CN112124317B - Parking abnormality correction method, parking abnormality correction device, computer device, and storage medium - Google Patents
Parking abnormality correction method, parking abnormality correction device, computer device, and storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 63
- 230000005856 abnormality Effects 0.000 title claims description 22
- 230000001960 triggered effect Effects 0.000 claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000007613 environmental effect Effects 0.000 claims abstract description 19
- 239000000523 sample Substances 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 14
- 230000004044 response Effects 0.000 claims description 6
- 230000002159 abnormal effect Effects 0.000 claims description 5
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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
- 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
- B60W40/02—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 ambient conditions
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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
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B60W2420/408—
Abstract
The application relates to a parking abnormity correction method, a parking abnormity correction device, computer equipment and a storage medium. The method comprises the steps of responding to an intervention instruction triggered by a user, obtaining environmental information around the vehicle where the user is located based on at least one of a plurality of obstacle detection devices and a plurality of image acquisition devices which are arranged on the vehicle, re-determining a new parking track corresponding to the vehicle according to the environmental information, and controlling the vehicle to park according to the new parking track. Compared with the traditional automatic parking system for automatic parking based on a fixed threshold value, the automatic parking system can be triggered to re-determine a new parking track through an intervention instruction triggered by a user in the process of controlling the vehicle to park by the automatic parking system, so that the effect of improving the processing flexibility of automatic parking is realized.
Description
Technical Field
The present application relates to the field of traffic safety technologies, and in particular, to a parking abnormality correction method and apparatus, a computer device, and a storage medium.
Background
The automobile becomes one of the main transportation means for people to go out in daily life, generally needs to be parked and other operations in the use process of the automobile, the parking space in a city is limited, and driving the automobile into a narrow space becomes a necessary skill. The existing automatic parking technology is usually performed based on a fixed threshold value, and for a complex parking environment, an automatic parking system of an automobile cannot process in time, so that the automobile cannot be parked.
Therefore, the existing automatic parking method has the defect of low processing flexibility.
Disclosure of Invention
In view of the above, it is desirable to provide a parking abnormality correction method, apparatus, computer device, and storage medium capable of improving the flexibility of handling automatic parking.
A parking abnormality correction method applied to an automatic parking system, the method comprising:
responding to an intervention instruction triggered by a user, and acquiring environmental information around a vehicle where the user is located; the environment information is obtained according to at least one of a plurality of obstacle detection devices and a plurality of image acquisition devices provided to the vehicle;
re-determining a new parking track corresponding to the vehicle according to the environment information;
and controlling the vehicle to park according to the new parking track.
In one embodiment, the method further comprises the following steps:
acquiring the current state of the vehicle;
and if the current state of the vehicle is the automatic parking state and at least one of a braking instruction and a steering instruction is detected, determining to trigger the intervention instruction.
In one embodiment, the environment information includes: position information and obstacle information of the vehicle;
the re-determining a new parking trajectory corresponding to the vehicle according to the environment information includes:
acquiring a target parking position corresponding to the vehicle; the target parking position is a parking position determined for the vehicle through an automatic parking system before the intervention instruction is received;
determining a passable track which is not in contact with an obstacle and exists between the position information of the vehicle and the target parking position according to the environment information;
and taking the passable track as the new parking track.
In one embodiment, the method further comprises the following steps:
if the passable track does not exist between the position information of the vehicle and the target parking position, re-determining a new target parking position;
and acquiring a new passable track between the vehicle and the new target parking position based on the new target parking position, and taking the new passable track as the new parking track.
In one embodiment, the method further comprises the following steps:
obtaining the number of times of determining the new parking trajectory again;
and if the determined times are larger than a preset value, exiting the automatic parking state to stop parking the vehicle.
In one embodiment, before the step of obtaining the environmental information around the vehicle where the user is located in response to the intervention instruction triggered by the user, the method further includes:
responding to a parking starting instruction triggered by a user, starting an automatic parking state, and acquiring a target parking position corresponding to the vehicle and a parking track corresponding to the target parking position in the automatic parking state;
and controlling the vehicle to park according to the parking track and the target parking position.
