is used to storage environment parameter information 112.Wherein, for ambient parameter information
112 storage, which both can use, calculates the existing caching of equipment 110, special caching can also be arranged newly to store.
HM module 111 is in the feelings for detecting that the component in calculating equipment 110 breaks down or software module breaks down
Under condition, equipment 110 is calculated by generating cutoff command to control the vehicle parking.
(2) equipment 120 is controlled
Calculate equipment 110 in for connect sensor interface it is inadequate in the case where, can be by least one radar
(radar) 135, at least one positioning system 140, at least one Inertial Measurement Unit IMU145 are connect with control equipment 120.And
It can be by control equipment 120 by least one radar 135, at least one positioning system 140, at least one Inertial Measurement Unit
The collected parameter information of IMU 145 is forwarded to calculating equipment 110 and is calculated.
The embodiment of the present application is not especially limited control equipment 120.As an example, control equipment 120 can be
Micro-control unit (micro-control unit, MCU).Optionally, MCU is referred to as one chip microcomputer (single
Chip microcomputer, SCM) or single-chip microcontroller.
It should be understood that micro-control unit MCU can be the frequency to central processing unit (central process unit, CPU)
Rate and specification do appropriate reduction, and by memory (memory), counter (timer), universal serial port bus (universal
Serial bus, USB), modulus (analog to digital, AD) conversion, universal asynchronous receiving-transmitting transmitter (universal
Asynchronous receiver transmitter, UART), programmable logic controller (PLC) (programmable logic
Controller, PLC), at least one perimeter interface in direct memory access (direct memory access, DMA) etc.,
Even liquid crystal display (liquid crystal display, LCD) driving circuit is all integrated on a single chip, forms chip
The calculating equipment of grade does various combination control for different applications.
Control equipment 120 can be controlled after receiving the control vehicle instruction for calculating the transmission of equipment 110 by vehicle control interface
Onboard sensor processed, so as to realize the auxiliary control to vehicle.
The embodiment of the present application is not especially limited onboard sensor, can include but is not limited to: steering wheel torque sensing
Device 150, brake sensor 155, throttle sensor 160, electronic stability program (electronic stabilization
Program, ESP) 165,170, hydraulic system 175 electric power steering (electric power steering, EPS).
For example, control equipment 120 can be by vehicle control Interface Controller brake sensor 155, to control vehicle parking.Again
Such as, control equipment 120 can be by vehicle control Interface Controller electric power steering EPS170, so as to control the steering wheel of vehicle
Corner.For another example, control equipment 120 can be by vehicle control Interface Controller hydraulic system 175, so as to control hydraulic vehicle brake
The size of pressure, the final acceleration for realizing control vehicle.
As shown in Figure 1, in the case where the component or software module for calculating equipment 110 break down, traditional technology
In scheme, control equipment 120 can not obtain the environmental parameter of vehicle periphery, therefore would generally control the vehicle and promptly be stopped
Vehicle.But some potential safety problems will cause to the operation that vehicle stops in emergency, and docking process is not friendly enough.On the one hand,
Since the relative velocity of vehicle changes greatly, it is also possible to will lead to rear car brake and be knocked into the back not in time.Vehicle stops in emergency
It will can not cope with and pass by curved scene, if bend may greatly be gone out by stopping in emergency according to current line, hit public
Roadside edge, there are some potential safety problemss.On the other hand, even if connecting camera in control equipment 120, and pass through the camera shooting
Head collects the environmental parameter for calculating vehicle periphery when equipment 110 breaks down, since the calculation power of control equipment 120 is limited, because
This, control equipment 120 can not be in fault-tolerant time interval (fault tolerance time interval, FTTI) according to ring
Border parameter generates control vehicle instruction.Wherein, FTTI, which refers to, breaks down or calculates in the component or electrical connection for calculating equipment 110
In the sensor that equipment 110 connects after main sensor failure, it is detected that harm may be caused to failure from failure
This period.
The embodiment of the present application provides a kind of method for controlling vehicle parking by control equipment 120, can be according to vehicle week
The environmental information enclosed accurately cooks up the parking route of vehicle and the acceleration of parking, and controls vehicle parking, so that vehicle
Docking process it is more friendly, safer.Below with reference to Fig. 2, the method for control vehicle parking is described in detail.
Fig. 2 is a kind of schematic flow chart of method for controlling vehicle parking provided by the embodiments of the present application, this method packet
Step 210-230 is included, step 210-230 is described in detail below.
Step 210: control equipment 120 determines that calculating equipment 110 breaks down.
