CN113581164A - Parking control method, device and system and storage medium - Google Patents
Parking control method, device and system and storage medium Download PDFInfo
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- B60—VEHICLES IN GENERAL
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Abstract
The invention discloses a parking control method, a parking control device, a parking control system and a storage medium, wherein the parking control method comprises the steps of judging whether a vehicle enters a remote control parking mode, if the vehicle enters the remote control parking mode, acquiring detection information of a plurality of angle radars positioned at corners of the vehicle, determining the distance between the vehicle and a nearest obstacle according to the detection information of the angle radars to be used as the obstacle distance, carrying out graded pre-braking on the vehicle according to the obstacle distance, and timely and accurately controlling the vehicle to carry out pre-braking when a user does not notice, so that the problem that safety accidents are easily caused in the process of carrying out remote control parking in the existing intelligent parking system is solved, safety accidents caused by the fact that a driver does not find the obstacle due to insufficient concentration are reduced, and the safety in the parking process is improved.
Description
Technical Field
The invention relates to the technical field of intelligent vehicle parking, in particular to a parking control method, device and system and a storage medium.
Background
Parking is a basic requirement of a driver for driving, in a parking process, the driver is usually required to manually control steering, braking, speed and the like of the vehicle in the vehicle, a parking effect depends on actual operation established on the driver, and if interference is encountered in the parking process, a safety accident caused by improper control of the driver can occur, so that an intelligent parking technology is developed along with the development of science and technology to solve the parking problem, and is also a research hotspot in the field of vehicles at present.
In the prior art, a driver can operate the vehicle to automatically park in a remote control mode through a mobile terminal outside the vehicle, the scheme does not need to consider the space requirement of getting on or off the vehicle by the driver, and can be well adapted to narrow parking spaces.
Disclosure of Invention
The embodiment of the invention provides a parking control method, a parking control device, a parking control system and a storage medium, and aims to solve the problem that safety accidents are easily caused in a remote control parking process in an existing intelligent parking system.
A parking control method comprising:
judging whether the vehicle enters a remote control parking mode or not;
if the vehicle enters the remote control parking mode, acquiring detection information of a plurality of angle radars positioned at the corners of the vehicle;
determining distances between the vehicle and a nearest obstacle as obstacle distances according to the detection information of the plurality of angle radars;
and carrying out graded pre-braking on the vehicle according to the obstacle distance.
Further, the pre-braking the vehicle in stages according to the obstacle distance includes:
if the distance between the obstacles is greater than a first preset distance and less than a second preset distance, controlling the vehicle to perform first-stage pre-braking so as to control the vehicle to decelerate;
and if the distance between the obstacles is less than the first preset distance, controlling the vehicle to perform second-stage pre-braking to control the vehicle to brake and stop, wherein the braking intensity of the second-stage pre-braking is greater than that of the first-stage pre-braking.
Further, the method further comprises:
and if the distance between the obstacles is less than a third preset distance, sending an alarm prompt to the user terminal to enable the user terminal to send out a sound alarm, wherein the third preset distance is greater than the second preset distance.
Further, a plurality of parking sensors are arranged around the vehicle, each parking sensor comprises a plurality of ultrasonic sensors and a plurality of close-range cameras, and the method further comprises the following steps:
acquiring detection information of the ultrasonic sensors and detection information of the near-distance cameras, and determining a target parking space according to the detection information of the ultrasonic sensors and the detection information of the near-distance cameras;
determining whether the target parking space is a narrow parking space;
and if the target parking space is a narrow parking space, controlling the vehicle to enter the remote control parking mode.
Further, if the vehicle enters a remote parking mode, the method further comprises:
acquiring an operation signal sent by a user terminal, wherein the user terminal is a terminal located in the preset range of the vehicle;
and driving the vehicle according to the operation signal so as to enable the vehicle to park in or out of a target parking space.
Further, the vehicle further comprises a main brake system, a backup brake system, a main power supply and a backup power supply, and the method further comprises:
determining whether a circuit between the service brake system and the main power supply is abnormal;
and if the loop between the main braking system and the main power supply is determined to be abnormal, the backup braking system and the backup power supply are started to execute the braking of the vehicle.
