CN111688680A - Vehicle parking control method, device, storage medium and system - Google Patents
Vehicle parking control method, device, storage medium and system Download PDFInfo
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- CN111688680A CN111688680A CN202010555141.5A CN202010555141A CN111688680A CN 111688680 A CN111688680 A CN 111688680A CN 202010555141 A CN202010555141 A CN 202010555141A CN 111688680 A CN111688680 A CN 111688680A
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
Abstract
The invention discloses a vehicle parking control method, a vehicle parking control device, a storage medium and a vehicle parking control system. The method comprises the following steps: when the starting of a parking-out function of a target vehicle is detected, acquiring a first distance between the target vehicle and a front vehicle and a second distance between the target vehicle and a rear vehicle; judging whether the target vehicle meets a preset parking condition or not according to the first distance and the second distance; and when the target vehicle is determined to meet the preset parking-out condition, controlling the target vehicle to park out according to a preset parking-out mode. Through the technical scheme, the vehicle can be simply and quickly controlled to park out of the parking space, and the safety of parking out of the vehicle is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle parking control method, a vehicle parking control device, a storage medium and a vehicle parking control system.
Background
In the automobile driving technology, parking and parking of a vehicle in a parking space are highly difficult technologies, particularly for a driver with a short driving age, scratch and rub with a vehicle beside the vehicle due to improper control often occur when parking or parking in or out of the parking space, or the vehicle needs to be backed for a long time due to fear of scratch and rub to complete, and particularly for some parallel parking spaces with small sizes, safe parking and parking out cannot be achieved.
Disclosure of Invention
The invention provides a control method, a device, a storage medium and a system for parking out a vehicle, which can simply and quickly control the vehicle to park out a parking space and improve the safety of parking out the vehicle.
In a first aspect, an embodiment of the present invention provides a method for controlling a vehicle to park out, including:
when the starting of a parking-out function of a target vehicle is detected, acquiring a first distance between the target vehicle and a front vehicle and a second distance between the target vehicle and a rear vehicle;
judging whether the target vehicle meets a preset parking condition or not according to the first distance and the second distance;
and when the target vehicle is determined to meet the preset parking-out condition, controlling the target vehicle to park out according to a preset parking-out mode.
In a second aspect, an embodiment of the present invention further provides a control apparatus for parking out a vehicle, including:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring a first distance between a target vehicle and a front vehicle and a second distance between the target vehicle and a rear vehicle when the starting of a parking-out function of the target vehicle is detected;
the judging module is used for judging whether the target vehicle meets a preset parking condition or not according to the first distance and the second distance;
the first control module is used for controlling the target vehicle to park out according to a preset parking-out mode when the target vehicle is determined to meet the preset parking-out condition.
In a third aspect, embodiments of the present invention further provide a computer storage medium, on which a computer program is stored, which when executed by a processor, implements the method for controlling parking out of a vehicle provided in any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention provides a control system for vehicle parking, including a memory, a processor, and a computer program stored on the memory and operable on the processor, where the processor executes the computer program to implement the control method for vehicle parking according to the embodiment of the present invention.
The invention provides a control scheme for parking out a vehicle, which comprises the following steps: when the starting of a parking-out function of a target vehicle is detected, acquiring a first distance between the target vehicle and a front vehicle and a second distance between the target vehicle and a rear vehicle; judging whether the target vehicle meets a preset parking condition or not according to the first distance and the second distance; and when the target vehicle is determined to meet the preset parking-out condition, controlling the target vehicle to park out according to a preset parking-out mode. According to the technical scheme provided by the embodiment of the invention, whether the current parking space of the parked vehicle meets the parking-out condition is reasonably judged according to the distance between the parked vehicle and the front vehicle as well as the rear vehicle, and when the parking-out condition is determined to be met, the parked vehicle is controlled to park out according to the preset parking-out mode, so that the parked vehicle can be simply and quickly controlled to park out the parking space, and the parking-out safety of the vehicle is improved.
