CN113682297A - Automatic parking method, system and storage medium - Google Patents
Automatic parking method, system and storage medium Download PDFInfo
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- CN113682297A CN113682297A CN202111013847.XA CN202111013847A CN113682297A CN 113682297 A CN113682297 A CN 113682297A CN 202111013847 A CN202111013847 A CN 202111013847A CN 113682297 A CN113682297 A CN 113682297A
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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
- 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
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
Abstract
The invention relates to the technical field of automobiles, in particular to an automatic parking method, a system and a storage medium, wherein the method is applied to a vehicle-mounted terminal of a vehicle, a first side of the vehicle at least comprises a first sensor and a second sensor, and the method comprises the following steps: responding to a parking instruction, and detecting a first target parking space according to a first echo signal fed back by a first sensor; if the first target parking space is detected, controlling the vehicle to park in; if the first target parking space is not detected, detecting the first target parking space according to a second echo signal fed back by a second sensor; if the first target parking space is detected, controlling the vehicle to park in the first target parking space; according to the invention, when the first sensor does not detect the first target parking space, the second sensor is used for detecting the first parking space detected by the first sensor, so that the success rate of detecting the first target parking space is increased, the speed of the vehicle entering the parking space for parking is increased, and the parking efficiency is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an automatic parking method, an automatic parking system and a storage medium.
Background
With the increasing amount of automobiles in China, the construction speed of standardized parking lots and parking lanes is difficult to popularize rapidly, and the problem of difficult parking is highlighted gradually. Meanwhile, with the continuous development of the automobile auxiliary driving technology, the automatic parking technology is gradually attracted by various large enterprises and suppliers, and the parking difficulty of drivers is attempted to be solved. The parking space can be rapidly and effectively detected in different parking scenes and automatic parking is achieved, in the prior art, generally, only a single-side ultrasonic radar can detect a parallel parking space or a single-side ultrasonic radar can detect a vertical parking space, when the single-side ultrasonic radar fails to detect, the parking space fails to detect, and the success rate of the vehicle for detecting the parking space is obviously reduced.
Based on the shortcomings of the prior art, there is a need to develop an automatic parking method, system and storage medium to solve the above problems.
Disclosure of Invention
In order to solve the technical problems, the invention provides an automatic parking method, an automatic parking system and a storage medium, wherein whether a first target parking space exists on a first side of a vehicle is detected by a first sensor, and when the first target parking space is not detected by the first sensor, the first parking space detected by the first sensor is detected by a second sensor, so that the first target parking space can be effectively detected, the success rate of detecting the first target parking space is increased, the speed of the vehicle entering the parking space for parking is increased, and the parking efficiency is improved.
The invention discloses an automatic parking method, which is applied to a vehicle-mounted terminal of a vehicle, wherein a first side of the vehicle at least comprises a first sensor and a second sensor, and the method comprises the following steps:
responding to a parking instruction, and detecting a first target parking space according to a first echo signal fed back by the first sensor;
if the first target parking space is detected, controlling the vehicle to park in the first target parking space;
if the first target parking space is not detected, detecting the first target parking space according to a second echo signal fed back by the second sensor;
and if the first target parking space is detected, controlling the vehicle to park in the first target parking space.
Further, if the first target parking space is not detected, after the step of detecting the first target parking space according to the second echo signal fed back by the second sensor, the method further includes:
and if the first target parking space is not detected, controlling the vehicle to continuously run, and re-executing the step of detecting the target parking space according to the first echo signal fed back by the first sensor until a third target parking space is detected.
Further, the detecting the first target parking space according to the first echo signal fed back by the first sensor includes:
under the condition that a plurality of first parking spaces exist on a first side of the vehicle, acquiring a first transverse distance or a second transverse distance corresponding to the plurality of first parking spaces in the traveling process of the vehicle;
generating a first data map according to the travel time information of the vehicle, the first lateral distance and/or the second lateral distance;
determining whether the first target parking space exists in a plurality of first parking spaces according to the first data map; the first transverse distance is the distance between the vehicle and the first parking space, and the second transverse distance is the distance between the vehicle and an obstacle on the first parking space.
