CN112172794A - Parking control method and device, vehicle and storage medium - Google Patents
Parking control method and device, vehicle and storage medium Download PDFInfo
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- CN112172794A CN112172794A CN202010970476.3A CN202010970476A CN112172794A CN 112172794 A CN112172794 A CN 112172794A CN 202010970476 A CN202010970476 A CN 202010970476A CN 112172794 A CN112172794 A CN 112172794A
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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
Abstract
The invention discloses a parking control method and device, a vehicle and a storage medium, and belongs to the field of intelligent driving. The method comprises the steps of detecting whether barriers exist at the edge of a parking target position or not, detecting the current occupation state of a seat close to the barrier target in a moving body when the barrier target exists at the periphery of the parking target position, generating a parking path according to the occupation state, the current position and the parking target position of the seat, and adjusting the distance between the moving body and the barrier target so as to facilitate people in the moving body to get on or off the vehicle and prevent the situation that the opening and closing of a door of the moving body are influenced by the barrier target.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to a parking control method, a parking control device, a vehicle and a storage medium.
Background
Vehicles are a means of transportation, and are receiving continuous attention at present when road traffic is more and more developed and urban areas are more and more enlarged. Various technologies are being developed for use in vehicles, and one of them is a driving assistance control technology. The driving auxiliary control technology can assist or replace a driver to operate the vehicle in a specific scene, and the comfort of the vehicle is improved.
The automatic parking control technology is one of the driving assistance control technologies which are commonly applied to vehicles at present, and measures the distance and the angle between the vehicle and surrounding obstacles through an ultrasonic probe distributed around the vehicle body, and then calculates the driving track required by the vehicle to park in/out of a parking space through a semi-automatic parking control unit. The automatic parking control technology can assist driving when backing a car, and guides a driver through detecting ultrasonic waves or a camera, so that traffic accidents caused by the fact that the rear of a vehicle is in a sight blind area when backing the car are avoided. However, the existing automatic parking control method is uniform for the parking margin control of the parking completion state, for example: the vehicle stops 30cm away from the road edge (or the vehicle line), and if the side of the copilot is close to the road edge and the height of the road edge is higher than that of the lower edge of the vehicle door, the door on the side of the copilot cannot be opened, so that the user on the side of the copilot is directly influenced to get on or off the vehicle.
Disclosure of Invention
Aiming at the problem that the existing automatic parking control method cannot ensure whether the door of the parked car can be opened or not, the control method, the device, the car and the storage medium for parking are provided, which aim to adjust the parking margin according to the height of an obstacle near the parking margin so as to ensure that people on the parked car can normally get on or off the car.
The invention provides a parking control method, which comprises the following steps:
detecting whether barrier targets exist at the edges of the doors on the two sides of the matched moving body in the parking target position;
when obstacle targets exist around the parking target position, detecting a current occupancy state of a seat in the moving body;
and generating a parking path according to the occupancy state of the seat, the current position of the moving body and the parking target position.
Optionally, the obstacle target is an obstacle higher than a preset height.
Optionally, generating a parking path according to the occupancy state of the seat, the current position of the mobile body, and the parking target position, before further including:
and detecting whether the parking target position meets a preset condition, if so, generating a parking path according to the occupation state of the seat, the current position of the moving body and the parking target position.
Optionally, generating a parking path according to the occupancy state of the seat, the current position of the mobile body, and the parking target position includes:
when the occupation states of the seats on the two sides in the moving body are occupation states, increasing a parking margin on one side of the moving body to enable the parking margin to accord with the maximum door opening width corresponding to one door opening preset angle of the moving body, and generating a parking path based on the parking margin, the current position of the moving body and the parking target position; or
And when one of the occupation states of the seats on the two sides in the moving body is empty, matching the empty occupation state side in the moving body with an obstacle target in the parking target position to serve as a parking condition, and generating a parking path according to the current position of the moving body and the parking target position.
Optionally, detecting whether there is an obstacle target at the edge of the vehicle door matching both sides of the moving body in the parking target position, includes:
detecting an idle parking space of the moving body in a preset range, and acquiring and displaying an auxiliary image which identifies the idle parking space of the moving body in the preset range;
setting the parking target position using the displayed assist image.
Optionally, the detecting the idle parking space of the moving body within the preset range, and acquiring and displaying the auxiliary image of the moving body identifying the idle parking space within the preset range includes:
acquiring images around the moving body through a camera in a parking assistance device installed on the moving body, and generating a full-angle visual image of the moving body;
detecting the position of an obstacle of the moving body within a preset range through an ultrasonic radar in the parking assist device;
and identifying the idle parking spaces in the full-angle visual image based on the positions of the obstacles to form the auxiliary image.