A parking control apparatus, the apparatus comprising:
the judging module is used for judging whether the vehicle enters a remote control parking mode or not;
the acquisition module is used for acquiring the detection information of a plurality of angle radars positioned at the corners of the vehicle if the vehicle enters the remote control parking mode;
a determination module configured to determine, as an obstacle distance, a distance between the vehicle and a nearest obstacle according to detection information of the plurality of angle radars;
and the pre-braking module is used for carrying out graded pre-braking on the vehicle according to the obstacle distance.
A parking control apparatus includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the parking control method when executing the computer program.
A parking control system comprises a plurality of angle radars arranged at the corners of a vehicle, a plurality of parking space sensors arranged around the vehicle, a user terminal and the parking control device.
A readable storage medium, which stores a computer program that, when executed by a processor, implements the steps of the parking control method described above.
In one scheme provided by the parking control method, the parking control device, the parking control system and the storage medium, whether a vehicle enters a remote control parking mode is judged, if the vehicle enters the remote control parking mode, detection information of a plurality of angle radars positioned at the corners of the vehicle is obtained, the distance between the vehicle and a nearest obstacle is determined according to the detection information of the angle radars to serve as the obstacle distance, and the vehicle is subjected to graded pre-braking according to the obstacle distance; according to the invention, when the vehicle enters the remote control parking mode, the plurality of angle radars on the vehicle can automatically detect and report the surrounding obstacle information, and further determine the distance between the obstacle and the vehicle, so that the vehicle is pre-braked when the vehicle is close to the obstacle, and the vehicle is timely and accurately controlled to be pre-braked when a user does not notice the vehicle, thereby solving the problem that safety accidents are easily caused in the remote control parking process in the existing intelligent parking system, reducing the safety accidents caused by the fact that the driver does not find the obstacle due to insufficient concentration, and improving the safety in the parking process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
FIG. 1 is a flowchart illustrating a parking control method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of an implementation of step S40 of the parking control method according to an embodiment of the present invention;
FIG. 3 is a schematic view of the position of the angle radar, ultrasonic sensor and near camera in one embodiment of the present invention;
FIG. 4 is a schematic diagram of the relationship between the active braking system, the backup control system, and the intelligent switch in an embodiment of the present invention;
fig. 5 is a schematic configuration diagram of a parking control apparatus according to an embodiment of the present invention;
fig. 6 is another schematic structural diagram of the parking control apparatus according to the embodiment of the present invention.
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 some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The parking control method provided by the embodiment of the invention can be applied to a parking control system, wherein the parking control system comprises a plurality of angle radars arranged at the corners of a vehicle, a user terminal and a parking control device. The plurality of angle radars and the parking control device are communicated through a bus, and the user terminal and the parking control device are communicated in a short-distance communication mode. The parking control device judges whether the vehicle enters a remote control parking mode or not, if the vehicle enters the remote control parking mode, the remote control parking mode is that a user controls the vehicle to park through a user terminal, detection information of a plurality of angle radars positioned at the corners of the vehicle is obtained, the distance between the vehicle and a nearest obstacle is determined according to the detection information of the angle radars to serve as the obstacle distance, and the vehicle is subjected to graded pre-braking according to the obstacle distance.
In this embodiment, the parking control system includes a plurality of corner radars disposed at corners of the vehicle, the user terminal and the parking control device are only exemplary illustrations, and in other embodiments, the parking control system further includes other devices, for example, a plurality of parking sensors disposed around the vehicle, a backup braking system, an intelligent switch, and the like, which are not described herein again.
In an embodiment, as shown in fig. 1, a parking control method is provided, which is described by taking a parking control device applied to a parking control system as an example, and includes the following steps:
s10: and judging whether the vehicle enters a remote control parking mode or not.
The parking control method is applied to a remote control parking mode that a driver is not in a vehicle, and in the process of parking, whether the remote control parking mode is entered or not needs to be judged according to actual conditions, so that whether pre-braking is needed or not is determined according to the distance between an obstacle and the vehicle in the subsequent process of parking in the remote control parking mode.
It is to be understood that, in the existing intelligent parking system, a driver can operate the vehicle to automatically park in a remote control mode through a mobile terminal outside the vehicle, the scheme does not need to consider the space requirement of getting on and off the vehicle by the driver, and can be well adapted to narrow parking spaces.
S20: if the vehicle enters the remote control parking mode, acquiring detection information of a plurality of angle radars positioned at the corners of the vehicle.