Further, the detecting whether the first target parking space exists according to the first data map comprises:
determining a first travel time length corresponding to the first transverse distance according to the first data graph;
comparing the first stroke duration with a preset duration;
if the first travel time length is not less than the preset time length, determining that the first target parking space exists;
and if the first travel time length is smaller than the preset time length, determining that the first target parking space does not exist.
Further, the second side of the vehicle further comprises a third sensor;
after the step of responding to a parking instruction, the method further comprises:
detecting a second target parking space according to a third echo signal fed back by the third sensor;
if the second target parking space is detected and a first target parking space is detected, acquiring priority information of the first target parking space and the second target parking space;
and determining the target parking space of the vehicle from the first target parking space and the second target parking space according to the priority information.
Further, the second side of the vehicle further comprises a fourth sensor; after the step of detecting the second target parking space according to the third echo signal fed back by the third sensor, the method further includes:
if the second target parking space is not detected, detecting the second target parking space according to a fourth echo signal fed back by the fourth sensor;
if the second target parking space is detected, acquiring priority information of the first target parking space and the second target parking space;
and determining the target parking space of the vehicle from the first target parking space and the second target parking space according to the priority information.
Further, when a plurality of second parking spaces exist on a second side of the vehicle, in the traveling process of the vehicle, a third lateral distance or a fourth lateral distance corresponding to the plurality of second parking spaces is acquired;
generating a second data map according to the travel time information of the vehicle, the third lateral distance and/or the fourth lateral distance;
determining whether the second target parking space exists in the plurality of second parking spaces according to the second data map; wherein the third lateral distance is a distance between the vehicle and the second parking space, and the fourth lateral distance is a distance between the vehicle and an obstacle on the second parking space.
Further, the preset time length comprises a first preset value and a second preset value;
the step of responding to the parking instruction further comprises the following steps:
acquiring the type of the parking space; the parking space types comprise parallel parking spaces and vertical parking spaces;
determining the first preset value and the second preset value according to the parking space type; the first preset value is preset time corresponding to the vertical parking space, and the second preset value is preset time corresponding to the parallel parking space.
In another aspect, the present invention also provides an automatic parking system for implementing the automatic parking method described above, including:
the first detection module is used for responding to a parking instruction and detecting a first target parking space according to a first echo signal fed back by the first sensor;
the second detection module is used for detecting the first target parking space according to a second echo signal fed back by the second sensor if the first target parking space is not detected;
and the execution module is used for controlling the vehicle to park if the first target parking space is detected.
In another aspect, the present invention also protects a storage medium including a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement an automatic parking method as described above.
The embodiment of the invention has the following beneficial effects:
1. according to the invention, whether a first target parking space exists on the first side of the vehicle is detected by the first sensor, and when the first target parking space is not detected by the first sensor, the first parking space detected by the first sensor is detected by the second sensor, so that the first target parking space can be effectively detected, the success rate of detecting the first target parking space is increased, the speed of the vehicle entering the parking space for parking is accelerated, and the efficiency of parking is improved.
2. According to the invention, the same second parking space is repeatedly detected by the third sensor and the fourth sensor, so that the success rate of detecting the second target parking space is effectively increased; in addition, the invention can detect the second parking space on the second side of the vehicle through the third sensor and the fourth sensor when the first sensor and the second sensor detect the first parking space on the first side of the vehicle; when the first sensor and the second sensor do not detect the first target parking space and the third sensor or the fourth sensor detects the second target parking space, the vehicle is controlled to enter the second target parking space for parking, so that the speed of the vehicle entering the parking space for parking is increased, and the parking efficiency is improved.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art it is also possible to derive other drawings from these drawings without inventive effort.
Fig. 1 is a flowchart of an automatic parking method according to the present embodiment;
FIG. 2 is a schematic diagram of a vehicle identification space according to the present embodiment;
FIG. 3 is a first data diagram corresponding to FIG. 2;
fig. 4 is a structural diagram of the automatic parking system according to the embodiment.