In one embodiment, the obstacle detection device comprises an ultrasonic radar probe, and the image acquisition device comprises a panoramic camera;
the obtaining of the target parking position corresponding to the vehicle and the parking track corresponding to the target parking position includes:
acquiring obstacle information around the vehicle according to the plurality of ultrasonic radar probes;
acquiring the contour line of the optional parking space corresponding to the vehicle according to the plurality of panoramic cameras;
and acquiring a target parking position corresponding to the vehicle from a plurality of optional parking spaces according to the obstacle information and the contour line, and generating a parking track corresponding to the target parking position based on the vehicle and the target parking position.
A parking abnormality correction device, the device comprising:
the response module is used for responding to an intervention instruction triggered by a user and acquiring environmental information around a vehicle where the user is located; the environment information is obtained according to at least one of a plurality of obstacle detection devices and a plurality of image acquisition devices provided to the vehicle;
the determining module is used for re-determining a new parking track corresponding to the vehicle according to the environment information;
and the parking module is used for controlling the vehicle to park according to the new parking track.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method described above when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
According to the parking abnormity correction method, the parking abnormity correction device, the computer equipment and the storage medium, the intervention instruction triggered by the user is responded, the environmental information of the periphery of the vehicle where the user is located is obtained on the basis of at least one of the obstacle detection equipment and the image acquisition equipment which are arranged on the vehicle, the new parking track corresponding to the vehicle is determined again according to the environmental information, and the vehicle is controlled to park according to the new parking track. Compared with the traditional automatic parking system for automatic parking based on a fixed threshold value, the automatic parking system can be triggered to re-determine a new parking track through an intervention instruction triggered by a user in the process of controlling the vehicle to park by the automatic parking system, so that the effect of improving the processing flexibility of automatic parking is realized.
Drawings
FIG. 1 is a diagram of an exemplary embodiment of a parking anomaly correction method;
FIG. 2 is a flowchart illustrating a parking anomaly correction method according to an embodiment;
FIG. 3 is a flowchart illustrating a parking abnormality correction method according to another embodiment;
fig. 4 is a block diagram showing the structure of a parking abnormality correction apparatus according to an embodiment;
FIG. 5 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The parking abnormality correction method provided by the application can be applied to the application environment shown in fig. 1. The terminal 102 may communicate with an obstacle detection device 104 and an image capture device 106 disposed in the vehicle, and may also communicate with a plurality of systems in the vehicle, including an EPS (Electric Power Steering), an ESP (Electronic Stability Program, vehicle body Electronic Stability system), a VCU (vehicle control unit), and a CDC (display device). The terminal 102 may obtain an intervention instruction triggered by a user, and based on the intervention instruction, obtain environment information around the vehicle by using the obstacle detecting device 104 and the image collecting device 106, and the terminal 102 may further determine a new parking trajectory corresponding to the vehicle again according to the environment information, and control the vehicle to park according to the new parking trajectory. The terminal 102 may be an automatic parking ECU (Electronic Control Unit), and the obstacle detection device 104 and the image capture device 106 may be implemented by independent devices or a system formed by a plurality of devices.
In one embodiment, as shown in fig. 2, a parking abnormality correction method is provided, which is described by taking the method as an example applied to the terminal in fig. 1, and includes the following steps:
step S202, responding to an intervention instruction triggered by a user, and acquiring environmental information around a vehicle where the user is located; the environmental information is obtained from at least one of a plurality of obstacle detecting devices 104 and a plurality of image capturing devices 106 provided in the vehicle.
The intervention command may be a command triggered by the user to the vehicle, and the intervention command may be a command for changing a current state of the vehicle, for example, when the vehicle is automatically parked, the intervention command may be a command for stopping a process of automatically parking the vehicle. The obstacle detecting device 104 may be a device for detecting obstacles around the vehicle, for example, by ultrasonic waves, and the image capturing device 106 may be a device for capturing image information around the vehicle. Wherein the above-described obstacle detection device 104 and image capture device 106 may be provided in plurality on the vehicle. The terminal 102 may determine that the vehicle is in an abnormal state when the user triggers the intervention instruction, and obtain environmental information around the vehicle where the user is located, such as information of a parking space, information of an obstacle, and position information of the vehicle, by using at least one of the obstacle detection devices 104 and the image acquisition devices 106 that are disposed in the vehicle where the user is located. The intervention command may include intervention on a steering system, intervention on a braking system, and the like, and the terminal 102 may respond to the intervention command only when the user triggers the intervention command for a certain number of times, for example, when the user performs multiple steering interventions while parking the vehicle or performs multiple brakes, the terminal 102 may respond to the intervention command.
