CN113665568A

CN113665568A - Parking assisting method and device, electronic equipment and storage medium

Info

Publication number: CN113665568A
Application number: CN202111116845.3A
Authority: CN
Inventors: 杨彦召; 严曰; 周欣; 王星; 张兴远
Original assignee: China Automotive Innovation Corp
Current assignee: China Automotive Innovation Corp
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2021-11-19

Abstract

The embodiment of the application provides a parking assisting method, a parking assisting device, electronic equipment and a storage medium, wherein the parking assisting method comprises the following steps: determining a user intention according to the position information of the vehicle and the activation information of the parking function; and if the user intention is the intention of manually entering or exiting the parking space and the gear change signal is detected, controlling the vehicle to execute a manual parking auxiliary strategy based on the driving state information of the vehicle. According to the auxiliary parking method, under the condition that the user does not start the automatic parking function, gear switching and vehicle driving can be interfered, and therefore safety and comfort in the parking process are guaranteed.

Description

Parking assisting method and device, electronic equipment and storage medium

Technical Field

The present invention relates to the field of automotive technologies, and in particular, to a method and an apparatus for assisting parking, an electronic device, and a storage medium.

Background

With the continuous development of the automatic driving technology, the automatic driving is applied to the actual driving life more and more. While the safety of automatic driving is receiving more and more attention, the safety of manual driving is also receiving attention. When a user performs a vehicle operation, the automatic parking function may be abandoned due to personal habits or an incomplete automatic parking function. If the vehicle does not decelerate in time and drive through the parking space after recognizing the parking space, the prompt of parking the parking space may disappear, and if other obstacles exist on the backward route of the vehicle at the moment, the parking space cannot be recognized, the driver can only give up the automatic parking function and only select manual parking. If accumulated water exists in the parking space in rainy weather or shadows exist in the parking space due to sunlight irradiation, the automatic parking system cannot accurately identify the parking space, and therefore a user cannot use the automatic parking function. Furthermore, a parking spot under a particular terrain or shape may not be identifiable. In the case where the automatic parking function cannot be used, the user only selects to manually park the vehicle.

Although the automatic parking function may help the user to park, the parking process of the user is not interfered by any auxiliary system if the user does not use the automatic parking function. Under the conditions that the automatic parking function is closed and the operation of a user is not interfered, the misoperation of the user may cause accidents, the misoperation comprises gear shifting misoperation, mistaken accelerator stepping, distance judgment mistake and the like, the vehicle is damaged due to collision or friction, and casualties can be caused.

In the existing auxiliary parking method, the user is reminded of dangerous scenes in the parking process by using early warning prompts, but no strong and effective auxiliary parking method is available, and a proper intervention means can be provided when the user does not start the automatic parking function.

Disclosure of Invention

In view of the defects in the prior art, embodiments of the present disclosure provide a method, an apparatus, an electronic device, and a storage medium for assisting parking, which can ensure safety and comfort of a parking process when a user does not start an automatic parking function.

The parking assisting method provided by the embodiment of the application comprises the following steps: determining a user intention according to the position information of the vehicle and the activation information of the parking function; and if the user intention is the intention of manually entering or exiting the parking space and the gear change signal is detected, controlling the vehicle to execute a manual parking auxiliary strategy based on the driving state information of the vehicle.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space entering intention, the gear change information is used for representing that the gear of the vehicle is changed from an initial gear to a reverse gear; controlling a vehicle to execute a manual parking assist strategy based on driving state information of the vehicle, comprising: determining an obstacle located on a rear side of the vehicle; detecting the current gear of the vehicle if the distance is smaller than a first distance threshold value under the condition that the distance between the vehicle and the obstacle is continuously reduced along with the running of the vehicle; if the current gear is a reverse gear, controlling the gear of the vehicle to be changed from the reverse gear to a neutral gear; if the distance is smaller than the second distance threshold value, controlling the vehicle to stop running; the first distance threshold is greater than the second distance threshold.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space leaving intention, the gear change information is used for representing that the gear of the vehicle is changed from a parking gear to a forward gear; controlling a vehicle to execute a manual parking assist strategy based on driving state information of the vehicle, comprising: determining an obstacle located on a front side of the vehicle; detecting the current gear of the vehicle if the distance is smaller than a third distance threshold value under the condition that the distance between the vehicle and the obstacle is continuously reduced along with the running of the vehicle; if the current gear is a forward gear, controlling the gear of the vehicle to be changed from the forward gear to a neutral gear; if the distance is smaller than the fourth distance threshold value, controlling the vehicle to stop running; the third distance threshold is greater than the fourth distance threshold.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space entering intention, the gear change information is used for representing that the gear of the vehicle is changed from an initial gear to a reverse gear; controlling a vehicle to execute a manual parking assist strategy based on driving state information of the vehicle, comprising: determining that the driving state information of the vehicle includes driving on a slope; if the brake pedal state is detected to be a release state, applying a first braking force to the vehicle; the first braking force is used for preventing the vehicle from rolling.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space leaving intention, the gear change information is used for representing that the gear of the vehicle is changed from a parking gear to a forward gear; controlling a vehicle to execute a manual parking assist strategy based on driving state information of the vehicle, comprising: determining that the driving state information of the vehicle includes driving on a slope; if the brake pedal state is detected to be a release state, applying a first braking force to the vehicle; the first braking force is used for preventing the vehicle from rolling.

