CN110466519A - Control method for vehicle and vehicle control system based on collision detection - Google Patents
Control method for vehicle and vehicle control system based on collision detection Download PDFInfo
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- CN110466519A CN110466519A CN201910757499.3A CN201910757499A CN110466519A CN 110466519 A CN110466519 A CN 110466519A CN 201910757499 A CN201910757499 A CN 201910757499A CN 110466519 A CN110466519 A CN 110466519A
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- parking stall
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- 238000000034 method Methods 0.000 title claims abstract description 68
- 238000001514 detection method Methods 0.000 title claims abstract description 35
- 230000001133 acceleration Effects 0.000 claims abstract description 143
- 238000005070 sampling Methods 0.000 claims abstract description 18
- 230000015654 memory Effects 0.000 claims description 22
- 238000001914 filtration Methods 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 8
- 238000004364 calculation method Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 14
- 238000009826 distribution Methods 0.000 description 4
- 239000013598 vector Substances 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000006641 stabilisation Effects 0.000 description 3
- 238000011105 stabilization Methods 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 235000014121 butter Nutrition 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000006731 degradation reaction Methods 0.000 description 2
- 239000006185 dispersion Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010606 normalization Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to technical field of vehicle, disclose a kind of control method for vehicle and vehicle control system based on collision detection, comprising: when detecting that vehicle is in automatic parking mode, calculate the variance of several acceleration of vehicle in default sampling time section；If variance is more than default variance threshold values, acceleration is calculated, collision coefficient is obtained；If collision coefficient reaches predetermined coefficient threshold value, determine that vehicle crashes with the bar wait moor into parking stall, and control vehicle parking.Implement the embodiment of the present invention, the variance of the acceleration of vehicle can be calculated, and when the variance of acceleration is more than default variance threshold values, it can continue to obtain collision coefficient according to acceleration calculation, and it can determine that vehicle collision accident occurs with the bar wait moor into parking stall, and control vehicle parking when collision coefficient reaches predetermined coefficient threshold value, and then the fortuitous event for avoiding vehicle from occurring because that can not stop, improve the stability of the automatic parking of vehicle.
Description
Technical field
The present invention relates to technical field of vehicle, and in particular to a kind of control method for vehicle and vehicle control based on collision detection
System processed.
Background technique
Currently, Some vehicles when reaching the parking areas such as parking lot or underground garage, can be realized certainly in parking areas
Dynamic to park, vehicle can be identified from parking areas wait moor into parking stall, and can control vehicle according to the road of parking of calculating
Line is moored into this wait moor into parking stall.However, it has been found in practice that for the safety of vehicle during parking, part parking space
Rear can be provided with bar, bump against to avoid vehicle and the object at parking space rear, if vehicle is during automatic parking
It collides with bar and vehicle is not moored into the position precalculated, then vehicle can be because can not identify that vehicle and bar bump against institute
To occur that the case where parking can not be stopped, it is seen that the stability of current automatic parking is lower.
Summary of the invention
The embodiment of the present invention discloses a kind of control method for vehicle and vehicle control system based on collision detection, is able to ascend
The stability of automatic parking.
First aspect of the embodiment of the present invention discloses a kind of control method for vehicle based on collision detection, which comprises
When detecting that vehicle is in automatic parking mode, several for calculating the vehicle in default sampling time section add
The variance of speed；
If the variance is more than default variance threshold values, the acceleration is calculated, collision coefficient is obtained；
If the collision coefficient reaches predetermined coefficient threshold value, determine that the vehicle is touched with the bar wait moor into parking stall
Accident is hit, and controls the vehicle parking.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to detect that vehicle is in
When automatic parking mode, the variance of several acceleration of the vehicle in default sampling time section is calculated, comprising:
When detecting that vehicle is in automatic parking mode, several groups acceleration is acquired by the accelerometer of the vehicle
Data, wherein the when a length of preset interval duration being spaced between two groups of acceleration informations of arbitrary neighborhood；
From several forward acceleration components obtained in the several groups acceleration information in default sampling time section；
Several described forward acceleration components are calculated, variance is obtained.
As an alternative embodiment, in first aspect of the embodiment of the present invention, it is described to detect that vehicle is in
When automatic parking mode, several groups acceleration information is acquired by the accelerometer of the vehicle, comprising:
When detecting that vehicle is in automatic parking mode, default filtering threshold is obtained；
Using the default filtering threshold as foundation, the accelerometer of the vehicle is filtered, and passes through the acceleration
Degree meter acquisition several groups acceleration information.
As an alternative embodiment, in first aspect of the embodiment of the present invention, if the collision coefficient
Reach predetermined coefficient threshold value, determines that the vehicle crashes with the bar wait moor into parking stall, and control the vehicle and stop
Vehicle, comprising:
If the collision coefficient reaches predetermined coefficient threshold value, the position in current parking areas of the vehicle is obtained
View field, and obtain the parking area wait moor parking stall in the current parking areas；
The position view field is compared with the parking area, determines the position view field and the vehicle
The relative positional relationship in position region；
Judge whether the relative positional relationship is that the parking area includes the position view field；
If so, determining that the vehicle has been moored into described wait moor into parking stall and the vehicle and the gear wait moor into parking stall
Bar crashes, and closes the automatic parking mode and control the vehicle parking.
As an alternative embodiment, judging the relative position in first aspect of the embodiment of the present invention
Relationship be not the parking area include the position view field after, the method also includes:
From the parking stall that the parking areas includes identify except it is described wait moor parking stall in addition to any one alternative parking stall,
And prompt information is exported by the display module of the vehicle, wherein the alternative parking stall is another entered from Ke Bo
Parking stall, the prompt information is for prompting described wait moor to be that can not moor into parking stall into parking stall.
