CN114454874B - Method and system for preventing sudden braking during automatic parking - Google Patents
Method and system for preventing sudden braking during automatic parking Download PDFInfo
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- CN114454874B CN114454874B CN202210155948.9A CN202210155948A CN114454874B CN 114454874 B CN114454874 B CN 114454874B CN 202210155948 A CN202210155948 A CN 202210155948A CN 114454874 B CN114454874 B CN 114454874B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
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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
- B60W2552/50—Barriers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to a method and a system for preventing sudden braking during automatic parking, wherein the detection threshold value of an ultrasonic sensor aimed at when an obstacle is classified is reduced when a target parking distance s is within a set range; when the ultrasonic sensor detects a high-attribute obstacle, the target parking distance s is adjusted from an initial value d to d-b, a time period is set, and the target parking distance s is monotonically decreased from d-b at a decreasing rate of decreasing e in each period; d-b is the real-time distance of the vehicle from the safe distance point of the obstacle; calculating the attribute of the obstacle again, and adjusting the target parking distance s to d-ne when the attribute of the obstacle is judged to be low after n periods; the method can effectively solve the problem of sudden braking caused by the limitation of ultrasonic detection in the automatic parking process of the longitudinal torque interface of the vehicle based on the target distance and the target speed, and has simple logic and easy realization of the scheme.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method and a system for preventing emergency braking during automatic parking.
Background
At present, automatic parking longitudinal control is limited by the detection characteristic of ultrasonic waves, and the problem of sudden braking of a vehicle can occur when special obstacles such as wheel blocks, bushes and the like are encountered in the automatic parking process.
Taking the obstacle as a wheel block as an example, as shown in fig. 1, which is a schematic diagram of the relationship between the longitudinal torque and time when the obstacle is a wheel block in the prior art, it can be seen from fig. 1 that the obstacle is classified into a high-attribute obstacle and a low-attribute obstacle, where the high-attribute obstacle is an inextensible obstacle and the high-attribute obstacle is a strideable obstacle. When the vehicle is close to the obstacle, the obstacle classification module detects the obstacle with high attribute by the small probability, and when the detected value is smaller than the safety distance a preset by the system, the obstacle distance of the decision planning module is directly jumped to 0 from the current obstacle distance b, so that the longitudinal torque output by the ESC is jumped to 0Nm instantly, the vehicle can be braked suddenly, and the use experience of a user is influenced.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a method and a system for preventing sudden braking in automatic parking, which can effectively solve the problem of sudden braking caused by the limitation of ultrasonic detection in the automatic parking process of a longitudinal torque interface of a vehicle based on a target distance and a target vehicle speed, and has simple logic and easy realization of a scheme.
According to a first aspect of the present invention, there is provided a method of preventing sudden braking in automatic parking, comprising:
step 1, when a target parking distance s is within a set range, reducing a detection threshold of an ultrasonic sensor aimed at obstacle classification, wherein the target parking distance s is a real-time distance between a vehicle and a target parking point;
step 2, when the ultrasonic sensor detects a high-attribute obstacle, the target parking distance s is adjusted from an initial value d to d-b, a time period is set, and the target parking distance s is monotonically decreased from d-b at a decreasing rate of decreasing e in each period; d-b is the real-time distance of the vehicle from the safe distance point of the obstacle;
and 3, calculating the attribute of the obstacle again, and adjusting the target parking distance s to be d-ne when the attribute of the obstacle is judged to be low after n periods.
On the basis of the technical scheme, the invention can also make the following improvements.
Optionally, the maximum value of the setting range is n times of the safety distance b.
Optionally, the recalculating the attribute of the obstacle in step 3 includes: and respectively calculating the probability f that the attribute of the obstacle is a low attribute and the probability g that the attribute of the obstacle is a high attribute according to the height and the echo intensity of the obstacle.
Optionally, the method for determining that the attribute of the obstacle is a low attribute in the step 3 is: f-g > a preset threshold h.
Optionally, the step 3 further includes, after adjusting the target parking distance s to d-ne: and when the vehicle continues to travel until the target parking distance s is 0, stopping the vehicle into a target parking space, and ending the cycle.
