CN112389422B - Obstacle crossing method and device - Google Patents
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- CN112389422B CN112389422B CN202011291519.1A CN202011291519A CN112389422B CN 112389422 B CN112389422 B CN 112389422B CN 202011291519 A CN202011291519 A CN 202011291519A CN 112389422 B CN112389422 B CN 112389422B
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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
- 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
- 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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
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Abstract
The embodiment of the invention provides an obstacle crossing method and an obstacle crossing device, wherein the method comprises the following steps: when an obstacle is detected in the automatic parking process, a current parking scene is obtained, and the parking scene is determined according to the position relation between a vehicle and a parking area; searching target obstacle passing capacity information matched with the current parking scene from preset obstacle passing capacity information; controlling the vehicle to pass through the obstacle according to the target obstacle passing capacity information; due to the fact that the obstacles in different parking scenes are different, different obstacle passing capacities are adopted for different parking scenes, and the vehicle can be effectively controlled to cross the obstacles; therefore, the passing ability of the vehicle for the obstacle in the automatic parking process is improved.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an obstacle crossing method and device.
Background
Due to the space limitation of the parking lot, the parking spaces in a plurality of parking lots are relatively narrow and narrow in design, and the operation space for parking is relatively limited; for most drivers, it is therefore necessary to take a lot of effort to be able to drive the vehicle manually into a narrow parking space in a limited space. With the continuous development of the technology, the automatic parking technology is mature, and the automatic parking technology is applied to the vehicle, so that the vehicle can be automatically parked in place without manual control; the parking difficulty is solved.
However, obstacles such as speed bumps, pits, bricks and the like often appear in or outside the parking space; in the automatic parking process, the vehicle often passes through the obstacle only by means of the inertia of the vehicle; however, because the vehicle speed is low during parking, when the height of the obstacle is high and the inclination angle of the inclined plane is large, the vehicle is easy to block and is difficult to pass by inertia, and the motor is required to output larger torque to pass. However, the torque required for different obstacles varies and it is difficult to detect the type of these obstacles during parking, and therefore there is no guarantee that the vehicle will be able to negotiate all the obstacles.
Disclosure of Invention
The embodiment of the invention provides an obstacle crossing method, which is used for improving the passing ability of a vehicle for obstacles in the automatic parking process.
The embodiment of the invention also provides an obstacle crossing device to ensure the implementation of the method.
In order to solve the problems, the invention discloses an obstacle crossing method, which comprises the following steps: when an obstacle is detected in the automatic parking process, a current parking scene is obtained, and the parking scene is determined according to the position relation between a vehicle and a parking area; searching target obstacle passing capacity information matched with the current parking scene from preset obstacle passing capacity information; and controlling the vehicle to pass through the obstacle according to the target obstacle passing capacity information.
Optionally, the method further comprises the step of detecting an obstacle: acquiring speed information of a vehicle, the speed information including: velocity and/or direction of velocity; judging whether the speed of the vehicle is reduced to zero and/or judging whether the speed direction of the vehicle is converted into reverse; if the velocity of the vehicle drops to zero and/or the velocity direction of the vehicle switches to reverse, then it is determined that an obstacle is detected.
Optionally, the acquiring a current parking scene of the vehicle includes: acquiring position information of a target parking area to be parked and position information of a vehicle; determining the distance between the vehicle and the target parking area and the area of the vehicle entering the target parking area according to the position information of the target parking area and the position information of the vehicle; and determining the current parking scene of the vehicle according to the distance between the vehicle and the target parking area and the area of the vehicle driving into the target parking area.
Optionally, the method further comprises: obtaining size information and a label of an obstacle existing in each parking scene, wherein the label comprises: allow or disallow passing the tag; determining the passing capacity information of the vehicle aiming at the obstacles in each parking scene according to the size information of the obstacles in each parking scene; determining obstacle passing capacity information corresponding to each parking scene according to the passing capacity information of the vehicle for the obstacles in each parking scene and the labels of the obstacles in each parking scene; and establishing a mapping relation between each parking scene and the corresponding obstacle passing capacity information.