Calculate equipment 110 in HM module 111 can be used for detecting calculate equipment 110 in component or software module be
It is no to break down, and can be in the case where calculating equipment 110 breaks down, HM module 111 passes through detection link 180 or data
HM module 121 of the link 185 into control equipment 120 sends fault message.HM module 121 can be sent according to HM module 111
Fault message determine that calculating component in equipment 110 or electrical connection or software module breaks down.
Optionally, in some embodiments, a HM module can be also used for detecting whether another HM module occurs event
Barrier.
Specifically, as an example, HM module 121 periodically can send data packet to HM module 111, HM is detected
Whether module 111 is online, to judge whether HM module 111 breaks down.Similarly, HM module 111 can also periodically to
HM module 121 sends data packet, and whether detection HM module 121 is online, to judge whether HM module 121 breaks down.As
Another example, HM module 121 can send calculating task, and the implementing result fed back according to HM module 111 to HM module 111
Judge whether HM module 111 breaks down.Similarly, HM module 111 can also to HM module 121 send calculating task, and according to
The implementing result that HM module 121 is fed back judges whether HM module 121 breaks down.
Step 220: control equipment 120, which obtains, to be calculated in the ambient parameter information collected of equipment 110 from calculating equipment 110
Ambient parameter information at the time of breaking down nearest.
The embodiment of the present application obtains control equipment 120 and calculates in the ambient parameter information collected of equipment 110 from calculating
The implementation of ambient parameter information at the time of equipment 110 breaks down nearest is not specifically limited.As an example, it controls
Be stored in the caching of control equipment 120 calculate the ambient parameter information collected of equipment 110, control equipment 120 can directly from
It is obtained in its ambient parameter information cached from the ambient parameter information calculated at the time of equipment 110 breaks down nearest.As
Another example, control equipment 120 can also from calculate obtained in equipment 110 from calculating equipment 110 and breaking down nearest when
The ambient parameter information at quarter.As another example, calculating equipment 110 can store collected ambient parameter information to cloud
In memory, when calculating equipment 110 breaks down, control equipment 120 can be got from cloud storage from calculating equipment
110 ambient parameter information at the time of break down nearest.
The reality that equipment 110 sends its ambient parameter information collected to control equipment 120 is calculated in the embodiment of the present application
Existing mode is not specifically limited, either sending by detection link 180, is also possible to send by data link 185.
For being stored in the caching for controlling equipment 120 and calculate the ambient parameter information collected of equipment 110.Calculating is set
Standby 110 during normal operation, constantly acquires the ambient parameter information of vehicle periphery by the sensor of connection, and can be with
In preset time interval, HM module 111 can be by calculating equipment 110 and controlling the detection link between equipment 120
180, ambient parameter information is sent to control equipment 120.
It is deposited it should be understood that calculating equipment 110 and can be buffered in the ambient parameter information of the collected vehicle periphery of sensor
It stores up in queue, control equipment 120 is synchronized to using the principle that last in, first out.Calculate what equipment 110 can also be updated using covering
The ambient parameter information of the collected newest vehicle periphery of sensor is buffered in storage queue by mode, and will be newest
Ambient parameter information is synchronized to control equipment 120.
In the embodiment of the present application, control equipment 120 is available collected nearest from breaking down to computing unit 110
At the time of environmental parameter, in order to control equipment 120 can in fault-tolerant time interval FTTI according to environmental parameter generate control
Vehicle instruction.
It should be noted that the region of storage environment parameter information can be existing memory space in control equipment 120,
It can also be the memory space being separately arranged, be specifically used to storage environment parameter information, the embodiment of the present application is not made this specifically
It limits.
In the embodiment of the present application, it can use the detection link 180 for calculating equipment 110 and controlling between equipment 120 and transmit
The collected ambient parameter information of sensor of equipment 110 is calculated, so as to be multiplexed existing detection link, promotes resource benefit
With rate, system design iterations are avoided.Simultaneously as calculating equipment 110 and controlling 180 safety of detection link between equipment 120
It is higher ranked, therefore, ambient parameter information is sent by the detection link 180, the reliability of transmitting information can be improved.
To control equipment 120, when calculating equipment 110 and breaking down, acquisition ambient parameter information is from calculating equipment 110
Example.Calculating equipment 110 can be buffered in the ambient parameter information of the collected vehicle periphery of sensor in storage queue.It is counting
In the case that calculation equipment 110 breaks down, the environment that equipment 120 can be stored from the storage queue for calculating equipment 110 is controlled
It is obtained in parameter information from the ambient parameter information calculated at the time of equipment 110 breaks down nearest, in order to control equipment 120
Control vehicle instruction can be generated according to ambient parameter information in fault-tolerant time interval FTTI.