Optionally, the method further includes:
and controlling the moving body to move to the parking target position according to the parking path.
The present invention also provides a parking position control apparatus, including:
the processing unit is used for detecting whether barrier targets exist at the edges of the doors on the two sides of the matched moving body in the parking target position;
the detection unit is used for detecting the current occupancy state of a seat in the moving body when the periphery of the parking target position has an obstacle target;
the generating unit is used for generating a parking path according to the occupancy state of the seat, the current position of the moving body and the parking target position.
Optionally, the obstacle target is an obstacle higher than a preset height.
Optionally, the processing unit is further configured to detect whether the parking target location meets a preset condition.
Optionally, the generating unit is configured to increase a parking margin at one side of the moving body when the occupancy states of the seats at two sides of the moving body are both occupancy states, so that the parking margin conforms to a maximum door opening width corresponding to a preset opening angle of one door of the moving body, and generate a parking path based on the parking margin, a current position of the moving body, and the parking target position; or
The generating unit is used for matching one side of the mobile body with the empty occupation state with an obstacle target in the parking target position as a parking condition when one side of the occupation states of the seats on the two sides in the mobile body is empty, and generating a parking path according to the current position of the mobile body and the parking target position.
Optionally, the processing unit is further configured to detect an idle parking space of the moving body within a preset range, and acquire and display an auxiliary image that identifies the idle parking space of the moving body within the preset range;
further comprising:
a setting unit configured to set the parking target position using the displayed assist image.
Optionally, the processing unit includes:
the generation module is used for acquiring images around the moving body through a camera in a parking assist device installed on the moving body and generating a full-angle visual image of the moving body;
the detection module is used for detecting the position of an obstacle of the moving body in a preset range through an ultrasonic radar in the parking assist device;
and the identification module is used for identifying and identifying the idle parking space in the full-angle visual image based on the position of the obstacle so as to form the auxiliary image.
Optionally, the method further includes:
and the execution unit is used for controlling the moving body to move to the parking target position according to the parking path.
The invention also provides a vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
The invention also provides 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.
The invention provides a parking control method, a parking control device, a vehicle and a storage medium, wherein whether obstacles exist around a parking target position (near a parking margin) is identified by detecting whether the edge of the parking target position has the obstacle target, when the obstacle target exists around the parking target position, the current occupation state of a seat close to the obstacle target in a moving body is detected, a parking path is generated according to the occupation state, the current position and the parking target position of the seat, the distance between the moving body and the obstacle target is adjusted, so that people in the moving body can conveniently get on or off the vehicle, and the condition that the opening and closing of a vehicle door of the moving body are influenced by the obstacle target is prevented.
Drawings
Fig. 1 is a flowchart of an embodiment of a parking control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of an embodiment of a parking control method according to a second embodiment of the present invention;
FIG. 3 is a flowchart illustrating an embodiment of detecting an idle parking space within a predetermined range of a mobile object according to the present invention;
fig. 4 is a flowchart of an embodiment of a parking control method according to a third embodiment of the present invention;
fig. 5 is a flowchart of an embodiment of a parking control method according to a fourth embodiment of the present invention;
FIG. 6 is a block diagram of one embodiment of a parking control apparatus of the present invention;
FIG. 7 is a block diagram of one embodiment of a processing unit of the present invention;
FIG. 8 is a block diagram of another embodiment of a parking control apparatus according to the present invention;
fig. 9 is a hardware architecture diagram of one embodiment of the vehicle of the present invention.
Detailed Description
The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.
In the description of the present invention, it should be understood that the numerical references before the steps do not identify the order of performing the steps, but merely serve to facilitate the description of the present invention and to distinguish each step, and thus should not be construed as limiting the present invention.