Optionally, the searching for the target obstacle passing capability information matched with the current parking scene from the preset obstacle passing capability information includes: and searching a mapping relation established in advance based on the current parking scene, and determining the passing capacity information of the corresponding target obstacle.
Optionally, the target obstacle passing capability information includes: a target torque; the control of the vehicle to pass through the obstacle according to the target obstacle passing ability information includes: acquiring an initial state and controlling a vehicle to enter the initial state; the vehicle is controlled to pass through the obstacle by increasing the torque of the vehicle to the target torque.
Optionally, the method further comprises: if the vehicle is detected to pass through the obstacle in the torque increasing process, reducing the torque and continuing to park according to the automatic parking path; and if the vehicle passing the obstacle is not detected after the torque of the vehicle is increased to the target torque, exiting the automatic parking.
The embodiment of the invention also provides an obstacle crossing device, which comprises: the system comprises an acquisition module, a parking module and a control module, wherein the acquisition module is used for acquiring a current parking scene when an obstacle is detected in the automatic parking process, and the parking scene is determined according to the position relation between a vehicle and a parking area; the searching module is used for searching target obstacle passing capacity information matched with the current parking scene from preset obstacle passing capacity information; and the control module is used for controlling the vehicle to pass through the obstacle according to the target obstacle passing capacity information.
Optionally, the method further comprises: a detection module to obtain speed information of a vehicle, the speed information including: velocity and/or direction of velocity; judging whether the speed of the vehicle is reduced to zero or not, and/or judging whether the speed direction of the vehicle is converted into reverse or not; if the velocity of the vehicle drops to zero and/or the velocity direction of the vehicle switches to reverse, then it is determined that an obstacle is detected.
Optionally, the obtaining module is configured to obtain location information of a target parking area to be parked and location information of a vehicle; determining the distance between the vehicle and the target parking area and the area of the vehicle entering the target parking area according to the position information of the target parking area and the position information of the vehicle; and determining the current parking scene of the vehicle according to the distance between the vehicle and the target parking area and the area of the vehicle driving into the target parking area.
Optionally, the method further comprises: the system comprises a relation establishing module, a parking scene analyzing module and a parking space analyzing module, wherein the relation establishing module is used for acquiring size information and labels of obstacles existing in each parking scene, and the labels comprise: allow or disallow passing the tag; determining the passing capacity information of the vehicle aiming at the obstacles in each parking scene according to the size information of the obstacles in each parking scene; determining obstacle passing capacity information corresponding to each parking scene according to the passing capacity information of the vehicle for the obstacles in each parking scene and the labels of the obstacles in each parking scene; and establishing a mapping relation between each parking scene and the corresponding obstacle passing capacity information.
Optionally, the searching module is configured to search a mapping relationship established in advance based on the current parking scene, and determine corresponding target obstacle passing capability information.
Optionally, the target obstacle passing capability information includes: a target torque; the control module is used for acquiring an initial state and controlling the vehicle to enter the initial state; the vehicle is controlled to pass through the obstacle by increasing the torque of the vehicle to the target torque.
Optionally, the method further comprises: the interruption adjusting module is used for reducing the torque and continuing to park according to the automatic parking path if the vehicle passing through the obstacle is detected in the torque increasing process; and if the vehicle passing the obstacle is not detected after the torque of the vehicle is increased to the target torque, exiting the automatic parking.
An embodiment of the present invention further provides a vehicle, including: a processor, a memory and a computer program stored on the memory and capable of running on the processor, the computer program when executed by the processor implementing the obstacle crossing method according to any one of the embodiments of the present invention.
Embodiments of the present invention further provide a readable storage medium, and when instructions in the storage medium are executed by a processor of a vehicle, the storage medium enables the vehicle to perform the obstacle crossing method according to any one of the embodiments of the present invention.
Compared with the prior art, the embodiment of the invention has the following advantages:
in the embodiment of the invention, when an obstacle is detected in the automatic parking process, the current parking scene can be obtained, then the target obstacle passing capacity information matched with the current parking scene is searched from the preset obstacle passing capacity information, and then the vehicle is controlled to pass through the obstacle according to the target obstacle passing capacity information; the parking scenes are determined according to the position relation between the vehicle and the parking area, and due to the fact that the obstacles in different parking scenes are different, different obstacle passing capacities are adopted for different parking scenes, and the vehicle can be effectively controlled to cross the obstacles; therefore, the passing ability of the vehicle for the obstacle in the automatic parking process is improved.
