CN110466519B - Vehicle control method and vehicle control system based on collision detection - Google Patents

Vehicle control method and vehicle control system based on collision detection Download PDF

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CN110466519B
CN110466519B CN201910757499.3A CN201910757499A CN110466519B CN 110466519 B CN110466519 B CN 110466519B CN 201910757499 A CN201910757499 A CN 201910757499A CN 110466519 B CN110466519 B CN 110466519B
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vehicle
preset
parking
variance
parking space
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CN110466519A (en
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黄亚
刘中元
李红军
柴文楠
蒋少峰
赖健明
肖志光
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Guangzhou Xiaopeng Motors Technology Co Ltd
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Guangzhou Xiaopeng Motors Technology Co Ltd
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    • 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 invention relates to the technical field of vehicles, and discloses a vehicle control method and a vehicle control system based on collision detection, which comprise the following steps: when the vehicle is detected to be in the automatic parking mode, calculating the variance of a plurality of accelerations of the vehicle within a preset sampling time period; if the variance exceeds a preset variance threshold, calculating the acceleration to obtain a collision coefficient; and if the collision coefficient reaches a preset coefficient threshold value, determining that the vehicle and a stop lever to be parked in the parking space have a collision accident, and controlling the vehicle to stop. By implementing the embodiment of the invention, the variance of the acceleration of the vehicle can be calculated, when the variance of the acceleration exceeds the preset variance threshold, the collision coefficient can be continuously calculated according to the acceleration, and when the collision coefficient reaches the preset coefficient threshold, the collision accident between the vehicle and the stop lever to be parked in the parking space is determined, the vehicle is controlled to park, so that the accident condition caused by the fact that the vehicle cannot park is avoided, and the stability of automatic parking of the vehicle is improved.

Description

Vehicle control method and vehicle control system based on collision detection
Technical Field
The invention relates to the technical field of vehicles, in particular to a vehicle control method and a vehicle control system based on collision detection.
Background
At present, when a part of vehicles arrive at parking areas such as a parking lot or an underground garage, automatic parking can be realized in the parking areas, the vehicles can identify parking spaces to be parked from the parking areas, and the vehicles can be controlled to park in the parking spaces according to calculated parking routes. However, in practice, it is found that, in order to ensure the safety of the vehicle during parking, a stop lever is arranged behind a part of the parking spaces to prevent the vehicle from colliding with an object behind the parking spaces, and if the vehicle collides with the stop lever during automatic parking and the vehicle is not parked in a pre-calculated position, the vehicle cannot stop parking because the vehicle cannot be recognized, and thus the current automatic parking has low stability.
Disclosure of Invention
The embodiment of the invention discloses a vehicle control method and a vehicle control system based on collision detection, which can improve the stability of automatic parking.
The embodiment of the invention discloses a vehicle control method based on collision detection in a first aspect, which comprises the following steps:
when the vehicle is detected to be in an automatic parking mode, calculating the variance of a plurality of accelerations of the vehicle within a preset sampling time period;
if the variance exceeds a preset variance threshold, calculating the acceleration to obtain a collision coefficient;
and if the collision coefficient reaches a preset coefficient threshold value, determining that the vehicle and a stop lever to be parked in the parking space have a collision accident, and controlling the vehicle to stop.
As an alternative implementation manner, in the first aspect of the embodiment of the present invention, when it is detected that the vehicle is in the automatic parking mode, the calculating a variance of a number of accelerations of the vehicle within a preset sampling period includes:
when the vehicle is detected to be in an automatic parking mode, a plurality of groups of acceleration data are collected through an accelerometer of the vehicle, wherein the interval duration between any two adjacent groups of acceleration data is preset interval duration;
acquiring a plurality of forward acceleration components in a preset sampling time period from the plurality of groups of acceleration data;
and calculating the plurality of forward acceleration components to obtain the variance.
As an alternative implementation manner, in the first aspect of the embodiment of the present invention, when it is detected that the vehicle is in the automatic parking mode, the acquiring, by an accelerometer of the vehicle, several sets of acceleration data includes:
when the vehicle is detected to be in an automatic parking mode, acquiring a preset filtering threshold value;
and filtering the accelerometer of the vehicle by taking the preset filtering threshold value as a basis, and acquiring a plurality of groups of acceleration data through the accelerometer.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, if the collision coefficient reaches a preset coefficient threshold, determining that a collision accident occurs between the vehicle and a stop lever of a parking space to be parked, and controlling the vehicle to park includes:
if the collision coefficient reaches a preset coefficient threshold value, acquiring a position projection area of the vehicle in the current parking area and acquiring a parking space area of a parking space to be parked in the current parking area;
comparing the position projection area with the parking space area, and determining the relative position relation between the position projection area and the parking space area;
judging whether the relative position relation is that the parking space area contains the position projection area or not;
if so, determining that the vehicle is parked in the parking space and the vehicle collides with a stop lever of the parking space, and closing the automatic parking mode and controlling the vehicle to park.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, after determining that the relative position relationship does not include the position projection area in the parking space area, the method further includes:
and identifying any one alternative parking space except the parking space to be parked from the parking spaces contained in the parking area, and outputting prompt information through a display module of the vehicle, wherein the alternative parking space is another parking space which can be parked, and the prompt information is used for prompting that the parking space to be parked is a parking space which can not be parked.