Drawings
Fig. 1 is a schematic flow chart of a control method for parking out a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the distribution of radar in a target vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating another method for controlling the vehicle to park according to an embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating another method for controlling the vehicle to park according to an embodiment of the present invention;
fig. 5 is a block diagram of a control apparatus for vehicle parking according to an embodiment of the present invention;
fig. 6 is a block diagram of a control system for parking out an electric vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a method for controlling a vehicle to park in a vehicle according to an embodiment of the present invention, which may be implemented by a control device for vehicle parking, wherein the device may be implemented by software and/or hardware, and may be generally integrated into a control system for vehicle parking, and the control system for vehicle parking may be generally configured in a parked vehicle. As shown in fig. 1, the method includes:
The target vehicle may be understood as a vehicle to be parked. In an embodiment of the present invention, when activation of a pull-out function of a target vehicle is detected, a first distance between the target vehicle and a preceding vehicle and a second distance between the target vehicle and a following vehicle are acquired. Optionally, sensors may be respectively disposed at the front end and the rear end of the target vehicle, a first distance between the target vehicle and the front end vehicle is obtained by the sensor at the front end of the target vehicle, and a second distance between the target vehicle and the rear end vehicle is obtained by the sensor at the rear end of the target vehicle. Optionally, radars may be respectively disposed at the front end and the rear end of the target vehicle, a first distance between the target vehicle and the front end vehicle is obtained through the radar at the front end of the target vehicle, and a second distance between the target vehicle and the rear end vehicle is obtained through the radar at the rear end of the target vehicle. Wherein, the radar can be an ultrasonic radar. The embodiment of the present invention does not limit the manner of acquiring the first distance and the second distance.
Alternatively, before detecting the start of the pull-out function of the target vehicle, the driver may typically start the engine of the target vehicle and control the start of the pull-out function of the target vehicle via the pull-out function start button. Since the parking space includes a horizontal parking space and a vertical parking space, when the parking space where the target vehicle is currently located is the vertical parking space, it is generally easy for the driver to park the target vehicle out of the parking space, and for the horizontal parking space, there is a certain difficulty in successfully parking out of the parking space. Therefore, when the start of the pull-out function of the target vehicle is detected, the parking space type of the parking space where the target vehicle is currently located is determined, and when the parking space where the target vehicle is currently located is a horizontal parking space, the first distance between the target vehicle and the front vehicle and the second distance between the target vehicle and the rear vehicle are acquired.
And step 102, judging whether the target vehicle meets a preset parking-out condition or not according to the first distance and the second distance.
In the embodiment of the present invention, the first distance between the target vehicle and the front vehicle and the second distance between the target vehicle and the rear vehicle may directly reflect the size of the parking space where the target vehicle is currently located, and when the parking space is too small, the target vehicle is not favorable to be successfully parked, so that it is necessary to determine whether the target vehicle meets the preset parking condition according to the first distance and the second distance. Optionally, whether the first distance and the second distance are greater than a certain distance threshold may be determined, if yes, it may be determined that the target vehicle meets a preset parking condition, and otherwise, it may be determined that the target vehicle does not meet the preset parking condition. Optionally, whether the target vehicle meets the preset parking-out condition may be further determined according to the sum of the first distance and the second distance.
Optionally, determining whether the target vehicle meets a preset parking condition according to the first distance and the second distance includes: calculating a distance sum of the first distance and the second distance; judging whether the distance sum is larger than a first distance threshold and smaller than a second distance threshold; determining that the target vehicle meets a preset parking-out condition when the distance sum is greater than a first distance threshold and less than a second distance threshold; when the distance sum is smaller than a first distance threshold value or larger than a second distance threshold value, determining that the target vehicle does not meet a preset parking-out condition. The parking space where the target vehicle is located can be accurately determined whether the parking condition of the target vehicle is met or not, and the parking safety of the vehicle is further improved.