In a kind of possible implementation of the application, when calculating equipment 110 breaks down, control equipment 120 can
To pass through detection link 180 using the mode of remote direct data access (remote direct data access, RDMA)
The collected ambient parameter information of sensor of the calculating equipment 110 of storage is obtained from the caching for calculating equipment 110.Ying Li
Solution, RDMA are the memory visits that the data stored in memory of an equipment are quickly transferred to the other equipment memory of remote system
Ask technology.
In the embodiment of the present application, synchronous when calculating equipment 110 and breaking down the environment collected of equipment 110 can be calculated
From the ambient parameter information calculated at the time of equipment 110 breaks down nearest in parameter information, avoid calculating equipment 110 normal
During operation between control equipment 120 frequent data synchronous interaction, so as to the expense of lower system.Also,
Ambient parameter information is sent by detection link 180, the reliability of transmitting information can be improved.
Step 230: control equipment 120 generates cutoff command according to the ambient parameter information.
The perceptional function for controlling the offer of equipment 120 can break down recently according to what is got from calculating equipment 110
At the time of ambient parameter information, ambient enviroment at the time of aware computing device 110 breaks down in vehicle travel process.Control
The rule control function that control equipment 120 provides can be calculated and be analyzed to ambient parameter information, and be stopped according to calculated result generation
Vehicle instruction.It is described in detail below in conjunction with Fig. 3, details are not described herein again.
Control equipment 120 in the embodiment of the present application can accurately cook up vehicle according to the environmental information of vehicle periphery
Stop route, and controls vehicle parking, so that the docking process of vehicle is more friendly, safer.
Below with reference to Fig. 3, the specific implementation of the step 230 in Fig. 2 is described in detail.
It should be noted that the example of Fig. 3 is used for the purpose of helping skilled in the art to understand the embodiment of the present application, and have to incite somebody to action
The embodiment of the present application be limited to illustrated by specific value or concrete scene.Those skilled in the art are according to the example of given Fig. 3
Son, it is clear that the modification or variation of various equivalences can be carried out, such modification or variation also fall into the range of the embodiment of the present application
It is interior.
Fig. 3 is the schematic flow for the method that a kind of control equipment 120 provided by the embodiments of the present application controls vehicle parking
Figure.It may include step 310-380 in flow chart shown in Fig. 3, step 310-380 be described in detail below.
Step 310: control equipment 120, which obtains, to be calculated in the ambient parameter information collected of equipment 110 from calculating equipment 110
Ambient parameter information at the time of breaking down nearest.
Specific acquisition modes please refer to the description in step 220, and details are not described herein again.
The particular content that control equipment 120 gets the calculating ambient parameter information collected of equipment 110 please refers in table 1
Description, it should be noted that the ambient parameter information enumerated in table 1 is only a part of the embodiment of the application, rather than
Whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall in the protection scope of this application.
The ambient parameter information of 1 vehicle periphery of table
Step 320: the type of road where judging vehicle.
Controlling equipment 120 can judge that the current road of vehicle is forthright or curved according to the data in the table 1 of acquisition
Road.
Specifically, if controlling the road curvature (curvature) and deflection in the table 1 that equipment 120 is got
If the value that (heading angle) and wheel deviate (offset) is 0, it can be determined that the current road environment of the vehicle
For forthright.If road curvature (curvature) and deflection (heading in the table 1 that control equipment 120 is got
Angle) and wheel offset (offset) value be not 0 if, it can be determined that the current road environment of the vehicle be detour.
In the case where control equipment 120 judges that the current road environment of vehicle is forthright, step 330 can be executed,
The acceleration of parking route of the vehicle on forthright and parking is accurately calculated and planned.
In the case where control equipment 120 judges that the current road environment of vehicle is detour, step 340 can be executed,
It is accurate to carry out to the size of steering wheel angle of the vehicle in the parking route and the acceleration of parking, docking process on forthright
Calculating and planning.
Step 330: the acceleration of parking of the vehicle on forthright is determined according to the current vehicle speed of vehicle, road information.
Controlling equipment 120 can calculate in conjunction with the road information in the collected data of sensor and table 1 that it is connected
The acceleration of parking of the vehicle on forthright.
Specifically, the radar 135 that control equipment 120 connects can measure the current speed of vehicle, control equipment 120 can be with
Vehicle is calculated on forthright according to the visual end point length (range) in the current speed of the vehicle measured and table 1 to stop
The acceleration a of vehicle.So that realizing secure parking within the scope of visual end point length (range) of the vehicle in table 1.
A kind of detailed possible calculating process in relation to acceleration a please refers to the description in Fig. 4, and details are not described herein again.
It should be understood that acceleration a takes negative value under the scene of the parking.