And if the vehicle is determined to enter the remote control parking mode, acquiring detection information of a plurality of angle radars positioned at the corners of the vehicle in real time. Because the angle radars arranged at the corners of the vehicle are obliquely arranged relative to the vehicle body, the wave-transmitting angles of the angle radars can detect the obstacles in the oblique direction of the vehicle, the parking environment around the vehicle body can be covered to obtain the information of the obstacles around the vehicle body of the vehicle to be parked, the detection area of the vehicle is expanded, the information of the obstacles around the vehicle can be visually and accurately obtained, and the problem that the position and the distance of the obstacles cannot be visually and accurately judged due to the fact that a driver parks the vehicle outside the vehicle is solved.
The detection information of the angle radars is information of obstacles around the vehicle, and comprises obstacle position coordinates, obstacle types, distances between the obstacles and the vehicle and the like. The types of obstacles include, but are not limited to, pedestrians, bicycles, other vehicles, and the like. In addition, since the vehicle moves during parking, and even the obstacle may move, the relative position between the obstacle and the vehicle also moves, which causes the distance between the obstacle and the vehicle to change, and therefore, the detection information of a plurality of angle radars needs to be acquired in real time to ensure the accuracy of the detection information.
In this embodiment, the detection information including the coordinates of the obstacle, the type of the obstacle, and the distance between the obstacle and the vehicle is merely an exemplary description, and in other embodiments, the detection information may further include other information, which is not described herein again.
S30: the distance between the vehicle and the nearest obstacle is determined as the obstacle distance from the detection information of the plurality of angle radars.
After acquiring the detection information of a plurality of angle radars positioned at the corners of the vehicle, determining the distance between each obstacle and the vehicle according to the detection information of the plurality of angle radars, further determining the distance between the vehicle and the nearest obstacle, and taking the distance between the vehicle and the nearest obstacle as the obstacle distance.
S40: and carrying out graded pre-braking on the vehicle according to the distance of the obstacle.
After the obstacle distance is determined, the vehicle is subjected to graded pre-braking according to the obstacle distance, the shorter the obstacle distance is, the closer the obstacle is to the vehicle, and when the obstacle is found to be closer to the vehicle, the vehicle needs to be controlled to be subjected to pre-braking in advance so as to reduce the possibility that the vehicle is scratched or even collided with the obstacle.
In the remote control parking process, the plurality of angle radars detect obstacles and the movement trend thereof in the range of tens of meters around, when the obstacles appear around the vehicle, the pre-braking can be carried out in advance, the safety is greatly improved, and the occurrence of safety accidents caused by the fact that a driver is not concentrated and does not find the obstacles is reduced.
In the embodiment, whether a vehicle enters a remote control parking mode is judged, if the vehicle enters the remote control parking mode, detection information of a plurality of angle radars positioned at corners of the vehicle is obtained, the distance between the vehicle and a nearest obstacle is determined according to the detection information of the angle radars to be used as the obstacle distance, the vehicle is pre-braked in a grading manner according to the obstacle distance, when the vehicle enters the remote control parking mode, the angle radars on the vehicle can automatically detect and report surrounding obstacle information, the distance between the obstacle and the vehicle is further determined, the vehicle is pre-braked when the vehicle is close to the obstacle, the vehicle is timely and accurately controlled to be pre-braked when a user does not notice, the problem that safety accidents are easily caused in the remote control parking process in the existing intelligent parking system is solved, and safety accidents caused by the fact that a driver is not concentrated enough and does not find the obstacle are reduced, the safety in the parking process is improved.
In an embodiment, after step S30, that is, after determining the distance between the vehicle and the nearest obstacle according to the detection information of the plurality of angle radars, as the obstacle distance, the method further includes the following steps:
s31: it is determined whether the obstacle distance is less than a third preset distance.
The distance between the vehicle and the nearest obstacle is determined according to the detection information of the angle radars, and after the distance is used as the obstacle distance, whether an alarm prompt needs to be sent to a user terminal is determined according to the size of the obstacle distance so as to prompt a user who is not in the vehicle to pay attention to the surrounding environment and know the obstacle distance. And when the distance between the obstacles is greater than the third preset distance, the user terminal is not prompted by the alarm.
For example, the third preset distance is 30cm, and when the distance between the obstacles is greater than 30cm, it indicates that the obstacles around the vehicle are far away from the vehicle, and at this time, it is not necessary to send an alarm prompt to the user terminal to remind the user of paying attention to the surrounding environment, and the vehicle normally executes a parking process.