A second aspect of the embodiments of the present invention discloses a vehicle control system, including:
the automatic parking system comprises a first calculation unit, a second calculation unit and a control unit, wherein the first calculation unit is used for calculating the variance of a plurality of accelerated speeds of a vehicle in a preset sampling time period when the vehicle is detected to be in an automatic parking mode;
the second calculation unit is used for calculating the acceleration to obtain a collision coefficient when the variance exceeds a preset variance threshold;
and the determining unit is used for determining that the vehicle and a stop lever of the parking space to be parked have a collision accident when the collision coefficient reaches a preset coefficient threshold value, and controlling the vehicle to park.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the first calculating unit includes:
the system comprises an acquisition subunit, a control unit and a control unit, wherein the acquisition subunit is used for acquiring a plurality of groups of acceleration data through an accelerometer of a vehicle when the vehicle is detected to be in an automatic parking mode, and the interval duration between any two adjacent groups of acceleration data is preset interval duration;
the first acquisition subunit is used for acquiring a plurality of forward acceleration components within a preset sampling time period from the plurality of groups of acceleration data;
and the calculating subunit is used for calculating the plurality of forward acceleration components to obtain the variance.
As an optional implementation manner, in a second aspect of the embodiment of the present invention, the acquisition subunit includes:
the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring a preset filtering threshold value when detecting that a vehicle is in an automatic parking mode;
and the acquisition module is used for filtering the accelerometer of the vehicle according to the preset filtering threshold value and acquiring a plurality of groups of acceleration data through the accelerometer.
A third aspect of the embodiments of the present invention discloses a vehicle-mounted electronic device, including:
a memory storing executable program code;
a processor coupled with the memory;
the processor calls the executable program code stored in the memory to perform part or all of the steps of any one of the methods of the first aspect.
A fourth aspect of the present embodiments discloses a computer-readable storage medium storing a program code, where the program code includes instructions for performing part or all of the steps of any one of the methods of the first aspect.
A fifth aspect of embodiments of the present invention discloses a computer program product, which, when run on a computer, causes the computer to perform some or all of the steps of any one of the methods of the first aspect.
A sixth aspect of the present embodiment discloses an application publishing platform, where the application publishing platform is configured to publish a computer program product, where the computer program product is configured to, when running on a computer, cause the computer to perform part or all of the steps of any one of the methods in the first aspect.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, when the vehicle is detected to be in the automatic parking mode, the variance of a plurality of accelerations of the vehicle in a preset sampling time period is calculated; if the variance exceeds a preset variance threshold, calculating the acceleration to obtain a collision coefficient; and if the collision coefficient reaches a preset coefficient threshold value, determining that the vehicle and a stop lever to be parked in the parking space have a collision accident, and controlling the vehicle to stop. Therefore, by implementing the embodiment of the invention, the variance of the acceleration of the vehicle can be calculated, when the variance of the acceleration exceeds the preset variance threshold, the collision coefficient can be continuously calculated according to the acceleration, and when the collision coefficient reaches the preset coefficient threshold, the collision accident between the vehicle and the stop lever to be parked in the parking space is determined, and the vehicle is controlled to park, so that the accident condition caused by the fact that the vehicle cannot park is avoided, and the stability of automatic parking of the vehicle is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a vehicle control method based on collision detection according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of another vehicle control method based on collision detection according to the embodiment of the invention;
FIG. 3 is a schematic flow chart diagram of another vehicle control method based on collision detection according to the embodiment of the invention;
FIG. 4 is a schematic structural diagram of a vehicle control system according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of another vehicle control system disclosed in the embodiments of the present invention;
FIG. 6 is a schematic structural diagram of another vehicle control system disclosed in the embodiments of the present invention;
fig. 7 is a schematic structural diagram of a vehicle-mounted electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The embodiment of the invention discloses a vehicle control method and a vehicle control system based on collision detection, which can determine that a vehicle and a stop lever to be parked in a parking space have a collision accident and control the vehicle to park, thereby avoiding the accident situation caused by the fact that the vehicle cannot park and improving the stability of automatic parking of the vehicle.
The following are detailed below.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a vehicle control method based on collision detection according to an embodiment of the present invention. As shown in fig. 1, the collision detection-based vehicle control method may include the steps of:
101. when the vehicle is detected to be in the automatic parking mode, the vehicle-mounted electronic device calculates the variance of a plurality of accelerations of the vehicle within a preset sampling time period.
In the embodiment of the invention, the vehicle-mounted electronic device can acquire the acceleration of the vehicle through an Inertial Measurement Unit (IMU) built in the vehicle, further acquire the acceleration of the vehicle through an Accelerometer (Accelerometer) in the IMU, and further calculate the variance of the acceleration of the vehicle according to the acquired acceleration of the vehicle. The accelerometer can collect the acceleration of the vehicle once every preset time, and the variance of the acceleration of the vehicle can be calculated according to a plurality of accelerations of the vehicle collected in the preset sampling time period, so that the acceleration condition of the vehicle in the preset time period can be reflected.