It should be noted that after the acceleration a that control equipment 120 cooks up specific parking route and parking,
The vehicle travelled on forthright control equipment 120 connect radar 135 do not detect abnormal object (for example, it may be other
Vehicle can also be way outlet) in the case where, vehicle control can be carried out according to the parking route and the acceleration a of parking
System, so that vehicle realizes secure parking within the scope of visual end point length (range).But if radar 135 has detected
In the case where abnormal object, control equipment 120 is then stopped in emergency by vehicle control Interface Controller brake sensor 232.
Step 340: parking acceleration of the vehicle on detour, parking are determined according to the current vehicle speed of vehicle, road information
Steering wheel angle.
Controlling equipment 120 can calculate in conjunction with the road information in the collected data of sensor and table 1 that it is connected
Parking acceleration of the vehicle on detour and the steering wheel angle of parking.
Specifically, the radar 135 that control equipment 120 connects can measure the current speed of vehicle, control equipment 120 can be with
According to visual end point length (range), the visual length (height), road in the current speed of the vehicle measured and table 1
Road curvature (curvature), deflection (heading angle) calculate vehicle in acceleration a, the steering wheel of curved path-chromatic number
Corner.So that realizing secure parking within the scope of visual end point length (range) of the vehicle in table 1.It is detailed related
Acceleration a, steering wheel angle a kind of possible calculating process please refer to the description in Fig. 5 and Fig. 6, details are not described herein again.
It should be noted that cooking up specific parking route and the acceleration a of parking, direction in control equipment 120
After disk corner, the vehicle travelled on detour is controlling the case where radar 135 that equipment 120 connects does not detect abnormal object
Under, vehicle control can be carried out according to the parking route and the acceleration a of parking, steering wheel angle, so that vehicle is in vision
Secure parking is realized within the scope of length (range).But if in the case that radar 135 has detected abnormal object, control
Equipment 120 is then stopped in emergency by vehicle control Interface Controller brake sensor 232.
Step 350: vehicle being controlled according to calculated acceleration a and/or steering wheel angle.
Control equipment 120 can pass through according to acceleration a calculated in step 330 or 340 and/or steering wheel angle
Vehicle control interface in Fig. 2 controls onboard sensor, allows visual end point length (range) of the vehicle in table 1
Within the scope of realize secure parking.Specific control process please refers to the description in fig. 4 to fig. 6.
Below with reference to Fig. 4, control equipment 120 determines parking on forthright in more detailed description the embodiment of the present application
A kind of possible calculating process of acceleration a.It should be noted that the example of Fig. 4 is used for the purpose of helping skilled in the art to understand
The embodiment of the present application, and specific value or concrete scene illustrated by the embodiment of the present application have to being limited to.Those skilled in the art
Member is according to the example of given Fig. 4, it is clear that can carry out the modification or variation of various equivalence, such modification or change also is fallen
In the range of entering the embodiment of the present application.
It should be noted that solid line can be used to indicate that on both sides of the road, dotted line can be used to indicate that lane line in Fig. 4.
As shown in figure 4, vehicle 400, during travelling on forthright, control equipment 120, which is got, calculates 110 institute of equipment
From the ambient parameter information calculated at the time of equipment 110 breaks down nearest in the ambient parameter information of acquisition, for example, in table 1
Visual end point length (range).
It should be noted that visual end point length refers to farthest point and the vehicle 400 for the road that vehicle 400 can be detected
Linear distance, and visual length refers to the maximum distance for the front road that vehicle 400 can be detected.When vehicle 400
On forthright when driving, the visual end point length (range) in table 1 is equal to visual length (height).
Control equipment 120 can measure the current speed of vehicle and visual end point length according to radar 135
(range) calculate vehicle 400 may be implemented the acceleration a of secure parking within visual end point length range.
The formula for calculating acceleration a please refers to following formula (1), (2):
Vt=V0+a*t (1)
S0=V0 2+1/2*a*t2 (2)
Wherein, VtThe speed stopped for indicating vehicle 400, V when vehicle 400 stopst=0；
V0For indicating the current speed of vehicle 400, the radar 135 which can be connected by control equipment 120 is detected；
S0For indicating operating range of the vehicle 400 in forthright, docking process, at this point, S0=range, for indicating vehicle
400 within visual end point length (range), and speed is from V0Reduce to Vt=0 operating range；
T is for indicating running time of the vehicle 400 in docking process；
The acceleration of secure parking may be implemented for representing vehicle 400 in a within the scope of visual end point length (range)
Degree.
Following formula (3) are obtained by formula (1), (2):
A=-V0 2/(2*range) (3)
The vehicle 400 that control equipment 120 measures the visual end point length (range) and radar 135 that obtain from table 1
Current speed V0It substitutes into above-mentioned formula (3).So as to calculate on forthright, vehicle 400 visual end point length range it
The acceleration a of secure parking inside may be implemented.