The moving body of the embodiment of the invention can adopt new energy vehicles such as pure electric vehicles, hybrid electric vehicles and the like, and the moving body can be provided with a Parking controller, an Automatic Parking Assist (APA) and an HMI interactive device. Among them, the parking controller is implemented using a microcomputer including a Central Processing Unit (CPU), a communication unit, a memory, and an Electronic Power Steering (EPS). The parking controller installs a computer program for causing a microcomputer to have a function as an on-vehicle computer (ECU) in the microcomputer to execute. The parking controller has a function of controlling the operation of the mobile body. The communication unit can comprise a WiFi module, a Bluetooth module and the like, can support 4G and 5G communication modes, and can be used for communicating with an associated mobile terminal; the parking assistance apparatus includes a plurality of ultrasonic radars that can be provided at positions such as a front bumper, a rear bumper, and a skin near a tire of the moving body, and a surrounding camera. The distance between the moving body and the obstacle target is detected by the ultrasonic radar moving body. The surrounding cameras are arranged around the moving body, images around the moving body are collected through the surrounding cameras, the images collected by the cameras are combined, a full-angle visual image overlooked from the upper side of the moving body is obtained, and the cameras cannot shoot vehicles, so that the vehicle icons are adopted to replace actual images of the vehicles in the panoramic image. The HMI interaction device may include a display unit and an audio acquisition unit. The display unit is provided with a touch screen (central control screen) for inputting various control operations on the vehicle. The audio acquisition unit is arranged in the mobile body and is used for adopting the voice signal of the user so as to execute corresponding operation based on the voice signal.
The parking position control method, the parking position control device, the vehicle and the storage medium can be applied to the situation that a moving body arrives at a navigation destination, such as: market, house, parking area, place such as charging station (fill electric pile) look for in the scene of parking stall.
In the embodiment of the invention, a user can send a parking instruction to a communication unit of the moving body through a mobile terminal associated with the moving body, the user can also directly input the instruction on a central control screen of the moving body, and the user can also input a control instruction through voice. Whether obstacles exist around the parking target position (near the parking margin) is identified by detecting whether the obstacle exists at the edge of the parking target position, when the obstacle exists around the parking target position, the current occupation state of a seat close to the obstacle target in the moving body is detected, a parking path is generated according to the occupation state, the current position and the parking target position of the seat, the distance between the moving body and the obstacle target is adjusted, so that people in the moving body can conveniently get on or off the vehicle, the condition that the opening and closing of a door of the moving body are influenced by the obstacle target is prevented, and the experience effect of a user is improved.
Example one
Referring to fig. 1, a parking control method according to the present embodiment may include the following steps:
s1, detecting whether barrier targets exist at the edges of doors on two sides of a matched moving body in the parking target position.
Wherein the obstacle target is an obstacle higher than a preset height. The obstacle target is an object (for example, a road edge having a height higher than the height of a lower edge of a door) that interferes with the opening and closing of the door of the moving body after the moving body is parked at the parking target position, and that affects the getting on and off of a person in the moving body. The preset height may be a height of a lower edge of a door, a height of a chassis of the moving body, or a height of a pedal of the moving body, and may be set according to an actual condition of the moving body.
In one embodiment, a camera in the parking assist device may be used to collect an image around the moving object, an image recognition model is used to recognize the edge of the parking target position in the collected image so as to determine whether an obstacle exists, and when an obstacle exists, the height of the obstacle is calculated according to the position of the moving object ultrasonic wave and the distance of the detected obstacle; if the height of the obstacle is higher than the preset height, the obstacle can prevent the door close to the moving body from opening and closing, and the obstacle is taken as an obstacle target.
In another embodiment, an ultrasonic radar in the parking assist apparatus may be used to detect whether an obstacle is present at the edge of the parking target position. When an obstacle exists, calculating the height of the obstacle according to the position of the ultrasonic wave of the moving body and the distance of the obstacle detected by the ultrasonic wave; if the height of the obstacle is higher than the preset height, the obstacle can prevent the door close to the moving body from opening and closing, and the obstacle is taken as an obstacle target.
And S2, when obstacle targets exist around the parking target position, detecting the current occupancy state of the seat in the moving body.
Specifically, whether a passenger is currently in the seat in the moving body (namely, the occupying state) can be detected through a seat sensor, a safety belt signal or other modes in the moving body, if so, the occupying state is the occupying state, and if not, the occupying state is empty.
And S3, generating a parking path according to the occupation state of the seat, the current position of the moving body and the parking target position.
It should be noted that the current position may include driving direction and position information. The parking target locations may include parking types such as non-linear parking spaces, diagonal parking spaces, linear parking spaces, parking spaces near the pillar, and the like.
In one embodiment, step S3 may include: when the occupation states of the seats on the two sides in the moving body are occupation states (including at least one seat on each of the two sides of the moving body is in an occupation state), the parking margin on one side of the moving body is increased to enable the parking margin to accord with the maximum door opening width corresponding to one door opening preset angle (the minimum angle capable of accommodating the user for getting on and off the vehicle, such as 30 degrees, 45 degrees and the like) of the moving body, and a parking path is generated based on the parking margin, the current position of the moving body and the parking target position.
It should be noted that: the preset angle can be set according to the self stature or the requirement of the user.