Second aspect of the embodiment of the present invention discloses a kind of vehicle control system, comprising:
First computing unit, for when detecting that vehicle is in automatic parking mode, calculating in default sampling time section
The variance of several acceleration of the vehicle；
Second computing unit, for calculating the acceleration, obtaining when the variance is more than default variance threshold values
To collision coefficient；
Determination unit, for when the collision coefficient reaches predetermined coefficient threshold value, determining the vehicle and wait moor into vehicle
The bar of position crashes, and controls the vehicle parking.
As an alternative embodiment, in second aspect of the embodiment of the present invention, first computing unit includes:
Subelement is acquired, for passing through the accelerometer of the vehicle when detecting that vehicle is in automatic parking mode
Acquire several groups acceleration information, wherein the when a length of preset interval duration being spaced between two groups of acceleration informations of arbitrary neighborhood；
First obtains subelement, if for presetting in sampling time section from acquisition in the several groups acceleration information
Dry forward acceleration component；
Computation subunit obtains variance for calculating several described forward acceleration components.
As an alternative embodiment, in second aspect of the embodiment of the present invention, the acquisition subelement includes:
Module is obtained, for when detecting that vehicle is in automatic parking mode, obtaining default filtering threshold；
Acquisition module, for being filtered to the accelerometer of the vehicle using the default filtering threshold as foundation, and
Several groups acceleration information is acquired by the accelerometer.
The third aspect of the embodiment of the present invention discloses a kind of vehicle electronic device, comprising:
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, executes any of first aspect
A kind of some or all of method step.
Fourth aspect of the embodiment of the present invention discloses a kind of computer readable storage medium, the computer readable storage medium
Store program code, wherein said program code includes the part or complete for executing any one method of first aspect
The instruction of portion's step.
The 5th aspect of the embodiment of the present invention discloses a kind of computer program product, when the computer program product is calculating
When being run on machine, so that the computer executes some or all of any one method of first aspect step.
The aspect of the embodiment of the present invention the 6th disclose a kind of using distribution platform, and the application distribution platform is for publication calculating
Machine program product, wherein when the computer program product is run on computers, so that the computer executes first party
Some or all of any one method in face step.
Compared with prior art, the embodiment of the present invention has the advantages that
In the embodiment of the present invention, when detecting that vehicle is in automatic parking mode, vehicle in default sampling time section is calculated
Several acceleration variance；If variance is more than default variance threshold values, acceleration is calculated, obtains collision system
Number；If collision coefficient reaches predetermined coefficient threshold value, determine that vehicle crashes with the bar wait moor into parking stall, and control
Vehicle parking.As it can be seen that implementing the embodiment of the present invention, the variance of the acceleration of vehicle can be calculated, and in acceleration
Variance when being more than default variance threshold values, can continue to obtain collision coefficient according to acceleration calculation, and can be in collision
Number is when reaching predetermined coefficient threshold value, determines that vehicle collision accident occurs with the bar wait moor into parking stall, and control vehicle parking,
And then the fortuitous event for avoiding vehicle from occurring because that can not stop, improve the stability of the automatic parking of vehicle.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is a kind of flow diagram of control method for vehicle based on collision detection disclosed by the embodiments of the present invention；
Fig. 2 is the flow diagram of another control method for vehicle based on collision detection disclosed by the embodiments of the present invention；
Fig. 3 is the flow diagram of another control method for vehicle based on collision detection disclosed by the embodiments of the present invention；
Fig. 4 is a kind of structural schematic diagram of vehicle control system disclosed by the embodiments of the present invention；
Fig. 5 is the structural schematic diagram of another vehicle control system disclosed by the embodiments of the present invention；
Fig. 6 is the structural schematic diagram of another vehicle control system disclosed by the embodiments of the present invention；
Fig. 7 is a kind of structural schematic diagram of vehicle electronic device disclosed by the embodiments of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this
Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts
Example is applied, shall fall within the protection scope of the present invention.
It should be noted that term " includes " and " having " and their any changes in the embodiment of the present invention and attached drawing
Shape, it is intended that cover and non-exclusive include.Such as contain the process, method of a series of steps or units, system, product or
Equipment is not limited to listed step or unit, but optionally further comprising the step of not listing or unit or optional
Ground further includes the other step or units intrinsic for these process, methods, product or equipment.
The embodiment of the present invention discloses a kind of control method for vehicle and vehicle control system based on collision detection, can determine
There is collision accident with the bar wait moor into parking stall in vehicle, and controls vehicle parking, and then avoid vehicle due to can not stop
The fortuitous event of appearance improves the stability of the automatic parking of vehicle.
It is described in detail separately below.
Embodiment one
Referring to Fig. 1, Fig. 1 is a kind of process of control method for vehicle based on collision detection disclosed by the embodiments of the present invention
Schematic diagram.As shown in Figure 1, being somebody's turn to do the control method for vehicle based on collision detection may comprise steps of:
101, when detecting that vehicle is in automatic parking mode, vehicle electronic device calculates vehicle in default sampling time section
Several acceleration variance.
In the embodiment of the present invention, vehicle electronic device can pass through the Inertial Measurement Unit (Inertial of built-in vehicle
Measurement Unit, IMU) acquisition vehicle acceleration further can pass through the accelerometer in IMU
(Accelerometer) acceleration of vehicle is collected, and then vehicle is obtained according to the acceleration calculation of collected vehicle
The variance of acceleration.Accelerometer can be every the acceleration of a preset duration vehicle of acquisition, the variance of the acceleration of vehicle
It can be calculated according to several acceleration of the vehicle acquired in default sampling time section, so as to embody
The acceleration situation of vehicle in preset time period.