In the embodiment of the invention, the variance can reflect the discrete degree of a group of data, so that the variance of the acceleration of the vehicle can reflect the acceleration condition of the vehicle, namely, the condition that the vehicle suddenly accelerates or decelerates can be judged according to the variance of the acceleration of the vehicle. If the vehicle collides with the stop lever in the process of backing up, the acceleration of the vehicle when colliding with the stop lever fluctuates greatly, at this time, the acceleration of the vehicle when colliding with the stop lever is considered to have a larger discrete degree relative to the acceleration of the vehicle when backing up normally, and then when the variance of the acceleration of the vehicle exceeds the preset variance threshold, the vehicle has a collision accident. In addition, the acceleration may be data having vectors, and acceleration components of several vectors, such as a forward acceleration component, a lateral acceleration component, a longitudinal acceleration component, and the like, may be determined from the acceleration, and the vehicle-mounted electronic device may calculate a variance for each determined acceleration component, and may determine an orientation of the vehicle where sudden acceleration or sudden deceleration occurs according to the variance of each acceleration component.
As an optional implementation manner, before the vehicle-mounted electronic device performs step 101, the following steps may also be performed:
the method comprises the steps that the vehicle-mounted electronic equipment obtains the current position of a vehicle;
the method comprises the steps that the vehicle-mounted electronic equipment detects whether the current position of a vehicle is in any pre-stored parking area;
if yes, the vehicle-mounted electronic equipment detects the running speed of the vehicle;
when it is detected that the running speeds of the vehicles in the preset continuous time period are all smaller than or equal to the preset maximum parking speed, the vehicle-mounted electronic device may determine that the vehicles are in the automatic parking mode.
By implementing the embodiment, the current position of the vehicle can be detected, if the vehicle is detected to be in any one of the pre-stored parking areas, the driving speed of the vehicle can be further detected, and if the driving speed of the vehicle is detected not to exceed the preset maximum parking speed in the preset continuous time period, the vehicle can be considered to be in the automatic parking mode currently, so that the accuracy of judging that the vehicle is in the automatic parking mode is ensured from the two aspects of the current position of the vehicle and the driving speed of the vehicle.
102. And if the variance exceeds a preset variance threshold value, the vehicle-mounted electronic equipment calculates the acceleration to obtain the collision coefficient.
In the embodiment of the invention, the preset variance threshold value can be obtained by calculating according to a collision test in a parking process, namely, the collision test in the parking process can be carried out on the current vehicle in advance, the acceleration variance of the vehicle when the vehicle has a collision accident in the parking process is calculated, and further the vehicle-mounted electronic equipment can determine the minimum acceleration variance in the detected acceleration variance as the preset variance threshold value, so that the situation that the vehicle cannot be detected by the vehicle-mounted electronic equipment to have the collision accident is avoided, and the comprehensiveness of the vehicle in the collision accident is improved.
In the embodiment of the present invention, since a vehicle may rebound when colliding with a stop lever, a collision coefficient β may be calculated from a relationship between a vehicle force and a vehicle displacement, where the relationship between the vehicle force and the vehicle displacement may be represented as:
F＝ma＝kX
namely:
Figure BDA0002167704050000071
where m may be the mass of the vehicle, a may be the average acceleration of the vehicle, k may be the stiffness coefficient during a collision of the vehicle with the bar, and X may be the displacement of the vehicle, so that a collision coefficient β may be obtained:
Figure BDA0002167704050000072
optionally, since the collision coefficient of the vehicle may suddenly increase in the collision process with the stop lever, the calculated collision coefficient β may be detected in real time, when it is detected that the collision coefficient β reaches the preset coefficient threshold, it may be considered that the vehicle collides with the stop lever, and if the collision coefficient β is smaller than the preset coefficient threshold, it may be considered that the vehicle runs normally, and there is no collision.
103. And if the collision coefficient reaches a preset coefficient threshold value, the vehicle-mounted electronic equipment determines that the vehicle and a stop lever to be parked in the parking space have a collision accident, and controls the vehicle to stop.
In the embodiment of the invention, because the vehicle-mounted electronic equipment can determine the condition of sudden acceleration or sudden deceleration of the vehicle through calculation of the variance of the acceleration of the vehicle, the vehicle-mounted electronic equipment can continue to calculate the collision coefficient of the vehicle according to the acceleration, and can distinguish the condition that the vehicle is suddenly accelerated or suddenly decelerated at present according to the calculated collision coefficient; if it is detected that the collision coefficient does not reach the preset coefficient threshold, it can be considered that the vehicle is currently in a condition of sudden acceleration. The vehicle-mounted electronic device can control the vehicle to stop when detecting that the vehicle collides with the stop lever, and can control the vehicle to stop when considering that the vehicle is in the parking space when colliding with the stop lever, so that the vehicle can be controlled to stop.
In the method described in fig. 1, it can be determined that a collision accident occurs between the vehicle and the stop lever to be parked in the parking space, and the vehicle is controlled to park, so that an accident that the vehicle cannot park is avoided, and the stability of automatic parking of the vehicle is improved. In addition, the method described in fig. 1 is implemented to ensure the accuracy of determining that the vehicle is in the automatic parking mode.