Additionally, in some embodiments, the terminal 102 may be in an auto park state prior to responding to a user-triggered intervention command, including: responding to a parking starting instruction triggered by a user, starting an automatic parking state, and acquiring a target parking position corresponding to a vehicle and a parking track corresponding to the target parking position in the automatic parking state; and controlling the vehicle to park according to the parking track and the target parking position. The parking start instruction may be an instruction for starting an automatic parking process, and when the user triggers the parking start instruction, the terminal 102 may obtain a target parking position and a corresponding parking trajectory corresponding to the vehicle by using the obstacle detection device 104 and the image acquisition device 106, and control the vehicle to perform automatic parking according to the parking trajectory and the target parking position. Wherein the user may trigger the parking initiation instruction by selecting an option via the CDC, i.e. the display device, in the vehicle.
And step S204, re-determining a new parking track corresponding to the vehicle according to the environment information.
The environment information may be information obtained by the terminal 102 using the obstacle detection device 104 and the image capture device 106. The terminal 102 may re-determine a new parking trajectory corresponding to the vehicle when the user triggers the intervention command according to the environment information. The parking trajectory may be a trajectory for guiding the vehicle to enter a corresponding parking position, the environment information may at least include obstacle information, parking position information around the vehicle, position information of the vehicle itself, and the like, and the terminal 102 may re-determine a new parking trajectory corresponding to the vehicle according to one or more of the environment information. The new parking trajectory is not limited to the current target parking position corresponding to the vehicle, and may be a parking trajectory based on another parking position available for parking.
And step S206, controlling the vehicle to park according to the new parking track.
The new parking trajectory may be a parking trajectory that is determined again by the terminal 102 using the environmental information around the vehicle after the user triggers the intervention command. After the new parking trajectory is determined again, the terminal 102 may control the vehicle to park according to the new parking trajectory. The new parking trajectory may be a trajectory for the current target parking position or a trajectory for the new target parking position, that is, the terminal 102 may control the vehicle to park the vehicle into the original target parking position or into the new target parking position by using the new parking trajectory. Specifically, if the user triggers an intervention instruction during the automatic parking process of the vehicle, the terminal 102 may stop the current automatic parking process and re-determine a new parking trajectory, so as to control the vehicle to park according to the new parking trajectory.
According to the parking abnormity correction method, an intervention instruction triggered by a user is responded, environment information of the periphery of the vehicle where the user is located is obtained on the basis of at least one of a plurality of obstacle detection devices and a plurality of image acquisition devices which are arranged on the vehicle, a new parking track corresponding to the vehicle is determined again according to the environment information, and the vehicle is controlled to park according to the new parking track. Compared with the traditional automatic parking system for automatic parking based on a fixed threshold value, the automatic parking system can be triggered to re-determine a new parking track through an intervention instruction triggered by a user in the process of controlling the vehicle to park by the automatic parking system, so that the effect of improving the processing flexibility of automatic parking is realized.
In one embodiment, further comprising: acquiring the current state of the vehicle; and if the current state of the vehicle is the automatic parking state and at least one of a braking instruction and a steering instruction is detected, determining to trigger an intervention instruction.
In this embodiment, the automatic parking state may be a state in which the terminal 102 controls the vehicle to park in the target parking position after the user triggers the parking start instruction, and the terminal 102 may obtain the current state of the vehicle, and if the vehicle is currently in the automatic parking state, for example, a state between a parking start point and a complete parking target parking position, when the terminal 102 detects a brake instruction or a steering instruction, it may be determined that the user triggers an intervention instruction. Wherein, the braking instruction can be an instruction obtained by triggering the ESP related signal by a user stepping on the brake; the steering command may be a command obtained by a user by turning a steering wheel of the vehicle, thereby triggering a relevant signal of the EPS; in addition, the intervention command, including the braking command and the steering command, may be determined by the terminal 102 that the intervention command is triggered only when the user triggers multiple times. For example, when the user steps on the brake or turns the steering wheel multiple times, the terminal 102 may determine that an intervention command is triggered, thereby avoiding an accidental stop of the automatic parking due to a user's mistaken touch.