Wherein the reference numerals in the figures correspond to:
1-a first detection module; 2-a second detection module; and 3, executing the module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The prior art has the following defects: in the present prior art, can only single side ultrasonic radar detect parallel parking stall or single side ultrasonic radar detect perpendicular parking stall usually, after single side ultrasonic radar detects the failure, then this time parking stall detects the failure, and this success rate that has obviously reduced the vehicle and has detected the parking stall.
Aiming at the defects of the prior art, the invention firstly detects whether a first target parking space exists on the first side of the vehicle through the first sensor, and when the first sensor does not detect the first target parking space, the second sensor is used for detecting the first parking space detected by the first sensor, so that the first target parking space can be effectively detected, the success rate of detecting the first target parking space is increased, the speed of the vehicle entering the parking space for parking is accelerated, and the parking efficiency is improved.
Example 1
Referring to fig. 1 to 4, the present embodiment provides an automatic parking method applied in an on-board terminal of a vehicle, where a first side of the vehicle includes at least a first sensor and a second sensor, and the method includes:
s101: responding to a parking instruction, and detecting a first target parking space according to a first echo signal fed back by a first sensor;
s102: if the first target parking space is detected, controlling the vehicle to park in the first target parking space;
s103: if the first target parking space is not detected, detecting the first target parking space according to a second echo signal fed back by a second sensor;
s104: and if the first target parking space is detected, controlling the vehicle to park in the first target parking space.
It should be noted that: the mainstream scheme of prior art based on ultrasonic radar carries out parking stall discernment is that 1 side ultrasonic radar who utilizes vehicle front bumper one side carries out the detection discernment of empty parking stall, and the ultrasonic radar of rear bumper side only is used for the automatic obstacle detection of parking in-process for route planning control and warning suggestion, if the long-range ultrasonic radar of front bumper side detects the discernment parking stall failure, then this round parking stall search identification process is unsuccessful, needs to carry out the parking stall search process again, and efficiency is lower. In the automatic parking method of the embodiment, in the process of searching and identifying the parking spaces, the vehicles can be supported to perform the next parking control only by successfully identifying the parking spaces by the 1 side long-range ultrasonic radar. And whether there is first target parking stall through first sensor detection vehicle first side earlier in this embodiment to when first sensor does not detect first target parking stall, use the second sensor to detect the first parking stall that first sensor detected, this can effectively detect first target parking stall, increases the success rate that detects first target parking stall, has accelerated the speed that the vehicle got into the parking stall and parks, improves the efficiency of parkking.
It should also be noted that: the first sensor, the second sensor, the third sensor and the fourth sensor are all long-distance ultrasonic radars; the first sensor is arranged on the right side of the front bumper, the second sensor is arranged on the right side of the rear bumper, the third sensor is arranged on the left side of the front bumper, and the fourth sensor is arranged on the left side of the rear bumper.
The first echo signal, the second echo signal, the third echo signal and the fourth echo signal are all reflection signals formed when the ultrasonic signal meets a vehicle or an empty parking space in a parking space; the first echo parameter, the second echo parameter, the third echo parameter and the fourth echo parameter are ToF values; the ToF value is the time length of the return of the long-distance ultrasonic radar;
the first data diagram, the second data diagram and the third data diagram take time as an abscissa and take a transverse distance as an ordinate; the first travel time length is the time length corresponding to the first transverse distance in the first data graph; the second travel time length is the time length corresponding to the third transverse distance in the second data map; the first preset value and the second preset value are set according to the actual parking space type, when the first travel time length is not less than the preset time length, the parking space can be parked into the vehicle, and when the second travel time length is not less than the preset time length, the parking space can be parked into the vehicle;
the first parking space is a parking space arranged on a first side of the vehicle, and the second parking space is a parking space arranged on a second side of the vehicle; the first target parking space is a first parking space capable of parking, and the third target parking space is a first parking space capable of parking; namely, the first target parking space and the third target parking space are first parking spaces which are arranged on the same side of the vehicle and have different positions; the second target parking space is a second parking space where the vehicle can park, and the second target parking space is arranged on the other side of the vehicle; namely, the first target parking space and the third target parking space are arranged on one side of the vehicle, and the first target parking space and the second target parking space are respectively arranged on two sides of the vehicle; the parallel parking spaces are arranged in parallel with the road shoulders, and the vertical parking spaces are arranged in vertical with the road shoulders.