Example two
Referring to fig. 2, fig. 2 is a schematic flow chart of another vehicle control method based on collision detection according to the embodiment of the invention. Compared with the first embodiment, the embodiment of the invention describes a calculation mode of the variance of the forward acceleration component in more detail, and increases an acquisition mode of the acceleration data, thereby not only improving the accuracy of detecting the collision event of the vehicle and the stop lever, but also improving the accuracy of the acceleration data acquired by the accelerometer. As shown in fig. 2, the collision detection-based vehicle control method may include the steps of:
201. when the vehicle is detected to be in the automatic parking mode, the vehicle-mounted electronic equipment collects a plurality of groups of acceleration data through an accelerometer of the vehicle, wherein the interval duration between any two adjacent groups of acceleration data is preset interval duration.
In the embodiment of the present invention, each set of acceleration data acquired by the accelerometer may include acceleration components in different directions, such as a forward acceleration component, a lateral acceleration component, a longitudinal acceleration component, and the like.
As an alternative embodiment, when it is detected that the vehicle is in the automatic parking mode, the manner in which the vehicle-mounted electronic device collects several sets of acceleration data through an accelerometer of the vehicle may include the following steps:
when the vehicle is detected to be in an automatic parking mode, the vehicle-mounted electronic equipment acquires a preset filtering threshold value;
the vehicle-mounted electronic equipment filters the accelerometer of the vehicle according to a preset filtering threshold value, and collects a plurality of groups of acceleration data through the accelerometer.
By implementing the implementation mode, the accelerometer can be filtered according to the preset filtering threshold value so as to reduce the noise in the acceleration data acquired by the accelerometer, and thus the accuracy of the acceleration data acquired by the accelerometer is improved.
In the embodiment of the invention, a Butterworth Filter (Butterworth Filter) can be used for filtering the accelerometer of the vehicle, the Butterworth Filter can be a four-order digital low-pass Filter, and the preset filtering threshold can be normalized cutoff frequency WnN may represent the order, and the acceleration data y may be represented in a state space form:
x(k+1)＝Ax(k)+Bu(k)
y(k)＝Cx(k)+Du(k)
wherein A, B, C and D are both parameters calculated according to a function in the butterworth filter, u may be input data before filtering, x may be a state vector, and the parameters A, B, C and D may be calculated in the following manner:
[A,B,C,D]＝butter(n,Wn)
can pass throughThe order n and the normalized cut-off frequency WnThe parameters A, B, C and D are calculated by the way they are input to the button function.
202. The vehicle-mounted electronic equipment acquires a plurality of forward acceleration components within a preset sampling time period from a plurality of groups of acceleration data.
In the embodiment of the invention, the acceleration data can be directional data, so that acceleration components of a plurality of vectors, such as a forward acceleration component, a lateral acceleration component, a longitudinal acceleration component and the like, can be determined from the acceleration data, and since the collision direction of the vehicle in the parking process is usually the right front or the right back of the vehicle, the forward acceleration component in the acceleration data can be only calculated to obtain the variance of the forward acceleration component, so that the operation efficiency of the vehicle-mounted electronic device is improved.
203. And the vehicle-mounted electronic equipment calculates a plurality of forward acceleration components to obtain the variance.
In the embodiment of the invention, a plurality of acceleration components such as a forward acceleration component or a transverse acceleration component can be obtained from the acquired acceleration data according to the state vector, and because the stop lever in the parking space to be parked is usually arranged behind the parking space to be parked, the calculation content of the vehicle-mounted electronic equipment can be simplified under the condition of ensuring the accurate vehicle collision detection by only calculating the variance of the forward acceleration component, the calculation efficiency of the vehicle-mounted electronic equipment is improved, and the variance Var of the forward acceleration componentnThe recurrence formula of (c) may be:
Figure BDA0002167704050000101
where n is the number of calculated forward acceleration components, and n > 1, VarnThe variance, Var, of the n forward acceleration components can be representedn-1The variance, X, of the first n-1 forward acceleration components can be representednThe nth forward acceleration component can be represented,
Figure BDA0002167704050000102
the mean of the first n-1 forward acceleration components can be represented, and the mean
Figure BDA0002167704050000103
The recurrence formula of (c) may be:
Figure BDA0002167704050000104
in the embodiment of the present invention, by implementing the steps 201 to 203, the forward acceleration component can be obtained from the acceleration data acquired by the accelerometer, and then the variance of the forward acceleration component can be calculated, and by calculating the variance of the forward acceleration, the collision event between the vehicle and the stop lever can be more accurately detected.
204. And if the variance exceeds a preset variance threshold value, the vehicle-mounted electronic equipment calculates the acceleration to obtain the collision coefficient.
205. And if the collision coefficient reaches a preset coefficient threshold value, the vehicle-mounted electronic equipment determines that the vehicle and a stop lever to be parked in the parking space have a collision accident, and controls the vehicle to stop.
In the method described in fig. 2, it can be determined that a collision accident occurs between the vehicle and the stop lever to be parked in the parking space, and the vehicle is controlled to park, so that an accident that the vehicle cannot park is avoided, and the stability of automatic parking of the vehicle is improved. In addition, the method described in fig. 2 is implemented to improve the accuracy of the acceleration data collected by the accelerometer. In addition, the method described in fig. 2 can be implemented to more accurately detect the collision event between the vehicle and the gear lever.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic flow chart of another vehicle control method based on collision detection according to the embodiment of the invention. Compared with the first embodiment, the embodiment of the invention describes the mode of determining the collision between the vehicle and the stop lever by judging the relative position relationship between the vehicle and the parking space to be parked in more detail, and increases the operation of controlling the vehicle to execute when the vehicle is determined not to be parked in the parking space, thereby not only improving the accuracy of determining the collision between the vehicle and the stop lever of the parking space to be parked, but also improving the success rate of vehicle parking. As shown in fig. 3, the collision detection-based vehicle control method may include the steps of:
301. when the vehicle is detected to be in the automatic parking mode, the vehicle-mounted electronic device calculates the variance of a plurality of accelerations of the vehicle within a preset sampling time period.