Drawings
FIG. 1 is a flow chart of the steps of an embodiment of an obstacle crossing method of the present invention;
FIG. 2 is a flow chart of steps of a method embodiment of a relationship establishment method of the present invention;
FIG. 3 is a flow chart of steps of an alternative embodiment of an obstacle crossing method of the present invention;
FIG. 4 is a block diagram of an embodiment of an obstacle crossing device of the present invention;
fig. 5 is a block diagram of an alternative embodiment of an obstacle crossing device of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The obstacle crossing method provided by the embodiment of the invention can be applied to an automatic parking scene, and can improve the passing ability of a vehicle for an obstacle in the automatic parking process.
Referring to fig. 1, a flow chart of steps of an embodiment of an obstacle detouring method of the present invention is shown.
And 102, searching target obstacle passing capacity information matched with the current parking state from preset obstacle passing capacity information.
And 103, controlling the vehicle to pass through the obstacle according to the target obstacle passing capacity information.
In the parking area or outside the parking area, some obstacles such as speed bumps, bricks, pits and the like often appear; therefore, the vehicle may encounter an obstacle in the process of driving the vehicle from outside the parking area to within the parking area for automatic parking. In the automatic parking process, obstacle detection can be carried out to detect whether the vehicle meets an obstacle or not; when the vehicle is detected to encounter the obstacle, the vehicle is controlled to cross the obstacle, and then the vehicle can be successfully stopped in a parking area.
In the embodiment of the present invention, the obstacle detection may refer to detecting whether an obstacle exists; the detection method may include multiple methods, such as detecting according to the speed of the vehicle, or detecting according to an image acquired by an image acquisition device, which is not limited in this embodiment of the present invention.
In the embodiment of the invention, the obstacles in the parking area, such as bricks and pits, are different from the obstacles outside the parking area; obstacles outside the parking area such as speed bumps and the like; that is, during automatic parking, the obstacles encountered by the vehicle within the parking area and outside the parking area are different. In order to control the vehicle to cross an obstacle during automatic parking; according to the embodiment of the invention, a plurality of parking scenes can be divided in advance according to the position relationship between the vehicle and the parking area, and then the barrier in each parking scene is determined; and setting corresponding obstacle passing capacity information for each parking scene based on the obstacles in each parking scene. The obstacle passing capability information may be used to describe a capability required when the vehicle passes through an obstacle, such as a torque required when the vehicle passes through an obstacle, and the like, and the embodiment of the present invention is not limited thereto. How to divide parking scenes and set obstacle passing capability information corresponding to each parking scene will be described later.
Therefore, after the obstacle is detected, the current parking scene can be determined according to the current position of the vehicle and the position of the target parking area to be parked. And then searching target obstacle passing capacity information matched with the current parking scene from preset obstacle passing capacity information, and controlling the vehicle to pass through the obstacle according to the target obstacle passing capacity information.
In summary, in the embodiment of the present invention, when an obstacle is detected in an automatic parking process, a current parking scene may be obtained, target obstacle passing capability information matched with the current parking scene is searched from preset obstacle passing capability information, and a vehicle is controlled to pass through the obstacle according to the target obstacle passing capability information; the parking scenes are determined according to the position relation between the vehicle and the parking area, and due to the fact that the obstacles in different parking scenes are different, different obstacle passing capacities are adopted for different parking scenes, and the vehicle can be effectively controlled to cross the obstacles; therefore, the passing ability of the vehicle for the obstacle in the automatic parking process is improved.
The following describes how to divide the parking scene.
In the embodiment of the invention, the parking scene can be divided according to the distance between the vehicle and the parking area and the area of the vehicle entering the parking area.