In the embodiment of the present invention, since variance can embody the dispersion degree of one group of data, the acceleration of vehicle
Variance can embody the acceleration situation of vehicle, it can it is unexpected to judge that vehicle occurs by the variance of the acceleration of vehicle
The case where accelerating or slowing down suddenly.If vehicle is collided with bar in the process of backing up, vehicle occurs with bar
Acceleration when collision will appear very big fluctuation, at this time it is considered that acceleration of the vehicle when colliding with bar is opposite
Acceleration dispersion degree when vehicle is normally moved backward is larger, and then can consider that the variance of the acceleration of vehicle is square beyond presetting
When poor threshold value, collision accident is had occurred in vehicle.In addition, acceleration can be the data of directed quantity, and can be from acceleration really
The component of acceleration of several fixed vectors, such as forward acceleration component, transverse acceleration component and longitudinal acceleration component,
Vehicle electronic device can calculate variance to the component of acceleration of each determination respectively, and then can be according to each component of acceleration
Variance determine that vehicle occurs to accelerate suddenly or the orientation slowed down suddenly.
As an alternative embodiment, following step can also be performed before vehicle electronic device executes step 101
It is rapid:
The current location of vehicle electronic device acquisition vehicle；
Whether the current location of vehicle electronic device detection vehicle is in any one pre-stored parking areas；
If so, the travel speed of vehicle electronic device detection vehicle；
When detect the travel speed for presetting vehicle in continuous duration be respectively less than be equal to default maximum park speed when, vehicle
Carrying electronic equipment can determine that vehicle is in automatic parking mode.
Wherein, implement this embodiment, the current location of vehicle can be detected, if detecting that vehicle is in
When in any one pre-stored parking areas, further the travel speed of vehicle can be detected, if detecting vehicle
Travel speed park speed presetting continuous duration and be all not above default maximum, it is believed that vehicle is currently at automatically
Park mode, thus ensure that in terms of travel speed two of the current location of vehicle and vehicle judge vehicle be in from
The accuracy of dynamic park mode.
If 102, variance is more than default variance threshold values, vehicle electronic device calculates acceleration, obtains collision system
Number.
In the embodiment of the present invention, default variance threshold values can be according to the crash tests meter of the in parking process carried out in advance
It obtains, it can the crash tests during parking in advance to current vehicle calculate vehicle in parking process and occur
The acceleration variance of vehicle when collision accident, so it is the smallest in the acceleration variance that can will test of vehicle electronic device plus
Velocity variance is determined as default variance threshold values, avoids vehicle electronic device from can't detect the case where vehicle collides, improves
Detection vehicle crashes comprehensive.
In the embodiment of the present invention, due to vehicle when colliding with bar it is possible that rebound phenomena such as, can
To calculate collision coefficient β by vehicle stress and the relationship of the displacement of vehicle, wherein the pass of the displacement of vehicle stress and vehicle
System can indicate are as follows:
F=ma=kX
That is:
Wherein, m can be the quality of vehicle, and a can be the average acceleration of vehicle, and k can collide for vehicle and bar
Stiffness factor in the process, X can be the displacement of vehicle, therefore available collision coefficient β:
Optionally, may increase suddenly due to vehicle with collision coefficient in bar collision process, it can be to meter
Obtained collision coefficient β is detected in real time, when detecting that collision coefficient β reaches predetermined coefficient threshold value, it is believed that
Vehicle collides with bar, if collision coefficient β is less than predetermined coefficient threshold value, it is believed that vehicle driving is normal, does not deposit
The case where colliding.
If 103, collision coefficient reaches predetermined coefficient threshold value, vehicle electronic device determines vehicle and wait moor the gear into parking stall
Bar crashes, and controls vehicle parking.
In the embodiment of the present invention, since calculating of the vehicle electronic device for the variance of the acceleration of vehicle can determine vehicle
There is the case where accelerating suddenly or slowing down suddenly, therefore vehicle electronic device can continue touching according to acceleration calculation vehicle
Coefficient is hit, and it is currently unexpected the case where accelerating or slowing down suddenly that vehicle can be distinguished according to the collision coefficient being calculated,
If detecting that collision coefficient reaches predetermined coefficient threshold value, it is believed that vehicle crashes, due to can consider vehicle
In parking process is in state of rolling backward, it can be considered that vehicle crashes with the bar wait moor into parking stall；If
Detect that collision coefficient is not up to predetermined coefficient threshold value, it is believed that vehicle is currently at the case where unexpected acceleration.Wait moor into vehicle
The bar of position can be usually placed in wait moor the rear into parking stall, avoid vehicle in parking process and wait moor the object into parking stall rear
Body bumps against, to guarantee the safety of vehicle, therefore vehicle is during automatic parking, may be when not mooring into designated position
Just and wait moor the bar collision into parking stall, vehicle electronic device control vehicle can stop when detecting that vehicle bumps against with bar
Vehicle, it is believed that vehicle has been in wait moor in parking stall when vehicle and bar bump against, therefore can control vehicle parking.
In the method depicted in fig. 1, it can determine that vehicle collision accident occurs with the bar wait moor into parking stall, and control
Vehicle parking processed, and then the fortuitous event for avoiding vehicle from occurring because that can not stop, improve the stabilization of the automatic parking of vehicle
Property.In addition, implementing method described in Fig. 1, the accuracy for judging that vehicle is in automatic parking mode ensure that.