Wherein generating a parking path based on the parking margin, the current position of the mobile body, and the parking target position may include: according to the position of the parking target position in the auxiliary image, acquiring a parking type corresponding to the parking target position; determining a parking direction according to the relation between the current driving direction and a parking target position, planning a global path and a parking path according to the appearance parameters of the moving body, the parking type corresponding to the current parking target position, the current position, the parking distance, the vertex coordinate information of the parking target position and the parking direction, splicing the global path and the parking path, optimizing nodes, smoothing and fitting the paths to obtain a smoothly-transitional parking path, so that the moving body is parked in the parking target position, and the distance between one side close to the obstacle target and the obstacle target is greater than or equal to the maximum door opening width corresponding to the opening preset angle of one door of the moving body, thereby facilitating the people in the moving body to get on and off the vehicle.
In another embodiment, step S3 may include: when one of the occupation states of the seats on the two sides of the moving body is empty (one side of a driver is in an occupation state), matching one side (one side of a copilot) of the moving body with the occupation state in the empty state with an obstacle target in the parking target position to serve as a parking condition (namely, when the moving body is parked in the parking target position, one side of the copilot is close to the obstacle target), and generating a parking path according to the current position of the moving body and the parking target position.
In the embodiment, the parking control method identifies whether an obstacle exists around the parking target position (near the parking margin) by detecting whether the edge of the parking target position has the obstacle, detects the current occupancy state of a seat close to the obstacle in the moving body when the obstacle exists around the parking target position, generates a parking path according to the occupancy state of the seat, the current position and the parking target position, and adjusts the distance between the moving body and the obstacle, so that people in the moving body can get on or off the vehicle conveniently, and the situation that the opening and closing of a door of the moving body are influenced by the obstacle is prevented.
The parking control method of the present embodiment supports at least one of an APA mode and an RPA (remote parking) mode.
Example two
Referring to fig. 2, a parking control method according to the present embodiment may include the following steps:
A1. and detecting the idle parking space of the moving body in a preset range, and acquiring and displaying an auxiliary image which identifies the idle parking space of the moving body in the preset range.
The preset range is a short-distance range of the moving body, and for example: within a range of 5 meters from the moving body, the preset range is related to the detection range of the ultrasonic radar mounted on the moving body.
In this embodiment, when the moving body reaches the navigation destination position (or the charging pile), the parking space searching mode is triggered to detect whether there is an idle parking space around the moving body, and if so, the display unit mounted on the moving body displays an auxiliary image for identifying the idle parking space, so that the user can view the current position of the idle parking space through the display unit; if not, the auxiliary image can be displayed through the display unit, so that a user can know the parking space situation around the current moving body by watching the auxiliary image.
Further, step a11 referring to fig. 3 may include the following steps:
A11. the method comprises the steps of collecting images around the moving body through a camera in a parking assist device installed on the moving body, and generating a full-angle visual image of the moving body.
In this embodiment, in order to collect the full-angle image of the moving body, the cameras may be installed in front of, behind, to the left of, and to the right of the moving body, four images of the moving body in four directions are collected through the cameras, and the preset vehicle icon of the moving body is registered and fused with the four images to form a full-angle visual image overlooked from above the moving body, and the full-angle visual image may display an idle parking space of a ground identification parking line, thereby avoiding a blind area of view.
Specifically, methods such as a fisheye correction algorithm, a linear transformation method, an edge registration and a weighted fusion algorithm can be used for image registration and fusion.
A12. And detecting the position of an obstacle of the moving body within a preset range through an ultrasonic radar in the parking assist device.
In the embodiment, in order to improve the detection accuracy and coverage rate of the ultrasonic radar, a plurality of ultrasonic radars (for example, 8, 12, 14, etc.) may be installed at positions such as a front bumper, a rear bumper, and a skin near a tire of the mobile body, so that 360-degree radar detection without a dead angle is realized. The ultrasonic radar can detect the free parking space with obstacles (such as ground locks or vehicles) nearby without identifying the stop line on the ground.
A13. And identifying the idle parking spaces in the full-angle visual image based on the positions of the obstacles to form the auxiliary image.
It should be noted that: a plurality of free parking spaces can be shown and identified in the auxiliary image.
In this embodiment, the image recognition model may be used to recognize the idle parking space in the full-angle visual image, calibrate the idle parking space in combination with the position of the obstacle, and identify the calibrated idle parking space position in the full-angle visual image, so as to form an empty auxiliary image carrying an identification frame (the idle parking space in the frame), so as to ensure the position accuracy of the idle parking space displayed in the auxiliary image, and avoid affecting the selection and judgment of the user due to position errors.
