CN116476814A - Parking method, system, medium and electronic equipment based on micro collision detection - Google Patents

Abstract

The invention provides a parking method, a system, a medium and electronic equipment based on micro-collision detection, wherein the method comprises the steps of acquiring collision information and detecting a current motion track when a target vehicle is in an automatic parking mode and collision is detected, and acquiring a motion planning path corresponding to the motion track; determining a parking safety state of the target vehicle based on the collision information, the motion trail and the motion planning path; executing a collision parking safety strategy when the parking safety state meets a preset secondary collision condition; and executing a parking strategy when the parking safety state does not meet the preset secondary collision condition. The invention solves the problem that secondary collision injury is caused to pedestrians or other obstacles after collision due to omission of the sensing module or limitation of the sensing algorithm in the prior art, and improves the parking safety and reliability.

Description

Parking method, system, medium and electronic equipment based on micro collision detection

Technical Field

The application relates to the technical field of collision detection of automatic parking systems of vehicles, in particular to a parking method, a parking system, a parking medium and electronic equipment based on micro-collision detection.

Background

With the continuous development of the intellectualization of automobiles, the automatic parking technology is widely researched and applied, and higher safety requirements are put forward for automatic parking. At present, obstacle collision detection in the automatic parking field is based on an ultrasonic radar and a look-around fisheye camera, and known obstacles are detected in a parking space searching stage and a parking stage, but the detection omission condition of the obstacles cannot be completely solved, so that collision cannot be avoided in the parking space searching and parking process, the traditional collision recognition sensor can only recognize the collision with the speed of 25km/h or more, and the running speed of automatic parking is 0-15km/h, so that secondary rolling and secondary collision to pedestrians and obstacles can not be avoided continuously after the collision of the vehicle in the parking process.

At present, researches provide a method, a device and a system for detecting collision of obstacles on an automatic parking path. The method comprises the following steps: and adopting the path profile, the vehicle profile and the obstacle profile to perform arc-shaped path obstacle collision detection and/or straight-line path obstacle collision detection in a geometric method. The system includes a collision detection module for geometrically performing arc path obstacle collision detection and/or straight path obstacle collision detection using the path profile, the vehicle profile, and the obstacle profile. The device comprises a memory and a processor for geometrically detecting arc-shaped path obstacle collisions and/or straight path obstacle collisions using the path profile, the vehicle profile and the obstacle profile. By using the method, the collision detection efficiency of the obstacle can be improved, the steps are simplified, and the accuracy is high. The invention solves the problems of detecting the known obstacle and avoiding collision in the path planning process, but the invention does not solve the problem of missed detection of pedestrians crossing pedestrians under the conditions of vehicles, upright posts and right angle bends in a garage.

There is also provided a car crash safety processing system with redundancy, including a crash sensor generating a crash signal when a car collides; an airbag control unit that receives a collision signal from a collision sensor and determines whether to issue a safety control signal based on the collision signal; the automobile body control unit receives the safety control signal from the safety air bag control unit and controls the automobile door controller to unlock the automobile door; the engine control unit receives the safety control signal from the safety air bag control unit and controls the engine fuel pump to cut off fuel for the automobile engine; the power supply supplies power to each control unit; the automobile collision safety processing system further comprises a collision control unit, and the automobile door controller is controlled to unlock an automobile door and/or the engine fuel pump is controlled to cut off fuel of an automobile engine under the condition that the automobile body control unit and/or the engine control unit is invalid. The system solves the collision detection and control after the failure of the automobile safety airbag collision system, but is suitable for the driving working condition that the speed of the automobile is higher than 20 km/h. In the process of parking the vehicle and searching for the parking space, under the condition that the vehicle speed is lower than 20km/h, the possibility of collision caused by missed detection of the obstacle exists.

The current parking system based on visual perception and ultrasonic radar perception has a parking success rate of about 85-95% according to different perception algorithms, and has a probability of about 5% of missed detection collision. Therefore, if the parking method can be provided, the collision of the vehicle under the condition of low speed can be identified, and the secondary rolling and secondary collision to pedestrians and obstacles are avoided after the collision of the vehicle in the parking process, the safety and the reliability of automatic parking are improved, and the last safety defense line of automatic parking is constructed.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, the present invention provides a parking method, system, medium and electronic device based on micro-collision detection, so as to solve the technical problem that the above-mentioned existing automatic parking system causes secondary collision damage to pedestrians or other obstacles after collision due to detection omission of a sensing module or limitation of a sensing algorithm.