For example, the first distance L1 and the second distance L2 are summed after the first distance L1 between the target vehicle and the preceding vehicle is acquired by a sensor or a radar provided at the front end of the target vehicle and the second distance L2 between the target vehicle and the following vehicle is acquired by a sensor or a radar provided at the rear end of the vehicle. When the sum of the distances (L1+ L2) is less than the first distance threshold, indicating that the parking space in which the target vehicle is currently located is too small, which easily results in that the target vehicle cannot be successfully parked, it may be determined that the target vehicle does not satisfy the preset parking condition. Optionally, when the sum of the distances is smaller than the first distance threshold, the target vehicle exit function may be controlled and a prompt message may be sent to the driver. When the sum of the distances is greater than the second distance threshold, it indicates that there is no vehicle or other obstacle in front of and/or behind the target vehicle, and the target vehicle can be directly driven out of the current parking space without controlling the target vehicle to park out. Optionally, when the sum of the distances is greater than the second distance threshold, it may be determined that the target vehicle also does not satisfy the preset pull-out condition, and the target vehicle is controlled to exit the pull-out function. And when the distance sum is greater than the first distance threshold and less than the second distance threshold, namely the distance sum is between the first distance threshold and the second distance threshold, the parking space where the target vehicle is currently located can be determined to be appropriate in size and accord with the parking condition of the target vehicle.
And 103, controlling the target vehicle to park out according to a preset parking-out mode when the target vehicle is determined to meet the preset parking-out condition.
In the embodiment of the invention, when the target vehicle meets the preset parking-out condition according to the distance between the target vehicle and the front vehicle and the distance between the target vehicle and the rear vehicle, the target vehicle is controlled to park out according to the preset parking-out mode. Exemplarily, determining a parking-out direction of the target vehicle, rotating a steering wheel of the target vehicle to a limit position in a direction opposite to the parking-out direction, and controlling the target vehicle to run in a backward arc shape; when the distance between the target vehicle and the rear vehicle is detected to reach a preset safety threshold value, controlling the target vehicle to stop, rotating a steering wheel of the target vehicle to a limit position in the same direction as the parking-out direction, and controlling the target vehicle to move forwards in an arc shape; and when the distance between the target vehicle and the front vehicle is greater than a preset safety threshold value, controlling the target vehicle to be parked out successfully.
Optionally, controlling the target vehicle to park out according to a preset parking out mode includes: controlling the target vehicle to drive forwards or backwards so that the distance between the target vehicle and the rear vehicle is within a first preset safety range; when the distance between the target vehicle and the rear vehicle is within the first preset safety range, controlling a steering wheel of the target vehicle to rotate to a limit position in a parking-out direction, and enabling the target vehicle to run in a forward arc shape; and when the distance between the target vehicle and the front vehicle is within a second preset safety range, controlling the target vehicle to park out.
It should be noted that, the preset parking-out mode is not limited in the embodiment of the present invention.
The invention provides a control method for parking out a vehicle, which comprises the following steps: when the starting of the parking-out function of the target vehicle is detected, acquiring a first distance between the target vehicle and a front vehicle and a second distance between the target vehicle and a rear vehicle; judging whether the target vehicle meets a preset parking condition or not according to the first distance and the second distance; and when the target vehicle is determined to meet the preset parking-out condition, controlling the target vehicle to park out according to a preset parking-out mode. According to the technical scheme provided by the embodiment of the invention, whether the current parking space of the parked vehicle meets the parking-out condition is reasonably judged according to the distance between the parked vehicle and the front vehicle as well as the rear vehicle, and when the parking-out condition is determined to be met, the parked vehicle is controlled to park out according to the preset parking-out mode, so that the parked vehicle can be simply and quickly controlled to park out the parking space, and the parking-out safety of the vehicle is improved.