Embodiment two
Referring to Fig. 2, Fig. 2 is the stream of another control method for vehicle based on collision detection disclosed by the embodiments of the present invention
Journey schematic diagram.Compared with embodiment one, more detailed description of the embodiment of the present invention is to the variance of forward acceleration component
Calculation, also adds the acquisition modes of acceleration information, has both improved the standard for detecting the collision accident of vehicle and bar
True property, and can be improved the accuracy of the acceleration information of accelerometer acquisition.As shown in Fig. 2, should the vehicle based on collision detection
Control method may comprise steps of:
201, when detecting that vehicle is in automatic parking mode, vehicle electronic device is acquired by the accelerometer of vehicle
Several groups acceleration information, wherein the when a length of preset interval duration being spaced between two groups of acceleration informations of arbitrary neighborhood.
In the embodiment of the present invention, it may include different directions in each collected one group of acceleration information of accelerometer
Component of acceleration, such as forward acceleration component, transverse acceleration component and longitudinal acceleration component.
As an alternative embodiment, vehicle electronic device is logical when detecting that vehicle is in automatic parking mode
The mode for crossing the accelerometer acquisition several groups acceleration information of vehicle may include following steps:
When detecting that vehicle is in automatic parking mode, vehicle electronic device obtains default filtering threshold；
Vehicle electronic device is filtered the accelerometer of vehicle as foundation using default filtering threshold, and passes through acceleration
Degree meter acquisition several groups acceleration information.
Wherein, implement this embodiment, accelerometer can be filtered according to default filtering threshold, added with reducing
Noise in the collected acceleration information of speedometer, to improve the accuracy of the acceleration information of accelerometer acquisition.
In the embodiment of the present invention, being filtered to the accelerometer of vehicle can be used Butterworth filter
(Butterworth Filter), the Butterworth filter can be the wave digital lowpass filter of quadravalence, preset filtering threshold
It can be normalization cutoff frequency Wn, n can indicate that order, acceleration information y can be indicated by state space form:
X (k+1)=Ax (k)+Bu (k)
Y (k)=Cx (k)+Du (k)
Wherein, A, B, C and D are the parameter being calculated according to the function in Butterworth filter, and u can be filter
Input data before wave, x can be state vector, and the calculation of parameter A, B, C and D can be with are as follows:
[A, B, C, D]=butter (n, Wn)
Can by by order n and normalization cutoff frequency WnGinseng is calculated in the mode being input in butter function
Number A, B, C and D.
202, vehicle electronic device is before obtaining several in default sampling time section in several groups acceleration information
To component of acceleration.
In the embodiment of the present invention, acceleration information can be directive data, therefore can be from acceleration information really
The component of acceleration of several fixed vectors, such as forward acceleration component, transverse acceleration component and longitudinal acceleration component,
It, can be only to acceleration since the direction that vehicle in parking process collides is usually the front or dead astern of vehicle
Forward acceleration component of the degree in is calculated, to obtain the variance of forward acceleration component, to improve vehicle electronics
The operation efficiency of equipment.
203, vehicle electronic device calculates several forward acceleration components, obtains variance.
In the embodiment of the present invention, several acceleration can be obtained from collected acceleration information according to state vector
Component, such as forward acceleration component or transverse acceleration component, since the bar wait moor in parking stall is generally disposed at wait moor
Enter the rear of parking stall, therefore only calculate variance to forward acceleration component to detect in accurate situation guaranteeing vehicle collision
The calculating content for simplifying vehicle electronic device, improves the computational efficiency of vehicle electronic device, the variance of forward acceleration component
VarnRecurrence formula can be with are as follows:
Wherein, n is the number of the forward acceleration component calculated, and n > 1, VarnIt can indicate n forward acceleration point
The variance of amount, Varn-1The variance of n-1 forward acceleration component, X before can indicatingnIt can indicate n-th of forward acceleration point
Amount,The mean value of n-1 forward acceleration component before can indicating, and mean valueRecurrence formula can be with are as follows:
In the embodiment of the present invention, implement above-mentioned step 201~step 203, it can be from the collected acceleration of accelerometer
Degree obtains forward acceleration component in, and then can calculate the variance of forward acceleration component, preceding to acceleration by calculating
The variance of degree, can more collision accident of the accurate detection to vehicle and bar.
If 204, variance is more than default variance threshold values, vehicle electronic device calculates acceleration, obtains collision system
Number.
If 205, collision coefficient reaches predetermined coefficient threshold value, vehicle electronic device determines vehicle and wait moor the gear into parking stall
Bar crashes, and controls vehicle parking.
In the method depicted in fig. 2, it can determine that vehicle collision accident occurs with the bar wait moor into parking stall, and control
Vehicle parking processed, and then the fortuitous event for avoiding vehicle from occurring because that can not stop, improve the stabilization of the automatic parking of vehicle
Property.In addition, implementing method described in Fig. 2, the accuracy of the acceleration information of accelerometer acquisition is improved.In addition, implementing Fig. 2
Described method, can more collision accident of the accurate detection to vehicle and bar.
Embodiment three
Referring to Fig. 3, Fig. 3 is the stream of another control method for vehicle based on collision detection disclosed by the embodiments of the present invention
Journey schematic diagram.Compared with embodiment one, more detailed description of the embodiment of the present invention is by judge vehicle and wait moor into parking stall
Relative positional relationship determine vehicle and mode that bar collides, and increase and determining that vehicle do not moor into wait moor into vehicle
The operation that control vehicle executes when position had not only improved determining vehicle and the accuracy wait moor the bar collision detection into parking stall, but also
The success rate of vehicle parking can be improved.As shown in figure 3, being somebody's turn to do the control method for vehicle based on collision detection may include following step
It is rapid:
301, when detecting that vehicle is in automatic parking mode, vehicle electronic device calculates vehicle in default sampling time section
Several acceleration variance.