302. And if the variance exceeds a preset variance threshold value, the vehicle-mounted electronic equipment calculates the acceleration to obtain the collision coefficient.
303. And if the collision coefficient reaches a preset coefficient threshold value, the vehicle-mounted electronic equipment acquires a position projection area of the vehicle in the current parking area and acquires a parking space area of the parking space to be parked in the current parking area.
In the embodiment of the invention, the vehicle-mounted electronic equipment can determine the parking space area of the parking space to be parked from the pre-stored map of the parking area, can also identify the current position information of the vehicle in the pre-stored map of the parking area, and further can calculate the current position projection area of the vehicle in the map of the parking area by combining the information of the type and the like of the current vehicle and the current position information of the vehicle; the information for identifying the current location of the vehicle may be obtained by obtaining the current location information of a Global Positioning System (GPS) of the vehicle, and then converting the location information into a pre-stored map of the parking area, so as to determine the location information of the vehicle in the pre-stored map of the parking area.
304. And the vehicle-mounted electronic equipment compares the position projection area with the parking space area and determines the relative position relation between the position projection area and the parking space area.
In the embodiment of the invention, the relative position relationship between the position projection area and the parking space area can be that the parking space area contains the position projection area or the parking space area does not contain the position projection area, if the parking space area contains the position projection area, the vehicle can be considered to be in the parking space to be parked, namely the vehicle actually realizes parking; if the parking space region does not contain the position projection region, the vehicle can be considered not to be parked in the parking space, and therefore the vehicle-mounted electronic device cannot consider that the vehicle is parked.
305. The vehicle-mounted electronic equipment judges whether the relative position relation is that the parking space area contains a position projection area, if so, step 306 is executed; if not, go to step 307.
306. The vehicle-mounted electronic equipment determines that the vehicle is parked in the parking space and the vehicle collides with a stop lever of the parking space, and closes the automatic parking mode and controls the vehicle to park.
In the embodiment of the invention, if the vehicle-mounted electronic device judges that the relative position relationship is that the parking space region comprises the position projection region, the vehicle-mounted electronic device can be considered as that the vehicle is in the parking space to be parked, namely the vehicle is parked, and can also be considered as that the vehicle collides with the vehicle as the stop lever of the parking space to be parked, so that the current vehicle does not need to be parked again, the automatic parking mode can be closed, the vehicle is controlled to be parked, and the parking is finished.
In the embodiment of the present invention, by implementing the steps 303 to 306, after it is determined that the collision coefficient reaches the preset coefficient threshold, the relative position relationship between the vehicle and the parking space to be parked may be further determined, and after it is determined that the vehicle is parked in the parking space to be parked, it is determined that the vehicle collides with the stop lever in the parking space to be parked, so as to improve the accuracy of detecting the collision between the vehicle and the stop lever in the parking space to be parked.
307. The vehicle-mounted electronic equipment identifies any one alternative parking space except the parking space to be parked from the parking spaces contained in the parking area, and outputs prompt information through a display module of the vehicle, wherein the alternative parking space is another parking space which can be parked, and the prompt information is used for prompting that the parking space to be parked is a parking space which cannot be parked.
In the embodiment of the present invention, after the step 307 is implemented, the parking space to be parked may be reselected from the parking area after it is determined that the vehicle is not parked in the parking space, so that the vehicle may be parked in another parking space, thereby improving the success rate of parking the vehicle.
As an optional implementation manner, after the in-vehicle electronic device executes step 307, the following steps may also be executed:
the vehicle-mounted electronic equipment carries out damage assessment on the vehicle to obtain the collision grade of the vehicle;
when the collision grade of the vehicle is detected to be smaller than or equal to the preset grade, the vehicle-mounted electronic equipment plans and generates a parking path according to the position information of the vehicle and the position information of the alternative parking spaces;
and the vehicle-mounted electronic equipment carries out parking according to the parking path so as to control the vehicle to park in the alternative parking space.
By implementing the implementation mode, the acting force generated by the vehicle in the collision process can be calculated through the acquired acceleration data of the vehicle, then the collision accident of the vehicle is evaluated according to the magnitude of the acting force, the collision grade corresponding to the collision accident of the vehicle is determined, and then when the collision grade is detected to be low, the fact that the vehicle has no damage condition influencing the driving safety is confirmed, so that the parking path from the current position of the vehicle to the position of the alternative parking space can be planned, the automatic parking of the vehicle is realized, the driving safety of the vehicle is ensured, and the reliability of the automatic parking can be improved.
In the method described in fig. 3, it can be determined that a collision accident occurs between the vehicle and the stop lever to be parked in the parking space, and the vehicle is controlled to park, so that an accident that the vehicle cannot park is avoided, and the stability of automatic parking of the vehicle is improved. In addition, the method described in fig. 3 is implemented, which improves the accuracy of the detection of a collision between a vehicle and a stop lever of a parking space to be parked. In addition, implementing the method described in FIG. 3 improves the success rate of vehicle parking. In addition, the method described in fig. 3 is implemented to ensure the safety of the vehicle driving and improve the reliability of automatic parking.