Specifically, the method for controlling the vehicle to execute the manual parking assist strategy comprises the following steps: if the brake pedal is detected to be in a release state and weather information is determined to be rain weather, determining that the first braking force is a first preset value; if the brake pedal is detected to be in a release state and the weather information is determined not to be rain weather, determining that the magnitude of the first braking force is a second preset value; wherein the first preset value is larger than the second preset value.

Specifically, the method for controlling the vehicle to execute the manual parking assist strategy based on the driving state information of the vehicle comprises the following steps: if a transmission upshift request is detected, the vehicle is controlled to be unresponsive.

Accordingly, the present application provides a parking assist apparatus comprising: the determining module is used for determining the user intention according to the position information of the vehicle and the activation information of the parking function; and the control module is used for controlling the vehicle to execute a manual parking auxiliary strategy based on the driving state information of the vehicle if the user intention is the intention of manually entering or exiting the parking space and the gear change signal is detected.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space entering intention, the gear change information is used for representing that the gear of the vehicle is changed from an initial gear to a reverse gear; the control module is used for determining an obstacle located on the rear side of the vehicle; detecting the current gear of the vehicle if the distance is smaller than a first distance threshold value under the condition that the distance between the vehicle and the obstacle is continuously reduced along with the running of the vehicle; if the current gear is a reverse gear, controlling the gear of the vehicle to be changed from the reverse gear to a neutral gear; if the distance is smaller than the second distance threshold value, controlling the vehicle to stop running; the first distance threshold is greater than the second distance threshold.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space leaving intention, the gear change information is used for representing that the gear of the vehicle is changed from a parking gear to a forward gear; the control module is used for determining an obstacle positioned on the front side of the vehicle; detecting the current gear of the vehicle if the distance is smaller than a third distance threshold value under the condition that the distance between the vehicle and the obstacle is continuously reduced along with the running of the vehicle; if the current gear is a forward gear, controlling the gear of the vehicle to be changed from the forward gear to a neutral gear; if the distance is smaller than the fourth distance threshold value, controlling the vehicle to stop running; the third distance threshold is greater than the fourth distance threshold.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space entering intention, the gear change information is used for representing that the gear of the vehicle is changed from an initial gear to a reverse gear; the control module is used for determining that the driving state information of the vehicle comprises driving on a slope; if the brake pedal state is detected to be a release state, applying a first braking force to the vehicle; the first braking force is used for preventing the vehicle from rolling.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space leaving intention, the gear change information is used for representing that the gear of the vehicle is changed from a parking gear to a forward gear; the control module is used for determining that the driving state information of the vehicle comprises driving on a slope; if the brake pedal state is detected to be a release state, applying a first braking force to the vehicle; the first braking force is used for preventing the vehicle from rolling.

Specifically, the control module is used for determining that the first braking force is a first preset value if the brake pedal is detected to be in a release state and weather information is determined to be rain weather; if the brake pedal is detected to be in a release state and the weather information is determined not to be rain weather, determining that the magnitude of the first braking force is a second preset value; wherein the first preset value is larger than the second preset value.

In particular, the control module is configured to control the vehicle to not respond if a transmission upshift request is detected.

Accordingly, the present application provides an electronic device comprising a processor and a memory, wherein at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the memory, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by the processor to implement the parking assistance method.

Accordingly, embodiments of the present disclosure provide a computer-readable storage medium having at least one instruction, at least one program, a set of codes, or a set of instructions stored therein, which is loaded and executed by a processor to implement the method for assisting parking described above.

The embodiment of the application has the following beneficial effects:

(1) when the automatic parking function cannot be used or a user does not start the automatic parking function, gear switching of the vehicle is controlled according to the distance from the vehicle to an obstacle, and safety and comfort degree in the parking process are guaranteed;

(2) the method comprises the following steps that braking force is applied to a vehicle when the vehicle parks on a slope, so that the vehicle is prevented from sliding due to the existence of the slope when the vehicle parks;

(3) braking forces with different magnitudes are applied to the vehicle according to different weather, so that the vehicle is prevented from sliding due to the fact that the magnitude of the braking force is not changed when the ground humidity is changed;

(4) when the automatic parking function cannot be used or a user does not start the automatic parking function, the gear-shifting of the gearbox is limited, and accidents caused by too fast speed are prevented.