A2. The parking target position is set using the displayed assist image, and step S1 is executed.
Further, the free parking space selected by the user in the displayed auxiliary image is used as the parking target position.
In this embodiment, the auxiliary image may be displayed by using a central control screen disposed in the mobile body, and the user selects the identification frame of the parking target position through the central control screen to determine the parking space position for parking.
S1, detecting whether barrier targets exist at the edges of doors on two sides of a matched moving body in the parking target position.
And S2, when obstacle targets exist around the parking target position, detecting the current occupancy state of the seat in the moving body.
And S3, generating a parking path according to the occupation state of the seat, the current position of the moving body and the parking target position.
In this embodiment, the parking position control method obtains and displays an auxiliary image identifying a free parking position of the moving body within a preset range by detecting the free parking position of the moving body within the preset range, so that a user can select a parking target position based on the free parking position identified in the auxiliary image, whether obstacles exist around the parking target position (near the parking margin) is identified by detecting whether obstacles exist at the edge of the parking target position, when an obstacle target exists around the parking target position, the current occupying state of a seat close to the obstacle target in the moving body is detected, generating a parking path according to the occupancy state of the seat, the current position and the parking target position, adjusting the distance between the moving body and the obstacle target, the device is convenient for people in the moving body to get on or off the vehicle, and prevents the condition that the opening and closing of the door of the moving body are influenced by the obstacle target.
EXAMPLE III
Referring to fig. 4, a parking control method according to the present embodiment may include the following steps:
s1, detecting whether barrier targets exist at the edges of doors on two sides of a matched moving body in the parking target position.
S2, when obstacle targets exist around the parking target position, detecting the current occupancy state of the seat in the moving body, and executing the step B.
B. Detecting whether the parking target position meets a preset condition, if so, executing a step S3; if not, generating a message that the parking target position does not support the parking of the moving body.
Wherein the preset condition is that the free size of the parking target position is larger than the size of the moving body.
In this embodiment, if the parking target location meets the preset condition, step S3 is executed; and if the parking target position does not meet the second preset condition, generating a message that the parking target position does not support the parking of the mobile body, and avoiding the situation that the mobile body cannot be parked due to the fact that the free size of the parking target position is too small in the process of parking the mobile body into the parking target position.
And S3, generating a parking path according to the occupation state of the seat, the current position of the moving body and the parking target position.
Example four
Referring to fig. 5, a parking control method according to the present embodiment may include the following steps:
s1, detecting whether barrier targets exist at the edges of doors on two sides of a matched moving body in the parking target position.
And S2, when obstacle targets exist around the parking target position, detecting the current occupancy state of the seat in the moving body.
And S3, generating a parking path according to the occupation state of the seat, the current position of the moving body and the parking target position.
And S4, controlling the moving body to move to the parking target position according to the parking path.
In this embodiment, after the parking path is generated, the electronic power steering mechanism may control the moving object to park from the current position to the parking target position according to the parking path, so as to complete the parking operation.
EXAMPLE five
Referring to fig. 6, a parking control apparatus 1 of the present embodiment may include: a processing unit 11, a detection unit 13 and a generation unit 14.
And the processing unit 11 is used for detecting whether the edges of the doors on two sides of the matching moving body in the parking target position have obstacle targets or not.
Wherein the obstacle target is an obstacle higher than a preset height.
The detection unit 13 is configured to detect a current occupancy state of a seat in the moving body when there is an obstacle target around the parking target position.
In an embodiment, the detecting unit 13 may collect an image around the moving object by using a camera in the parking assist device, recognize an edge of a parking target position in the collected image through image recognition model recognition to determine whether an obstacle exists, and when the obstacle exists, calculate the height of the obstacle according to the position of the moving object ultrasonic wave and the distance of the obstacle detected by the ultrasonic wave; if the height of the obstacle is higher than the preset height, the obstacle can prevent the door close to the moving body from opening and closing, and the obstacle is taken as an obstacle target.
In another embodiment, the detection unit 13 may also detect whether there is an obstacle at the edge of the parking target position using an ultrasonic radar in the parking assist apparatus. When an obstacle exists, calculating the height of the obstacle according to the position of the ultrasonic wave of the moving body and the distance of the obstacle detected by the ultrasonic wave; if the height of the obstacle is higher than the preset height, the obstacle can prevent the door close to the moving body from opening and closing, and the obstacle is taken as an obstacle target.
The generating unit 14 is configured to generate a parking path according to the occupancy state of the seat, the current position of the moving body, and the parking target position.