Specifically, the ultrasonic radar is connected to the autopilot domain controller through an LIN bus, when ultrasonic waves sent by the ultrasonic radar meet obstacles, echoes can be generated through the reflection of the obstacles, the ultrasonic radar can accept and recognize the echoes, the time-of-flight (ToF) value of the ultrasonic echoes is calculated, and the time-of-flight (ToF) value of the echoes is sent to the autopilot domain controller through the LIN bus. The distance between the ultrasonic radar and the obstacle can be calculated by the following formula:
distance (D) ═ V ToF/2
And V is the flight speed of the ultrasonic wave in the air, and is obtained by inquiring a first data table, wherein the first data table is a relation table of the flight speed and the air temperature.
In other embodiments, three sensors are respectively arranged on two sides of the vehicle, and as long as one sensor detects a target parking space, the vehicle is controlled to enter the corresponding target parking space; the redundant detection is carried out on the parking spaces on the two sides of the vehicle, the situation that the target parking space cannot be identified in time when two sensors on the same side break down is avoided, the target parking space can be identified in time, and the parking efficiency is improved.
In some possible embodiments, if the first target parking space is not detected, the step of detecting the first target parking space according to the second echo signal fed back by the second sensor further includes:
s105: if the first target parking space is not detected, the vehicle is controlled to continue to run, the step of detecting the target parking space according to the first echo signal fed back by the first sensor is executed again until a third target parking space is detected, the vehicle can be ensured to detect the target parking space in time, the speed of the vehicle entering the target parking space is increased, and the parking lot is prevented from being blocked.
In some possible embodiments, the detecting the first target parking space according to the first echo signal fed back by the first sensor includes:
under the condition that a plurality of first parking spaces exist on a first side of a vehicle, acquiring first transverse distances or second transverse distances corresponding to the plurality of first parking spaces in the traveling process of the vehicle;
generating a first data map according to the travel time information of the vehicle, the first lateral distance and/or the second lateral distance;
determining whether a first target parking space exists in a plurality of first parking spaces according to the first data map; the first transverse distance is the distance between the vehicle and the first parking space, and the second transverse distance is the distance between the vehicle and the obstacle on the first parking space.
In other possible embodiments, obtaining the first lateral distance or the second lateral distance corresponding to the plurality of first parking spaces includes:
determining a first echo parameter according to a first echo signal fed back by a first sensor along the traveling direction of the vehicle;
determining a first lateral distance between the vehicle and the first parking space according to the first echo parameter; or determining a second lateral distance between the vehicle and the obstacle in the first parking space according to the first echo parameter; wherein the first lateral distance is greater than the second lateral distance; in this embodiment, after the first echo signal fed back by the first sensor is obtained, the first echo parameter in the first echo signal is analyzed, and whether the parking space has different parking first echo parameters or not is determined; therefore, after the first echo parameter is obtained, whether the first parking space can be parked or not can be judged, whether the first parking space can be parked or not can be rapidly identified, the speed of the vehicle entering the first parking space for parking is increased, and the parking efficiency is improved.
In other possible embodiments, the detecting the first target parking space according to the second echo signal fed back by the second sensor includes:
determining a second echo parameter according to a second echo signal fed back by a second sensor along the vehicle travelling direction;
determining a first lateral distance between the vehicle and the first parking space according to the second echo parameter; or determining a second lateral distance between the vehicle and the obstacle in the first parking space according to the first echo parameter; wherein the first lateral distance is greater than the second lateral distance;
generating a third data map according to the travel time information of the vehicle, the first lateral distance and/or the second lateral distance;
determining whether a first target parking space exists according to the third data map; in this embodiment, after the second echo signal fed back by the second sensor is passed, the second echo parameter in the second echo signal is analyzed, and whether the parking space has a parking-available second echo parameter is different; after the second echo parameter is obtained, whether the first parking space can be parked or not can be judged, the first sensor is prevented from misjudging that the first parking space cannot be parked, the speed of the vehicle entering the first parking space for parking is increased, and the efficiency of parking can be further prevented from being reduced; the first parking spaces and the second parking spaces on the two sides of the vehicle are detected and identified at the same time, and identification of blind areas of the parking spaces on the two sides of the road is achieved.