In this embodiment, the third preset distance of 30cm is only an exemplary illustration, and in other embodiments, the third preset distance may be other distances, which is not described herein again.
S32: and if the distance between the obstacles is less than a third preset distance, sending an alarm prompt to the user terminal to enable the user terminal to send out a sound alarm, wherein the third preset distance is greater than the second preset distance.
And if the distance between the obstacles is less than a third preset distance, sending an alarm prompt to the user terminal to enable the user terminal to send a sound alarm to remind the user of paying attention to the surrounding environment, wherein the third preset distance is greater than the second preset distance.
For example, the third preset distance is 30cm, the obstacle distance is 28cm, which indicates that the obstacle around the vehicle enters the alarm distance range, and at this time, an alarm prompt needs to be sent to the user terminal to make the user terminal sound an alarm to remind the user of paying attention to the surrounding environment, where the manner of sending the alarm prompt to the user terminal to make the user terminal sound an alarm may be: and triggering APP sound reminding on a mobile phone APP interface by using a corresponding Human Machine Interface (HMI) in the parking control system.
In this embodiment, the manner of triggering the APP sound alert on the mobile phone APP interface by using the corresponding Human Machine Interface (HMI) in the parking control system is only an exemplary description, and in other embodiments, the manner of sending the alert prompt to the user terminal to make the user terminal send the sound alert may be another manner, which is not described herein again.
In this embodiment, the user terminal is a mobile phone, and in other embodiments, the user terminal may also be other devices, which are not described herein again.
And if the barrier distance is smaller than the second preset distance, the vehicle is pre-braked to reduce safety accidents.
In the embodiment, whether the distance between the obstacles is smaller than a third preset distance or not is determined, the distance between the obstacles is smaller than the third preset distance, an alarm prompt is sent to the user terminal so that the user terminal can give out a sound alarm, the third preset distance is larger than the second preset distance, when the obstacles appear around the vehicle, the alarm prompt is given to a driver through the user terminal, the attention of the user is improved, the safety is greatly improved, and the safety accident caused when the driver does not concentrate on the attention and does not find the obstacles is avoided.
In one embodiment, when an alarm prompt is sent to the user terminal to enable the user terminal to send an audio alarm to remind the user of paying attention to the surrounding environment, the audio alarm sent by the user terminal changes according to the change of the distance between the obstacles or the change of the intensity of the pre-braking, the intensity of the audio alarm sent by the user terminal is higher (the frequency and/or the sound is higher) when the distance between the obstacles is smaller, the intensity of the pre-braking is higher, and the intensity of the audio alarm sent by the user terminal is higher (the frequency and/or the sound is higher) when the distance between the obstacles is smaller, so that the attention of the user is improved, and the safety of a parking process is improved.
In one embodiment, as shown in fig. 3, in step S40, the step of pre-braking the vehicle in stages according to the obstacle distance specifically includes the following steps:
s41: and determining the level of pre-braking according to the distance of the obstacle.
After the distance between the vehicle and the nearest obstacle is determined according to the detection information of the angle radars to be used as the obstacle distance, before the graded pre-braking is carried out, whether the obstacle distance meets the condition of carrying out the pre-braking needs to be judged, whether the vehicle is subjected to the pre-braking is determined according to the size of the obstacle distance, and the shorter the obstacle distance is, the higher the grade of the pre-braking is, and the larger the braking intensity of the vehicle is.
If the distance between the obstacles is greater than a second preset distance, the vehicle does not need to be pre-braked, and the second preset distance is a boundary line of the vehicle for pre-braking.
For example, the second preset distance is 20cm, and when the obstacle distance is 40cm, the obstacle distance is greater than the second preset distance by 20cm, which means that the obstacles around the vehicle are far from the vehicle, and at this time, the vehicle does not need to be controlled to perform pre-braking, and the vehicle normally performs a parking process.
In this embodiment, the second preset distance of 20cm is only an exemplary illustration, and in other embodiments, the second preset distance may be other distances, which is not described herein again.
S42: and if the distance between the obstacles is greater than the first preset distance and less than the second preset distance, controlling the vehicle to perform first-stage pre-braking so as to control the vehicle to decelerate.
