CN110588637B

CN110588637B - Automatic parking control method, electronic equipment and automobile

Info

Publication number: CN110588637B
Application number: CN201910907056.8A
Authority: CN
Inventors: 张芳; 张光荣
Original assignee: WM Smart Mobility Shanghai Co Ltd
Current assignee: WM Smart Mobility Shanghai Co Ltd
Priority date: 2019-09-24
Filing date: 2019-09-24
Publication date: 2021-06-25
Anticipated expiration: 2039-09-24
Also published as: CN110588637A

Abstract

The invention discloses an automatic parking control method, electronic equipment and an automobile, wherein the method comprises the following steps: responding to the automatic parking request, and starting to find the parking space; when the vacant parking space is found, the detection distance of the ultrasonic probe behind the vehicle is reduced to a preset safe detection distance; and entering a parking guidance state, and guiding the vehicle to carry out kneading and parking to the vacant parking space based on the detection result of the ultrasonic probe behind the vehicle. After the vacant parking space is found, the detection distance of the ultrasonic probe behind the vehicle is reduced, so that the risk of scratching the obstacle is greatly avoided, and the user experience is improved.

Description

Automatic parking control method, electronic equipment and automobile

Technical Field

The invention relates to the technical field of automobiles, in particular to an automatic parking control method, electronic equipment and an automobile.

Background

At present, the existing full-automatic parking technology is based on an automatic parking system based on ultrasonic waves or images, and due to the fact that a camera is seriously influenced by weather such as illumination and the like, and factors such as cost, technical bottlenecks and the like are added, more ultrasonic wave-based schemes are provided. But because of the characteristics of ultrasonic wave, defects such as detection range, blind area, to special scene, for example the parking stall near the obstacle in the garage, the probability of scraping appearing in the present motorcycle type of volume production through testing discovery is very high.

As shown in FIG. 1, in the conventional automatic parking system based on the ultrasonic radar, when a vehicle 1' travels forwards through an obstacle vehicle obj1, an obstacle obj2 and an obstacle vehicle obj3, the system performs an inner space size simulation according to the width and depth between the obstacle vehicle obj1 and the obstacle obj2, and when the space width is larger than or equal to the vehicle width +0.8m and the space length is larger than or equal to 2m, the system releases a vertical space (i.e. a vacant space 1). The system plans the track of the idle parking space 2 'according to the detected obstacles, namely the vehicle obj1 and the obstacle obj2, and starts parking after the confirmation of a driver, at the moment, the system starts detecting external obstacle information to update the track in real time, so as to ensure that the final parking posture of the vehicle 1' is centered parking, when the parking space is a normal parking space, the system can park at the center position of the obstacle, when the system finds an oversized parking space (the width of the parking space is more than or equal to the width + b of the vehicle, and the width defined by the oversized parking space is generally 4m at present), in order to ensure that the driver and passengers can get off the vehicle, the system can park at about 50cm +/-10 cm beside the stopping obstacle, and the stopping obstacle is defined as a second obstacle passing through the found parking space, namely the obstacle obj2 in.

As shown in fig. 2, when the vehicle 1 ' backs up into the vacant parking space 2 ' and cannot stop at the optimal position in one step, the system controls the vehicle 1 ' to perform front and rear garage kneading actions, when the vehicle 1 ' travels behind, the ultrasonic waves on the vehicle 1 ' are limited by the arrangement position, and when the vehicle travels behind, because the side surface is a detection blind area of the ultrasonic waves, the system cannot detect the obstacle obj2, such as a pillar, and the vehicle takes the shape of obj3 as an obstacle for updating the track in real time and ignores the obstacle obj 2. At the moment, the system carries out trajectory planning according to obj1 and obj3, and according to the actual parking stall size, the parking stall information updated according to obj1 and obj3 can become an oversized parking stall, so that the system stops parking by taking obj3 as a stop obstacle, when the vehicle 1 ' rubs the garage forwards, the system cannot detect a side pillar, the accident that the vehicle and the obstacle are scratched occurs in most cases, and if the user does not take over the vehicle 1 ' in time, the vehicle 1 ' is scratched by the obstacle.

Disclosure of Invention

Therefore, it is necessary to provide an automatic parking control method, an electronic device, and an automobile, for solving the technical problem of scratch in the prior art.

The invention provides an automatic parking control method, which comprises the following steps:

responding to the automatic parking request, and starting to find the parking space;

when the vacant parking space is found, the detection distance of the ultrasonic probe behind the vehicle is reduced to a preset safe detection distance;

and entering a parking guidance state, and guiding the vehicle to carry out kneading and parking to the vacant parking space based on the detection result of the ultrasonic probe behind the vehicle.