In some possible embodiments, determining whether the first target parking space exists according to the third data map comprises:
determining a third stroke duration corresponding to the first transverse distance according to the third data map;
comparing the third stroke duration with a preset duration;
if the duration of the third stroke is not less than the preset duration, determining that a first target parking space exists;
if the duration of the third stroke is less than the preset duration, determining that the first target parking space does not exist; in this embodiment, by comparing the duration of the third stroke with the preset duration, whether the first parking space is the first target parking space can be quickly determined, so that the control logic is simple, and the cost is reduced to a certain extent.
In some possible embodiments, detecting whether the first target parking space exists according to the first data map comprises:
determining a first travel time length corresponding to the first transverse distance according to the first data map;
comparing the first stroke duration with a preset duration;
if the first travel time length is not less than the preset time length, determining that a first target parking space exists;
if the first travel time length is smaller than the preset time length, determining that a first target parking space does not exist; in this embodiment, by comparing the duration of the third stroke with the preset duration, whether the first parking space is the first target parking space can be quickly determined, so that the control logic is simple, and the cost is reduced to a certain extent.
In some possible embodiments, the second side of the vehicle further comprises a third sensor;
after the step of responding to the parking instruction, the method further comprises:
detecting a second target parking space according to a third echo signal fed back by a third sensor;
if a second target parking space is detected and a first target parking space is detected, acquiring priority information of the first target parking space and the second target parking space; determining a target parking space of the vehicle from the first target parking space and the second target parking space according to the priority information; in the embodiment, the same second parking space is repeatedly detected by the third sensor and the fourth sensor, which also effectively increases the success rate of detecting the second target parking space; in addition, the invention can detect the second parking space on the second side of the vehicle through the third sensor and the fourth sensor when the first sensor and the second sensor detect the first parking space on the first side of the vehicle; when the first sensor and the second sensor do not detect the first target parking space and the third sensor or the fourth sensor detects the second target parking space, the vehicle is controlled to enter the second target parking space for parking, so that the speed of the vehicle entering the parking space for parking is increased, and the parking efficiency is improved.
In some possible embodiments, the second side of the vehicle further comprises a fourth sensor; after the step of detecting the second target parking space according to the third echo signal fed back by the third sensor, the method further includes:
if the second target parking space is not detected, detecting the second target parking space according to a fourth echo signal fed back by a fourth sensor;
if a second target parking space is detected, acquiring priority information of the first target parking space and the second target parking space;
determining a target parking space of the vehicle from the first target parking space and the second target parking space according to the priority information; in this embodiment, the third sensor and the fourth sensor continuously detect the second parking space on the second side of the vehicle until the first sensor or the second sensor finds the first target parking space or the third sensor or the fourth sensor finds the second target parking space, which ensures that the vehicle can detect the first target parking space or the second target parking space in time, improves the speed of the vehicle entering the target parking space, and avoids the parking lot congestion.
In some possible embodiments, the detecting the second target parking space according to the third echo signal fed back by the third sensor includes:
determining a third echo parameter according to a third echo signal fed back by a third sensor along the vehicle travelling direction;
determining a third transverse distance between the vehicle and the second parking space according to the third echo parameter;
or determining a fourth lateral distance between the vehicle and the obstacle in the second parking space according to the third echo parameter;
along the vehicle advancing direction, the third sensor sequentially acquires a third transverse distance or a fourth transverse distance corresponding to the plurality of second parking spaces;
generating a second data map according to the travel time information, the third lateral distance and/or the fourth lateral distance of the vehicle;
whether a second target parking space exists or not is determined according to the second data map, whether the second target parking space exists or not is determined according to the second data map, the second target parking space can be detected by the vehicle in time, the detection speed is increased, the speed of the vehicle entering the target parking space is also increased, and the parking lot is prevented from being jammed.