In one example, three parking scenarios may be divided: a first parking scenario, a second parking scenario, and a third parking scenario. The first parking scene may refer to a scene in which the distance between the vehicle and the parking area is greater than a first preset threshold; the second parking scene may be a scene in which the area of the parking area into which the vehicle drives is larger than a second preset threshold; the third parking scene may be a scene in which the area of the vehicle entering the parking area is smaller than a second preset threshold, or the distance between the vehicle and the parking area is smaller than a first preset threshold. The first preset threshold and the second preset threshold may be set as required, which is not limited in the embodiment of the present invention.
Of course, other parking scenarios may be divided in other manners, and the embodiment of the present invention is not limited thereto.
The following description will be given of how to set the obstacle passage capability information corresponding to each parking scene, and establish the relationship between each parking area and the corresponding obstacle passage capability information.
Referring to fig. 2, a flow chart of steps of an embodiment of a relationship establishment method of the present invention is shown.
And step 204, establishing a mapping relation between each parking scene and corresponding obstacle passing capacity information.
In the embodiment of the invention, the obstacles existing in each parking scene can be determined according to the obstacles existing in the parking area and outside the parking area. For example, obstacles present outside of the parking area may include: deceleration strips, bricks and pits; obstacles present in the parking area may include bricks, dimples, bars, parking locators. The obstacle that can be determined to exist in the first parking scene further comprises: deceleration strip, fragment of brick, pit, the barrier that the scene exists is parked to the second includes: bricks, pits, stop rods and parking locators; obstacles existing in the third parking scene include: bricks and pits.
For each parking scene, determining the size information of each obstacle in the parking scene, such as length, width and height; and then determining the passing capacity information of the vehicle for each obstacle in the parking scene according to the size information of each obstacle. In one example, for each obstacle, the ability information required by the vehicle to pass the obstacle in the parking scene may be tested as the passing ability information of the vehicle for the obstacle in the parking scene. In one example, the capability information may include torque. Since the speed of the wheels of the vehicle when colliding with the same obstacle is different in different situations, the capability information required for the vehicle to cross the same obstacle is different in different situations. In order to be suitable for controlling the vehicle to cross the obstacle under different conditions, in the process of testing the capacity information required by the vehicle to cross the obstacle in the parking scene, the state of the vehicle when the wheels of the vehicle collide with the obstacle can be controlled to be in the initial state, and then the capacity information required by the vehicle to cross the obstacle can be tested. Wherein the initial state may refer to a state in which the speed and acceleration of the vehicle are both zero.
In one example, in testing the capability information required for the vehicle to pass over the obstacle, the maximum torque required for the vehicle to pass over the obstacle may be tested; and then determining the passing capacity information of the vehicle for the obstacle according to the maximum torque required by the vehicle to pass the obstacle. And then subsequently, when the vehicle is controlled to pass through the obstacle according to the target passing capacity information, the vehicle can be controlled to rapidly pass through the obstacle.
Obstacles existing in each parking scene comprise obstacles allowing crossing, such as pits, bricks, speed bumps and the like; and obstacles that are not allowed to pass such as a shift lever, a parking positioner, etc. Wherein, for the obstacle which is allowed to pass, the vehicle needs to be controlled to pass; for an obstacle that is not allowed to pass, it is necessary to control the vehicle not to pass. Therefore, in the embodiment of the invention, after the obstacles existing in each parking scene are obtained, the labels of the obstacles can be determined; the label includes: allowing or disallowing the passing of tags. The clear tag may be used to identify an obstacle that the vehicle is allowed to clear, and the disallow tag may be used to identify an obstacle that the vehicle is not allowed to clear.
For each parking scene, the obstacle passing capacity information corresponding to the parking scene can be determined according to the passing capacity information of the vehicle for the obstacle in the parking scene and the label of the obstacle in the parking scene. When the tags of the obstacles in the parking scene are all the tags that are allowed to pass through, the passing capability information of the vehicle for each obstacle in the parking scene may be compared, and then the maximum passing capability information a is used as the obstacle passing capability information corresponding to the parking scene. And further ensure that the vehicle can cross all the obstacles in the parking scene. When the passing permission flag is present in the tags of the obstacles in the parking scene, the passing capability information of the vehicle for each obstacle that is present in the parking scene and is not permitted to pass the tag may be compared to determine the minimum passing capability information B. Then, the passing capacity information smaller than the minimum passing capacity information B can be selected from the passing capacity information of the vehicle for each obstacle which is allowed to pass through the label in the parking scene; and taking the maximum value D of the passing capacity information smaller than the minimum passing capacity information B as the obstacle passing capacity information corresponding to the parking scene. Therefore, the vehicle can cross the obstacle which is allowed to cross in the parking scene, and the vehicle is prevented from crossing the obstacle which is not allowed to cross to generate collision.