If the distance between the obstacles is greater than the first preset distance and less than the second preset distance, the vehicle is controlled to carry out first-stage pre-braking to control the vehicle to decelerate, so that the possibility of scraping and colliding the vehicle and the obstacles is reduced.
For example, the first preset distance is 10cm, the second distance is 20cm, the obstacle distance is 18cm, and the obstacle distance is greater than the first preset distance and less than the second preset distance, the vehicle is controlled to perform first-stage pre-braking Z1 to control the vehicle to decelerate, so that the possibility of scraping and colliding between the vehicle and the obstacle is reduced, and meanwhile, an APP sound prompt can be triggered on a mobile phone APP interface by using a corresponding human-machine interface (HMI) in a parking control system to prompt a user to pay attention to the surrounding environment.
In this embodiment, the first preset distance of 10cm is only an exemplary illustration, and in other embodiments, the first preset distance may be other distances, which is not described herein again.
S43: and if the distance between the obstacles is less than the first preset distance, controlling the vehicle to perform second-stage pre-braking to control the vehicle to brake and stop, wherein the braking intensity of the second-stage pre-braking is greater than that of the first-stage pre-braking.
And if the distance between the obstacles is less than the first preset distance, controlling the vehicle to perform second-stage pre-braking to control the vehicle to brake and stop, wherein the braking intensity of the second-stage pre-braking is greater than that of the first-stage pre-braking.
For example, the first preset distance is 10cm, the obstacle distance is 8cm, the obstacle distance is smaller than the first preset distance, it is indicated that the obstacle is very close to the vehicle, strong braking is needed to control vehicle braking, the vehicle is controlled to perform second-stage pre-braking Z2 to control vehicle braking and braking, and therefore the possibility that the vehicle is scratched or collided with the obstacle is reduced, and meanwhile, an APP sound prompt can be triggered on a mobile phone APP interface by using a corresponding human-machine interface (HMI) in a parking control system to prompt a user to pay attention to the surrounding environment.
In the embodiment, the grade of pre-braking is determined according to the distance between the obstacles, if the distance between the obstacles is greater than a first preset distance and less than a second preset distance, the vehicle is controlled to perform first-stage pre-braking to control the vehicle to decelerate, if the distance between the obstacles is less than the first preset distance, the vehicle is controlled to perform second-stage pre-braking to control the vehicle to brake and brake, the braking strength of the second-stage pre-braking is greater than that of the first-stage pre-braking, the process of pre-braking the vehicle according to the distance between the obstacles is further refined, when the obstacles appear around the vehicle, the pre-braking can be performed in advance, the safety is greatly improved, and the occurrence of safety accidents when the driver is not concentrated and does not find the obstacles is reduced.
In an embodiment, after step S10, that is, after determining whether the vehicle enters the remote-controlled parking mode, if the vehicle enters the remote-controlled parking mode, the method further includes:
and acquiring an operation signal sent by a user terminal, wherein the user terminal is a terminal located in a preset range of the vehicle.
The user terminal is connected with the vehicle within a preset range of the vehicle and communicates with the vehicle in a short-distance communication mode, and the user can send an operation signal to the vehicle through the user terminal so that the parking control device of the vehicle can park the vehicle according to the operation signal.
S201: and driving the vehicle according to the operation signal so as to enable the vehicle to park in or out of the target parking space.
S202: and after receiving an operation signal sent by a user through the user terminal, driving the vehicle according to the operation signal so as to enable the vehicle to park in or out of the target parking space.
After the vehicle is controlled to enter the remote control parking mode, the vehicle needs to be controlled to park in or out of the target parking space:
remote control parking:
the first step is as follows: after a user drives a vehicle to find a target parking space, the user leaves the vehicle after executing related operations according to the HMI prompts related to the vehicle machine, such as selecting a remote control parking function, opening a user terminal and operating a parking system;
the second step is that: within a certain distance from a user to a vehicle, continuously operating a user terminal in a short-distance communication mode (such as Bluetooth) (operating the user terminal by continuously drawing a circle, a circular arc and other gestures on a mobile phone interface) to control the vehicle until the remote control parking of the vehicle is finished;
the third step: after the remote control parking of the vehicle is finished, the vehicle is controlled to be powered down to an OFF gear, and finally, the actions of locking a vehicle door, closing a vehicle window and a vehicle window, folding a rearview mirror and the like are finished.