Through the embodiment, the terminal 102 can determine that the intervention instruction is triggered when the braking instruction or the steering instruction is detected, so that the parking track is determined again and the vehicle is parked based on the intervention instruction, the vehicle is prevented from being parked based on the parking track which cannot be passed, and the effect of improving the processing flexibility of automatic parking of the vehicle is achieved.
In one embodiment, the re-determining a new parking trajectory corresponding to the vehicle based on the environmental information includes: acquiring a target parking position corresponding to a vehicle; the target parking position is a parking position determined for the vehicle through the automatic parking system before the intervention instruction is received; determining a passable track which does not contact with an obstacle and exists between the position information of the vehicle and a target parking position according to the environment information; and taking the passable track as a new parking track.
In this embodiment, the environment information may further include: position information of the vehicle and obstacle information. Wherein the location information of the vehicle may be based on at least one of the image capture device 106 and the obstacle detection device 104, determining a location in the current environment where the vehicle is located; the obstacle information may be obstacle information around the vehicle based on detection by the obstacle detecting device 104. The target parking position may be a parking position determined for the vehicle by the automatic parking system before the terminal 102 receives the intervention command triggered by the user, and the terminal 102 may determine the parking trajectory again, based on the current target parking position, a new parking track is determined again, the terminal 102 can determine a passable track without contacting with the obstacle between the position information of the vehicle and the target parking position according to the environment information, the obstacle information between the vehicle and the destination parking position can be detected by the above-described obstacle detecting device 104 for example, thereby determining one or more passable trajectories which do not contact the obstacle based on the obstacle information, and regarding the passable trajectories as new parking trajectories, when there are a plurality of passable trajectories, the terminal 102 may use the passable trajectory having the shortest route as the new parking trajectory.
Through the embodiment, the terminal 102 can re-determine a new parking track based on the current target parking position after the user triggers the intervention instruction, so that the vehicle is prevented from parking based on the parking track which cannot pass through, and the effect of improving the processing flexibility of automatic parking of the vehicle is realized.
In one embodiment, the method comprises the following steps: if no passable track exists between the position information of the vehicle and the target parking position, re-determining a new target parking position; and acquiring a new passable track between the vehicle and the new target parking position based on the new target parking position, and taking the new passable track as a new parking track.
In this embodiment, the terminal 102 may determine a new parking trajectory of the vehicle again when detecting the intervention command, and the terminal 102 may determine the new parking trajectory based on the new target parking position in addition to the original target parking position. When the terminal 102 does not have a passable track between the vehicle and the current destination parking position according to the position information of the vehicle, specifically, when the terminal 102 cannot obtain a track between the vehicle and the destination parking position without contacting an obstacle by using the obstacle detecting device 104 and the image collecting device 106, it may be determined that the vehicle cannot park in the current destination parking position, so that the terminal 102 needs to determine the new destination parking position again, for example, the new destination parking position is determined by the image collecting device 104, specifically, profile information of the destination parking position may be obtained, and the terminal 102 may further obtain a new passable track between the vehicle and the new parking position based on the new destination parking position, specifically, the terminal 102 may obtain the passable track based on the related information obtained by the obstacle detecting device 104 and the image collecting device 106, and planning the passable track to obtain a new parking track.
Through the embodiment, the terminal 102 may re-determine the new target parking position when the passable trajectory does not exist between the vehicle and the current target parking position, and obtain the passable trajectory between the vehicle and the new target parking position based on the new target parking position as the new parking trajectory, thereby achieving an effect of improving the processing flexibility of automatic parking.
In one embodiment, further comprising: obtaining the number of times of determining a new parking track again; and if the determined times are larger than the preset value, exiting the automatic parking state to stop parking the vehicle.
In this embodiment, the terminal 102 may determine a new parking trajectory again when there is no passable trajectory without contacting an obstacle between the vehicle and the current destination parking position, including determining a new parking trajectory again based on the current destination parking position, or determining a new parking trajectory again based on the new destination parking position. The terminal 102 may further have a corresponding termination measure, and the terminal 102 may obtain the number of times of determining the new parking trajectory again, and when the number of times of determining is greater than a preset value, for example, exceeds 4 times, may terminate the automatic parking process, that is, stop to continue determining the new parking trajectory, and at this time, the user, that is, the driver, may manually park the vehicle, or move the vehicle to a new location, and restart the automatic parking process.