After the vacant parking space is found, the detection distance of the ultrasonic probe behind the vehicle is reduced, so that the risk of scratching the obstacle is greatly avoided, and the user experience is improved.

Further, after seeking idle parking stall, reduce the detection range of the ultrasonic transducer in vehicle rear to predetermineeing safe detection distance, specifically include:

after finding the vacant parking space, if the obstacle of the preset type is identified in the preset range beside the vacant parking space, the detection distance of the ultrasonic probe behind the vehicle is reduced to the preset safe detection distance.

This embodiment when discerning the barrier of predetermineeing the type in the other predetermined within range of idle parking stall, reduces the detection distance of the ultrasonic transducer in vehicle rear to predetermineeing safe detection distance, very big evading and the risk of scraping with the barrier on the one hand promotes user experience and feels, and on the other hand can remain original orbit planning to the condition of accessible barrier, adapts to the super large parking stall condition.

Further, the preset type of obstacles are: a circular obstacle with a diameter less than or equal to a preset diameter threshold value and/or a square with a side length less than or equal to a preset length threshold value.

In the embodiment, for a circular obstacle with a diameter smaller than or equal to a preset diameter threshold and/or a square with a side length smaller than or equal to a preset length threshold, misjudgment can be further avoided.

Still further, the safety detection distance is 80-100 cm.

The embodiment reduces the detection distance to 80-100cm, and can cover 80% of the existing limited scenes.

Still further, still include:

when the automatic parking system is not activated or no free parking space is found, the detection distance of the ultrasonic probe behind the vehicle is kept to be the maximum effective detection distance.

According to the embodiment, when the automatic parking system is not activated or an idle parking space is not found, the maximum effective detection distance of the ultrasonic probe behind the vehicle can be utilized for detection, and the detection efficiency is improved.

The invention provides an automatic parking control electronic device, comprising:

at least one processor; and the number of the first and second groups,

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the one processor to cause the at least one processor to:

Still further, the safety detection distance is 80-100 cm.

Still further, the processor is further capable of:

The automobile comprises an automobile body and the electronic equipment, wherein the electronic equipment controls the automobile body to carry out garage kneading and parking.

Drawings

FIG. 1 is a prior art parking schematic;

FIG. 2 is a schematic diagram of a prior art scratch;

fig. 3 is a flowchart illustrating an automatic parking control method according to an embodiment of the present invention;

FIG. 4 is a schematic reverse view of the vehicle of the present invention;

FIG. 5 is a flowchart illustrating an automatic parking control method according to a preferred embodiment of the present invention;

fig. 6 is a flowchart illustrating an automatic parking control method according to another preferred embodiment of the present invention;

FIG. 7 is a system diagram of the preferred embodiment of the present invention;

fig. 8 is a schematic diagram of a hardware structure of an automatic parking control electronic device according to the present invention.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples.

Fig. 3 is a flowchart illustrating an automatic parking control method according to an embodiment of the present invention, including:

step S301, responding to an automatic parking request, and starting to search for a parking space;

step S302, after finding out an idle parking space, reducing the detection distance of an ultrasonic probe behind the vehicle to a preset safe detection distance;

and step S303, entering a parking guidance state, and guiding the vehicle to perform garage kneading and parking to the vacant parking space based on the detection result of the ultrasonic probe behind the vehicle.

Specifically, when the user requests automatic parking, step S301 is triggered to start to search for a parking space, and when the parking space is found, step S302 is triggered to reduce the detection distance of the ultrasonic probe behind the vehicle to a preset safe detection distance, where the ultrasonic probe is preferably an ultrasonic remote probe.

As shown in fig. 2, in the prior art, the maximum effective detection distance a1 is always adopted for the detection distance of the ultrasonic probe behind the vehicle 1 ', the maximum effective detection distance can reach 4.5m, the system detects the obstacle vehicle obj3 by the rear right ultrasonic remote probe in the backward garage-kneading process, according to the original trajectory planning strategy of the system, the system plans the trajectory by taking the obstacle vehicle obj1 and the obstacle vehicle obj3 as the vehicle boundary, because the system cannot detect the obstacle obj2 on the side, such as a pillar, when the width between the obstacle vehicle obj1 and the obstacle vehicle obj3 exceeds the oversized parking space threshold set by the system, the system can use the obstacle vehicle obj3 to terminate the trajectory planning of the vehicle, and the final parking position is close to the position of 50cm ± 10cm from the obstacle vehicle obj3, so that the vehicle 1' is greatly at risk to be scratched by the obstacle obj2 during the subsequent forward garage-kneading.

As shown in fig. 4, in the present invention, when step S302 is executed, since the detection distance of the ultrasonic probe behind the vehicle 1 is reduced to the safe detection distance a2, the system cannot detect the obstacle vehicle obj3 through the rear right side probe, and when step S303 is executed, the system performs warehouse kneading with the obstacle vehicle obj1 and the obstacle obj2 along the planned trajectory when finding the parking space, so that the risk of scratching the obstacle obj2 is greatly avoided, and the user experience is improved.