To achieve the above and related objects, a first aspect of the present invention provides a parking method based on micro collision detection, the method comprising:

when the target vehicle is in an automatic parking mode and collision is detected, collision information of the target vehicle is obtained, the current motion track of the target vehicle is detected, and a motion planning path corresponding to the motion track is obtained;

Determining a parking safety state of the target vehicle based on the collision information, the motion trail and the motion planning path;

when the parking safety state meets the preset secondary collision condition, executing a collision parking safety strategy, wherein the collision parking safety strategy comprises the steps of outputting and executing a parking stopping instruction, carrying out first collision early warning prompt on a driver and an outside person, and exiting an automatic parking mode;

and when the parking safety state does not meet the preset secondary collision condition, executing a parking strategy, wherein the parking strategy comprises the steps of updating a motion planning path based on the parking safety state, carrying out second collision early warning prompt on a driver and an off-board person, and carrying out parking based on the updated motion planning path.

In an embodiment of the present application, the collision information includes a collision signal, position information of a current location of the target vehicle, and obstacle information; the preset secondary collision condition comprises that the current motion trail and the motion planning path of the target vehicle can generate secondary collision on the current collision obstacle and/or generate collision on the surrounding obstacles of the target vehicle.

In an embodiment of the present application, the first collision warning prompt includes a request to play a collision animation and/or a collision warning sound to take danger avoidance prompt for the driver and the personnel outside the vehicle; the second collision early warning prompt comprises a prompt for requesting to play collision animation and/or carrying out lamplight warning through left and right steering lamps of the target vehicle so as to avoid danger for the driver and the personnel outside the vehicle.

In an embodiment of the present application, when the collision parking security policy is executed, a prompt for exiting the automatic parking mode is performed to the driver based on the collision information of the target vehicle, and the timer is started, and when the timing result reaches the preset first time threshold, the automatic parking mode is exited.

In an embodiment of the present application, when a parking policy is executed, a micro-collision prompt is performed on a driver based on collision information of a target vehicle, when parking is completed, a timer is started, and when a timing result reaches a preset second time threshold, the automatic parking mode is exited, wherein the preset first time threshold is greater than the preset second time threshold.

A second aspect of the present invention provides a parking system based on micro collision detection, the system comprising:

the acquisition module is used for acquiring collision information of the target vehicle when the target vehicle is in an automatic parking mode and collision is detected, detecting the current movement track of the target vehicle and acquiring a movement planning path corresponding to the movement track;

the determining module is used for determining the parking safety state of the target vehicle based on the collision information, the motion trail and the motion planning path;

the parking execution module is used for executing a collision parking safety strategy when the parking safety state meets the preset secondary collision condition, wherein the collision parking safety strategy comprises the steps of outputting and executing a parking stopping instruction, carrying out first collision early warning prompt on a driver and an outside person, and exiting an automatic parking mode;

And the parking execution module is used for executing a parking strategy when the parking safety state does not meet the preset secondary collision condition, wherein the parking strategy comprises updating a motion planning path based on the parking safety state, carrying out second collision early warning prompt on a driver and an off-board person, and carrying out parking based on the updated motion planning path.

In an embodiment of the present application, the system further includes a prompt module configured to execute a first collision pre-warning prompt, a second collision pre-warning prompt, a micro-collision prompt, and a prompt to exit the automatic parking mode.

In an embodiment of the present application, the acquiring module includes a collision information acquiring module, configured to acquire collision information of the target vehicle when the target vehicle collides; the motion trail acquisition module is used for acquiring the current motion trail of the target vehicle; and the motion planning path acquisition module is used for acquiring a motion planning path corresponding to the motion trail.

A third aspect of the present invention provides an electronic apparatus comprising:

one or more processors;

and a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the micro-collision detection-based parking method as described above.

A fourth aspect of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the micro-collision detection-based parking method as set forth in the claims.

The invention has the beneficial effects that: when a target vehicle enters an automatic parking mode, the invention automatically starts micro-collision detection to detect whether collision occurs in the automatic parking process under different scenes. If collision occurs, the current states of collision information, vehicle motion trail and the like are detected, whether a collision parking safety strategy is needed to be executed or not is judged, or the parking strategy is executed, so that secondary collision injury to pedestrians or other obstacles caused by incapability of timely avoiding the collision due to overlook speed of a sensing module or limitation of a sensing algorithm in the existing parking system is avoided.