In some possible embodiments, determining whether the second target parking space exists according to the second data map comprises:
acquiring a second stroke duration corresponding to the third transverse distance;
comparing the second stroke duration with a preset duration;
if the second travel time length is not less than the preset time length, determining that a second target parking space exists;
if the second travel time length is less than the preset time length, it is determined that the second target parking space does not exist, and whether the second parking space is the second target parking space can be quickly determined by comparing the second travel time length with the preset time length, so that the control logic is simple, and the cost is reduced to a certain extent.
In some possible embodiments, the priority information is that the priority of the first target parking space is higher than the priority of the second target parking space or the priority of the first target parking space is lower than the priority of the second target parking space;
determining a target parking space for the vehicle from the first target parking space and the second target parking space according to the priority information includes:
according to the priority information, acquiring the priority of a first target parking space and the priority of a second target parking space;
if the priority of the first target parking space is higher than that of the second target parking space, controlling the vehicle to park in the first target parking space;
and if the priority of the first target parking space is lower than that of the second target parking space, controlling the vehicle to park in the second target parking space.
In some possible embodiments, in a case where there are a plurality of second parking spaces on the second side of the vehicle, during the traveling of the vehicle, a third lateral distance or a fourth lateral distance corresponding to the plurality of second parking spaces is acquired;
generating a second data map according to the travel time information, the third lateral distance and/or the fourth lateral distance of the vehicle;
determining whether a second target parking space exists in the plurality of second parking spaces according to the second data map; and the third transverse distance is the distance between the vehicle and the second parking space, and the fourth transverse distance is the distance between the vehicle and the obstacle on the second parking space.
In some possible embodiments, the preset duration includes a first preset value and a second preset value;
the step of responding to the parking instruction further comprises the following steps:
acquiring the type of the parking space; the parking space types comprise parallel parking spaces and vertical parking spaces;
determining a first preset value and a second preset value according to the parking place type; the first preset value is preset time corresponding to a vertical parking space, and the second preset value is preset time corresponding to a parallel parking space.
Specifically, when the parking space type is a parallel parking space, the first transverse distance is defined as a first distance; when the parking space type is a vertical parking space, the first transverse distance is defined as a second distance; the first preset value is smaller than the second preset value, and the first distance is smaller than the second distance.
The automatic parking method comprises the following steps:
responding to a parking instruction, and detecting a first target parking space according to a first echo signal fed back by a first sensor;
if the first target parking space is detected, controlling the vehicle to park in the first target parking space;
if the first target parking space is not detected, detecting the first target parking space according to a second echo signal fed back by a second sensor;
if the first target parking space is detected, controlling the vehicle to park in the first target parking space;
if the first target parking space is not detected, controlling the vehicle to continue driving, and re-executing the step of detecting the target parking space according to the first echo signal fed back by the first sensor until a third target parking space is detected;
detecting a second target parking space according to a third echo signal fed back by a third sensor;
if a second target parking space is detected and a first target parking space is detected, acquiring priority information of the first target parking space and the second target parking space; determining a target parking space of the vehicle from the first target parking space and the second target parking space according to the priority information;
if the second target parking space is not detected, detecting the second target parking space according to a fourth echo signal fed back by a fourth sensor;
if a second target parking space is detected, acquiring priority information of the first target parking space and the second target parking space;
and determining the target parking space of the vehicle from the first target parking space and the second target parking space according to the priority information.
Specifically, the detection processes of the first sensor, the second sensor, the third sensor and the fourth sensor are all consistent, and the detection process of the first sensor is explained; referring to fig. 2-3, the process of the first sensor in detecting parking space No. 1, parking space No. 2 and parking space No. 3:
when a vehicle head passes through the No. 1 parking space, the first sensor detects the No. 1 first parking space, and the detected distance is D1; manufacturing a first data graph according to the D1 and the corresponding travel duration, and judging whether the No. 1 first parking space is a first target parking space or not according to the first data graph;
if not, the vehicle continues to run, and when the head of the vehicle passes through the No. 2 parking space, the first sensor detects the No. 2 first parking space, and the detected distance is D2; updating the first data map according to the D2 and the corresponding travel duration, and judging whether the No. 2 first parking space is the first target parking space or not according to the updated first data map;
if so, controlling the vehicle to enter a No. 2 first parking space for parking;
if not, the vehicle continues to run, and when the head of the vehicle passes through the No. 3 parking space, the first sensor detects the No. 3 first parking space, and the detected distance is D3; updating the first data map according to the D3 and the corresponding travel duration, and judging whether the No. 3 first parking space is the first target parking space or not according to the updated first data map; if so, controlling the vehicle to enter a No. 3 first parking space; if not, controlling the vehicle to continue to run and detecting the first parking space.