After control equipment 120 calculates the acceleration a that vehicle 400 realizes secure parking, it is also necessary to calculate vehicle
The size of 400 brake pressure.By taking general hydraulic system as an example, control equipment 120 can calculate vehicle according to acceleration a
The size of 400 hydraulic brake pressure, and pass through controller local area network (controller area network, CAN) bus
The size of hydraulic brake pressure is sent to hydraulic system 175.Corresponding operation is executed by hydraulic system 175, it is final to realize
Vehicle 400 realizes secure parking by acceleration a.
The specific calculating such as formula (4) in relation to calculating the hydraulic braking force size of vehicle 400, (5) are shown:
F=m*a (4)
F=P*S (5)
Wherein, F is hydraulic braking force；
M is the complete vehicle quality of vehicle 400；
A is the acceleration of 400 docking process of vehicle；
P is the size of hydraulic brake pressure；
S is the effective area of brake piston.
By formula (4) and formula (5) it can be concluded that following formula (6):
P=m*a/S (6)
Calculated acceleration in formula above (3) is substituted into formula (6), the big of hydraulic brake pressure can be calculated
Small P.
It controls equipment 120 and the size of the hydraulic brake pressure P of vehicle 400 is sent to by hydraulic system by CAN bus
175.Corresponding operation is executed by hydraulic system 175, it is final to realize that vehicle 400 realizes secure parking by acceleration a.
It should be understood that vehicle 400 on forthright by acceleration a realize secure parking during, the steering wheel of vehicle 400
Corner is constant, realizes secure parking according to current route.
It should be noted that if the radar 135 that control equipment 120 connects does not detect abnormal object, hydraulic system
The size of the 175 brake pressure P sent according to control equipment 120 executes corresponding operation.If radar 135 has detected different
In the case where normal object, then when vehicle 400 encounters abnormal object by vehicle control Interface Controller brake sensor 155, to control
Vehicle 400 processed stops in emergency.
Below with reference to Fig. 5 and Fig. 6, the acceleration of parking is determined in more detailed description the embodiment of the present application on detour
A kind of possible calculating process of degree, steering wheel angle.It should be noted that the example of Fig. 5 and Fig. 6 is just for the sake of help this field skill
Art personnel understand the embodiment of the present application, and specific value or concrete scene illustrated by have to being limited to the embodiment of the present application.This
Field technical staff is according to the example of given Fig. 5 and Fig. 6, it is clear that can carry out the modification or variation of various equivalences, in this way
Modification or variation also fall into the range of the embodiment of the present application.
As shown in figure 5, vehicle 500, during travelling on detour, control equipment 120, which is got, calculates 110 institute of equipment
From the ambient parameter information calculated at the time of equipment 110 breaks down nearest in the ambient parameter information of acquisition, for example, in table 1
Visual end point length (range), visual length (height), deflection (heading angle).
It should be noted that visual end point length (range) and visual length of the vehicle 500 on detour, in table 1
(height) different, specifically refer to the expression of schematic diagram in Fig. 5.
Calculating vehicle 500 to control equipment 120 below may be implemented secure parking within visual end point length range
A kind of possible calculating process of acceleration a is described.
Specifically, control equipment 120 can be according to the vehicle present speed and visual end point length that radar 135 is measured
(range), visual length (height), deflection (heading angle) calculate vehicle 500 in visual end point length range
Within the acceleration a of secure parking may be implemented.
Referring to Fig. 5, in triangle ABC, line segment AB=visual length (height), line segment AC=visual end point length
(range), the angle between line segment AB and line segment AC is deflection (heading angle).
Shown in the calculation formula such as formula (7) on tri- side triangle ABC:
BC2=AB2+AC2-2*AB*AC*cos(heading angle) (8)
The value of AB and AC is substituted into formula (8) to obtain:
BC2=height2+range 2-2*height*range*cos(heading angle) (9)
Entire driving path of the vehicle 500 on detour, in docking process are as follows:
S0=BC+height (10)
In conjunction with formula (9), (10), (1), (2), available vehicle 500 realizes the acceleration of secure parking on detour
A:
After control equipment 120 calculates the acceleration a that vehicle 500 realizes secure parking, it is also necessary to calculate vehicle
The size of 500 hydraulic brake pressure, and be sent to the size of hydraulic brake pressure by controller local area network's CAN bus
Hydraulic system 175.Corresponding operation is executed by hydraulic system 175, it is final to realize that vehicle 500 is realized by acceleration a curved
The secure parking of road.The calculation formula of the specific hydraulic brake pressure P in relation to vehicle 500 please refers to retouching in formula (6)
It states, details are not described herein again.