Remote control berthing:
the first step is as follows: triggering a remote control parking-out function of the vehicle through the user terminal within a certain distance from the user to the vehicle;
the second step is that: selecting a remote control park-out type at the user terminal after triggering a remote control park-out function of the vehicle (the remote control park-out type including, but not limited to, vertical left/right park-out, lateral left/right park-out, forward/reverse, etc.);
the third step: after the remote control parking type is selected, the parking control system checks the state of the whole vehicle, and when the state of the whole vehicle meets the remote control parking function, the user continuously operates the user terminal to control the vehicle until the remote control parking of the vehicle is finished.
In this embodiment, the manner of short-distance communication is bluetooth communication, and the manner of operating the user terminal is performed by continuously drawing a circle, an arc, and other gestures on the mobile phone interface, which is only an exemplary description.
In this embodiment, after controlling the vehicle to enter the remote control parking mode, the operation signal of the user terminal is obtained and the vehicle is driven according to the operation signal, so that the vehicle is parked in or out of the target parking space.
In one embodiment, a plurality of parking sensors are arranged around the vehicle, each parking sensor comprises a plurality of ultrasonic sensors and a plurality of close-range cameras, and the method further comprises the following steps:
s101: the detection information of the ultrasonic sensors and the detection information of the near-distance cameras are obtained, and the target parking space is determined according to the detection information of the ultrasonic sensors and the detection information of the near-distance cameras.
The detection information of the ultrasonic sensors and the detection information of the near-distance cameras are obtained, and the target parking space is determined according to the detection information of the ultrasonic sensors and the detection information of the near-distance cameras.
The ultrasonic sensor identifies a parking space formed by objects in space by detecting the objects, such as a vertical parking space surrounded by two vehicles; the short-distance camera mainly aims at the parking space formed by no space object but is used for the scene with the parking space line on the ground, and the short-distance camera can judge the parking space by identifying the parking space line.
S102: and determining whether the target parking space is a narrow parking space.
After the target parking space is determined according to the detection information of the ultrasonic sensors and the detection information of the near-distance cameras, whether the target parking space is a narrow parking space or not is determined, if the target parking space is the narrow parking space, namely, the target parking space is narrow, a user cannot open a door to get off after parking is completed, and the user is required to get off to remotely park.
S103: and if the target parking space is a narrow parking space, controlling the vehicle to enter a remote control parking mode.
And if the target parking space is a narrow parking space, namely the target parking space is narrow, and a user is required to get off to park remotely, the vehicle is controlled to enter a remote control parking mode, and the user gets off the vehicle and controls the vehicle to park through the user terminal.
In this embodiment, through a plurality of ultrasonic sensor and a plurality of near field camera around the vehicle, acquire the detection information of a plurality of ultrasonic sensor and the detection information of a plurality of near field camera, and confirm the target parking stall according to the detection information of a plurality of ultrasonic sensor and the detection information of a plurality of near field camera, if the target parking stall is narrow parking stall, then control the vehicle and get into remote control mode of parking, look for the space parking stall through ultrasonic sensor, look for lane line parking stall through the near field camera, the search scope of the parking stall of expansion, after confirming that the target parking stall is narrow parking stall, can also satisfy the demand that the user remote control vehicle parked, adaptation narrow parking stall that can be fine, make the selection scope that the user parks more, reduce the time cost.
In one embodiment, as shown in fig. 3, there are 4 angle radars, 12 ultrasonic sensors, and 4 close-range cameras, and the 4 angle radars are respectively disposed at the left and right corners in front of the vehicle and the left and right corners behind the vehicle; the 12 ultrasonic sensors include: the ultrasonic sensor system comprises 4 head ultrasonic sensors arranged at the head of a vehicle in sequence, 4 tail ultrasonic sensors arranged at the tail of the vehicle in sequence, 2 front ultrasonic sensors arranged at the left side and the right side of a front vehicle body and 2 rear ultrasonic sensors arranged at the left side and the right side of a rear vehicle body; 4 near-distance cameras set up respectively in the locomotive dead ahead, the rear of a vehicle rear, automobile body left side and automobile body right side.
In the embodiment, the number and the positions of the angle radar, the ultrasonic sensor and the near-distance camera are further refined, the detection range of the vehicle is expanded, and the accuracy and the reliability of the detection information of the angle radar, the ultrasonic sensor and the near-distance camera are improved.