In one embodiment, after finding a vacant parking space, the method for detecting a vacant parking space by using an ultrasonic probe behind a vehicle reduces the detection distance of the ultrasonic probe to a preset safe detection distance, and specifically includes:

Specifically, when the system finds a parking space, and when the obstacle obj2 is identified, the length and the width of the obstacle obj2 are calculated, the type of the obstacle is judged to be a preset type, and when the system enters parking guidance, the detection distance of the two rear remote probes is reduced to a preset safe detection distance, so that the system cannot detect the obstacle vehicle obj3 through the rear right probe, the system can rub a garage by taking the obstacle vehicle obj1 and the obstacle obj2 as obstacles, the risk of scratching and rubbing the obstacle obj2 is greatly avoided, and the user experience is improved.

In one embodiment, the preset type of obstacle is: a circular obstacle with a diameter less than or equal to a preset diameter threshold value and/or a square with a side length less than or equal to a preset length threshold value.

Specifically, when the system finds a parking space and recognizes an obstacle obj2, the length and the width of the obstacle obj2 are calculated, the type of the obstacle is judged, when the diameter of a circular obstacle is less than or equal to Rcm or the side length of a square is less than or equal to Lm, the obstacle is considered to be recognized, and the system judges the type of the obstacle as a special obstacle.

In one embodiment, the safety detection distance is 80-100 centimeters.

In one embodiment, the method further comprises the following steps:

Specifically, when the automatic parking system is not activated or a parking space is found, the remote detection ranges of the last two ultrasonic waves are kept unchanged, and 4.5m can be detected at the farthest.

Fig. 5 is a flowchart illustrating an automatic parking control method according to a preferred embodiment of the present invention, which includes:

step S501, when the automatic parking system is not activated or a parking space is found, two ultrasonic remote detection ranges behind the vehicle are kept unchanged, and 4.5m can be detected at the farthest;

step S502, when the system enters a parking guide state, the detection distance of two ultrasonic remote probes at the back of the vehicle is reduced to 80-100cm (80% of a limited scene can be covered);

and S503, entering a parking guidance state, and guiding the vehicle to perform garage kneading parking to the vacant parking space based on the detection result of the ultrasonic probe behind the vehicle.

As shown in fig. 4, in the same scene, since the system cannot detect obj3 through the rear right probe, the system can carry out library kneading with the obstacle vehicle obj1 and the obstacle obj2 according to the planned track when finding the parking space, thereby greatly avoiding the risk of scratching the obstacle obj2, such as a pillar, and improving the user experience.

Fig. 6 is a flowchart illustrating an automatic parking control method according to another preferred embodiment of the present invention, including:

step S601, when the system identifies an obstacle obj2 by finding a parking space, the length and the width of the obstacle obj2 are calculated, the type of the obstacle is judged, and when the diameter of a circular obstacle is less than or equal to Rcm or the side length of a square is less than or equal to Lm, the system judges the type of the obstacle as a special obstacle;

step S602, when the target obstacle is found to have the obstacle of the type when parking for searching the parking space, and when the vehicle enters the parking guide, the detection distance of two remote probes behind the vehicle is reduced to the range of 80-100 cm;

and step S603, entering a parking guidance state, and guiding the vehicle to perform garage kneading parking to the vacant parking space based on the detection result of the ultrasonic probe behind the vehicle.

Fig. 7 is a schematic diagram of a system according to a preferred embodiment of the present invention, where the system includes 12 ultrasonic probes, 4 around-looking cameras, an automatic parking host 71, an electric power steering system, a vehicle body stabilizing system, an electronic parking system, a vehicle control unit, a meter, a combination switch, a rotation angle sensor, and other systems, a sensor unit (the ultrasonic probe and the camera) communicates with the automatic parking host through private communication, and other related systems communicate with the automatic parking host through a Controller Area Network (CAN) or a Controller Area Network (CAN with Flexible Data-Rate, CAN-FD). Wherein:

the ultrasonic probe generates a square wave signal, the ultrasonic probe is driven by the amplifying circuit to send an ultrasonic pulse signal, when ultrasonic waves are transmitted by an obstacle, the ultrasonic pulse signal is measured and received by the ultrasonic probe, when the MCU detects return waves, temperature compensation is carried out according to the current temperature, and the obstacle distance is calculated according to a formula d which is 1/2Ct (C which is 343m/s (20 ℃)). The ultrasonic probe includes: the ultrasonic remote probes S1, S6, S7 and S12 are arranged at a detection distance of 4.5m, are arranged on the left side surface and the right side surface of a front bumper and a rear bumper, are 500mm in installation height, are arranged at a detection distance of 2.2m, are arranged on the front bumper and the rear bumper and are arranged according to the installation requirements of a reversing radar system, and the ultrasonic probes S2, S3, S4, S5, S8, S9, S10 and S11 are arranged on the left side surface and the right side surface of.