In another aspect of the present invention, an automatic parking system is further provided for implementing the automatic parking method as above, and the system includes:
the first detection module 1 is used for responding to a parking instruction and detecting a first target parking space according to a first echo signal fed back by the first sensor;
the second detection module 2 is configured to, if the first target parking space is not detected, detect the first target parking space according to a second echo signal fed back by the second sensor;
the execution module 3 is configured to control the vehicle to park if the first target parking space is detected; the automatic parking system can detect whether a first target parking space exists on the first side of the vehicle through the first sensor, and when the first sensor does not detect the first target parking space, the first parking space detected by the first sensor is detected by the second sensor, so that the first target parking space can be effectively detected, the success rate of detecting the first target parking space is increased, the speed of the vehicle entering the parking space for parking is increased, and the parking efficiency is improved.
The automatic parking system further includes:
the third detection module is used for controlling the vehicle to continuously run if the first target parking space is not detected, and re-executing the step of detecting the target parking space according to the first echo signal fed back by the first sensor until a third target parking space is detected;
the first acquisition module is used for acquiring a first transverse distance or a second transverse distance corresponding to a plurality of first parking spaces in the advancing process of the vehicle under the condition that the plurality of first parking spaces exist on the first side of the vehicle;
the first processing module is used for generating a first data map according to the travel time information of the vehicle, the first transverse distance and/or the second transverse distance;
the second processing module is used for determining whether a first target parking space exists in the plurality of first parking spaces according to the first data map;
the first information determining module is used for determining a first travel time length corresponding to the first transverse distance according to the first data map;
the first information comparison module is used for comparing the first travel time length with a preset time length;
the second information determining module is used for determining that a first target parking space exists if the first travel time length is not less than the preset time length;
the third information determining module is used for determining that the first target parking space does not exist if the first travel time length is smaller than the preset time length;
the fourth detection module is used for detecting a second target parking space according to a third echo signal fed back by the third sensor;
the second acquisition module is used for acquiring priority information of the first target parking space and the second target parking space if the second target parking space is detected and the first target parking space is detected;
the fourth information determining module is used for determining the target parking space of the vehicle from the first target parking space and the second target parking space according to the priority information;
the fifth detection module is used for detecting a second target parking space according to a fourth echo signal fed back by a fourth sensor if the second target parking space is not detected;
the sixth detection module is used for acquiring priority information of the first target parking space and the second target parking space if the second target parking space is detected;
the fifth information determining module is used for determining a target parking space of the vehicle from the first target parking space and the second target parking space according to the priority information;
the third processing module is used for generating a second data map according to the travel time information of the vehicle, the third transverse distance and/or the fourth transverse distance;
the fourth processing module is used for determining whether a second target parking space exists in the plurality of second parking spaces according to the second data map;
the third acquisition module is used for acquiring the type of the parking space;
and the sixth information determining module is used for determining the first preset value and the second preset value according to the parking space type.
In another aspect, the present invention also provides a storage medium including a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and executed to implement the automatic parking method.
The technical solution of the present invention may be substantially implemented or a part of or all or part of the technical solution that contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
Although the present invention has been described by way of preferred embodiments, the present invention is not limited to the embodiments described herein, and various changes and modifications may be made without departing from the scope of the present invention.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The embodiments and features of the embodiments described herein above can be combined with each other without conflict.
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not to be limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. An automatic parking method is applied to a vehicle-mounted terminal of a vehicle, wherein a first side of the vehicle at least comprises a first sensor and a second sensor, and the method is characterized by comprising the following steps:
responding to a parking instruction, and detecting a first target parking space according to a first echo signal fed back by the first sensor;
if the first target parking space is detected, controlling the vehicle to park in the first target parking space;
if the first target parking space is not detected, detecting the first target parking space according to a second echo signal fed back by the second sensor;
and if the first target parking space is detected, controlling the vehicle to park in the first target parking space.