In one embodiment, the generating unit 14 is configured to, when the occupancy states of the seats on two sides of the moving body are both occupied states, increase a parking margin at one side of the moving body to make the parking margin conform to a maximum door opening width corresponding to a preset opening angle of one door of the moving body, and generate a parking path based on the parking margin, a current position of the moving body, and the parking target position; or
In another embodiment, the generating unit 14 is configured to, when one of the occupancy states of the seats on two sides of the moving body is empty, match the empty occupancy state of the moving body with an obstacle target in the parking target position as a parking condition, and generate a parking path according to the current position of the moving body and the parking target position.
In a preferred embodiment, the processing unit 11 is further configured to detect whether the parking target position meets a preset condition, and if so, the generating unit 14 is adopted to generate a parking path according to the occupancy state of the seat, the current position of the moving body, and the parking target position. If not, generating a message that the parking target position does not support the parking of the moving body.
Wherein the preset condition is that the free size of the parking target position is larger than the size of the moving body.
In this embodiment, the processing unit 11 detects whether the free size of the parking target position is larger than the size of the mobile body, so as to avoid the situation that the mobile body cannot be parked due to the fact that the free size of the parking target position is too small in the process of parking the mobile body into the parking target position.
The parking control device of this embodiment identifies whether an obstacle is present around the parking target position (near the parking margin) by detecting whether an obstacle is present at the edge of the parking target position by the detection unit, detects the current occupancy state of the seat close to the obstacle when the obstacle is present around the parking target position, generates a parking path according to the occupancy state of the seat, the current position, and the parking target position by the generation unit, and adjusts the distance between the moving body and the obstacle target, so as to facilitate a person in the moving body to get on or off the vehicle, and prevent the situation that the opening and closing of the door of the moving body is affected by the obstacle.
In a preferred embodiment, referring to fig. 6 to 8, the processing unit 11 is further configured to detect an idle parking space of the moving body within a preset range, and acquire and display an auxiliary image that identifies the idle parking space of the moving body within the preset range.
The preset range is a short-distance range of the moving body, and for example: within a range of 5 meters from the moving body, the preset range is related to the detection range of the ultrasonic radar mounted on the moving body.
In this embodiment, when the moving body reaches the navigation destination position (or the charging pile), the parking space searching mode is triggered to detect whether there is an idle parking space around the moving body, and if so, the display unit mounted on the moving body displays an auxiliary image for identifying the idle parking space, so that the user can view the current position of the idle parking space through the display unit; if not, the auxiliary image can be displayed through the display unit, so that a user can know the parking space situation around the current moving body by watching the auxiliary image.
Further, the processing unit 11 shown with reference to fig. 7 may include: a generation module 111, a detection module 112 and an identification module 113.
The generating module 111 is configured to capture an image of the periphery of the moving body through a camera in a parking assist device installed on the moving body, and generate a full-angle visualized image of the moving body.
In this embodiment, in order to collect the full-angle image of the moving body, the cameras may be installed in front of, behind, to the left of, and to the right of the moving body, four images of the moving body in four directions are collected through the cameras, and the preset vehicle icon of the moving body is registered and fused with the four images to form a full-angle visual image overlooked from above the moving body, and the full-angle visual image may display an idle parking space of a ground identification parking line, thereby avoiding a blind area of view.
A detecting module 112, configured to detect, by an ultrasonic radar in the parking assist apparatus, an obstacle position of the moving object within a preset range.
In this embodiment, in order to improve the detection accuracy and coverage of the ultrasonic radar, a plurality of ultrasonic radars may be installed at positions such as a front bumper and a rear bumper of the mobile body, and a skin near a tire, so as to implement 360-degree radar detection without a dead angle. The ultrasonic radar can detect the idle parking space with obstacles nearby without marking the stop line on the ground.
An identification module 113, configured to identify and identify the idle parking space in the full-angle visualized image based on the position of the obstacle, so as to form the auxiliary image.
It should be noted that: a plurality of free parking spaces can be shown and identified in the auxiliary image.
In this embodiment, the image recognition model may be used to recognize the idle parking space in the full-angle visual image, calibrate the idle parking space in combination with the position of the obstacle, and identify the calibrated idle parking space position in the full-angle visual image, so as to form an empty auxiliary image carrying an identification frame (the idle parking space in the frame), so as to ensure the position accuracy of the idle parking space displayed in the auxiliary image, and avoid affecting the selection and judgment of the user due to position errors.
The control device 1 for parking in a position shown with reference to fig. 8 may further include: a setting unit 12.
A setting unit 12 for setting a parking target position using the displayed assist image.
Further, the setting unit 12 is configured to use the free parking space selected by the user in the displayed auxiliary image as the parking target position.