In some embodiments, controlling the target vehicle to park out according to a preset parking out mode comprises: controlling the target vehicle to drive forwards or backwards so that the distance between the target vehicle and the rear vehicle is within a first preset safety range; when the distance between the target vehicle and the rear vehicle is within the first preset safety range, controlling a steering wheel of the target vehicle to rotate to a limit position in a parking-out direction, and enabling the target vehicle to run in a forward arc shape; and when the distance between the target vehicle and the front vehicle is within a second preset safety range, controlling the target vehicle to park out. The advantage of this arrangement is that the target vehicle can be safely parked at a faster speed, effectively providing the efficiency of parking the vehicle.
For example, since the distance between the target vehicle and the rear vehicle may be large or small, when the distance between the target vehicle and the rear vehicle is too large, the target vehicle may easily collide with an obstacle (or a vehicle) in front of the target vehicle during parking out, and when the distance between the target vehicle and the rear vehicle is too small, the target vehicle may easily collide with an obstacle (or a vehicle) behind the target vehicle during parking out, and thus the target vehicle is controlled to travel forward or backward such that the distance between the target vehicle and the rear vehicle is within the first preset safety range. For example, the target vehicle can be appropriately controlled to travel straight ahead or straight behind according to the distance between the target vehicle and the rear vehicle. Here, it is understood that, when the target vehicle is controlled to travel straight ahead or straight behind, the steering wheel of the target vehicle is kept unchanged, and the target vehicle is caused to travel straight ahead by engaging only the forward travel range (D range) with the target vehicle, or the target vehicle is caused to travel straight behind by engaging the reverse range (R range) with the target vehicle. And when the distance between the target vehicle and the rear vehicle is detected to be within a first preset safety range, controlling the target vehicle to stop running, controlling a steering wheel of the target vehicle to rotate to a limit position in the parking-out direction, and enabling the target vehicle to run in a forward arc shape. And controlling the target vehicle to park out when the distance between the target vehicle and the front vehicle is within a second preset safety range. The parking-out direction of the vehicle can comprise left parking-out or right parking-out, and the parking-out direction can be indicated by a driver through a steering lamp and can also be determined according to the direction input by a user. In addition, the first preset safety range and the second preset safety range may be the same or different, and this is not limited in the embodiments of the present invention. For example, the first preset safety range and the second preset safety range may each be 15cm to 25 cm.
In some embodiments, the control method of vehicle parking further comprises: detecting whether the distance between the target vehicle and the front vehicle is greater than a first safety threshold value in real time in the process of parking out the target vehicle; and when the distance between the target vehicle and the front vehicle is detected to be smaller than a first safety threshold value, returning to execute control of the target vehicle to drive towards the right back. The advantage of this arrangement is that the safety of the vehicle when parked is further ensured.
Illustratively, when the distance between the target vehicle and the front vehicle is within a second preset safety range, in the process of controlling the target vehicle to park out, the distance between the target vehicle and the front vehicle is obtained in real time, whether the distance between the target vehicle and the front vehicle is greater than a first safety threshold value or not is judged, and if yes, the target vehicle is controlled to continue to run until the target vehicle is parked out successfully. And when the distance between the target vehicle and the front vehicle is smaller than a first safety threshold value, returning to execute control of the target vehicle to drive backwards so that the distance between the target vehicle and the rear vehicle is within a first preset safety range, when the distance between the target vehicle and the rear vehicle is within the first preset safety range, controlling the steering wheel of the target vehicle to rotate to a limit position in the parking-out direction and drive the target vehicle in a forward arc shape, and when the distance between the target vehicle and the front vehicle is within a second preset safety range, controlling the target vehicle to park out.
In some embodiments, the method of controlling the parking out of a vehicle further comprises: detecting whether an obstacle exists in a preset distance range behind the target vehicle in real time in the process of parking out the target vehicle; and when the obstacle is detected to exist in the preset distance range behind the target vehicle, controlling the target vehicle to be in a parking state until the obstacle does not exist in the preset distance range behind the target vehicle. The advantage of setting up like this lies in, can effectively prevent that the in-process that the vehicle moored out, the target vehicle and the side rear suddenly appear the circumstances that the removal barrier appears and bump take place, has guaranteed the security that the vehicle moored out, the further driver's that guarantees safety.