Calculating vehicle 500 to control equipment 120 below may be implemented secure parking within visual end point length range
A kind of possible calculating process of steering wheel angle is described.
As shown in fig. 6, vehicle 500, during travelling on detour, control equipment 120, which is got, calculates 110 institute of equipment
From the ambient parameter information calculated at the time of equipment 110 breaks down nearest in the ambient parameter information of acquisition, for example, in table 1
Road curvature (curvature).
Calculating vehicle 500 to control equipment 120 below may be implemented secure parking within visual end point length range
A kind of possible calculating process of steering wheel angle is described.
Referring to Fig. 6, vehicle 500 is moved to the position of AB from the position of BC, the corner of deflecting roller (namely angle AOB,
It is properly termed as steering wheel angle) it is β.In triangle OAB, line segment AB is vehicle wheelbase (L), and line segment OA can be approximated to be road
The radius of curvature (r) of curve.
It should be understood that radius of curvature (r) can be the inscribed circle for doing that a center of circle is O on road curve, the radius of the circle
It (r) is radius of curvature.
Shown in relationship such as formula (12) between radius of curvature (r) and road curvature (curvature):
R=1/curvature (12)
In right angled triangle OAB, angle ABO can be approximated to be right angle, the three frontier juncture system such as formula of right angled triangle OAB
(13) shown in:
Sin β=AB/OA (13)
Wherein, AB=L, OA=r obtain formula (14) in conjunction with formula (12), (13):
β=arcsin (L*curvature) (14)
The embodiment of the present application can be after control equipment 120 calculates steering wheel angle β, and control equipment 120 passes through CAN
The steering wheel angle β of vehicle 500 is sent to electric power steering EPS170 by bus, so as to control the direction of vehicle 500
Disk corner, it is final to realize the secure parking on bend of vehicle 500.
It should be understood that magnitude of the sequence numbers of the above procedures are not meant to execute suitable in the various embodiments of the application
Sequence it is successive, the execution of each process sequence should be determined by its function and internal logic, the implementation without coping with the embodiment of the present application
Process constitutes any restriction.
Above in association with Fig. 1 to Fig. 6, a kind of method for controlling vehicle parking provided by the embodiments of the present application is described in detail,
The embodiment of the device of the application is described in detail below with reference to Fig. 7 to Fig. 8.It should be understood that the description of embodiment of the method and device are real
The description for applying example corresponds to each other, and therefore, the part being not described in detail may refer to previous methods embodiment.
Fig. 7 is a kind of structural schematic figure for controlling equipment 700 provided by the embodiments of the present application.The control equipment 700
Include:
Determining module 710, for determining that the calculating equipment breaks down；
Module 720 is obtained, calculating equipment environmental parameter collected at the time of for obtaining nearest from current time,
Wherein, the environmental parameter is used to indicate the environment of the vehicle periphery；
Processing module 730, for generating cutoff command according to the environmental parameter.
It should be understood that control equipment 700 provided by the embodiments of the present application can pass through specific integrated circuit
(application-specific integrated circuit, ASIC) is realized or programmable logic device
(programmable logic device, PLD) is realized, above-mentioned PLD can be complicated process logical device (complex
Programmable logical device, CPLD), field programmable gate array (field-programmable gate
Array, FPGA), Universal Array Logic (generic array logic, GAL) or any combination thereof.Software can also be passed through
When realizing the method for control vehicle parking shown in Fig. 2, control 700 modules of equipment may be software module.
It should also be understood that determining module 710 can correspond to the HM module 121 in the control equipment 120 in Fig. 1.
Optionally, in some embodiments, the calculating equipment is collected at the time of obtaining nearest from current time
When environmental parameter, the acquisition module 720 is specifically used for: obtaining the control parameter, the control ginseng from the control equipment
Number is that the calculating equipment is sent to the control equipment.
Optionally, in some embodiments, the calculating equipment is collected at the time of obtaining nearest from current time
When environmental parameter, the acquisition module 720 is specifically used for: using remote direct data access RDMA mode by detection link from
The environmental parameter is obtained in the calculating equipment, wherein the detection link is set for the calculating equipment and the control
Heartbeat message is sent between standby.
Optionally, in some embodiments, the environmental parameter includes visual end point length, when according to the environmental parameter
When generating cutoff command, the processing module 730 is specifically used for: according to the current speed of the vehicle detected and described
Visual end point length determines the first acceleration that the vehicle travels on forthright；Stop according to first acceleration generation
Vehicle instruction.