Optionally, the method for preventing sudden braking further includes: and adjusting the target braking distance in real time according to the target parking distance s, wherein the vehicle starts to execute braking operation when the target braking distance is 0, and the target braking distance is the real-time distance between the vehicle and a position point where the vehicle starts to brake.
Optionally, the target braking distance is the target stopping distance s minus a set braking distance. The braking distance is the distance travelled in the process of starting braking of the vehicle to the speed of 0.
According to a second aspect of the present invention, there is provided a system for preventing sudden braking in automatic parking, comprising: an ultrasonic sensor, an obstacle classification module and a decision planning module;
the ultrasonic sensor is used for detecting an obstacle in real time, and the detection threshold of the ultrasonic sensor aimed at in the obstacle classification module is reduced when a target parking distance s is within a set range, wherein the target parking distance s is the real-time distance between a vehicle and a target parking point;
the obstacle classification module judges that the ultrasonic sensor detects high-attribute obstacles, the decision planning module adjusts the target parking distance s from an initial value d to d-b, a set time period is set, and the decision planning module monotonically decreases the target parking distance s from d-b at a decreasing rate of decreasing e in each period; d-b is the real-time distance of the vehicle from the safe distance point of the obstacle;
and the obstacle classification module calculates the attribute of the obstacle again, and when the attribute of the obstacle is judged to be low after n periods, the decision planning module adjusts the target parking distance s to be d-ne.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of the method of preventing sudden braking by automatic parking when executing a computer management class program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer-management-class program which, when executed by a processor, implements the steps of a method of automatic parking to prevent sudden braking.
The invention provides a method, a system, electronic equipment and a storage medium for preventing sudden braking of automatic parking, and provides a vehicle parking distance updating strategy.
Drawings
FIG. 1 is a schematic diagram of the longitudinal torque magnitude versus time for a prior art barrier as a barrier wheel;
FIG. 2 is a schematic diagram of the longitudinal torque versus time for an automatic park emergency brake prevention method according to the present invention;
FIG. 3 is a block diagram illustrating an exemplary embodiment of an automatic park emergency brake prevention system provided by the present invention;
fig. 4 is a schematic hardware structure of one possible electronic device according to the present invention;
fig. 5 is a schematic hardware structure of a possible computer readable storage medium according to the present invention.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Fig. 3 is a block diagram of an embodiment of an automatic parking emergency brake prevention system according to the present invention, and as can be seen from fig. 3, the present invention relates to an automatic parking auxiliary system based on ultrasonic sensor integration, which mainly comprises the following parts: ultrasonic sensors, obstacle classification modules, decision planning modules, actuators such as ESCs, VCUs and the like. The ultrasonic sensor is responsible for detecting ultrasonic original information and providing the ultrasonic original information to the obstacle classification module, the obstacle classification module classifies the obstacle according to characteristic parameters provided by the ultrasonic sensor and provides obstacle characteristics to the decision planning module, the decision planning module calculates a target speed, a parking distance and an ESC, the ESC calculates longitudinal torque and transmits the longitudinal torque to the VCU, and the VCU responds to the torque to complete longitudinal control of the vehicle.
For wheel gear type obstacles, the decision planning module may jump to 0 from the current obstacle distance b directly after judging the obstacle distance, so that the longitudinal torque output by the ESC is instantaneously jumped to 0Nm, and the vehicle can be suddenly braked. In order to effectively avoid the above scenes, the invention provides a method for preventing sudden braking of automatic parking, which comprises the following steps:
and 1, reducing a detection threshold value of an ultrasonic sensor aimed at classifying the obstacle when a target parking distance s is within a set range, wherein the target parking distance s is the real-time distance between the vehicle and a target parking point.
Step 2, when the ultrasonic sensor detects a high-attribute obstacle, the target parking distance s is adjusted from an initial value d to d-b, a time period is set, and the target parking distance s is monotonically decreased from d-b at a decreasing rate of decreasing e in each period; b is the set safe distance.
And 3, calculating the attribute of the obstacle again, and adjusting the target parking distance s to be d-ne when the attribute of the obstacle is judged to be low after n periods.
The method for preventing sudden braking of automatic parking provided by the invention can effectively solve the problem of sudden braking caused by the limitation of ultrasonic detection in the automatic parking process of a vehicle longitudinal torque interface based on the target distance and the target vehicle speed, and has simple logic and easy realization of the scheme.