In this embodiment, the auxiliary image may be displayed by using a central control screen disposed in the mobile body, and the user selects the identification frame of the parking target position through the central control screen to determine the parking space position for parking. The parking control device of this embodiment detects a free parking space of a moving body in a preset range through a processing unit, obtains and displays an auxiliary image for identifying the free parking space of the moving body in the preset range, so that a user can select a parking target position based on the free parking space identified in the auxiliary image through a setting unit, identifies whether an obstacle exists around the parking target position (near a parking margin) through a mode that a detection unit detects whether an obstacle exists at an edge of the parking target position, detects a current occupying state of a seat close to the obstacle target in the moving body when the obstacle exists around the parking target position, generates a parking path according to the occupying state, the current position and the parking target position of the seat through a generation unit, and adjusts a distance between the moving body and the obstacle target to facilitate a person in the moving body to get on or off the vehicle, the situation that the opening and closing of the door of the moving body are influenced by the obstacle target is prevented.
In a preferred embodiment, the control device 1 for parking in a position as shown with reference to fig. 8 may further include: an execution unit 15.
And the execution unit 15 is used for controlling the moving body to move to the parking target position according to the parking path.
In this embodiment, after the parking path is generated, the electronic power steering mechanism may control the moving object to park from the current position to the parking target position according to the parking path, so as to complete the parking operation.
EXAMPLE six
In order to achieve the above object, the present invention further provides a vehicle 2, where the vehicle 2 of the present embodiment at least includes, but is not limited to: a memory 21, a processor 23, a network interface 22 and the parking control device 1 (see fig. 9) which can be communicatively connected to each other via a system bus. It should be noted that fig. 9 only shows the vehicle 2 with components, but it should be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
In this embodiment, the memory 21 includes at least one type of computer-readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, and the like. In some embodiments, the storage 21 may be an internal storage unit of the vehicle 2, such as a hard disk or a memory of the vehicle 2. In other embodiments, the memory 21 may be an external storage device of the vehicle 2, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the vehicle 2. Of course, the memory 21 may also comprise both an internal storage unit of the vehicle 2 and an external storage device thereof. In this embodiment, the memory 21 is generally used to store an operating system installed in the vehicle 2 and various types of application software, such as program codes of the parking position control methods in the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment. Further, the memory 21 may also be used to temporarily store various types of data that have been output or are to be output.
The processor 23 may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data Processing chip in some embodiments. The processor 23 is generally used to control the overall operation of the vehicle 2, such as performing control and processing related to data interaction or communication with the vehicle 2. In this embodiment, the processor 23 is configured to operate the program codes or the processing data stored in the memory 21, for example, to operate the parking control device 1.
The network interface 22 may comprise a wireless network interface or a wired network interface, and the network interface 22 is typically used to establish communication connections between the vehicle 2 and other vehicles 2. For example, the network interface 22 is used to connect the vehicle 2 with an external terminal through a network, establish a data transmission channel and a communication connection between the vehicle 2 and the external terminal, and the like. The network may be a wireless or wired network such as an Intranet (Intranet), the Internet (Internet), a Global System of Mobile communication (GSM), Wideband Code Division Multiple Access (WCDMA), a 4G network, a 5G network, Bluetooth (Bluetooth), Wi-Fi, and the like.
It should be noted that fig. 9 only shows the vehicle 2 with components 21-23, but it should be understood that not all of the shown components are required to be implemented, and that more or fewer components may be implemented instead.
In this embodiment, the parking position control apparatus 1 stored in the memory 21 may be further divided into one or more program modules, and the one or more program modules are stored in the memory 21 and executed by one or more processors (in this embodiment, the processor 23) to complete the present invention.
EXAMPLE seven
To achieve the above objects, the present invention also provides a computer-readable storage medium including a plurality of storage media such as a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a Programmable Read Only Memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a server, an App application store, etc., on which a computer program is stored, which when executed by the processor 23, implements corresponding functions. The computer-readable storage medium of the present embodiment is used for storing the control device 1 for parking, and when executed by the processor 23, implements the control method for parking in the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (16)
1. A method of controlling a parking position, comprising:
detecting whether barrier targets exist at the edges of the doors on the two sides of the matched moving body in the parking target position;
when obstacle targets exist around the parking target position, detecting a current occupancy state of a seat in the moving body;
and generating a parking path according to the occupancy state of the seat, the current position of the moving body and the parking target position.
2. The method of controlling parking of a vehicle according to claim 1, wherein the obstacle target is an obstacle higher than a preset height.