Illustratively, during the process of parking out of the target vehicle. Detecting whether a moving obstacle exists in a preset distance range behind a target vehicle in real time, controlling emergency brake of the vehicle to enable the target vehicle to be in a parking state and controlling the target vehicle to turn on an emergency indicator light when the moving obstacle is detected to exist in the preset distance range behind the target vehicle in order to ensure the safety of the target vehicle until the obstacle does not exist in the preset distance range behind the target vehicle, namely the moving obstacle disappears (moves out of the preset distance range behind the target vehicle), and controlling the target vehicle to continuously park at the moment.
In some embodiments, the method of controlling the parking out of a vehicle further comprises: and detecting whether the distance between the target vehicle and obstacles around the target vehicle is smaller than a second safety threshold value in real time in the parking-out process of the target vehicle, and if so, controlling the target vehicle to be in a parking state. The arrangement has the advantages that the situation that the target vehicle collides with the suddenly appearing obstacles around the target vehicle in the process of parking the vehicle can be effectively prevented, the safety of parking the vehicle is ensured, and the safety of a driver is further ensured.
For example, the obstacles around the target vehicle may include obstacles that are present around the periphery of the target vehicle, such as directly in front of, directly behind, forward of, laterally behind, left of, and right of the target vehicle. And in the process of parking the target vehicle, when the fact that the distance between the target vehicle and the obstacles around the target vehicle is smaller than a second safety threshold value is detected, controlling emergency brake of the vehicle to enable the target vehicle to be in a parking state, controlling the target vehicle to turn on an emergency indicator lamp, and controlling the target vehicle to exit the parking function.
In some embodiments, ultrasonic radars are provided at the front end, rear end, and sides of the target vehicle; a millimeter wave radar is arranged at the rear end of the target vehicle; correspondingly, the distances between the target vehicle and the front vehicle and between the target vehicle and the rear vehicle are respectively obtained through the ultrasonic radar; and detecting whether an obstacle exists in a preset distance range behind the side of the target vehicle or not through the millimeter wave radar. The advantage of this arrangement is that the distance between the target vehicle and the vehicle or obstacle in front of and behind the target vehicle can be accurately obtained, and the safety of parking the vehicle can be further improved.
Fig. 2 is a schematic diagram illustrating distribution of radars in a target vehicle according to an embodiment of the present invention. As shown in fig. 2, four ultrasonic radars 201 are arranged at the front end and the rear end of the target vehicle, respectively, two ultrasonic radars 201 are arranged at the left side and the right side of the target vehicle, respectively, and in addition, two millimeter wave radars 202 are distributed at the rear end of the vehicle. The distance between the target vehicle and the front vehicle can be detected through the ultrasonic radars arranged at the front end and the side front end of the target vehicle, the distance between the target vehicle and the rear vehicle is detected through the ultrasonic radars arranged at the rear end and the side rear end of the target vehicle, and whether a moving obstacle exists in a preset distance range at the side rear of the target vehicle is detected through the millimeter wave radar arranged at the rear end of the target vehicle.
Fig. 3 is a schematic flow chart of another vehicle parking control method according to an embodiment of the present invention, as shown in fig. 3, the method includes the following steps:
And step 304, determining that the target vehicle meets the preset parking condition.
And 305, controlling the target vehicle to drive towards the front or the rear so that the distance between the target vehicle and the rear vehicle is within a first preset safety range.
And 307, controlling the steering wheel of the target vehicle to rotate to the limit position in the parking-out direction, and enabling the target vehicle to run in a forward arc shape.
And 308, controlling the target vehicle to park out when the distance between the target vehicle and the front vehicle is in a second preset safety range.
The control method for parking out the vehicle provided by the embodiment of the invention can simply and quickly control the vehicle to park out the parking space and improve the safety of parking out the vehicle.