The automatic parking host monitors obstacle information around a vehicle through the front left/right side probes, searches parking space information, and when a space is detected, the space detected by the sensor is used for simulating the parking space information to judge whether the parking space range is a qualified parking space (the length of a horizontal parking space is +1m, the width of a vertical parking space is +0.8m, but the automatic parking host can also judge as a parking space if the parking space is enough in a special scene described below because of the performance limitation of the ultrasonic probe and the fact that the parking space cannot be detected for steps lower than 15cm or pits on the ground).

An Electric Power Steering (EPS) system is used for executing a Steering angle and a Steering angle acceleration request sent by an automatic parking host, controlling a Steering wheel to steer to an angle instructed by the automatic parking host, and feeding back an exit control reason to the automatic parking host if the EPS fails or a driver intervenes in parking.

The vehicle body stabilizing system is used for sending torque increasing, torque reducing and gear shifting requests to the vehicle control unit when receiving the braking distance, the braking maximum speed limit and the gear shifting requests sent by the automatic parking host and signals of whether the automatic parking system can span or not and feeding back the current wheel speed, the vehicle speed and the like.

The vehicle control unit is used for receiving torque increasing, torque decreasing and gear shifting requests sent by a vehicle body stabilizing system, responding to torque increasing and decreasing, gear shifting and the like in real time.

The electronic parking is used for a set-up release request sent by the vehicle body stabilization system when parking is completed or the parking system is exited.

The instrument is used for prompting the display of characters and animation, alarming by a buzzer and the like in the parking process.

Fig. 8 is a schematic diagram of a hardware structure of an electronic device for controlling automatic parking according to the present invention, which includes:

at least one processor 801; and the number of the first and second groups,

a memory 802 communicatively coupled to the at least one processor 801; wherein the content of the first and second substances,

the memory 802 stores instructions executable by the one processor to cause the at least one processor to:

The Electronic device is preferably an Electronic Control Unit (ECU), which may be integrated in the autonomous parking system. Fig. 8 illustrates an example of a processor 801.

The electronic device may further include: an input device 803 and a display device 804.

The processor 801, the memory 802, the input device 803, and the display device 804 may be connected by a bus or other means, and are illustrated as being connected by a bus.

The memory 802, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the automatic parking control method in the embodiment of the present application, for example, the method flow shown in fig. 3. The processor 801 executes various functional applications and data processing by running nonvolatile software programs, instructions, and modules stored in the memory 802, that is, implements the automatic parking control method in the above-described embodiment.

The memory 802 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the automatic parking control method, and the like. Further, the memory 802 may include high speed random access memory and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 802 may optionally include a memory remotely located from the processor 801, and these remote memories may be connected via a network to a device that performs the automatic parking control method. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The input device 803 may receive an input of a driver click and generate signal inputs related to driver settings and function control of the automatic parking control method. The display device 804 may include a display screen or the like.

When the one or more modules are stored in the memory 802, the one or more processors 801 execute the automatic parking control method in any of the above-described method embodiments.

In one embodiment, the safety detection distance is 80-100 centimeters.

In one embodiment, the processor is further capable of:

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An automatic parking control method characterized by comprising:

entering a parking guidance state, and guiding the vehicle to perform garage kneading and parking to the vacant parking space based on the detection result of the ultrasonic probe behind the vehicle;

after seeking and finding idle parking stall, reduce the detection distance of the ultrasonic transducer in vehicle rear to predetermineeing safe detection distance, specifically include:

after finding an idle parking space, if an obstacle of a preset type is identified in a preset range beside the idle parking space, reducing the detection distance of an ultrasonic probe behind the vehicle to a preset safe detection distance;

the preset type of obstacles is as follows: a circular obstacle with a diameter less than or equal to a preset diameter threshold value and/or a square with a side length less than or equal to a preset length threshold value.

2. The automatic parking control method according to claim 1, wherein the preset safe detection distance is 80-100 cm.

3. The automatic parking control method according to claim 1, characterized by further comprising:

4. An automatic parking control electronic apparatus, characterized by comprising:

at least one processor; and the number of the first and second groups,

5. The automatic parking control electronic device according to claim 4, wherein the preset safe detection distance is 80-100 cm.

6. The automatic parking control electronic device according to claim 4, wherein the processor is further configured to:

7. An automobile, characterized by comprising an automobile body and an electronic device according to any one of claims 4 to 6, wherein the electronic device controls the automobile body to perform garage parking.