The invention reduces the miss rate of the prior art by micro collision detection (collision detection performed when the vehicle speed is low) and improves the parking safety and reliability.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:

FIG. 1 is a flow chart of a parking method based on micro collision detection as illustrated in an exemplary embodiment of the present application;

FIG. 2 is a flow chart of a parking method based on micro-collision detection as illustrated in another exemplary embodiment of the present application;

FIG. 3 is a schematic diagram of a parking system according to an exemplary embodiment of the present application;

FIG. 4 is a schematic diagram illustrating placement of a micro-impact sensor on a target vehicle according to an exemplary embodiment of the present application;

FIG. 5 is a schematic diagram illustrating the operation of a microcontact sensor according to an exemplary embodiment of the present application;

FIG. 6 is a block diagram of a parking system based on micro-collision detection as shown in an exemplary embodiment of the present application;

FIG. 7 is a block diagram of an acquisition module shown in an exemplary embodiment of the present application;

Fig. 8 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application.

Detailed Description

Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

In the following description, numerous details are set forth in order to provide a more thorough explanation of embodiments of the present invention, it will be apparent, however, to one skilled in the art that embodiments of the present invention may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present invention.

It should be noted that, in general, the elastic wave sensor is composed of a piezoelectric material layer, and an upper electrode and a lower electrode respectively covering both surfaces of the piezoelectric material layer. A thin film sensitive area is processed on a piezoelectric substrate by an ultrasonic method, a transducer (pressure sensitive SAW delay line) is carved on the thin film sensitive area, and the transducer and a circuit are combined into an oscillator. The transducer is formed by arranging 2 metal interdigital fingers on a polished piezoelectric substrate, if an electric signal is applied to an input transduction interdigital finger T1, an elastic surface wave is excited on the substrate life surface by the inverse piezoelectric effect, and is transmitted to a transduction interdigital finger T2 to be converted into an electric signal, and the electric signal is amplified and fed back to the T1 so as to keep an oscillation state. The propagation time of the Surface Acoustic Wave (SAW) between 2 transducing fingers is the obtained delay time, the magnitude of which depends on the distance between 2 transducing fingers. Since the introduced intake manifold pressure acts on the piezoelectric substrate, the pressure change will create strain in the sensitive area of the membrane, even if the transducer inter-finger distance is changed. Thus, the delay time of the surface acoustic wave propagation changes accordingly. Thus, the pressure signal can be output according to the oscillation frequency inversely proportional to the delay time.

Fig. 1 is a flowchart of a parking method based on micro collision detection according to an exemplary embodiment of the present application, and as shown in fig. 1, the parking method based on micro collision detection of the present application includes steps S110 to S140, which are described in detail as follows:

step S110, when the target vehicle is in the automatic parking mode and collision is detected, collision information of the target vehicle is obtained, the current movement track of the target vehicle is detected, and a movement planning path corresponding to the movement track is obtained.

The present embodiment performs a micro-collision detection for a vehicle traveling at a low speed, and therefore, the present embodiment needs to detect the vehicle speed of a target vehicle, determine whether it is in a low-speed traveling state, and thus determine whether an automatic parking function needs to be turned on. When the vehicle speed meets the preset parking condition, the target vehicle enters an automatic parking mode. In this embodiment, the preset parking condition is that the vehicle speed is smaller than a preset low-speed threshold. The preset low-speed threshold value is that the speed of the vehicle is more than or equal to 0.1km/h, or the relative speed is more than or equal to 1km/h, and the speed is less than 20km/h, and is preferably less than 15km/h. The preset low-speed threshold is not specifically limited here, and is set specifically based on actual requirements. Specifically, the preset low-speed threshold specifically covers a plurality of driving scenes, for example, when the vehicle speed is 2-15 km/h, the target vehicle runs forward in the cruising process; when the speed of the vehicle is 0-3 km/h, forward kneading the warehouse; when the speed of the vehicle is 0-3 km/h, parking and warehousing; when the speed of the vehicle is 0-5 km/h, tracking and reversing the vehicle. When the target vehicle speed is detected to be smaller than the preset low-speed threshold value, the target vehicle enters an automatic parking mode, and in the automatic parking mode, the target vehicle assists a driver to automatically park, including automatically searching for a parking space and the like.

In this embodiment, after the target vehicle enters the automatic parking mode, whether the target vehicle collides is automatically collected in the process of searching for a parking space, automatically parking, and the like. Since the target vehicle speed is low at this time, the collision state at this time is a micro collision, that is, the collision impact force is reduced to a large extent as compared with that of a vehicle traveling at a high speed.