2. The automatic parking method according to claim 1, wherein the step of detecting the first target parking space according to the second echo signal fed back by the second sensor further comprises:
and if the first target parking space is not detected, controlling the vehicle to continuously run, and re-executing the step of detecting the target parking space according to the first echo signal fed back by the first sensor until a third target parking space is detected.
3. The automatic parking method according to claim 1, wherein the detecting the first target parking space according to the first echo signal fed back by the first sensor comprises:
under the condition that a plurality of first parking spaces exist on a first side of the vehicle, acquiring a first transverse distance or a second transverse distance corresponding to the plurality of first parking spaces in the traveling process of the vehicle;
generating a first data map according to the travel time information of the vehicle, the first lateral distance and/or the second lateral distance;
determining whether the first target parking space exists in a plurality of first parking spaces according to the first data map; the first transverse distance is the distance between the vehicle and the first parking space, and the second transverse distance is the distance between the vehicle and an obstacle on the first parking space.
4. The automatic parking method according to claim 3, wherein the detecting whether the first target parking space exists according to the first data map comprises:
determining a first travel time length corresponding to the first transverse distance according to the first data graph;
comparing the first stroke duration with a preset duration;
if the first travel time length is not less than the preset time length, determining that the first target parking space exists;
and if the first travel time length is smaller than the preset time length, determining that the first target parking space does not exist.
5. The method of claim 1, wherein the second side of the vehicle further comprises a third sensor;
after the step of responding to a parking instruction, the method further comprises:
detecting a second target parking space according to a third echo signal fed back by the third sensor;
if the second target parking space is detected and a first target parking space is detected, acquiring priority information of the first target parking space and the second target parking space;
and determining the target parking space of the vehicle from the first target parking space and the second target parking space according to the priority information.
6. The method of claim 5, wherein the second side of the vehicle further comprises a fourth sensor; after the step of detecting the second target parking space according to the third echo signal fed back by the third sensor, the method further includes:
if the second target parking space is not detected, detecting the second target parking space according to a fourth echo signal fed back by the fourth sensor;
if the second target parking space is detected, acquiring priority information of the first target parking space and the second target parking space;
and determining the target parking space of the vehicle from the first target parking space and the second target parking space according to the priority information.
7. The automatic parking method according to claim 6, wherein in a case where a plurality of second parking spaces exist on the second side of the vehicle, a third lateral distance or a fourth lateral distance corresponding to the plurality of second parking spaces is obtained during the traveling of the vehicle;
generating a second data map according to the travel time information of the vehicle, the third lateral distance and/or the fourth lateral distance;
determining whether the second target parking space exists in the plurality of second parking spaces according to the second data map; wherein the third lateral distance is a distance between the vehicle and the second parking space, and the fourth lateral distance is a distance between the vehicle and an obstacle on the second parking space.
8. The automatic parking method according to claim 4, wherein the preset time period comprises a first preset value and a second preset value;
the step of responding to the parking instruction further comprises the following steps:
acquiring the type of the parking space; the parking space types comprise parallel parking spaces and vertical parking spaces;
determining the first preset value and the second preset value according to the parking space type; the first preset value is preset time corresponding to the vertical parking space, and the second preset value is preset time corresponding to the parallel parking space.
9. An automatic parking system for implementing the automatic parking method according to any one of claims 1 to 8, the system comprising:
the first detection module (1) is used for responding to a parking instruction and detecting a first target parking space according to a first echo signal fed back by the first sensor;
the second detection module (2) is used for detecting the first target parking space according to a second echo signal fed back by the second sensor if the first target parking space is not detected;
and the execution module (3) is used for controlling the vehicle to park if the first target parking space is detected.
10. A storage medium comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement an automatic parking method according to any one of claims 1 to 8.
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| CN202111013847.XA CN113682297A (en) | 2021-08-31 | 2021-08-31 | Automatic parking method, system and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111013847.XA CN113682297A (en) | 2021-08-31 | 2021-08-31 | Automatic parking method, system and storage medium |
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