Optionally, in some embodiments, the environmental parameter includes visual end point length, visual length, deflection, when
When generating cutoff command according to the environmental parameter, the processing module 730 is specifically used for: being worked as according to the vehicle detected
Preceding speed and the visual end point length, the visual length, the deflection determines that the vehicle travels on detour
The second acceleration；The cutoff command is generated according to second acceleration.
Optionally, in some embodiments, the environmental parameter includes road curvature, is generated when according to the environmental parameter
When cutoff command, the processing module 730 is also used to: determining that the vehicle travels on the detour according to the road curvature
Steering wheel angle；The cutoff command is generated according to the steering wheel angle.
It can correspond to execute method described in the embodiment of the present application according to the control equipment 700 of the embodiment of the present application, and
And above and other operation and/or function of each unit in equipment 700 is controlled respectively in order to realize side of the Fig. 2 into Fig. 3
The corresponding process of method, for sake of simplicity, details are not described herein.
Fig. 8 is a kind of structural schematic figure for controlling equipment 800 provided by the embodiments of the present application.The control equipment 800
It include: processor 810, memory 820, communication interface 830, bus 850.
It should be understood that the processor 810 in control equipment 800 shown in Fig. 8 can correspond to control equipment 700 in Fig. 7
Determining module 710, processing module 730, controlling the communication interface 830 in equipment 800 can correspond to obtain module 720 in Fig. 7.
Wherein, which can connect with memory 820.The memory 820 can be used for storing the program code
And data.Therefore, which can be the storage unit inside processor 810, be also possible to independent with processor 810
External memory unit, can also be including inside processor 810 storage unit and with the independent external storage of processor 810
The component of unit.
Optionally, control equipment 800 can also include bus 850.Wherein, memory 820, communication interface 830 can lead to
Bus 850 is crossed to connect with processor 810.Bus 850 can be Peripheral Component Interconnect standard (Peripheral Component
Interconnect, PCI) bus or expanding the industrial standard structure (Extended Industry Standard
Architecture, EISA) bus etc..The bus 850 can be divided into address bus, data/address bus, control bus etc..For just
It is only indicated with a line in expression, Fig. 8, it is not intended that an only bus or a type of bus.
It should be understood that in the embodiment of the present application, which can use central processing unit (central
Processing unit, CPU).The processor can also be other general processors, digital signal processor (digital
Signal processor, DSP), specific integrated circuit (application specific integrated circuit,
ASIC), ready-made programmable gate array (field programmable gate Array, FPGA) or other programmable logic
Device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or this at
Reason device is also possible to any conventional processor etc..Or the processor 810 uses one or more integrated circuits, for executing
Relative program, to realize technical solution provided by the embodiment of the present application.
The memory 820 may include read-only memory and random access memory, and to processor 810 provide instruction and
Data.The a part of of processor 810 can also include nonvolatile RAM.For example, processor 810 can also be deposited
Store up the information of device type.
When controlling the operation of equipment 800, the processor 810 executes the computer executed instructions in the memory 820
Execute the operating procedure of the above method.
It should be understood that the control equipment 800 according to the embodiment of the present application can correspond to execute according to the embodiment of the present application
Corresponding main body in method shown in Fig. 2 to Fig. 3, and control modules in equipment 800 above and other operation and/or
Function is respectively in order to realize the corresponding process of method of the Fig. 2 into Fig. 3, for sake of simplicity, details are not described herein.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
Scope of the present application.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) execute each embodiment the method for the application all or part of the steps.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (read-only memory, ROM), arbitrary access are deposited
The various media that can store program code such as reservoir (random access memory, RAM), magnetic or disk.
The above, the only specific embodiment of the application, but the protection scope of the application is not limited thereto, it is any
Those familiar with the art within the technical scope of the present application, can easily think of the change or the replacement, and should all contain
Lid is within the scope of protection of this application.Therefore, the protection scope of the application should be based on the protection scope of the described claims.
Claims (13)
1. a kind of method for controlling vehicle parking, which is characterized in that the method is executed by control equipment, the control equipment position
In vehicle, the vehicle further includes calculating equipment, and the calculating equipment is connect with the control equipment, which comprises
Determine that the calculating equipment breaks down；
Calculating equipment environmental parameter collected at the time of obtaining nearest from current time, wherein the environmental parameter is used
In the environment for indicating the vehicle periphery；
Cutoff command is generated according to the environmental parameter.
2. the method according to claim 1, wherein the calculating described at the time of obtain nearest from current time
Equipment environmental parameter collected includes:
The environmental parameter is obtained from the control equipment, wherein the environmental parameter is that the calculating equipment is sent to institute
State control equipment.
3. the method according to claim 1, wherein the calculating described at the time of obtain nearest from current time
Equipment environmental parameter collected, comprising:
The environmental parameter is obtained from the calculating equipment by detecting link using remote direct data access RDMA mode,
Wherein, the detection link is for sending heartbeat message between the calculating equipment and the control equipment.