Through the embodiment, the terminal 102 can terminate the parking process of the vehicle when the number of times of determining the new parking trajectory exceeds the preset value, so that the automatic parking process can be prevented from falling into a dead cycle, and the effect of improving the processing flexibility of automatic parking is realized.
In one embodiment, acquiring a destination parking position corresponding to a vehicle and a parking track corresponding to the destination parking position includes: acquiring obstacle information around the vehicle according to the plurality of ultrasonic radar probes; obtaining the contour line of the optional parking space corresponding to the vehicle according to the plurality of panoramic cameras; and acquiring a target parking position corresponding to the vehicle from the plurality of optional parking spaces according to the obstacle information and the contour line, and generating a parking track corresponding to the target parking position based on the vehicle and the target parking position.
In this embodiment, the obstacle detection device 104 may specifically include an ultrasonic radar probe, and the image capture device 106 may specifically include a panoramic camera. The system comprises an ultrasonic radar probe, a panoramic camera, a parking space and a control module, wherein the ultrasonic radar probe and the panoramic camera can be arranged around a vehicle, the ultrasonic radar probe can be used for detecting obstacles, and the panoramic camera can be used for acquiring image information around the vehicle, including information such as contour lines around the parking space; ultrasonic radar probe and panorama camera all can set up a plurality ofly, for example, ultrasonic radar probe can set up 8 around the vehicle, and panorama camera can set up 4 around the vehicle to can detect vehicle environmental information all around comprehensively. The terminal 102 may obtain the target parking position and the parking trajectory based on the ultrasonic radar probe and the panoramic camera, the terminal 102 may obtain obstacle information around the vehicle by using the ultrasonic radar probe, and obtain a contour line of an optional parking space corresponding to the vehicle according to the panoramic camera, where the optional parking space may be multiple, the contour line of the optional parking space may be a contour line generally composed of multiple solid lines, the terminal 102 may determine the contour line by using the panoramic camera to detect whether a line of a preset shape exists around the vehicle or a line of a preset color, and the like, so that the terminal 102 may obtain the target parking position corresponding to the vehicle from the multiple optional parking spaces according to the obtained obstacle information and the contour line, and generate the corresponding parking trajectory based on the target parking position. The parking trajectory may be obtained by detecting an accessible trajectory of a non-contact obstacle between the vehicle and the target parking position by using the environmental information obtained by the ultrasonic radar probe and the panoramic camera, and the terminal 102 may specifically determine the target parking position by detecting distances between the vehicle and the plurality of selectable parking spaces, for example, may select the selectable parking position with the shortest distance to the vehicle as the target parking position.
Through the embodiment, the terminal 102 can determine the target parking position and the parking track by using the information detected and collected by the ultrasonic radar probe and the panoramic camera, so that the effect of improving the processing flexibility of automatic parking is realized.
In one embodiment, as shown in fig. 3, fig. 3 is a flow chart illustrating a parking abnormality correction method in another embodiment. In this embodiment, the terminal 102 may first execute a normal automatic parking process, where the process may be started based on a parking start instruction triggered by a user, and after the user triggers the parking start instruction, the terminal 102 may first determine a target parking position, and perform trajectory planning based on the target parking position and the vehicle to obtain a parking trajectory, so that the terminal 102 may start automatic parking based on the parking trajectory, and if the parking trajectory is a passable trajectory, the terminal 102 may normally control the vehicle to park in the target parking position; when parking is abnormal, for example, a user, namely a driver, presses the parking switch again, and parking is finished; or when the driver senses that the surrounding environment is abnormal, the driver performs operations of intervening the parking process such as stepping on the brake or turning the steering wheel for multiple times, the terminal 102 may respond to an intervening instruction triggered by the driver, re-judge the environment around the vehicle, re-determine a new passable parking trajectory based on the current target parking position, or abandon the current target parking position, so as to re-find a new target parking position, and obtain a passable trajectory with the vehicle based on the new target parking position, as a new parking trajectory, so that the terminal 102 may control the vehicle to park based on the new parking trajectory, during this process, the terminal 102 may still monitor the intervening instruction triggered by the driver, and re-execute the steps of re-determining the parking trajectory, and when the number of re-determined parking trajectories reaches a preset number of times, such as 4 times, the terminal 102 may exit the automatic parking process, stopping controlling the vehicle to park to avoid entering a dead cycle; when the terminal 102 can park the vehicle into the target parking position based on the new parking trajectory, the terminal 102 may exit the automatic parking process after determining that the vehicle is parked into the target parking position, and complete the parking of the vehicle.