Then, a mapping relation between each parking scene and the corresponding obstacle passing capacity information can be established and stored.
In summary, in the embodiment of the present invention, the obstacle passing capability information corresponding to each parking scene may be determined according to the passing capability information of the vehicle for the obstacle in each parking scene and the tag of the obstacle in each parking scene; therefore, the vehicle can be ensured to cross all barriers which are allowed to cross in the parking scene, and the vehicle is prevented from crossing the barriers which are not allowed to cross to cause collision.
Referring to fig. 3, a flow chart of steps of an alternative embodiment of an obstacle crossing method of the present invention is shown.
In one embodiment of the present invention, during automatic parking, an obstacle may be detected based on the speed of the vehicle. Wherein speed information of the vehicle may be acquired, the speed information may include: velocity and/or direction of velocity.
In the automatic parking process, when a vehicle collides with an obstacle which cannot pass by the current inertia, the speed of the vehicle can be quickly reduced to be close to zero and even rebounded to be in a speed reverse direction. It is thus possible to determine whether the velocity of the vehicle drops to zero and/or whether the speed direction of the vehicle switches to the reverse direction. If the velocity of the vehicle drops to zero and/or the speed direction of the vehicle switches to the reverse direction, it can be determined that the wheels of the vehicle hit an obstacle, i.e. that an obstacle is detected. If the velocity of the vehicle does not drop to zero and the speed direction of the vehicle does not switch to the reverse direction, it can be determined that the vehicle wheels do not collide with the obstacle, i.e., that the obstacle is not detected.
In addition, when the vehicle collides with an obstacle which cannot pass through by the current inertia, the vehicle speed rebounds to be in a speed reverse direction, and then feedback control can be triggered: the torque of the vehicle continues to increase. When the velocity of the vehicle remains zero after the torque is continuously increased for a period of time, it can be determined that the wheels of the vehicle have collided with an obstacle, i.e. that an obstacle has been detected. In one example, it may be determined whether the vehicle speed is zero after the torque is increased for a preset period of time after determining that the speed of the vehicle has dropped to zero and/or the speed direction of the vehicle has changed to reverse. If the vehicle speed is zero after the torque is increased for a preset period of time, it is determined that the wheels of the vehicle collide with an obstacle, i.e., an obstacle is detected. If the vehicle speed is not zero after the torque is increased for the preset time, determining that the wheels of the vehicle do not collide with the obstacle or pass through the obstacle, and further determining that the vehicle does not detect the obstacle; thereby further increasing the accuracy of detecting the obstacle.
When no obstacle is detected, on the one hand, steps 301 to 302 may be continuously performed, and on the other hand, parking may be continuously performed according to the parking route.
The current parking scenario may then be determined with reference to steps 304-306 as follows.
And step 304, acquiring the position information of the target parking area to be parked and the position information of the vehicle.
And step 305, determining the distance between the vehicle and the target parking area and the area of the vehicle entering the target parking area according to the position information of the target parking area and the position information of the vehicle.
And step 306, determining the current parking scene of the vehicle according to the distance between the vehicle and the target parking area and the area of the vehicle driving into the target parking area.
According to the embodiment of the invention, the position information of the vehicle can be acquired. The position information of the vehicle body frame, such as the position information of the rectangular frame corresponding to the vehicle body, can be obtained. And acquiring the position information of the target parking area to be parked, wherein the position information can be the position information of a frame of the target parking area.
And then judging whether the vehicle drives into the target parking area or not according to the position information of the target parking area and the position information of the vehicle. If the vehicle drives into the target parking area, calculating the area of the vehicle driving into the target parking area; and then judging whether the area of the vehicle entering the target parking area is larger than a second preset threshold value or not. If the area of the vehicle entering the target parking area is larger than a second preset threshold value, determining that the current parking scene is a second parking scene; if the area of the vehicle entering the target parking area is smaller than a second preset threshold value, it can be determined that the current parking scene is a third parking scene. If the area of the vehicle entering the target parking area is equal to the second preset threshold, the current parking scene can be determined to be the second parking scene, and the current parking scene can also be determined to be the third parking scene.