Example four
Referring to fig. 4, fig. 4 is a schematic structural diagram of a vehicle control system according to an embodiment of the present invention. As shown in fig. 4, the vehicle control system may include:
a first calculating unit 401, configured to calculate a variance of several accelerations of the vehicle within a preset sampling period when it is detected that the vehicle is in the automatic parking mode.
As an optional implementation, the first computing unit 401 may further be configured to:
acquiring the current position of the vehicle;
detecting whether the current position of the vehicle is in any one pre-stored parking area;
if yes, detecting the running speed of the vehicle;
when it is detected that the driving speeds of the vehicle are all less than or equal to the preset maximum parking speed within the preset continuous time period, it may be determined that the vehicle is in the automatic parking mode.
By implementing the embodiment, the current position of the vehicle can be detected, if the vehicle is detected to be in any one of the pre-stored parking areas, the driving speed of the vehicle can be further detected, and if the driving speed of the vehicle is detected not to exceed the preset maximum parking speed in the preset continuous time period, the vehicle can be considered to be in the automatic parking mode currently, so that the accuracy of judging that the vehicle is in the automatic parking mode is ensured from the two aspects of the current position of the vehicle and the driving speed of the vehicle.
And a second calculating unit 402, configured to calculate an acceleration to obtain a collision coefficient when the variance obtained by the first calculating unit 401 exceeds a preset variance threshold.
And the determining unit 403 is configured to determine that a collision accident occurs between the vehicle and a stop lever of the parking space to be parked when the collision coefficient obtained by the second calculating unit 402 reaches a preset coefficient threshold, and control the vehicle to park.
Therefore, in the system described in fig. 4, it can be determined that a collision accident occurs between the vehicle and the stop lever to be parked in the parking space, and the vehicle is controlled to park, so that an accident situation that the vehicle cannot park is avoided, and the stability of automatic parking of the vehicle is improved. Further, in the system described in fig. 4, the accuracy of determining that the vehicle is in the automatic parking mode is ensured.
EXAMPLE five
Referring to fig. 5, fig. 5 is a schematic structural diagram of another vehicle control system according to an embodiment of the disclosure. The vehicle control system shown in fig. 5 is optimized from the vehicle control system shown in fig. 4. Compared with the vehicle control system shown in fig. 4, the vehicle control system shown in fig. 5 further describes in more detail the calculation manner of the variance of the forward acceleration component, and also adds the acquisition manner of the acceleration data, so as to improve the accuracy of detecting the collision event between the vehicle and the stop lever and the accuracy of the acceleration data collected by the accelerometer, and the first calculation unit 401 of the vehicle control system shown in fig. 5 may include:
the collecting sub-unit 4011 is configured to collect a plurality of sets of acceleration data through an accelerometer of the vehicle when it is detected that the vehicle is in an automatic parking mode, where a duration of an interval between any two adjacent sets of acceleration data is a preset interval duration.
A first obtaining sub-unit 4012, configured to obtain, from the sets of acceleration data collected by the collecting sub-unit 4011, a plurality of forward acceleration components within a preset sampling time period.
The calculating sub-unit 4013 is configured to calculate a plurality of forward acceleration components obtained by the first obtaining sub-unit 4012 to obtain a variance.
In the embodiment of the invention, the forward acceleration component can be acquired from the acceleration data acquired by the accelerometer, so that the variance of the forward acceleration component can be calculated, and the collision event between the vehicle and the stop lever can be more accurately detected by calculating the variance of the forward acceleration.
As an alternative embodiment, the collecting sub-unit 4011 of the vehicle control system shown in fig. 5 may include:
the obtaining module 40111 is configured to obtain a preset filtering threshold when it is detected that the vehicle is in an automatic parking mode;
the acquisition module 40112 is configured to filter an accelerometer of the vehicle according to the preset filtering threshold value acquired by the acquisition module 40111, and acquire a plurality of sets of acceleration data through the accelerometer.
By implementing the implementation mode, the accelerometer can be filtered according to the preset filtering threshold value so as to reduce the noise in the acceleration data acquired by the accelerometer, and thus the accuracy of the acceleration data acquired by the accelerometer is improved.
Therefore, in the system described in fig. 5, it can be determined that a collision accident occurs between the vehicle and the stop lever to be parked in the parking space, and the vehicle is controlled to park, so that an accident situation that the vehicle cannot park is avoided, and the stability of automatic parking of the vehicle is improved. Furthermore, in the system described in fig. 5, the accuracy of the acceleration data collected by the accelerometer is improved. Furthermore, in the system described in fig. 5, a collision event of the vehicle with the bar can be detected more accurately.