In one embodiment, the vehicle further includes a main brake system and a backup brake system, a main power supply and a backup power supply, and the method further specifically includes the steps of:
s51: it is determined whether a circuit between the service brake system and the main power supply is abnormal.
S52: and if the loop between the main braking system and the main power supply is determined to be abnormal, the backup braking system and the backup power supply are started to execute the braking of the vehicle.
If a loop between the main braking system and the main power supply is abnormal and the parking control device receives an error reporting signal about the active system, the parking control device starts the backup braking system and the backup power supply to brake the vehicle, so that the parking safety is improved.
For example, as shown in fig. 4, the main power source is a power source 1, the backup power source is a power source 2, and when the intelligent switch detects that the current or voltage of the loop between the main braking system and the main power source is abnormal, the intelligent switch is turned off, so as to ensure that the electric load in the loop between the backup braking system and the backup power source works normally. The intelligent switch has a diagnosis function, and when any one of the power supply 1 loop and the power supply 2 loop reports an error, the parking system can request braking to safely park and finally park and quit.
In this embodiment, the main braking system is an automotive electronic stability control system ESC, the backup braking system is ibooster, and in other embodiments, the main braking system and the backup braking system may also be other braking systems, which are not described herein again.
In the embodiment, in the remote control parking execution process, a user is not in the vehicle, when the main brake system fails, the power supply redundancy and the redundancy backup brake system execute braking, and the safety of the whole vehicle after the main brake system fails is ensured.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
In one embodiment, a parking control apparatus is provided, which corresponds one-to-one to the parking control method in the above-described embodiments. As shown in fig. 5, the parking control apparatus includes a judging module 501, an obtaining module 502, a determining module 503, and a prefabricating module 504. The functional modules are explained in detail as follows:
the judging module 501 is used for judging whether the vehicle enters a remote control parking mode;
an obtaining module 502, configured to obtain detection information of multiple angle radars located at a corner of the vehicle if the vehicle enters the remote control parking mode;
a determining module 503, configured to determine, as an obstacle distance, a distance between the vehicle and a nearest obstacle according to the detection information of the plurality of angle radars;
a pre-braking module 504 configured to pre-brake the vehicle in stages according to the obstacle distance.
Wherein the pre-braking module 504 is specifically configured to:
if the distance between the obstacles is greater than a first preset distance and less than a second preset distance, controlling the vehicle to perform first-stage pre-braking so as to control the vehicle to decelerate;
and if the distance between the obstacles is less than the first preset distance, controlling the vehicle to perform second-stage pre-braking to control the vehicle to brake and stop, wherein the braking intensity of the second-stage pre-braking is greater than that of the first-stage pre-braking.
Wherein the pre-braking module 504 is further specifically configured to:
and if the distance between the obstacles is less than a third preset distance, sending an alarm prompt to the user terminal to enable the user terminal to send out a sound alarm, wherein the third preset distance is greater than the second preset distance.
Wherein, the vehicle is provided with a plurality of parking stall sensors all around, parking stall sensor includes a plurality of ultrasonic sensor and a plurality of low coverage camera, it specifically still is used for to obtain module 502:
acquiring detection information of the ultrasonic sensors and detection information of the near-distance cameras, and determining a target parking space according to the detection information of the ultrasonic sensors and the detection information of the near-distance cameras;
determining whether the target parking space is a narrow parking space;
and if the target parking space is a narrow parking space, controlling the vehicle to enter the remote control parking mode.
The vehicle further includes a main braking system, a backup braking system, a main power supply, and a backup power supply, and the determining module 503 is further specifically configured to:
determining whether a circuit between the service brake system and a main power supply is abnormal;
and if the loop between the main braking system and the main power supply is determined to be abnormal, controlling to start the backup braking system and the backup power supply to execute the braking of the vehicle.
If the vehicle enters the remote control parking mode, the obtaining module 502 is further specifically configured to:
and acquiring an operation signal of a user terminal and driving the vehicle according to the operation signal so as to enable the vehicle to park in or out of a target parking space.
For specific definitions of the parking control device, reference may be made to the above definitions of the parking control method, which are not described in detail here. The various modules in the parking control apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a parking control apparatus is provided that includes a processor, a memory, and a system bus. Wherein the processor of the parking control device is used to provide calculation and control capabilities. The memory of the parking control device includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The computer program is executed by a processor to implement a parking control method.