And if the vehicle does not enter the target parking area, calculating the distance between the vehicle and the target parking area. The distance between each point in the vehicle body frame and each point in the target parking area frame can be calculated, and the distance between the vehicle and the target parking area can be determined according to the minimum distance. If the distance between the vehicle and the target parking area is larger than a first preset threshold value, determining that the current parking scene is a first parking scene; if the distance between the vehicle and the target parking area is smaller than a first preset threshold value, it can be determined that the current parking scene is a third parking scene. Of course, if the distance between the vehicle and the target parking area is equal to the first preset threshold, it may be determined that the current parking scene is the first parking scene, and may also be determined that the current parking scene is the third parking scene.
Then, the target obstacle passing capacity information corresponding to the current parking scene can be determined based on the established mapping relation.
And step 308, acquiring an initial state and controlling the vehicle to enter the initial state.
In the embodiment of the invention, the obstacle passing energy information corresponding to each parking scene is obtained by testing when the vehicle is in an initial state when the wheels of the vehicle collide with the obstacles. After the passing capacity information of the target obstacle is determined, the vehicle can be controlled to enter an initial state; and then the vehicle is controlled to pass through the obstacle according to the target obstacle passing capacity information. The target obstacle passing capability information includes a torque, and for convenience of distinguishing, the torque included in the target obstacle passing capability information may be referred to as a target torque. Wherein the vehicle may be controlled to pass the obstacle by increasing the torque of the vehicle to the target torque. In one example, the torque of the vehicle may be increased to the target torque at a set slope for a set period of time while the vehicle is in the initial state; to reduce user latency. The set duration and the set slope may be set as required, which is not limited in the embodiment of the present invention.
In summary, in the embodiment of the present invention, speed information of a vehicle may be acquired, where the speed information includes: velocity and/or direction of velocity; then judging whether the speed of the vehicle is reduced to zero or not, and/or judging whether the speed direction of the vehicle is converted into reverse or not; determining that an obstacle is detected if the speed of the vehicle drops to zero and/or the speed direction of the vehicle is reversed; and whether the obstacle is detected or not is judged according to the speed of the vehicle, so that the accuracy of detecting the obstacle can be improved.
Secondly, in the embodiment of the invention, the initial state can be obtained and the vehicle is controlled to enter the initial state, and then the vehicle is controlled to pass through the obstacle by increasing the torque of the vehicle to the target torque; further aiming at different conditions, the vehicle can be uniformly controlled to cross the obstacle according to the target obstacle passing capacity information; the universality of the embodiment of the invention is increased; the passing ability of the vehicle for the obstacle in the automatic parking process is further improved.
In one scenario, the torque of the vehicle may not be increased to the target torque to pass through the obstacle, and the vehicle may need to be manually controlled to pass through the obstacle to park. In a further optional embodiment of the present invention, the method further includes: if the vehicle is detected to pass through the obstacle in the process of increasing the torque, reducing the torque and continuing to park according to the automatic parking path; and if the vehicle passing the obstacle is not detected after the torque of the vehicle is increased to the target torque, exiting the automatic parking. After exiting the automatic parking, the vehicle can be manually controlled by the user to cross the obstacle; and after the vehicle passes through the obstacle, the automatic parking can be started again, and the automatic parking system controls the vehicle to park. Of course, the parking can also be continued manually by the user after the vehicle has passed over the obstacle.
It should be noted that for simplicity of description, the method embodiments are shown as a series of combinations of acts, but those skilled in the art will recognize that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 4, a block diagram of a structure of an embodiment of the obstacle crossing device of the present invention is shown, which may specifically include the following modules:
the obtaining module 401 is configured to obtain a current parking scene when an obstacle is detected in an automatic parking process, where the parking scene is determined according to a position relationship between a vehicle and a parking area;
a searching module 402, configured to search, from preset obstacle passing capability information, target obstacle passing capability information matched with the current parking scene;
and a control module 403, configured to control the vehicle to pass through the obstacle according to the target obstacle passing ability information.