4. according to the method in any one of claims 1 to 3, which is characterized in that the environmental parameter includes visual end point
Length, it is described that cutoff command is generated according to the environmental parameter, comprising:
Determine the vehicle in forthright uplink according to the current speed of the vehicle detected and the visual end point length
The first acceleration sailed；
The cutoff command is generated according to first acceleration.
5. according to the method in any one of claims 1 to 3, which is characterized in that the environmental parameter includes visual end point
Length, visual length, deflection, it is described that cutoff command is generated according to the environmental parameter, comprising:
According to the current speed of the vehicle detected and the visual end point length, the visual length, the direction
Angle determines the second acceleration that the vehicle travels on detour；
The cutoff command is generated according to second acceleration.
6. according to the method described in claim 5, the method is also it is characterized in that, the environmental parameter includes road curvature
Include:
The steering wheel angle that the vehicle travels on detour is determined according to the road curvature；
The cutoff command is generated according to the steering wheel angle.
7. a kind of control equipment, which is characterized in that for the control equipment for controlling vehicle parking, the control equipment is located at institute
It states in vehicle, the vehicle further includes calculating equipment, and the calculating equipment is connect with the control equipment, the control equipment packet
It includes:
Determining module, for determining that the calculating equipment breaks down；
Module is obtained, calculating equipment environmental parameter collected at the time of for obtaining nearest from current time, wherein institute
Environmental parameter is stated for indicating the environment of the vehicle periphery；
Processing module, for generating cutoff command according to the environmental parameter.
8. control equipment according to claim 7, which is characterized in that meter at the time of obtaining nearest from current time
When calculating equipment environmental parameter collected, the acquisition module is specifically used for:
The control parameter is obtained from the control equipment, and the control parameter is that the calculatings equipment is sent to described control and sets
Standby.
9. control equipment according to claim 7, which is characterized in that meter at the time of obtaining nearest from current time
When calculating equipment environmental parameter collected, the acquisition module is specifically used for:
The environmental parameter is obtained from the calculating equipment by detecting link using remote direct data access RDMA mode,
Wherein, the detection link is for sending heartbeat message between the calculating equipment and the control equipment.
10. control equipment according to any one of claims 7 to 9, which is characterized in that the environmental parameter includes vision
Terminal length, when generating cutoff command according to the environmental parameter, the processing module is specifically used for:
Determine the vehicle in forthright uplink according to the current speed of the vehicle detected and the visual end point length
The first acceleration sailed；
The cutoff command is generated according to first acceleration.
11. control equipment according to any one of claims 7 to 9, which is characterized in that the environmental parameter includes vision
Terminal length, visual length, deflection, when generating cutoff command according to the environmental parameter, the processing module is specifically used
In:
According to the current speed of the vehicle detected and the visual end point length, the visual length, the direction
Angle determines the second acceleration that the vehicle travels on detour；
The cutoff command is generated according to second acceleration.
12. control equipment according to claim 11, which is characterized in that the environmental parameter includes road curvature, works as root
When generating cutoff command according to the environmental parameter, the processing module is also used to:
The steering wheel angle that the vehicle travels on the detour is determined according to the road curvature；
The cutoff command is generated according to the steering wheel angle.
13. a kind of control equipment, which is characterized in that the control equipment includes processor and memory, and the memory is used for
Computer executed instructions are stored, when the control equipment is run, the processor executes the execution of the computer in the memory
Instruction is to pass through the operating procedure of any the method in the control equipment perform claim requirement 1 to 6.
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| CN201910070958.0A CN109823340A (en) | 2019-01-25 | 2019-01-25 | It is a kind of control vehicle parking method, control equipment |
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| CN201910070958.0A CN109823340A (en) | 2019-01-25 | 2019-01-25 | It is a kind of control vehicle parking method, control equipment |
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| US20210221358A1 (en) * | 2020-01-20 | 2021-07-22 | Beijing Baidu Netcom Science And Technology Co., Ltd. | Method, system, and apparatus for processing parking, and vehicle controller |
| CN114030475A (en) * | 2021-12-22 | 2022-02-11 | 清华大学苏州汽车研究院（吴江） | Vehicle driving assisting method and device, vehicle and storage medium |
| WO2022217916A1 (en) * | 2021-04-16 | 2022-10-20 | 阿波罗智联(北京)科技有限公司 | Vehicle docking method and apparatus, electronic device, and readable storage medium |
| CN113548038B (en) * | 2020-04-22 | 2024-03-01 | 广州汽车集团股份有限公司 | Parking curvature control method and system, control equipment and storage medium |
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