In this embodiment, when a collision between a target vehicle and an obstacle is detected, specific information of the obstacle is immediately acquired, and collision information is acquired. Specifically, the obstacle includes a stationary obstacle, a movement obstacle. In this embodiment, collision signals are obtained by means of a micro-collision sensor and the like, the current longitude and latitude position of the target vehicle is located by means of a GPS global positioning system and the like, meanwhile, the embodiment performs obstacle searching and detecting on a certain range around the body of the target vehicle, obstacle missing detection is avoided, specific information such as the position of an obstacle colliding with the target vehicle, an obstacle image, the number of obstacles, and obstacle size parameters are obtained, and even information such as the position of the rest obstacles possibly having collision risks in a certain range is obtained. In this embodiment, after a target vehicle collides, the current movement track of the target vehicle is detected by detecting the movement direction of the wheels of the target vehicle, and a movement planning path preset under the movement track is retrieved from a vehicle-mounted system such as vehicle-end navigation, where the movement planning path includes at least one movement planning path.

Step S120, determining a parking safety state of the target vehicle based on the collision information, the motion trajectory, and the motion planning path.

According to the method, whether the current target vehicle is suitable for continuing parking or not is judged based on collision information, movement tracks and movement planning paths of the target vehicle, and if parking is continued, the parking safety state of the current target vehicle is determined to be a dangerous state capable of safely parking or possibly having a risk of re-collision. The collision information of the present embodiment includes a collision signal, position information of the current location of the target vehicle, and obstacle information.

And step S130, when the parking safety state meets the preset secondary collision condition, executing a collision parking safety strategy, wherein the collision parking safety strategy comprises the steps of outputting and executing a parking stopping instruction, carrying out first collision early warning prompt on a driver and an outside person, and exiting an automatic parking mode.

The preset secondary collision condition in this embodiment includes that the current motion trajectory and the motion planning path of the target vehicle may generate a secondary collision to the current collision obstacle and/or generate a collision to the surrounding obstacle of the target vehicle. The first collision warning prompt includes a request to play a collision animation and/or a collision warning sound to take refuge prompts for the driver and the outside personnel.

In a specific embodiment of the application, if the target vehicle collides for the first time, the parking safety state is judged to meet the preset secondary collision condition, and when the risk of secondary collision to an obstacle is high or when the possibility of large collision to other obstacles around the vehicle is high, the parking is output to halt, so that the target vehicle is parked, the safety state is maintained, and meanwhile, a vehicle-mounted man-machine interaction interface is requested to play collision animation prompt, collision alarm voice and the like to prompt a driver, personnel and animals outside the vehicle to avoid emergency. At this time, the target vehicle adopts a safe parking mechanism, exits from the automatic parking mode and immediately parks.

And step S140, when the parking safety state does not meet the preset secondary collision condition, a parking strategy is executed, wherein the parking strategy comprises updating a motion planning path based on the parking safety state, carrying out second collision early warning prompt on a driver and an off-board person, and carrying out parking based on the updated motion planning path.

In a specific embodiment of the present application, the second collision warning prompt includes a request to play a collision animation and/or a light warning through left and right turn lights of the target vehicle to prompt the driver and the outside personnel to avoid danger. If the target vehicle is judged to not generate secondary collision injury to the obstacle or collide with other obstacles after primary collision occurs, the path is re-planned, and a parking collision early warning prompt is output through a left-right turn lamp light warning prompt of the target vehicle and a vehicle-mounted man-machine interaction interface, a text prompt and other modes, so that people or animals outside the vehicle are reminded to avoid, and the target vehicle is parked continuously according to the re-planned path and is parked at the target position. The parking strategy of the embodiment updates the motion planning path so as to further reduce the probability of secondary collision and ensure safe and reliable parking of the vehicle.