3. The method of controlling parking according to claim 1, wherein generating a parking path based on the occupancy state of the seat, a current position of the mobile body, and the parking target position further comprises:
and detecting whether the parking target position meets a preset condition, if so, generating a parking path according to the occupation state of the seat, the current position of the moving body and the parking target position.
4. The method for controlling parking according to claim 1 or 3, wherein generating a parking path according to the occupancy state of the seat, a current position of a mobile body, and the parking target position includes:
when the occupation states of the seats on the two sides in the moving body are occupation states, increasing a parking margin on one side of the moving body to enable the parking margin to accord with the maximum door opening width corresponding to one door opening preset angle of the moving body, and generating a parking path based on the parking margin, the current position of the moving body and the parking target position; or
And when one of the occupation states of the seats on the two sides in the moving body is empty, matching the empty occupation state side in the moving body with an obstacle target in the parking target position to serve as a parking condition, and generating a parking path according to the current position of the moving body and the parking target position.
5. The method of controlling parking into a vehicle according to claim 1, wherein detecting whether there is an obstacle target at an edge of a door matching both sides of the moving body in the parking target position, previously comprises:
detecting an idle parking space of the moving body in a preset range, and acquiring and displaying an auxiliary image which identifies the idle parking space of the moving body in the preset range;
setting the parking target position using the displayed assist image.
6. The method for controlling parking according to claim 5, wherein detecting an empty parking space of the mobile body within a preset range, and acquiring and displaying an auxiliary image identifying the empty parking space of the mobile body within the preset range includes:
acquiring images around the moving body through a camera in a parking assistance device installed on the moving body, and generating a full-angle visual image of the moving body;
detecting the position of an obstacle of the moving body within a preset range through an ultrasonic radar in the parking assist device;
and identifying the idle parking spaces in the full-angle visual image based on the positions of the obstacles to form the auxiliary image.
7. The method of controlling a parking spot according to claim 1, further comprising:
and controlling the moving body to move to the parking target position according to the parking path.
8. A control device for parking a vehicle, comprising:
the processing unit is used for detecting whether barrier targets exist at the edges of the doors on the two sides of the matched moving body in the parking target position;
the detection unit is used for detecting the current occupancy state of a seat in the moving body when the periphery of the parking target position has an obstacle target;
the generating unit is used for generating a parking path according to the occupancy state of the seat, the current position of the moving body and the parking target position.
9. The parking control apparatus as claimed in claim 8, wherein the obstacle target is an obstacle higher than a preset height.
10. The parking control device of claim 8, wherein the processing unit is further configured to detect whether the parking target location meets a preset condition.
11. The parking control apparatus according to claim 8 or 10, wherein the generation unit is configured to increase a parking margin at one side of the moving body so that the parking margin corresponds to a maximum door opening width corresponding to a preset angle of opening one door of the moving body when the occupancy states of the seats at both sides of the moving body are both occupied, and generate the parking route based on the parking margin, a current position of the moving body, and the parking target position; or
The generating unit is used for matching one side of the mobile body with the empty occupation state with an obstacle target in the parking target position as a parking condition when one side of the occupation states of the seats on the two sides in the mobile body is empty, and generating a parking path according to the current position of the mobile body and the parking target position.
12. The parking control device according to claim 8, wherein the processing unit is further configured to detect an idle parking space of the mobile body within a preset range, and acquire and display an auxiliary image that identifies the idle parking space of the mobile body within the preset range;
further comprising:
a setting unit configured to set the parking target position using the displayed assist image.
13. A control device for parking a vehicle according to claim 12, wherein the processing unit comprises:
the generation module is used for acquiring images around the moving body through a camera in a parking assist device installed on the moving body and generating a full-angle visual image of the moving body;
the detection module is used for detecting the position of an obstacle of the moving body in a preset range through an ultrasonic radar in the parking assist device;
and the identification module is used for identifying and identifying the idle parking space in the full-angle visual image based on the position of the obstacle so as to form the auxiliary image.
14. The vehicle parking control apparatus of claim 8, further comprising:
and the execution unit is used for controlling the moving body to move to the parking target position according to the parking path.
15. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1 to 7 when executing the computer program.
16. 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 7.
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| CN202010970476.3A CN112172794A (en) | 2020-09-15 | 2020-09-15 | Parking control method and device, vehicle and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010970476.3A CN112172794A (en) | 2020-09-15 | 2020-09-15 | Parking control method and device, vehicle and storage medium |
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| CN112721801A (en) * | 2021-01-19 | 2021-04-30 | 东风汽车集团股份有限公司 | Vehicle parking anti-collision method and vehicle parking anti-collision system |
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