Through the embodiment, the terminal 102 may determine a new parking trajectory or search for a new parking position again through an intervention instruction triggered by the driver, thereby achieving an effect of improving the processing flexibility of automatic parking.
It should be understood that although the various steps in the flowcharts of fig. 2-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps or stages.
In one embodiment, as shown in fig. 4, there is provided a parking abnormality correction device including: a response module 500, a determination module 502, and a park module 504, wherein:
the response module 500 is configured to respond to an intervention instruction triggered by a user, and acquire environmental information around a vehicle where the user is located; the environmental information is obtained from at least one of a plurality of obstacle detection devices and a plurality of image capturing devices provided to the vehicle.
The determining module 502 is configured to re-determine a new parking trajectory corresponding to the vehicle according to the environment information.
And a parking module 504, configured to control the vehicle to park according to the new parking trajectory.
In one embodiment, the above apparatus further comprises: the detection module is used for acquiring the current state of the vehicle; and if the current state of the vehicle is the automatic parking state, determining to trigger an intervention command when at least one of a braking command and a steering command is detected.
In an embodiment, the determining module 502 is specifically configured to obtain a target parking position corresponding to the vehicle; the target parking position is a parking position determined for the vehicle through the automatic parking system before the intervention instruction is received; determining a passable track which does not contact with an obstacle and exists between the position information of the vehicle and a target parking position according to the environment information; and taking the passable track as a new parking track.
In an embodiment, the determining module 502 is specifically configured to, if there is no passable track between the position information of the vehicle and the destination parking position, re-determine a new destination parking position, and obtain a new passable track between the vehicle and the new destination parking position based on the new destination parking position.
In one embodiment, the above apparatus further comprises: the termination module is used for acquiring the determined times of re-determining a new parking track; and if the determined times are larger than the preset value, stopping parking the vehicle.
In one embodiment, the above apparatus further comprises: the normal parking module is used for responding to a parking starting instruction triggered by a user, and acquiring a target parking position corresponding to the vehicle and a parking track corresponding to the target parking position; and controlling the vehicle to park according to the parking track and the target parking position.
In one embodiment, the above apparatus further comprises: the parking track determining module is used for acquiring obstacle information around the vehicle according to the plurality of ultrasonic radar probes; obtaining the contour line of the optional parking space corresponding to the vehicle according to the plurality of panoramic cameras; and acquiring a target parking position corresponding to the vehicle from the plurality of optional parking spaces according to the obstacle information and the contour line, and generating a parking track corresponding to the target parking position based on the vehicle and the target parking position.
For specific limitations of the parking abnormality correction device, reference may be made to the above limitations of the parking abnormality correction method, and details thereof are not described herein. The respective modules in the parking abnormality correction apparatus described above may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be an automatic parking ECU, and an internal structural view thereof may be as shown in fig. 5. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing data such as obstacle information, vehicle peripheral image information and track information. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a parking abnormality correction method.
Those skilled in the art will appreciate that the architecture shown in fig. 5 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided a computer apparatus including a memory in which a computer program is stored and a processor that implements the parking abnormality correction method described above when the processor executes the computer program.
In one embodiment, there is provided a computer-readable storage medium on which a computer program is stored, the computer program, when being executed by a processor, implementing the parking abnormality correction method described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A parking abnormality correction method applied to an automatic parking system, the method comprising:
responding to an intervention instruction triggered by a user, determining that a vehicle where the user is located is in an abnormal state, stopping the current automatic parking process, and acquiring environmental information around the vehicle where the user is located; the intervention instruction comprises a plurality of identical intervention operations of the user on the vehicle; the environment information includes: position information and obstacle information of the vehicle; the environment information is obtained according to at least one of a plurality of obstacle detection devices and a plurality of image acquisition devices provided to the vehicle;
according to the environment information, re-determining a new parking track corresponding to the vehicle, including: acquiring a target parking position corresponding to the vehicle; the target parking position is a parking position determined for the vehicle through an automatic parking system before the intervention instruction is received; determining a passable track which is not in contact with an obstacle and exists between the position information of the vehicle and the target parking position according to the environment information; taking the passable track as the new parking track;
further comprising:
if the passable track does not exist between the position information of the vehicle and the target parking position, re-determining a new target parking position;
acquiring a new passable track between the vehicle and the new target parking position based on the new target parking position, and taking the new passable track as the new parking track;
and controlling the vehicle to park according to the new parking track.