If 302, variance is more than default variance threshold values, vehicle electronic device calculates acceleration, obtains collision system
Number.
If 303, collision coefficient reaches predetermined coefficient threshold value, vehicle electronic device obtain vehicle in current parking areas
In position view field, and obtain the parking area wait moor parking stall in current parking areas.
In the embodiment of the present invention, vehicle electronic device can be determined from the map of pre-stored parking areas wait moor into
The parking area of parking stall can also identify the location information that vehicle is presently in the map of pre-stored parking areas,
And then the map for the positional information calculation parking areas that can be presently in conjunction with the information such as the vehicle of current vehicle and vehicle
The current position view field of middle vehicle；Wherein, the location information that identification vehicle is presently in can be current by obtaining vehicle
Global positioning system (Global Positioning System, GPS) location information, and then the location information is converted
Into the map of pre-stored parking areas, so that it is determined that position letter of the vehicle in the map of pre-stored parking areas
Breath.
304, vehicle electronic device compares position view field and parking area, determines position view field and vehicle
The relative positional relationship in position region.
In the embodiment of the present invention, the relative positional relationship of position view field and parking area can include for parking area
Position view field or parking area do not include position view field, if parking area includes position view field, can recognize
It is in for vehicle wait moor within parking stall, i.e., vehicle has actually been realized and parked；If parking area does not include position projected area
Domain, it is believed that vehicle is not moored wait moor in parking stall, therefore vehicle electronic device must not believe that vehicle has been realized and park.
305, vehicle electronic device judge relative positional relationship whether be parking area include position view field, if
It is to execute step 306；If not, executing step 307.
306, vehicle electronic device determines that vehicle has been moored into wait moor into parking stall and vehicle and wait moor the bar generation into parking stall
Collision accident, and close automatic parking mode and control vehicle parking.
In the embodiment of the present invention, if vehicle electronic device judges that relative positional relationship projects for parking area comprising position
Region, it is believed that vehicle electronic device thinks that vehicle has been in wait moor in parking stall, i.e., vehicle, which has been realized, parks, and can also recognize
It is wait moor the bar into parking stall to collide with vehicle, therefore, current vehicle can close automatic pool without parking again
Vehicle mode simultaneously controls vehicle parking, parks to complete this.
In the embodiment of the present invention, implement above-mentioned step 303~step 306, can reach pre- judging collision coefficient
If after coefficient threshold, further judging vehicle and the relative positional relationship wait moor into parking stall, judging that vehicle moors
After entering wait moor parking stall, determine that vehicle collides with the bar wait moor in parking stall, thus improve determining vehicle with to
Moor the accuracy of the bar collision detection into parking stall.
307, vehicle electronic device identifies any one in addition to wait moor parking stall from the parking stall that parking areas includes
Alternative parking stall, and prompt information is exported by the display module of vehicle, wherein alternative parking stall is another vehicle entered from Ke Bo
Position, prompt information is for prompting wait moor to be that can not moor into parking stall into parking stall.
In the embodiment of the present invention, implement above-mentioned step 307, can judge vehicle do not moor into wait moor into parking stall it
Afterwards, it reselects from parking areas wait moor into parking stall, so that vehicle can be moored into other parking stalls, to improve vehicle parking
Success rate.
As an alternative embodiment, following step can also be performed after vehicle electronic device executes step 307
It is rapid:
Vehicle electronic device carries out Degradation assessments to vehicle, obtains the collision grade of vehicle；
When the collision grade for detecting vehicle is less than or equal to predetermined level, vehicle electronic device is believed according to the position of vehicle
Breath and the location information plane-generating parking path of alternative parking stall；
Vehicle electronic device is parked according to parking path, is moored with controlling vehicle into alternative parking stall.
Wherein, implement this embodiment, vehicle can be calculated by the acceleration information of collected vehicle and existed
The active force generated when collision, and then assessed according to collision accident of the size of active force to this vehicle, determine this
The corresponding collision grade of the collision accident of vehicle, and then when detecting that collision grade is lower, there is no influence row for confirmation vehicle
Sail safe damaged condition, thus can plan current vehicle position to alternative parking stall position parking path, to realize
The automatic parking of vehicle, not only ensure that the safety of vehicle driving, but also can be improved the reliability of automatic parking.
In the method depicted in fig. 3, it can determine that vehicle collision accident occurs with the bar wait moor into parking stall, and control
Vehicle parking processed, and then the fortuitous event for avoiding vehicle from occurring because that can not stop, improve the stabilization of the automatic parking of vehicle
Property.In addition, method described in implementing Fig. 3, improves determining vehicle and the accuracy wait moor the bar collision detection into parking stall.
In addition, method described in implementing Fig. 3, improves the success rate of vehicle parking.In addition, method described in implementing Fig. 3, was both protected
The safety of vehicle driving has been demonstrate,proved, and can be improved the reliability of automatic parking.
Example IV
Referring to Fig. 4, Fig. 4 is a kind of structural schematic diagram of vehicle control system disclosed by the embodiments of the present invention.Such as Fig. 4 institute
Show, which may include:
First computing unit 401, for when detecting that vehicle is in automatic parking mode, calculating default sampling time section
The variance of several acceleration of interior vehicle.