In a specific embodiment of the present application, when the collision parking security policy is executed, the driver is prompted to exit the automatic parking mode based on the collision information of the target vehicle, and starts timing, and when the timing result reaches a preset first time threshold, the driver exits the automatic parking mode. When the parking strategy is executed, a micro-collision prompt is carried out on the driver based on collision information of the target vehicle, when the parking is completed, timing is started, and when a timing result reaches a preset second time threshold value, the automatic parking mode is exited, wherein the preset first time threshold value is larger than the preset second time threshold value. More specifically, the preset first time threshold may be 30s, where the preset first time threshold is not specifically set, and is set according to actual requirements. When the collision parking safety strategy is executed, the vehicle is immediately parked, the vehicle is prompted to stop due to the abnormal collision, and the vehicle is automatically parked after 30S, so that a driver is ensured to timely and accurately know the current collision condition of the vehicle, and the situation that the driver misjudges the current collision condition and performs unnecessary vehicle control to cause secondary collision is avoided. In this embodiment, the preset second time threshold may be 3s, which is not specifically limited herein, and is set according to actual requirements. The micro-collision prompt in the embodiment comprises prompting the driver to have abnormal slight collision in the parking process and the like.

Fig. 2 is a flowchart of a parking method based on micro collision detection according to another exemplary embodiment of the present application, as shown in fig. 2, including steps S201 to S210, and is described in detail as follows:

step S201, entering an automatic parking mode.

When the speed of the target vehicle is detected to be smaller than a preset lower threshold value, the target vehicle activates an automatic parking function, enters an automatic parking mode, and starts parking space self-searching and automatic control to park.

Step S202, detecting a collision state.

The target vehicle detects a collision state and acquires collision information.

Step S203, whether there is a collision.

Whether the target vehicle collides or not is judged by the collision signal, if so, the next step is carried out, and if not, the step is skipped to step S209.

Step S204, whether or not collision parking safety processing is adopted.

If the target vehicle collides, collision information, the current motion trail of the target vehicle and a motion planning path corresponding to the current motion trail are acquired. And determining the parking safety state of the vehicle based on the information and judging whether collision parking safety treatment is needed.

If the parking safety state of the target vehicle meets the preset secondary collision condition, and if it is judged that collision parking safety treatment needs to be adopted, a collision parking safety strategy is executed, step S205 is executed to stop parking, and after the target vehicle stops parking, step S206 is executed to prompt a micro-collision warning sound, specifically, playing a collision animation through a vehicle-mounted man-machine interaction interface, playing warning sound, micro-collision prompt voice through a vehicle-mounted loudspeaker and the like. After the prompt is finished, the step S207 is executed, and the automatic parking function is exited, specifically, after the target vehicle stops parking, the driver is synchronously reminded of being about to exit the automatic parking mode, and after a preset first time threshold, such as 30S, the automatic parking function is exited. After the completion of the execution of step S207, step S210 is directly executed.

If the parking safety state of the target vehicle does not meet the preset secondary collision condition, executing a parking strategy when the collision parking safety treatment is judged not to be needed, re-planning the motion path of the target vehicle and/or playing a parking alarm animation and a collision animation through a vehicle-mounted human-computer interaction interface, opening left and right steering lamps to carry out parking risk avoidance reminding, then entering into step S208, continuing parking, specifically, continuing parking of the target vehicle based on the re-planned motion path, and entering into step S209 after parking is finished.

Step S209, the automatic parking function is completed.

And prompting the driver that the vehicle is in abnormal slight collision in the parking process, and completing parking by re-planning the path. After the target vehicle is safely parked into the parking space, the automatic parking function is completed, and after the preset second time threshold is reached, the step S210 is entered to finish parking. The preset second time threshold may be 3S, which is not specifically limited herein, and is set according to practical situations. Further, when it is determined in step S203 that the target vehicle has not collided, automatic parking is completed with the assistance of the automatic parking mode, and the flow proceeds to step S209, and the driver is prompted to complete parking.

Step S210, parking is completed.

In this embodiment, after the automatic parking mode is exited and the preset first time threshold or the preset second time threshold is reached, the detection of the collision state and other tasks are stopped, and parking is completed.

Fig. 3 is a schematic diagram of a parking system according to an exemplary embodiment of the present application, and as shown in fig. 3, the parking system according to the present embodiment includes a micro-collision sensor, a visual sensing module, an ultrasonic sensing module, a parking control module, a parking execution module, and a parking collision alarm module. The micro-collision sensor is added in the automatic parking system, so that safety redundancy design is carried out when collision occurs due to missed detection of the obstacle, and the problem that secondary collision damage is caused to pedestrians or other obstacles after collision occurs due to the fact that a sensing module is missed or a sensing algorithm is limited in the existing parking system is solved.