Example 1
Embodiment 1 provided by the present invention is an embodiment of a method for preventing sudden braking in automatic parking, as shown in fig. 2, which is a schematic diagram illustrating a relationship between a longitudinal torque and time when the method for preventing sudden braking in automatic parking is used, and as can be seen in fig. 2 and 3, the embodiment of the method for preventing sudden braking includes:
and 1, reducing a detection threshold value of an ultrasonic sensor aimed at classifying the obstacle when a target parking distance s is within a set range, wherein the target parking distance s is the real-time distance between the vehicle and a target parking point.
In one possible embodiment, the maximum value of the set range is n times the safety distance b.
When the vehicle is automatically parked and backed in storage, the ultrasonic sensor on the rear guard of the vehicle can detect the wheel guard type obstacle in the distance range when the distance from the ultrasonic sensor to the wheel guard value is within the set range.
Step 2, when the ultrasonic sensor detects a high-attribute obstacle, the target parking distance s is adjusted from an initial value d to d-b, a time period is set, and the target parking distance s is monotonically decreased from d-b at a decreasing rate of decreasing e in each period; b is the set safe distance. The safety distance b can be flexibly set empirically.
The obstacle classification module may determine the wheel gear as a high-attribute obstacle, at this time, the obstacle classification module and the decision planning module are activated, and the decision planning module adjusts the target parking distance s according to the original distance d of the obstacle transmitted by the obstacle classification module, and the adjustment of the target parking distance s is adjusted from d to d-b.
And 3, calculating the attribute of the obstacle again, and adjusting the target parking distance s to be d-ne when the attribute of the obstacle is judged to be low after n periods.
In a possible embodiment, the recalculating the attribute of the obstacle in step 3 includes: and respectively calculating the probability f that the attribute of the obstacle is a low attribute and the probability g that the attribute of the obstacle is a high attribute according to the height and the echo intensity of the obstacle.
In a possible embodiment, the method for determining that the attribute of the obstacle is low in step 3 is: f-g > a preset threshold h.
When the decision planning module receives that the obstacle is of low attribute after n periods, the target parking distance s is adjusted to d-b-ne+b, namely d-ne.
When the difference value between the probability of the low-attribute obstacle and the high-attribute obstacle is larger than a preset threshold h, namely f-g > h, the obstacle is output to the decision planning module according to the low-attribute obstacle.
In a possible embodiment, step 3 further includes, after adjusting the target stopping distance s to d-ne: when the vehicle continues to travel until the target parking distance s is 0, the vehicle is parked in the target parking space, and the cycle is ended.
In one possible embodiment, the method for preventing sudden braking further includes: and adjusting the target braking distance in real time according to the target parking distance s, wherein the vehicle starts to execute braking operation when the target braking distance is 0, and the target braking distance is the real-time distance between the vehicle and the position point where the vehicle starts to brake.
It can be understood that, after the target stopping distance s is adjusted in step 2, the target braking distance decreases monotonically with each period e, and the jump at this time will not cause the torque of the vehicle to fluctuate greatly because the vehicle has inertia at this time.
In one possible embodiment, the target braking distance is the target stopping distance s minus the set braking distance. The braking distance is the distance travelled during the time from when the vehicle starts to brake to the speed of 0. In a specific implementation, the braking distance can be flexibly set according to the vehicle speed.
Example 2
Embodiment 2 provided by the present invention is an embodiment of an automatic parking emergency brake prevention system provided by the present invention, and fig. 3 is a structural diagram of an automatic parking emergency brake prevention system provided by an embodiment of the present invention, as can be known from fig. 3, the embodiment of the emergency brake prevention system includes: ultrasonic sensors, obstacle classification modules, decision planning modules, actuators such as ESCs, VCUs and the like.
The ultrasonic sensor is responsible for detecting ultrasonic original information and providing the ultrasonic original information to the obstacle classification module, the obstacle classification module classifies the obstacle according to characteristic parameters provided by the ultrasonic sensor and provides obstacle characteristics to the decision planning module, the decision planning module calculates a target speed, a parking distance and an ESC, the ESC calculates longitudinal torque and transmits the longitudinal torque to the VCU, and the VCU responds to the torque to complete longitudinal control of the vehicle.