As an alternative embodiment, the first computing unit 401 can be also used for:
Obtain the current location of vehicle；
Whether the current location of detection vehicle is in any one pre-stored parking areas；
If so, the travel speed of detection vehicle；
When detect the travel speed for presetting vehicle in continuous duration be respectively less than be equal to default maximum park speed when, can
To determine that vehicle is in automatic parking mode.
Wherein, implement this embodiment, the current location of vehicle can be detected, if detecting that vehicle is in
When in any one pre-stored parking areas, further the travel speed of vehicle can be detected, if detecting vehicle
Travel speed park speed presetting continuous duration and be all not above default maximum, it is believed that vehicle is currently at automatically
Park mode, thus ensure that in terms of travel speed two of the current location of vehicle and vehicle judge vehicle be in from
The accuracy of dynamic park mode.
Second computing unit 402, it is right when the variance for obtaining in the first computing unit 401 is more than default variance threshold values
Acceleration is calculated, and collision coefficient is obtained.
Determination unit 403, when the collision coefficient for obtaining in the second computing unit 402 reaches predetermined coefficient threshold value, really
Determine vehicle to crash with the bar wait moor into parking stall, and controls vehicle parking.
As it can be seen that in the system described in Fig. 4, it can determine that vehicle collision thing occurs with the bar wait moor into parking stall
Therefore and the fortuitous event that controls vehicle parking, and then vehicle is avoided to occur because that can not stop, improve the automatic parking of vehicle
Stability.In addition, ensure that the accuracy for judging that vehicle is in automatic parking mode in the system described in Fig. 4.
Embodiment five
Referring to Fig. 5, Fig. 5 is the structural schematic diagram of another vehicle control system disclosed by the embodiments of the present invention.Wherein,
Vehicle control system shown in fig. 5 is that vehicle control system as shown in Figure 4 optimizes.With vehicle shown in Fig. 4
Control system is compared, the side of the further more detailed description of vehicle control system shown in fig. 5 to forward acceleration component
The calculation of difference, also adds the acquisition modes of acceleration information, has both improved the collision accident for detecting vehicle and bar
Accuracy, and can be improved the accuracy of the acceleration information of accelerometer acquisition, the of vehicle control system shown in fig. 5
One computing unit 401 may include:
Subelement 4011 is acquired, for passing through the accelerometer of vehicle when detecting that vehicle is in automatic parking mode
Acquire several groups acceleration information, wherein the when a length of preset interval duration being spaced between two groups of acceleration informations of arbitrary neighborhood.
First obtains subelement 4012, for obtaining from the several groups acceleration information that acquisition subelement 4011 acquires
Several forward acceleration components in default sampling time section.
Computation subunit 4013 is carried out for obtaining several forward acceleration components that subelement 4012 obtains to first
It calculates, obtains variance.
In the embodiment of the present invention, forward acceleration component can be obtained from the collected acceleration information of accelerometer,
And then the variance of forward acceleration component can be calculated, it, can more accurate detection by calculating the variance of forward acceleration
To the collision accident of vehicle and bar.
As an alternative embodiment, the acquisition subelement 4011 of vehicle control system shown in fig. 5 may include:
Module 40111 is obtained, for when detecting that vehicle is in automatic parking mode, obtaining default filtering threshold；
Acquisition module 40112, for adding to vehicle using the default filtering threshold for obtaining the acquisition of module 40111 as foundation
Speedometer is filtered, and acquires several groups acceleration information by accelerometer.
Wherein, implement this embodiment, accelerometer can be filtered according to default filtering threshold, added with reducing
Noise in the collected acceleration information of speedometer, to improve the accuracy of the acceleration information of accelerometer acquisition.
As it can be seen that in the system described in Fig. 5, it can determine that vehicle collision thing occurs with the bar wait moor into parking stall
Therefore and the fortuitous event that controls vehicle parking, and then vehicle is avoided to occur because that can not stop, improve the automatic parking of vehicle
Stability.In addition, improving the accuracy of the acceleration information of accelerometer acquisition in the system described in Fig. 5.In addition,
It, can more collision accident of the accurate detection to vehicle and bar in the system described in Fig. 5.
Embodiment six
Referring to Fig. 6, Fig. 6 is the structural schematic diagram of another vehicle control system disclosed by the embodiments of the present invention.Wherein,
Vehicle control system shown in fig. 6 is that vehicle control system as shown in Figure 5 optimizes.With vehicle shown in fig. 5
Control system is compared, the further more detailed description of vehicle control system shown in fig. 6 by judge vehicle with wait moor into
The mode that the relative positional relationship of parking stall determines vehicle and bar collides, and increase and determining that vehicle do not moor into wait moor
The operation that control vehicle executes when entering parking stall, both improved determining vehicle with wait moor the accurate of the bar collision detection into parking stall
Property, and the success rate of vehicle parking can be improved, the determination unit 403 of vehicle control system shown in fig. 6 may include:
Second obtain subelement 4031, for when collision coefficient reaches predetermined coefficient threshold value, obtain vehicle current
Position view field in parking areas, and obtain the parking area wait moor parking stall in current parking areas.
Contrast subunit 4032, for by the second position view field for obtaining of acquisition subelement 4031 and parking area into
Row comparison, determines the relative positional relationship of position view field and parking area.
Judgment sub-unit 4033, whether the relative positional relationship for judging that contrast subunit 4032 determines is parking area
Include position view field.
Close subelement 4034, for the judging result in judgment sub-unit 4033 be when, determine vehicle moored into
It moors into parking stall and vehicle crashes with the bar wait moor into parking stall, and close automatic parking mode and control vehicle and stop
Vehicle.