Fig. 4 is a schematic flow chart of another control method for parking out a vehicle according to an embodiment of the present invention, as shown in fig. 4, the method includes the following steps:
And step 404, controlling the target vehicle to drive towards the right back, so that the distance between the target vehicle and the vehicle behind is within a first preset safety range.
And 405, judging whether the distance between the target vehicle and the rear vehicle is within a first preset safety range, if so, executing 406, otherwise, returning to execute 404.
And step 406, controlling the steering wheel of the target vehicle to rotate to the limit position in the parking-out direction, and enabling the target vehicle to run in a forward arc shape.
And step 408, controlling the target vehicle to park out, detecting whether the distance between the target vehicle and the front vehicle is greater than a first safety threshold value in real time in the parking-out process of the target vehicle, if so, executing step 409, otherwise, returning to execute step 404.
And 409, detecting whether an obstacle exists in a preset distance range behind the target vehicle in real time in the process of parking out the target vehicle, if so, executing a step 410, and otherwise, executing a step 411.
And step 410, controlling the target vehicle to be in a parking state until no obstacle exists in a preset distance range behind the target vehicle.
And step 412, controlling the target vehicle to be in a parking state until the distance between the target vehicle and the obstacles around the target vehicle is greater than a second safety threshold.
And step 413, controlling the vehicle to be parked out and finished.
The control method for parking out the vehicle can simply and quickly control the vehicle to park out the parking space, can effectively avoid collision with the obstacle in the process of parking out the vehicle, and further ensures the safety of parking out the vehicle.
Fig. 5 is a block diagram of a control apparatus for vehicle parking according to an embodiment of the present invention, which may be implemented by software and/or hardware, and is generally integrated into a control system for vehicle parking, and may control vehicle parking by executing a control method for vehicle parking. As shown in fig. 5, the apparatus includes:
an obtaining module 501, configured to obtain a first distance between a target vehicle and a front vehicle and a second distance between the target vehicle and a rear vehicle when it is detected that a pull-out function of the target vehicle is activated;
a determining module 502, configured to determine whether the target vehicle meets a preset parking condition according to the first distance and the second distance;
a first control module 503, configured to control the target vehicle to park out according to a preset parking-out manner when it is determined that the target vehicle meets a preset parking-out condition.
The invention provides a control device for parking out a vehicle, which is used for acquiring a first distance between a target vehicle and a front vehicle and a second distance between the target vehicle and a rear vehicle when detecting that a parking-out function of the target vehicle is started; judging whether the target vehicle meets a preset parking condition or not according to the first distance and the second distance; and when the target vehicle is determined to meet the preset parking-out condition, controlling the target vehicle to park out according to a preset parking-out mode. According to the technical scheme provided by the embodiment of the invention, whether the current parking space of the parked vehicle meets the parking-out condition is reasonably judged according to the distance between the parked vehicle and the front vehicle as well as the rear vehicle, and when the parking-out condition is determined to be met, the parked vehicle is controlled to park out according to the preset parking-out mode, so that the parked vehicle can be simply and quickly controlled to park out the parking space, and the parking-out safety of the vehicle is improved.
Optionally, the determining module is configured to:
calculating a distance sum of the first distance and the second distance;
judging whether the distance sum is larger than a first distance threshold and smaller than a second distance threshold;
determining that the target vehicle meets a preset parking-out condition when the distance sum is greater than a first distance threshold and less than a second distance threshold;
when the distance sum is smaller than a first distance threshold value or larger than a second distance threshold value, determining that the target vehicle does not meet a preset parking-out condition.
Optionally, the first control module is configured to:
controlling the target vehicle to drive forwards or backwards so that the distance between the target vehicle and the rear vehicle is within a first preset safety range;
when the distance between the target vehicle and the rear vehicle is within the first preset safety range, controlling a steering wheel of the target vehicle to rotate to a limit position in a parking-out direction, and enabling the target vehicle to run in a forward arc shape;
and when the distance between the target vehicle and the front vehicle is within a second preset safety range, controlling the target vehicle to park out.