In a specific embodiment of the present application, the micro-collision sensor of the present embodiment is configured to perform micro-collision detection when a vehicle speed meets a preset parking condition. As shown in fig. 4, fig. 4 is a schematic diagram of layout positions of micro-collision sensors on a target vehicle according to an exemplary embodiment of the present application, where 16 micro-collision sensors are arranged around a vehicle body in the present embodiment, including 7 micro-collision sensors on a front bumper of the vehicle, 5 micro-collision sensors on a rear bumper of the vehicle, 2 micro-collision sensors on left and right sides of the vehicle body, specifically 1 micro-collision sensor on four doors of the vehicle, so as to perform targeted micro-collision detection on a common collision position of the vehicle, and perform universal micro-collision detection on the whole vehicle. The number and positions of the micro crash sensors in this embodiment are not limited to those shown in fig. 4, but fig. 4 is only one preferred embodiment. In this embodiment, the micro collision sensor is preferably an elastic wave sensor, as shown in fig. 5, fig. 5 is a schematic diagram of the operation of the micro collision sensor according to an exemplary embodiment of the present application, where the elastic wave principle is used to detect a collision signal, and when a slight collision occurs on the surface of a vehicle body, a voltage signal is fluctuated, and the input and output voltages of a high level (s+) and a low level (S-) of the micro collision sensor are changed, and the voltage signal is sent to a parking control module, where the parking control module processes, analyzes and extracts the collision signal based on the voltage signal, so as to perform parking control and suspend parking, so as to avoid causing a secondary collision.

In a specific implementation manner of the present application, the present embodiment performs a detection test on low-speed collision detection of a target vehicle based on a layout manner of a micro-collision sensor on the vehicle as shown in fig. 4, where the present embodiment selects a common scenario to perform micro-collision detection, and learns from a test result that a collision detection accuracy rate of the present embodiment is greater than or equal to 99%, a collision false detection rate is less than 1%, and part of test data is as follows:

from the test data, the missing detection rate of the collision of the target vehicle under the low-speed running condition is greatly reduced, and the parking safety and reliability of the target vehicle can be effectively improved.

In a specific embodiment of the present application, the visual perception module includes a plurality of fisheye cameras, specifically may be 4, and is respectively disposed in the middle of the front bumper and the rear bumper of the vehicle, on the left and right outer rearview mirrors, for detecting image information, position information, and the like of a parking space and an obstacle. The ultrasonic sensing module comprises a plurality of ultrasonic radars, specifically 12 ultrasonic radars, and 6 ultrasonic radars are respectively arranged on the front bumper and the rear bumper of the vehicle and used for detecting the distance between the obstacle and the target vehicle within 4 m. According to the method, the problem that blind areas exist in obstacle sensing and obstacle missing detection exists due to algorithm limitation due to limitation of arrangement positions of the whole vehicle is solved through detection of parking spaces and obstacles around a target vehicle in the parking process by the visual sensing module and the ultrasonic sensing module, and accordingly parking space information and obstacle information are accurately detected and sent to the parking control module to be decided.

In a specific embodiment of the application, the parking control module comprises path planning, transverse control and longitudinal control, specifically, the parking space information and barrier information of the visual perception module and the ultrasonic perception module are received, and the target vehicle is controlled to travel in the transverse and longitudinal directions by combining the motion state of the vehicle, the current motion trail and the motion planning path, so that the target vehicle automatically parks in or out of a parking space; and receiving collision signals of the micro-collision sensor, and stopping parking, sending collision early warning prompts or rescheduling a path to continue parking in combination with the current parking safety state of the target vehicle. More specifically, when a target vehicle enters an automatic parking mode, a micro-collision sensor detects whether collision occurs around and sends a collision position and a signal to a parking control module, if the parking control module extracts the collision signal, the current motion track and the motion planning path are combined to decide whether to take a collision parking safety strategy, if so, the parking control module executes the collision parking safety strategy, outputs a parking suspension and outputs a corresponding control command to a parking execution module to execute parking suspension, so that the vehicle is parked, a safe state is maintained, and a graphical user interface and the like are simultaneously requested to play collision animation prompts and collision alarm sounds to prompt a driver and personnel outside the vehicle. If the collision parking strategy is not adopted, the parking control module re-plans the path and outputs a parking warning to the parking collision warning module to play collision animation such as a left-right turn light warning prompt, a graphical user interface and the like, continue parking, and plan the path to stop at the target position according to the updated movement.