2. The method of claim 1, further comprising:
acquiring the current state of the vehicle;
and if the current state of the vehicle is the automatic parking state and at least one of a braking instruction and a steering instruction is detected, determining to trigger the intervention instruction.
3. The method of claim 1, further comprising:
obtaining the number of times of determining the new parking trajectory again;
and if the determined times are larger than a preset value, exiting the automatic parking state to stop parking the vehicle.
4. The method of claim 1, wherein before the step of obtaining the environmental information around the vehicle in which the user is located in response to the user-triggered intervention instruction, the method further comprises:
responding to a parking starting instruction triggered by a user, starting an automatic parking state, and acquiring a target parking position corresponding to the vehicle and a parking track corresponding to the target parking position in the automatic parking state;
and controlling the vehicle to park according to the parking track and the target parking position.
5. The method of claim 4, wherein the obstacle detection device comprises an ultrasonic radar probe, and the image acquisition device comprises a panoramic camera;
the obtaining of the target parking position corresponding to the vehicle and the parking track corresponding to the target parking position includes:
acquiring obstacle information around the vehicle according to the plurality of ultrasonic radar probes;
acquiring the contour line of the optional parking space corresponding to the vehicle according to the plurality of panoramic cameras;
and acquiring a target parking position corresponding to the vehicle from a plurality of optional parking spaces according to the obstacle information and the contour line, and generating a parking track corresponding to the target parking position based on the vehicle and the target parking position.
6. A parking abnormality correction device, characterized by comprising:
the response module is used for responding to an intervention instruction triggered by a user, determining that the vehicle where the user is located is in an abnormal state, stopping the current automatic parking process and acquiring environmental information around the vehicle where the user is located; the intervention instruction comprises a plurality of identical intervention operations of the user on the vehicle; the environment information includes: position information and obstacle information of the vehicle; the environment information is obtained according to at least one of a plurality of obstacle detection devices and a plurality of image acquisition devices provided to the vehicle;
a determining module, configured to re-determine a new parking trajectory corresponding to the vehicle according to the environment information, and specifically configured to: acquiring a target parking position corresponding to the vehicle; the target parking position is a parking position determined for the vehicle through an automatic parking system before the intervention instruction is received; determining a passable track which is not in contact with an obstacle and exists between the position information of the vehicle and the target parking position according to the environment information; taking the passable track as the new parking track;
if the passable track does not exist between the position information of the vehicle and the target parking position, re-determining a new target parking position;
acquiring a new passable track between the vehicle and the new target parking position based on the new target parking position, and taking the new passable track as the new parking track;
and the parking module is used for controlling the vehicle to park according to the new parking track.
7. The apparatus of claim 6, further comprising: a detection module to:
acquiring the current state of the vehicle;
and if the current state of the vehicle is the automatic parking state and at least one of a braking instruction and a steering instruction is detected, determining to trigger the intervention instruction.
8. The apparatus of claim 6, further comprising: a termination module to:
obtaining the number of times of determining the new parking trajectory again;
and if the determined times are larger than a preset value, exiting the automatic parking state to stop parking the vehicle.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 5.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 5.
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| CN114034493A (en) * | 2021-11-04 | 2022-02-11 | 杭州海康汽车软件有限公司 | Automatic parking debugging method, device and system |
| CN114179787A (en) * | 2021-12-09 | 2022-03-15 | 广州小鹏自动驾驶科技有限公司 | Parking method, terminal device and computer storage medium |
| CN114407926A (en) * | 2022-01-20 | 2022-04-29 | 深圳市易成自动驾驶技术有限公司 | Vehicle control method based on artificial intelligence dangerous scene of automatic driving and vehicle |
| CN114435347B (en) * | 2022-02-24 | 2024-03-19 | 阿波罗智联(北京)科技有限公司 | Method, device, equipment and storage medium for determining parking track |
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