Optionally, the apparatus further comprises:
the first detection module is used for detecting whether the distance between the target vehicle and the front vehicle is greater than a first safety threshold value in real time in the process of parking out the target vehicle;
and the second control module is used for returning to control the target vehicle to drive towards the right back when detecting that the distance between the target vehicle and the front vehicle is smaller than a first safety threshold value.
Optionally, the apparatus further comprises:
the second detection module is used for detecting whether an obstacle exists in a preset distance range behind the target vehicle in real time in the process of parking out the target vehicle;
the second control module is used for controlling the target vehicle to be in a parking state when the fact that the obstacle exists in the preset distance range behind the target vehicle is detected until the obstacle does not exist in the preset distance range behind the target vehicle.
Optionally, the apparatus further comprises:
and the third detection module is used for detecting whether the distance between the target vehicle and obstacles around the target vehicle is smaller than a second safety threshold value in real time in the process of parking out the target vehicle, and if so, controlling the target vehicle to be in a parking state.
Optionally, ultrasonic radars are arranged at the front end, the rear end and the side of the target vehicle; a millimeter wave radar is arranged at the rear end of the target vehicle;
correspondingly, the distances between the target vehicle and the front vehicle and between the target vehicle and the rear vehicle are respectively obtained through the ultrasonic radar;
and detecting whether an obstacle exists in a preset distance range behind the side of the target vehicle or not through the millimeter wave radar.
Embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method of controlling parking out of a vehicle, the method including:
when the starting of a parking-out function of a target vehicle is detected, acquiring a first distance between the target vehicle and a front vehicle and a second distance between the target vehicle and a rear vehicle;
judging whether the target vehicle meets a preset parking condition or not according to the first distance and the second distance;
and when the target vehicle is determined to meet the preset parking-out condition, controlling the target vehicle to park out according to a preset parking-out mode.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDRRAM, SRAM, EDORAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium containing the computer-executable instructions provided by the embodiment of the present invention is not limited to the control operation of parking out the vehicle as described above, and may also perform the relevant operations in the control method of parking out the vehicle provided by any embodiment of the present invention.
The embodiment of the invention provides a control system for parking out a vehicle, wherein the control device for parking out the vehicle provided by the embodiment of the invention can be integrated in the control system for parking out the vehicle. Fig. 6 is a block diagram of a control system for parking out a vehicle according to an embodiment of the present invention. The control system 600 for vehicle parking may include: the system comprises a memory 601, a processor 602 and a computer program stored on the memory 601 and capable of being run by the processor, wherein the processor 602 implements the control method for parking out the vehicle according to the embodiment of the invention when executing the computer program. According to the vehicle parking control system provided by the embodiment of the invention, when the parking function of a target vehicle is detected to be started, a first distance between the target vehicle and a front vehicle and a second distance between the target vehicle and a rear vehicle are acquired; judging whether the target vehicle meets a preset parking condition or not according to the first distance and the second distance; and when the target vehicle is determined to meet the preset parking-out condition, controlling the target vehicle to park out according to a preset parking-out mode. According to the technical scheme provided by the embodiment of the invention, whether the current parking space of the parked vehicle meets the parking-out condition is reasonably judged according to the distance between the parked vehicle and the front vehicle as well as the rear vehicle, and when the parking-out condition is determined to be met, the parked vehicle is controlled to park out according to the preset parking-out mode, so that the parked vehicle can be simply and quickly controlled to park out the parking space, and the parking-out safety of the vehicle is improved. The control device, the storage medium and the system for parking out the vehicle provided by the above embodiments can execute the control method for parking out the vehicle provided by any embodiment of the invention, and have corresponding functional modules and beneficial effects for executing the method. For details of the vehicle parking control method according to any of the embodiments of the present invention, reference may be made to the above-described embodiments.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A control method of vehicle parking out, characterized by comprising:
when the starting of a parking-out function of a target vehicle is detected, acquiring a first distance between the target vehicle and a front vehicle and a second distance between the target vehicle and a rear vehicle;
judging whether the target vehicle meets a preset parking condition or not according to the first distance and the second distance;
and when the target vehicle is determined to meet the preset parking-out condition, controlling the target vehicle to park out according to a preset parking-out mode.