In one embodiment, as shown in fig. 6, there is provided a parking control apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
judging whether the vehicle enters a remote control parking mode or not;
if the vehicle enters the remote control parking mode, acquiring detection information of a plurality of angle radars positioned at the corners of the vehicle;
determining distances between the vehicle and a nearest obstacle as obstacle distances according to the detection information of the plurality of angle radars;
and carrying out graded pre-braking on the vehicle according to the obstacle distance.
In one embodiment, a readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the steps of:
judging whether the vehicle enters a remote control parking mode or not;
if the vehicle enters the remote control parking mode, acquiring detection information of a plurality of angle radars positioned at the corners of the vehicle;
determining distances between the vehicle and a nearest obstacle as obstacle distances according to the detection information of the plurality of angle radars;
and carrying out graded pre-braking on the vehicle according to the obstacle distance.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A parking control method characterized by comprising:
judging whether the vehicle enters a remote control parking mode or not;
if the vehicle enters the remote control parking mode, acquiring detection information of a plurality of angle radars positioned at the corners of the vehicle;
determining distances between the vehicle and a nearest obstacle as obstacle distances according to the detection information of the plurality of angle radars;
and carrying out graded pre-braking on the vehicle according to the obstacle distance.
2. The vehicle parking control method according to claim 1, wherein the performing of the stepwise pre-braking of the vehicle according to the obstacle distance includes:
if the distance between the obstacles is greater than a first preset distance and less than a second preset distance, controlling the vehicle to perform first-stage pre-braking so as to control the vehicle to decelerate;
and if the distance between the obstacles is less than the first preset distance, controlling the vehicle to perform second-stage pre-braking to control the vehicle to brake and stop, wherein the braking intensity of the second-stage pre-braking is greater than that of the first-stage pre-braking.
3. The vehicle parking control method according to claim 2, characterized by further comprising:
and if the distance between the obstacles is less than a third preset distance, sending an alarm prompt to the user terminal to enable the user terminal to send out a sound alarm, wherein the third preset distance is greater than the second preset distance.
4. The parking control method according to any one of claims 1 to 3, wherein a plurality of parking space sensors are provided around the vehicle, the parking space sensors including a plurality of ultrasonic sensors and a plurality of close-up cameras, the method further comprising:
acquiring detection information of the ultrasonic sensors and detection information of the near-distance cameras, and determining a target parking space according to the detection information of the ultrasonic sensors and the detection information of the near-distance cameras;
determining whether the target parking space is a narrow parking space;
and if the target parking space is a narrow parking space, controlling the vehicle to enter the remote control parking mode.
5. The vehicle parking control method according to claim 4, wherein if the vehicle enters a remote parking mode, the method further comprises:
acquiring an operation signal sent by a user terminal, wherein the user terminal is a terminal located in the preset range of the vehicle;
and driving the vehicle according to the operation signal so as to enable the vehicle to park in or out of a target parking space.
6. A parking control method according to any one of claims 1 to 3, wherein the vehicle further includes a main brake system, a backup brake system, a main power supply, and a backup power supply, the method further comprising:
determining whether a circuit between the service brake system and the main power supply is abnormal;
and if the loop between the main braking system and the main power supply is determined to be abnormal, the backup braking system and the backup power supply are started to execute the braking of the vehicle.
7. A parking control apparatus characterized by comprising:
the judging module is used for judging whether the vehicle enters a remote control parking mode or not;
the acquisition module is used for acquiring the detection information of a plurality of angle radars positioned at the corners of the vehicle if the vehicle enters the remote control parking mode;
a determination module configured to determine, as an obstacle distance, a distance between the vehicle and a nearest obstacle according to detection information of the plurality of angle radars;
and the pre-braking module is used for carrying out graded pre-braking on the vehicle according to the obstacle distance.
8. A parking control apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the parking control method according to any one of claims 1 to 6 when executing the computer program.
9. A parking control system comprising a plurality of corner radars disposed at corners of a vehicle, a plurality of parking space sensors disposed around the vehicle, a user terminal, and the parking control apparatus according to claim 8.
10. A readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the parking control method according to any one of claims 1 to 6.
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| CN202010367835.6A CN113581164A (en) | 2020-04-30 | 2020-04-30 | Parking control method, device and system and storage medium |
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| CN202010367835.6A CN113581164A (en) | 2020-04-30 | 2020-04-30 | Parking control method, device and system and storage medium |
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