Referring to fig. 5, a block diagram of an alternative embodiment of the obstacle crossing device of the present invention is shown, and specifically, the block diagram may include the following modules:
in an optional embodiment of the present invention, the method further comprises:
a detection module 404, configured to obtain speed information of a vehicle, where the speed information includes: velocity and/or direction of velocity; judging whether the speed of the vehicle is reduced to zero or not, and/or judging whether the speed direction of the vehicle is converted into reverse or not; if the velocity of the vehicle drops to zero and/or the velocity direction of the vehicle switches to reverse, then it is determined that an obstacle is detected.
In an optional embodiment of the present invention, the obtaining module 401 is configured to obtain location information of a target parking area to be parked and location information of a vehicle; determining the distance between the vehicle and the target parking area and the area of the vehicle entering the target parking area according to the position information of the target parking area and the position information of the vehicle; and determining the current parking scene of the vehicle according to the distance between the vehicle and the target parking area and the area of the vehicle driving into the target parking area.
In an optional embodiment of the present invention, the method further comprises:
a relationship establishing module 405, configured to obtain size information and a tag of an obstacle existing in each parking scene, where the tag includes: allow or disallow crossing of tags; determining the passing capacity information of the vehicle for the obstacles in each parking scene according to the size information of the obstacles in each parking scene; determining obstacle passing capacity information corresponding to each parking scene according to the passing capacity information of the vehicle for the obstacles in each parking scene and the labels of the obstacles in each parking scene; and establishing a mapping relation between each parking scene and the corresponding obstacle passing capacity information.
In an optional embodiment of the present invention, the searching module 402 is configured to search a mapping relationship established in advance based on the current parking scene, and determine the corresponding target obstacle passing capability information.
In an optional embodiment of the invention, the target obstacle passing capability information includes: a target torque; the control module 403 is used for acquiring an initial state and controlling the vehicle to enter the initial state; the vehicle is controlled to pass through the obstacle by increasing the torque of the vehicle to the target torque.
In an optional embodiment of the present invention, the method further comprises:
an interruption adjusting module 406, configured to reduce the torque and continue to park according to the automatic parking path if it is detected that the vehicle passes through an obstacle in the process of increasing the torque; and if the vehicle passing the obstacle is not detected after the torque of the vehicle is increased to the target torque, exiting the automatic parking.
In summary, in the embodiment of the present invention, when an obstacle is detected in an automatic parking process, a current parking scene may be obtained, target obstacle passing capability information matched with the current parking scene is searched from preset obstacle passing capability information, and a vehicle is controlled to pass through the obstacle according to the target obstacle passing capability information; the parking scenes are determined according to the position relation between the vehicle and the parking area, and due to the fact that the obstacles in different parking scenes are different, different obstacle passing capacities are adopted for different parking scenes, and the vehicle can be effectively controlled to cross the obstacles; therefore, the passing ability of the vehicle for the obstacle in the automatic parking process is improved.
For the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and reference may be made to the partial description of the method embodiment for relevant points.
An embodiment of the present invention further provides a vehicle, including:
the obstacle crossing method comprises a processor, a memory and a computer program which is stored on the memory and can run on the processor, wherein when the computer program is executed by the processor, each process of the obstacle crossing method embodiment is realized, the same technical effect can be achieved, and the details are not repeated here to avoid repetition.
The embodiment of the invention also provides a readable storage medium, and when instructions in the storage medium are executed by a processor of a vehicle, the vehicle can execute the obstacle crossing method according to any embodiment of the invention.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one of skill in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of 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, embodiments of 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 so forth) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (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 processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, 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 terminal 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 terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal 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 of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the present invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or terminal device that comprises the element.