In the embodiment of the present invention, after predetermined coefficient threshold value being reached judging collision coefficient, further to vehicle
Judged with the relative positional relationship wait moor into parking stall, after judging that vehicle is moored wait moor parking stall, determine vehicle with
Bar wait moor in parking stall collides, thus improve determining vehicle with wait moor the accurate of the bar collision detection into parking stall
Property.
As an alternative embodiment, vehicle control system shown in fig. 6 can also include:
When output unit 404 for the judging result in judgment sub-unit 4033 is no, the parking stall that includes from parking areas
Any one the alternative parking stall of middle identification in addition to wait moor parking stall, and prompt information is exported by the display module of vehicle,
In, alternative parking stall is another parking stall entered from Ke Bo, and prompt information is for prompting wait moor to be that can not moor into parking stall into parking stall.
Wherein, implement this embodiment, after can not mooring wait moor parking stall judging vehicle, from parking areas
In reselect wait moor into parking stall so that vehicle can be moored into other parking stalls, to improve the success rate of vehicle parking.
As an alternative embodiment, output unit 404 can be also used for:
Degradation assessments are carried out to vehicle, obtain the collision grade of vehicle；
When the collision grade for detecting vehicle is less than or equal to predetermined level, according to the location information of vehicle and alternative vehicle
The location information plane-generating parking path of position；
It is parked according to parking path, is moored with controlling vehicle into alternative parking stall.
Wherein, implement this embodiment, vehicle can be calculated by the acceleration information of collected vehicle and existed
The active force generated when collision, and then assessed according to collision accident of the size of active force to this vehicle, determine this
The corresponding collision grade of the collision accident of vehicle, and then when detecting that collision grade is lower, there is no influence row for confirmation vehicle
Sail safe damaged condition, thus can plan current vehicle position to alternative parking stall position parking path, to realize
The automatic parking of vehicle, not only ensure that the safety of vehicle driving, but also can be improved the reliability of automatic parking.
As it can be seen that in the system described in Fig. 6, it can determine that vehicle collision thing occurs with the bar wait moor into parking stall
Therefore and the fortuitous event that controls vehicle parking, and then vehicle is avoided to occur because that can not stop, improve the automatic parking of vehicle
Stability.In addition, improving determining vehicle and wait moor the bar collision detection into parking stall in the system described in Fig. 6
Accuracy.In addition, improving the success rate of vehicle parking in the system described in Fig. 6.In addition, the system described in Fig. 6
In, it not only ensure that the safety of vehicle driving, but also can be improved the reliability of automatic parking.
Embodiment seven
Referring to Fig. 7, Fig. 7 is a kind of structural schematic diagram of vehicle electronic device disclosed by the embodiments of the present invention.Such as Fig. 7 institute
Show, which may include:
It is stored with the memory 701 of executable program code；
The processor 702 coupled with memory 701；
Wherein, processor 702 calls the executable program code stored in memory 701, executes the above each method and implements
Some or all of method in example step.
A kind of computer readable storage medium is also disclosed in the embodiment of the present invention, wherein computer-readable recording medium storage
Program code, wherein program code includes for executing some or all of the method in above each method embodiment step
Instruction.
A kind of computer program product is also disclosed in the embodiment of the present invention, wherein when computer program product on computers
When operation, so that computer executes some or all of the method in such as above each method embodiment step.
The embodiment of the present invention is also disclosed a kind of using distribution platform, wherein using distribution platform for issuing computer journey
Sequence product, wherein when computer program product is run on computers, so that computer executes such as the above each method embodiment
In some or all of method step.
It should be understood that " embodiment of the present invention " that specification is mentioned in the whole text mean special characteristic related with embodiment,
Structure or characteristic is included at least one embodiment of the present invention.Therefore, the whole instruction occur everywhere " in the present invention
In embodiment " not necessarily refer to identical embodiment.In addition, these a particular feature, structure, or characteristics can be with any suitable
Mode combines in one or more embodiments.Those skilled in the art should also know that embodiment described in this description
Alternative embodiment is belonged to, related actions and modules are not necessarily necessary for the present invention.
In various embodiments of the present invention, it should be appreciated that magnitude of the sequence numbers of the above procedures are not meant to execute suitable
Successively, the execution sequence of each process should be determined by its function and internal logic the certainty of sequence, without coping with the embodiment of the present invention
Implementation process constitutes any restriction.
In addition, the terms " system " and " network " are often used interchangeably herein.It should be understood that the terms
"and/or", only a kind of incidence relation for describing affiliated partner, indicates may exist three kinds of relationships, such as A and/or B, can
To indicate: individualism A exists simultaneously A and B, these three situations of individualism B.In addition, character "/" herein, typicallys represent
Forward-backward correlation object is a kind of relationship of "or".
In embodiment provided by the present invention, it should be appreciated that " B corresponding with A " indicates that B is associated with A, can be with according to A
Determine B.It is also to be understood that determine that B is not meant to determine B only according to A according to A, it can also be according to A and/or other information
Determine B.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of above-described embodiment is can
It is completed with instructing relevant hardware by program, which can be stored in a computer readable storage medium, storage
Medium include read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory,
RAM), programmable read only memory (Programmable Read-only Memory, PROM), erasable programmable is read-only deposits
Reservoir (Erasable Programmable Read Only Memory, EPROM), disposable programmable read-only memory (One-
Time Programmable Read-Only Memory, OTPROM), the electronics formula of erasing can make carbon copies read-only memory
(Electrically-Erasable Programmable Read-Only Memory, EEPROM), CD-ROM (Compact
Disc Read-Only Memory, CD-ROM) or other disc memories, magnetic disk storage, magnetic tape storage or can
For carrying or any other computer-readable medium of storing data.