And when the target parking distance s is within a set range, the detection threshold of the ultrasonic sensor aimed at in the obstacle classification module is reduced, and the target parking distance s is the real-time distance between the vehicle and the target parking point.
The method comprises the steps that a target parking distance s is in a set range, when an obstacle classification module judges that an ultrasonic sensor detects a high-attribute obstacle, a decision planning module adjusts the target parking distance s from an initial value d to d-b, a time period is set, and the decision planning module monotonically decreases the target parking distance s from d-b at a decreasing rate of decreasing e in each period; b is the set safety.
And the obstacle classification module calculates the attribute of the obstacle again, and when the attribute of the obstacle is judged to be low after n periods, the decision planning module adjusts the target parking distance s to be d-ne.
It can be understood that the system for preventing sudden braking by automatic parking provided by the invention corresponds to the method for preventing sudden braking by automatic parking provided by the foregoing embodiments, and relevant technical features of the system for preventing sudden braking by automatic parking can refer to relevant technical features of the method for preventing sudden braking by automatic parking, which are not described herein again.
Referring to fig. 4, fig. 4 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 4, an embodiment of the present invention provides an electronic device, including a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320, wherein the processor 1320 executes the computer program 1311 to implement the following steps: when the target parking distance s is within a set range, the detection threshold value of the ultrasonic sensor aimed at classifying the obstacle is reduced, and the target parking distance s is the real-time distance between the vehicle and the target parking point; when the ultrasonic sensor detects a high-attribute obstacle, the target parking distance s is adjusted from an initial value d to d-b, a time period is set, and the target parking distance s is monotonically decreased from d-b at a decreasing rate of decreasing e in each period; b is a set safety distance; and (3) calculating the attribute of the obstacle again, and adjusting the target parking distance s to d-ne when the attribute of the obstacle is judged to be low after n periods.
Referring to fig. 5, fig. 5 is a schematic diagram of an embodiment of a computer readable storage medium according to the present invention. As shown in fig. 5, the present embodiment provides a computer-readable storage medium 1400 having stored thereon a computer program 1411, which computer program 1411, when executed by a processor, performs the steps of: when the target parking distance s is within a set range, the detection threshold value of the ultrasonic sensor aimed at classifying the obstacle is reduced, and the target parking distance s is the real-time distance between the vehicle and the target parking point; when the ultrasonic sensor detects a high-attribute obstacle, the target parking distance s is adjusted from an initial value d to d-b, a time period is set, and the target parking distance s is monotonically decreased from d-b at a decreasing rate of decreasing e in each period; d-b is the real-time distance of the vehicle from the safe distance point of the obstacle; and (3) calculating the attribute of the obstacle again, and adjusting the target parking distance s to d-ne when the attribute of the obstacle is judged to be low after n periods.
Echo characteristics based on obstacles of the wheel gear, bush and the like: the long-distance echo intensity is unstable and the short-distance echo intensity is relatively stable. The ultrasonic wave can not stably detect the obstacles in a long distance, and can relatively stably detect the obstacles in the process of approaching the vehicle.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. A method for preventing sudden braking in automatic parking, the method comprising:
step 1, when a target parking distance s is within a set range, reducing a detection threshold of an ultrasonic sensor aimed at obstacle classification, wherein the target parking distance s is a real-time distance between a vehicle and a target parking point;
step 2, when the ultrasonic sensor detects a high-attribute obstacle, the target parking distance s is adjusted from an initial value d to d-b, a time period is set, and the target parking distance s is monotonically decreased from d-b at a decreasing rate of decreasing e in each period; b is a set safety distance;
step 3, calculating the attribute of the obstacle again, and adjusting the target parking distance s to be d-ne when the attribute of the obstacle is judged to be low after n periods;
the step 3 further includes, after adjusting the target parking distance s to d-ne: when the vehicle continues to travel until the target parking distance s is 0, the vehicle is parked in a target parking space, and the cycle is ended;
the method for preventing sudden braking further comprises the following steps: the method comprises the steps that a target braking distance is adjusted in real time according to the target parking distance s, when the target braking distance is 0, a vehicle starts to execute braking operation, and the target braking distance is the real-time distance between the vehicle and a position point where the vehicle starts to brake;
the target braking distance is the target stopping distance s minus a set braking distance; the braking distance is the distance travelled in the process of starting braking of the vehicle to the speed of 0;
the high-attribute obstacle is a non-surmountable obstacle, and the low-attribute obstacle is a surmountable obstacle.