2. The method of claim 1, wherein determining whether the target vehicle meets a preset parking condition based on the first distance and the second distance comprises:
calculating a distance sum of the first distance and the second distance;
judging whether the distance sum is larger than a first distance threshold and smaller than a second distance threshold;
determining that the target vehicle meets a preset parking-out condition when the distance sum is greater than a first distance threshold and less than a second distance threshold;
when the distance sum is smaller than a first distance threshold value or larger than a second distance threshold value, determining that the target vehicle does not meet a preset parking-out condition.
3. The method of claim 1, wherein controlling the target vehicle to dock out in a preset dock-out manner comprises:
controlling the target vehicle to drive forwards or backwards so that the distance between the target vehicle and the rear vehicle is within a first preset safety range;
when the distance between the target vehicle and the rear vehicle is within the first preset safety range, controlling a steering wheel of the target vehicle to rotate to a limit position in a parking-out direction, and enabling the target vehicle to run in a forward arc shape;
and when the distance between the target vehicle and the front vehicle is within a second preset safety range, controlling the target vehicle to park out.
4. The method of claim 3, further comprising:
detecting whether the distance between the target vehicle and the front vehicle is greater than a first safety threshold value in real time in the process of parking out the target vehicle;
and when the distance between the target vehicle and the front vehicle is detected to be smaller than a first safety threshold value, returning to execute control of the target vehicle to drive towards the right back.
5. The method of claim 3, further comprising:
detecting whether an obstacle exists in a preset distance range behind the target vehicle in real time in the process of parking out the target vehicle;
and when the obstacle is detected to exist in the preset distance range behind the target vehicle, controlling the target vehicle to be in a parking state until the obstacle does not exist in the preset distance range behind the target vehicle.
6. The method of claim 3, further comprising:
and detecting whether the distance between the target vehicle and obstacles around the target vehicle is smaller than a second safety threshold value in real time in the parking-out process of the target vehicle, and if so, controlling the target vehicle to be in a parking state.
7. The method of claim 5, wherein ultrasonic radars are provided at the front end, rear end, and sides of the target vehicle; a millimeter wave radar is arranged at the rear end of the target vehicle;
correspondingly, the distances between the target vehicle and the front vehicle and between the target vehicle and the rear vehicle are respectively obtained through the ultrasonic radar;
and detecting whether an obstacle exists in a preset distance range behind the side of the target vehicle or not through the millimeter wave radar.
8. A control apparatus for parking out a vehicle, comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring a first distance between a target vehicle and a front vehicle and a second distance between the target vehicle and a rear vehicle when the starting of a parking-out function of the target vehicle is detected;
the judging module is used for judging whether the target vehicle meets a preset parking condition or not according to the first distance and the second distance;
the first control module is used for controlling the target vehicle to park out according to a preset parking-out mode when the target vehicle is determined to meet the preset parking-out condition.
9. A computer-readable storage medium on which a computer program is stored, the program, when being executed by a processor, implementing a method of controlling a vehicle parking out according to any one of claims 1 to 7.
10. A control system for vehicle parking out, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the control method for vehicle parking out according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010555141.5A CN111688680A (en) | 2020-06-17 | 2020-06-17 | Vehicle parking control method, device, storage medium and system |
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| CN202010555141.5A CN111688680A (en) | 2020-06-17 | 2020-06-17 | Vehicle parking control method, device, storage medium and system |
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| CN111688680A true CN111688680A (en) | 2020-09-22 |
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| CN202010555141.5A Pending CN111688680A (en) | 2020-06-17 | 2020-06-17 | Vehicle parking control method, device, storage medium and system |
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