In one embodiment of the present application, the park execution module includes a brake control module, a power control module, a steering control module, and a park control module. The braking module executes a longitudinal movement control command of the parking control module to achieve deceleration and braking of the target vehicle. The power control module is used for controlling power torque output and executing acceleration control of the parking control module. The steering control module enables the target vehicle to steer left and right according to the angle control command of the parking control module, and controls the vehicle to steer. The parking module performs parking according to the parking request of the parking control module, and the safe parking of the vehicle is ensured. Specifically, the parking control module fuses the received sensing signals of the visual sensing module and the ultrasonic sensing module, and outputs signals to the parking execution module through the CAN bus to execute transverse and longitudinal control commands, so that parking is completed.

In one embodiment of the application, the parking alarm module comprises a touch light flashing alarm, a collision reminding alarm sound and a collision reminding animation. The specific functions include that after collision occurs, the parking control module extracts a collision signal, the parking request execution module controls the steering lamp to flash, and the vehicle is requested to play collision animation and collision alarm sound to prompt a driver, a collided object, personnel outside the vehicle and the like.

FIG. 6 is a block diagram of a parking system based on micro-collision detection, as shown in FIG. 6, according to an exemplary embodiment of the present application, the system comprising:

the acquiring module 610 is configured to acquire collision information of the target vehicle when the target vehicle is in an automatic parking mode and a collision is detected, detect a current motion track of the target vehicle, and acquire a motion planning path corresponding to the motion track;

a determining module 620 configured to determine a parking safety state of the target vehicle based on the collision information, the motion trajectory, and the motion planning path;

the parking execution module 630 is configured to execute a collision parking security policy when the parking security state meets a preset secondary collision condition, where the collision parking security policy includes outputting and executing a parking stopping instruction, performing a first collision early warning prompt on a driver and an external person, and exiting an automatic parking mode;

the parking execution module 640 is configured to execute a parking policy when the parking safety state does not meet the preset secondary collision condition, where the parking policy includes updating a motion planning path based on the parking safety state, performing a second collision early warning on the driver and the person outside the vehicle, and performing parking based on the updated motion planning path;

The prompt module 650 is configured to perform a first collision pre-warning prompt, a second collision pre-warning prompt, a micro-collision prompt, and an exit auto-park mode prompt.

Fig. 7 is a block diagram of an acquisition module shown in an exemplary embodiment of the present application, and as shown in fig. 7, the acquisition module 610 includes a collision information acquisition module 611 for acquiring collision information of a target vehicle when the target vehicle collides; the motion trail acquisition module 612 is configured to acquire a current motion trail of the target vehicle; the motion planning path obtaining module 613 is configured to obtain a motion planning path corresponding to the motion trajectory.

It should be noted that, the parking system based on the micro collision detection provided in the foregoing embodiment and the parking method based on the micro collision detection provided in the foregoing embodiment belong to the same concept, and the specific manner in which each module and unit perform the operation has been described in detail in the method embodiment, which is not repeated herein. In practical application, the parking system based on the micro collision detection provided in the above embodiment may be configured by different functional modules according to needs, that is, the internal structure of the system is divided into different functional modules to complete all or part of the functions described above, which is not limited herein.

The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and a storage device for storing one or more programs, which when executed by the one or more processors, cause the electronic device to implement the micro-collision detection-based parking method provided in the above embodiments.

Fig. 8 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application. It should be noted that, the computer system 800 of the electronic device shown in fig. 8 is only an example, and should not impose any limitation on the functions and the application scope of the embodiments of the present application.

As shown in fig. 8, the computer system 800 includes a central processing unit (Central Processing Unit, CPU) 801 that can perform various appropriate actions and processes, such as performing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 802 or a program loaded from a storage section 808 into a random access Memory (Random Access Memory, RAM) 803. In the RAM 803, various programs and data required for system operation are also stored. The CPU 801, ROM 802, and RAM 803 are connected to each other by a bus 804. An Input/Output (I/O) interface 805 is also connected to bus 804.

The following components are connected to the I/O interface 805: an input portion 806 including a keyboard, mouse, etc.; an output portion 807 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, and a speaker, and the like; a storage section 808 including a hard disk or the like; and a communication section 809 including a network interface card such as a LAN (Local Area Network ) card, modem, or the like. The communication section 809 performs communication processing via a network such as the internet. The drive 810 is also connected to the I/O interface 805 as needed. A removable medium 811 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 810 as needed so that a computer program read out therefrom is mounted into the storage portion 808 as needed.

In particular, according to embodiments of the present application, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 809, and/or installed from the removable media 811. When executed by a Central Processing Unit (CPU) 801, the computer program performs the various functions defined in the system of the present application.