EXAMPLE six
Referring to fig. 6, fig. 6 is a schematic structural diagram of another vehicle control system according to an embodiment of the disclosure. The vehicle control system shown in fig. 6 is optimized from the vehicle control system shown in fig. 5. Compared with the vehicle control system shown in fig. 5, the vehicle control system shown in fig. 6 further describes in more detail the manner of determining that the vehicle collides with the stop lever by determining the relative position relationship between the vehicle and the parking space to be parked, and increases the operation performed by the vehicle when it is determined that the vehicle is not parked in the parking space, so as to improve the accuracy of detecting the collision between the vehicle and the stop lever of the parking space to be parked and the success rate of parking the vehicle, and the determination unit 403 of the vehicle control system shown in fig. 6 may include:
the second obtaining subunit 4031 is configured to obtain, when the collision coefficient reaches a preset coefficient threshold, a position projection area of the vehicle in the current parking area, and obtain a parking space area of a parking space to be parked in the current parking area.
The comparison subunit 4032 is configured to compare the position projection area acquired by the second acquisition subunit 4031 with the parking space area, and determine a relative position relationship between the position projection area and the parking space area.
And the judging subunit 4033 is configured to judge whether the relative position relationship determined by the comparing subunit 4032 is a parking space region including a position projection region.
And the closing subunit 4034 is configured to determine that the vehicle is parked in the parking space and a collision accident occurs between the vehicle and the stop lever of the parking space when the determination result of the determining subunit 4033 is yes, and close the automatic parking mode and control the vehicle to park.
In the embodiment of the invention, the relative position relationship between the vehicle and the parking space to be parked can be further judged after the collision coefficient is judged to reach the preset coefficient threshold value, and the collision between the vehicle and the stop lever in the parking space to be parked is determined after the vehicle is judged to be parked in the parking space, so that the accuracy of collision detection between the vehicle and the stop lever in the parking space to be parked is improved.
As an alternative embodiment, the vehicle control system shown in fig. 6 may further include:
and an output unit 404, configured to, when the determination result of the determining subunit 4033 is negative, identify any one of the parking spots included in the parking area except for the parking spot to be parked, and output a prompt message through a display module of the vehicle, where the parking spot is another parking spot that can be parked, and the prompt message is used to prompt that the parking spot to be parked is a parking spot that cannot be parked.
By the implementation of the implementation mode, the parking space to be parked can be reselected from the parking area after the fact that the vehicle is not parked in the parking space is judged, so that the vehicle can be parked in other parking spaces, and the success rate of parking of the vehicle is improved.
As an alternative implementation, the output unit 404 may further be configured to:
carrying out damage evaluation on the vehicle to obtain the collision grade of the vehicle;
when the collision grade of the vehicle is detected to be smaller than or equal to the preset grade, planning and generating a parking path according to the position information of the vehicle and the position information of the alternative parking spaces;
and parking according to the parking path to control the vehicle to park in the alternative parking space.
By implementing the implementation mode, the acting force generated by the vehicle in the collision process can be calculated through the acquired acceleration data of the vehicle, then the collision accident of the vehicle is evaluated according to the magnitude of the acting force, the collision grade corresponding to the collision accident of the vehicle is determined, and then when the collision grade is detected to be low, the fact that the vehicle has no damage condition influencing the driving safety is confirmed, so that the parking path from the current position of the vehicle to the position of the alternative parking space can be planned, the automatic parking of the vehicle is realized, the driving safety of the vehicle is ensured, and the reliability of the automatic parking can be improved.
Therefore, in the system described in fig. 6, it can be determined that a collision accident occurs between the vehicle and the stop lever to be parked in the parking space, and the vehicle is controlled to park, so that an accident situation that the vehicle cannot park is avoided, and the stability of automatic parking of the vehicle is improved. Furthermore, in the system described in fig. 6, the accuracy of the detection of a collision of the vehicle with a bar that is determined to be parked in the parking space is improved. Furthermore, in the system depicted in fig. 6, the success rate of vehicle parking is improved. In addition, in the system described in fig. 6, the safety of the vehicle running is ensured, and the reliability of the automatic parking can be improved.
EXAMPLE seven
Referring to fig. 7, fig. 7 is a schematic structural diagram of a vehicle-mounted electronic device according to an embodiment of the present invention. As shown in fig. 7, the in-vehicle electronic apparatus may include:
a memory 701 in which executable program code is stored;
a processor 702 coupled to the memory 701;
wherein, the processor 702 calls the executable program code stored in the memory 701 to execute part or all of the steps of the method in the above method embodiments.
The embodiment of the invention also discloses a computer readable storage medium, wherein the computer readable storage medium stores program codes, wherein the program codes comprise instructions for executing part or all of the steps of the method in the above method embodiments.
Embodiments of the present invention also disclose a computer program product, wherein, when the computer program product is run on a computer, the computer is caused to execute part or all of the steps of the method as in the above method embodiments.
The embodiment of the present invention also discloses an application publishing platform, wherein the application publishing platform is used for publishing a computer program product, and when the computer program product runs on a computer, the computer is caused to execute part or all of the steps of the method in the above method embodiments.