The obstacle crossing method and the obstacle crossing device provided by the invention are described in detail, specific examples are applied in the text to explain the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. An obstacle crossing method, comprising:
when an obstacle is detected in the automatic parking process, acquiring a current parking scene, wherein the parking scene is determined according to the position relation between a vehicle and a parking area;
searching target obstacle passing capacity information matched with the current parking scene from preset obstacle passing capacity information; the target obstacle passing capability information includes: a target torque;
controlling the vehicle to pass through the obstacle according to the target obstacle passing capacity information;
wherein, the method further comprises:
obtaining size information and labels of obstacles existing in each parking scene;
determining the passing capacity information of the vehicle aiming at the obstacles in each parking scene according to the size information of the obstacles in each parking scene;
determining obstacle passing capacity information corresponding to each parking scene according to the passing capacity information of the vehicle for the obstacles in each parking scene and the labels of the obstacles in each parking scene;
and establishing a mapping relation between each parking scene and the corresponding obstacle passing capacity information.
2. The method of claim 1, further comprising the step of detecting an obstacle:
acquiring speed information of a vehicle, wherein the speed information comprises: velocity and/or direction of velocity;
judging whether the speed of the vehicle is reduced to zero and/or judging whether the speed direction of the vehicle is converted into reverse;
if the velocity of the vehicle drops to zero and/or the speed direction of the vehicle switches to reverse, it is determined that an obstacle is detected.
3. The method of claim 1, wherein the obtaining the current parking scene of the vehicle comprises:
acquiring position information of a target parking area to be parked and position information of a vehicle;
determining the distance between the vehicle and the target parking area and the area of the vehicle entering the target parking area according to the position information of the target parking area and the position information of the vehicle;
and determining the current parking scene of the vehicle according to the distance between the vehicle and the target parking area and the area of the vehicle driving into the target parking area.
4. The method of claim 1, wherein the tag comprises: allowing or disallowing the passing of the tag.
5. The method according to claim 4, wherein the searching for target obstacle passing capability information matching the current parking scene from the preset obstacle passing capability information comprises:
and searching a mapping relation established in advance based on the current parking scene, and determining the passing capacity information of the corresponding target obstacle.
6. The method of claim 1, wherein said controlling the vehicle to pass through the obstacle in accordance with the target obstacle passing capability information comprises:
acquiring an initial state and controlling a vehicle to enter the initial state;
the vehicle is controlled to pass through the obstacle by increasing the torque of the vehicle to the target torque.
7. The method of claim 6, further comprising:
if the vehicle is detected to pass through the obstacle in the process of increasing the torque, reducing the torque and continuing to park according to the automatic parking path;
and if the vehicle passing the obstacle is not detected after the torque of the vehicle is increased to the target torque, exiting the automatic parking.
8. An obstacle crossing device, comprising:
the system comprises an acquisition module, a parking module and a control module, wherein the acquisition module is used for acquiring a current parking scene when an obstacle is detected in the automatic parking process, and the parking scene is determined according to the position relation between a vehicle and a parking area;
the searching module is used for searching target obstacle passing capacity information matched with the current parking scene from preset obstacle passing capacity information; the target obstacle passing capability information includes: a target torque;
the control module is used for controlling the vehicle to pass through the obstacle according to the target obstacle passing capacity information;
wherein the apparatus further comprises:
the system comprises a relation establishing module, a parking information acquiring module and a control module, wherein the relation establishing module is used for acquiring the size information and the labels of obstacles existing in each parking scene; determining the passing capacity information of the vehicle aiming at the obstacles in each parking scene according to the size information of the obstacles in each parking scene; determining obstacle passing capacity information corresponding to each parking scene according to the passing capacity information of the vehicle for the obstacles in each parking scene and the labels of the obstacles in each parking scene; and establishing a mapping relation between each parking scene and the corresponding obstacle passing capacity information.
9. A vehicle, characterized by comprising: a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the obstacle crossing method of any one of claims 1-7.
10. A readable storage medium, wherein instructions in the storage medium, when executed by a processor of a vehicle, enable the vehicle to perform the obstacle crossing method of any of method claims 1-7.
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Effective date of registration: 20240304 Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Patentee after: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Country or region after: China Address before: Room 46, room 406, No. 1, Yichuang street, Zhongxin knowledge city, Huangpu District, Guangzhou, Guangdong 510725 Patentee before: Guangzhou Xiaopeng Automatic Driving Technology Co.,Ltd. Country or region before: China |