It should be noted that, the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (Erasable Programmable Read Only Memory, EPROM), flash Memory, an optical fiber, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Where each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units involved in the embodiments of the present application may be implemented by means of software, or may be implemented by means of hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.

Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform a parking method based on micro collision detection as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment or may exist alone without being incorporated in the electronic device.

Another aspect of the present application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs the parking method based on the micro collision detection provided in the above-described respective embodiments.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.

Claims (10)

1. A method of parking based on micro-collision detection, the method comprising:

when a target vehicle is in an automatic parking mode and collision is detected, acquiring collision information of the target vehicle, detecting a current motion track of the target vehicle, and acquiring a motion planning path corresponding to the motion track;

determining a parking safety state of the target vehicle based on the collision information, the motion trail and the motion planning path;

when the parking safety state meets a preset secondary collision condition, executing a collision parking safety strategy, wherein the collision parking safety strategy comprises the steps of outputting and executing a parking stopping instruction, carrying out first collision early warning prompt on a driver and an outside person, and exiting the automatic parking mode;

and when the parking safety state does not meet the preset secondary collision condition, executing a parking strategy, wherein the parking strategy comprises the steps of updating the motion planning path based on the parking safety state, carrying out second collision early warning prompt on a driver and an off-board person, and carrying out parking based on the updated motion planning path.

2. The parking method based on micro collision detection according to claim 1, wherein the collision information includes a collision signal, position information of a current location of the target vehicle, and obstacle information; the preset secondary collision condition comprises that the current motion track of the target vehicle and the motion planning path can generate secondary collision on the current collision obstacle and/or generate collision on the surrounding obstacles of the target vehicle.

3. The method of parking based on micro-collision detection according to claim 1, wherein the first collision pre-warning prompt includes requesting to play a collision animation and/or a collision warning sound to take danger avoidance prompts for the driver and the off-vehicle personnel; the second collision early warning prompt comprises a prompt for requesting to play collision animation and/or carrying out lamplight warning through left and right steering lamps of the target vehicle so as to avoid danger for the driver and the personnel outside the vehicle.

4. The parking method based on micro-collision detection according to claim 1, wherein when a collision parking safety strategy is executed, the driver is prompted to exit the automatic parking mode based on the collision information of the target vehicle, and a timer is started, and when a timing result reaches a preset first time threshold, the automatic parking mode is exited.

5. The method for parking based on micro-collision detection according to claim 4, wherein when the parking strategy is executed, a micro-collision prompt is performed on the driver based on the collision information of the target vehicle, when the parking is completed, a timer is started, and when a result of the timer reaches a preset second time threshold, the automatic parking mode is exited, wherein the preset first time threshold is larger than the preset second time threshold.

6. A parking system based on micro-collision detection, the system comprising:

the acquisition module is used for acquiring collision information of the target vehicle when the target vehicle is in an automatic parking mode and collision is detected, detecting the current movement track of the target vehicle and acquiring a movement planning path corresponding to the movement track;

the determining module is used for determining the parking safety state of the target vehicle based on the collision information, the motion trail and the motion planning path;

the parking execution module is used for executing a collision parking safety strategy when the parking safety state meets a preset secondary collision condition, wherein the collision parking safety strategy comprises the steps of outputting and executing a parking stopping instruction, carrying out first collision early warning prompt on a driver and an off-board person, and exiting the automatic parking mode;

and the parking execution module is used for executing a parking strategy when the parking safety state does not meet the preset secondary collision condition, wherein the parking strategy comprises the steps of updating the motion planning path based on the parking safety state, carrying out second collision early warning prompt on a driver and an off-board person, and carrying out parking based on the updated motion planning path.

7. The micro-collision detection based parking system of claim 6, further comprising a prompt module for executing the first collision pre-warning prompt, the second collision pre-warning prompt, the micro-collision prompt, and the exit from the automatic parking mode prompt.

8. The micro-collision detection based parking system according to claim 6, wherein the acquisition module includes a collision information acquisition module for acquiring collision information of the target vehicle when the target vehicle collides;

the motion trail acquisition module is used for acquiring the current motion trail of the target vehicle;

and the motion planning path acquisition module is used for acquiring a motion planning path corresponding to the motion trail.

9. An electronic device, the electronic device comprising:

one or more processors;

storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the micro-collision detection based parking method of any one of claims 1 to 5.

10. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the micro collision detection based parking method according to any one of claims 1 to 5.