It should be appreciated that reference throughout this specification to "an embodiment of the present invention" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrase "in embodiments of the invention" appearing in various places throughout the specification are not necessarily all referring to the same embodiments. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art should also appreciate that the embodiments described in this specification are exemplary and alternative embodiments, and that the acts and modules illustrated are not required in order to practice the invention.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
In addition, the terms "system" and "network" are often used interchangeably herein. It should be understood that the term "and/or" herein is merely one type of association relationship describing an associated object, meaning that three relationships may exist, for example, a and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
The vehicle control method and the vehicle control system based on collision detection disclosed by the embodiment of the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. A method for vehicle control based on collision detection, the method comprising:
when the vehicle is detected to be in an automatic parking mode, calculating the variance of a plurality of accelerations of the vehicle within a preset sampling time period;
if the variance exceeds a preset variance threshold, calculating the acceleration to obtain a collision coefficient;
if the collision coefficient reaches a preset coefficient threshold value, determining that the vehicle and a stop lever of the parking space to be parked have a collision accident, and controlling the vehicle to park;
wherein the variance of the plurality of accelerations is the variance of the plurality of forward accelerations;
the detecting that the vehicle is in the automatic parking mode includes:
acquiring the current position of the vehicle;
detecting whether the current position of the vehicle is in any pre-stored parking area;
if yes, detecting the running speed of the vehicle;
and when the fact that the running speeds of the vehicles are smaller than or equal to the preset maximum parking speed in the preset continuous time is detected, determining that the vehicles are in the automatic parking mode.
2. The method of claim 1, wherein calculating a variance of a number of accelerations of the vehicle over a preset sampling period when the vehicle is detected to be in the auto park mode comprises:
when the vehicle is detected to be in an automatic parking mode, a plurality of groups of acceleration data are collected through an accelerometer of the vehicle, wherein the interval duration between any two adjacent groups of acceleration data is preset interval duration;
acquiring a plurality of forward acceleration components in a preset sampling time period from the plurality of groups of acceleration data;
and calculating the plurality of forward acceleration components to obtain the variance.
3. The method of claim 2, wherein collecting sets of acceleration data by an accelerometer of the vehicle when the vehicle is detected to be in the auto park mode comprises:
when the vehicle is detected to be in an automatic parking mode, acquiring a preset filtering threshold value;
and filtering the accelerometer of the vehicle by taking the preset filtering threshold value as a basis, and acquiring a plurality of groups of acceleration data through the accelerometer.
4. The method according to any one of claims 1 to 3, wherein if the collision coefficient reaches a preset coefficient threshold value, determining that the vehicle has a collision accident with a stop lever of the parking space to be parked, and controlling the vehicle to park comprises:
if the collision coefficient reaches a preset coefficient threshold value, acquiring a position projection area of the vehicle in the current parking area and acquiring a parking space area of a parking space to be parked in the current parking area;
comparing the position projection area with the parking space area, and determining the relative position relation between the position projection area and the parking space area;
judging whether the relative position relation is that the parking space area contains the position projection area or not;
if so, determining that the vehicle is parked in the parking space and the vehicle collides with a stop lever of the parking space, and closing the automatic parking mode and controlling the vehicle to park.
5. The method of claim 4, wherein after determining that the relative position relationship does not include the position projection area for the parking space area, the method further comprises:
and identifying any one alternative parking space except the parking space to be parked from the parking spaces contained in the parking area, and outputting prompt information through a display module of the vehicle, wherein the alternative parking space is another parking space which can be parked, and the prompt information is used for prompting that the parking space to be parked is a parking space which can not be parked.
6. A vehicle control system, characterized by comprising:
the automatic parking system comprises a first calculation unit, a second calculation unit and a control unit, wherein the first calculation unit is used for calculating the variance of a plurality of accelerated speeds of a vehicle in a preset sampling time period when the vehicle is detected to be in an automatic parking mode; wherein the variance of the plurality of accelerations is the variance of the plurality of forward accelerations;
the second calculation unit is used for calculating the acceleration to obtain a collision coefficient when the variance exceeds a preset variance threshold;
the determining unit is used for determining that the vehicle and a stop lever of a parking space to be parked have a collision accident when the collision coefficient reaches a preset coefficient threshold value, and controlling the vehicle to park;
the first calculation unit is specifically configured to acquire a current position of the vehicle; detecting whether the current position of the vehicle is in any pre-stored parking area; if yes, detecting the running speed of the vehicle; and when the fact that the running speeds of the vehicles are smaller than or equal to the preset maximum parking speed in the preset continuous time is detected, determining that the vehicles are in the automatic parking mode.
7. The vehicle control system according to claim 6, characterized in that the first calculation unit includes:
the system comprises an acquisition subunit, a control unit and a control unit, wherein the acquisition subunit is used for acquiring a plurality of groups of acceleration data through an accelerometer of a vehicle when the vehicle is detected to be in an automatic parking mode, and the interval duration between any two adjacent groups of acceleration data is preset interval duration;
the first acquisition subunit is used for acquiring a plurality of forward acceleration components within a preset sampling time period from the plurality of groups of acceleration data;
and the calculating subunit is used for calculating the plurality of forward acceleration components to obtain the variance.
8. The vehicle control system of claim 7, wherein the acquisition subunit comprises:
the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring a preset filtering threshold value when detecting that a vehicle is in an automatic parking mode;
and the acquisition module is used for filtering the accelerometer of the vehicle according to the preset filtering threshold value and acquiring a plurality of groups of acceleration data through the accelerometer.
9. An in-vehicle electronic apparatus, characterized by comprising:
a memory storing executable program code; a processor coupled with the memory; the processor calls the executable program code stored in the memory to execute the vehicle control method based on collision detection according to any one of claims 1 to 5.
10. A computer-readable storage medium characterized by storing a computer program that causes a computer to execute the collision detection-based vehicle control method according to any one of claims 1 to 5.
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