Above-mentioned 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, can be in one place, or may be distributed over multiple nets
On network unit.Some or all of units can be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
In addition, each functional unit in various embodiments of the present invention can integrate in one processing unit, it is also possible to
Each unit physically exists alone, and can also be integrated in one unit with two or more units.Above-mentioned integrated unit
Both it can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and when sold or used as an independent product,
It can store in a retrievable memory of computer.Based on this understanding, technical solution of the present invention substantially or
Person says all or part of of the part that contributes to existing technology or the technical solution, can be in the form of software products
It embodies, which is stored in a memory, including several requests are with so that a computer is set
Standby (can be personal computer, server or network equipment etc., specifically can be the processor in computer equipment) executes
Some or all of each embodiment above method of the invention step.
Above to a kind of control method for vehicle and vehicle control system based on collision detection disclosed by the embodiments of the present invention
It is described in detail, used herein a specific example illustrates the principle and implementation of the invention, the above reality
The explanation for applying example is merely used to help understand method and its core concept of the invention；Meanwhile for the general technology of this field
Personnel, according to the thought of the present invention, there will be changes in the specific implementation manner and application range, in conclusion this theory
Bright book content should not be construed as limiting the invention.
Claims (10)
1. a kind of control method for vehicle based on collision detection, which is characterized in that the described method includes:
When detecting that vehicle is in automatic parking mode, several acceleration of the vehicle in default sampling time section are calculated
Variance；
If the variance is more than default variance threshold values, the acceleration is calculated, collision coefficient is obtained；
If the collision coefficient reaches predetermined coefficient threshold value, determine that the vehicle and the bar wait moor into parking stall collide thing
Therefore and control the vehicle parking.
2. the method according to claim 1, wherein described when detecting that vehicle is in automatic parking mode,
Calculate the variance of several acceleration of the vehicle in default sampling time section, comprising:
When detecting that vehicle is in automatic parking mode, several groups are acquired by the accelerometer of the vehicle and accelerate degree
According to, wherein the when a length of preset interval duration being spaced between two groups of acceleration informations of arbitrary neighborhood；
From several forward acceleration components obtained in the several groups acceleration information in default sampling time section；
Several described forward acceleration components are calculated, variance is obtained.
3. according to the method described in claim 2, it is characterized in that, described when detecting that vehicle is in automatic parking mode,
Several groups acceleration information is acquired by the accelerometer of the vehicle, comprising:
When detecting that vehicle is in automatic parking mode, default filtering threshold is obtained；
Using the default filtering threshold as foundation, the accelerometer of the vehicle is filtered, and passes through the accelerometer
Acquire several groups acceleration information.
4. described in any item methods according to claim 1~3, which is characterized in that if the collision coefficient reaches pre-
If coefficient threshold, determines that the vehicle crashes with the bar wait moor into parking stall, and control the vehicle parking, wrap
It includes:
If the collision coefficient reaches predetermined coefficient threshold value, the position projection in current parking areas of the vehicle is obtained
Region, and obtain the parking area wait moor parking stall in the current parking areas；
The position view field is compared with the parking area, determines the position view field and the parking stall area
The relative positional relationship in domain；
Judge whether the relative positional relationship is that the parking area includes the position view field；
If so, determining that the vehicle has been moored into described wait moor into parking stall and the vehicle and the bar hair wait moor into parking stall
Raw collision accident, and close the automatic parking mode and control the vehicle parking.
5. according to the method described in claim 4, it is characterized in that, being the parking stall judging the relative positional relationship not
Region include the position view field after, the method also includes:
Any one alternative parking stall in addition to identifying from the parking stall that the parking areas includes except described wait moor parking stall, and leads to
Cross the display module output prompt information of the vehicle, wherein the alternative parking stall is described another parking stall entered from Ke Bo,
The prompt information is for prompting described wait moor to be that can not moor into parking stall into parking stall.
6. a kind of vehicle control system characterized by comprising
First computing unit, it is described in default sampling time section for calculating when detecting that vehicle is in automatic parking mode
The variance of several acceleration of vehicle；
Second computing unit, for calculating the acceleration, being touched when the variance is more than default variance threshold values
Hit coefficient；
Determination unit, for when the collision coefficient reaches predetermined coefficient threshold value, determining the vehicle and wait moor into parking stall
Bar crashes, and controls the vehicle parking.
7. vehicle control system according to claim 6, which is characterized in that first computing unit includes:
Subelement is acquired, for being acquired by the accelerometer of the vehicle when detecting that vehicle is in automatic parking mode
Several groups acceleration information, wherein the when a length of preset interval duration being spaced between two groups of acceleration informations of arbitrary neighborhood；
First obtains subelement, for from obtaining several in default sampling time section in the several groups acceleration information
Forward acceleration component；
Computation subunit obtains variance for calculating several described forward acceleration components.
8. vehicle control system according to claim 7, which is characterized in that the acquisition subelement includes:
Module is obtained, for when detecting that vehicle is in automatic parking mode, obtaining default filtering threshold；
Acquisition module for being filtered as foundation to the accelerometer of the vehicle using the default filtering threshold, and passes through
The accelerometer acquires several groups acceleration information.
9. a kind of vehicle electronic device characterized by comprising
It is stored with the memory of executable program code；
The processor coupled with the memory；
The processor calls the executable program code stored in the memory, and perform claim requires any one of 1~5
The control method for vehicle based on collision detection.
10. a kind of computer readable storage medium, which is characterized in that it stores computer program, and the computer program makes
Computer perform claim requires 1~5 described in any item control method for vehicle based on collision detection.
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