2. The method of preventing sudden braking according to claim 1, wherein the maximum value of the set range is n times the safety distance b.
3. The method for preventing sudden braking according to claim 1, wherein the recalculating the attribute of the obstacle in step 3 includes: and respectively calculating the probability f that the attribute of the obstacle is a low attribute and the probability g that the attribute of the obstacle is a high attribute according to the height and the echo intensity of the obstacle.
4. The method for preventing sudden braking according to claim 3, wherein the method for determining that the attribute of the obstacle is low in step 3 is as follows: f-g > a preset threshold h.
5. A system for preventing sudden braking in automatic parking, the system comprising: an ultrasonic sensor, an obstacle classification module and a decision planning module;
the ultrasonic sensor is used for detecting an obstacle in real time, and the detection threshold of the ultrasonic sensor aimed at in the obstacle classification module is reduced when the target parking distance s is within a set range, wherein the target parking distance s is the real-time distance between a vehicle and a target parking point;
the obstacle classification module judges that the ultrasonic sensor detects high-attribute obstacles, the decision planning module adjusts the target parking distance s from an initial value d to d-b, a set time period is set, and the decision planning module monotonically decreases the target parking distance s from d-b at a decreasing rate of decreasing e in each period; d-b is the real-time distance of the vehicle from the safe distance point of the obstacle;
the obstacle classification module calculates the attribute of the obstacle again, and when the attribute of the obstacle is judged to be low after n periods, the decision planning module adjusts the target parking distance s to be d-ne;
the obstacle classification module adjusts the target stopping distance s to d-ne, and then further comprises: when the vehicle continues to travel until the target parking distance s is 0, the vehicle is parked in a target parking space, and the cycle is ended;
the system for preventing sudden braking further comprises: the method comprises the steps that a target braking distance is adjusted in real time according to the target parking distance s, when the target braking distance is 0, a vehicle starts to execute braking operation, and the target braking distance is the real-time distance between the vehicle and a position point where the vehicle starts to brake;
the target braking distance is the target stopping distance s minus a set braking distance; the braking distance is the distance travelled in the process of starting braking of the vehicle to the speed of 0;
the high-attribute obstacle is a non-surmountable obstacle, and the low-attribute obstacle is a surmountable obstacle.
6. An electronic device comprising a memory, a processor for implementing the steps of the method for preventing sudden braking for automatic parking according to any one of claims 1-4 when executing a computer management class program stored in the memory.
7. A computer readable storage medium, having stored thereon a computer management class program which, when executed by a processor, implements the steps of the method for preventing sudden braking by automatic parking according to any one of claims 1-4.
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| JP2020152345A (en) * | 2019-03-22 | 2020-09-24 | パナソニックＩｐマネジメント株式会社 | Parking support device, vehicle, parking support method, and parking support program |
| CN110853399A (en) * | 2019-10-12 | 2020-02-28 | 惠州市德赛西威智能交通技术研究院有限公司 | Parking space identification compensation method based on ultrasonic sensor parking space detection system |
| WO2021261034A1 (en) * | 2020-06-26 | 2021-12-30 | 株式会社日立製作所 | Control device for driving assistance device |
| EP3819194A2 (en) * | 2020-06-29 | 2021-05-12 | Beijing Baidu Netcom Science And Technology Co. Ltd. | Automatic parking method and apparatus, and electronic device |
| CN112124302A (en) * | 2020-08-18 | 2020-12-25 | 上海元城汽车技术有限公司 | Automatic parking control method and device, vehicle and storage medium |
| CN112406820A (en) * | 2020-11-12 | 2021-02-26 | 东风汽车集团有限公司 | Multi-lane enhanced automatic emergency braking system control method |
| CN113200040A (en) * | 2021-06-17 | 2021-08-03 | 广州小鹏自动驾驶科技有限公司 | Automatic parking method and device |
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| CN114454874A (en) | 2022-05-10 |
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