Drawings

In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic view of an application scenario of a parking assistance method according to an embodiment of the present application;

FIG. 2 is a first flowchart of a parking assistance method according to an embodiment of the present disclosure;

FIG. 3 is a schematic illustration of a vehicle environment provided by an embodiment of the present application;

fig. 4a and 4b are a second flow chart and a third flow chart of a parking assistance method provided by the embodiment of the application;

fig. 5 is a fourth flowchart illustrating a parking assistance method according to an embodiment of the present application;

fig. 6 is a fifth flowchart illustrating a parking assistance method according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a parking assistance apparatus according to an embodiment of the present application;

fig. 8 is a hardware block diagram of a server of a parking assistance method according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings. It should be apparent that the described embodiment is only one embodiment of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

An "embodiment" as referred to herein relates to a particular feature, structure, or characteristic that may be included in at least one implementation of the present application. In the description of the embodiments of the present application, it should be understood that the terms "upper", "lower", "left", "right", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only used for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices/systems or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be taken as limiting the present application. The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in other sequences than described or illustrated herein. Furthermore, the terms "comprises," "comprising," and "having"/"is," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system/apparatus, article, or apparatus that comprises a list of steps or elements/modules is not necessarily limited to those steps or elements/modules expressly listed, but may include other steps or elements/modules not expressly listed or inherent to such process, method, article, or apparatus.

Referring to fig. 1, fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application, and includes a vehicle 101, where the vehicle 101 includes an auxiliary parking device 1011, and the auxiliary parking device 1011 controls the vehicle 101 when the vehicle 101 gets in and out of a parking space, so as to implement an auxiliary parking function.

In a specific embodiment, the parking assistance device 1011 may obtain the location information of the vehicle based on a camera and/or a radar and/or a positioning system of the vehicle 101, obtain the activation information of the parking function from an automatic parking system of the vehicle 101, and determine the user intention according to the location information of the vehicle and the activation information of the parking function; next, when the parking assist apparatus 1011 detects the shift range change signal of the vehicle 101 and the user's intention is a manual parking in/out intention, the vehicle 101 is controlled to execute a manual parking assist strategy based on the driving state information of the vehicle 101.

Specifically, the manual parking space entering and exiting intention refers to an intention of driving to enter and exit a parking space under the condition that the automatic parking function is turned off, and the intention may include a manual parking space entering intention and a manual parking space exiting intention. Even though the automatic parking function has become widespread, there are still a large number of scenarios where users park manually, such as: the user is not used to or does not trust the automatic driving function, the automatic parking is stopped due to accidents, and the parking place which can be parked cannot be identified, so that the user needs to manually park subsequently; after the automatic parking is completed, the vehicle is not parked to the position or direction expected by the user, and the subsequent manual adjustment is needed by the user.

Specifically, the change in the surrounding environment may cause the parking to be suspended. For example, during movement of an automated parking vehicle, the camera may lose the view of the parking space due to obstacles in the terrain or a newly driven vehicle.

In particular, various factors may result in an inability to identify a parking spot. Under the condition that the vehicle speed is too high, the vehicle can quickly drive through the parking space without time for parking, and obstacles on a subsequent vehicle backward route can cause that the driven parking space can not be identified; the recognition capability of radar and camera recognition, and camera recognition alone is limited; under the condition that water stains exist in the parking space or under the condition that shadows caused by light irradiation exist in the parking space, the parking space searching function can prompt that obstacles exist in the parking space or can not identify the parking space which can be parked in; a parking space of a particular type, for example, a parking space in a particular terrain or in a particular shape, may not be recognized because the recognition range of the automatic parking function does not cover such a parking space.

In the above scenario, the auxiliary parking device 1011 may control the vehicle 101 to execute the manual parking auxiliary strategy in the process that the user manually enters or exits the parking space, so that the safety of the driving process may be ensured, and the user experience may be improved.

An exemplary flow of a parking assistance method provided by the present application is described below. In the method embodiment of the present application, the execution subject may be a vehicle, an auxiliary parking system in the vehicle, or an auxiliary parking device. Fig. 2 is a first flowchart of a parking assistance method according to an embodiment of the present application, and the present specification provides the method or the steps of the flowchart according to the embodiment or the flowchart, but may include more or less steps based on conventional or non-inventive labor. The sequence of steps recited in the embodiments is only one of many execution sequences, and does not represent the only execution sequence, and in actual execution, the steps can be executed according to the method or the flow sequence shown in the embodiment or the figure, or executed in parallel (for example, a parallel processor or a multi-thread processing environment). Specifically, as shown in fig. 2, the method includes:

step S201: the user intention is determined based on the location information of the vehicle and the activation information of the parking function.

In one specific embodiment, the position information of the vehicle may include positioning information of the vehicle, which may be obtained from data of a positioning system; the position information of the vehicle may also include surrounding environment information of the vehicle, which may be acquired by a detection device such as a camera or a radar; the activation information of the parking function may be acquired by an automatic parking system of the vehicle. Specifically, if the location information of the vehicle indicates that the vehicle has entered the parking space area and the activation information of the parking function is in an inactive state, it may be determined that the user intends to manually enter or exit the parking space.

Step S202: judging whether the user intention is the intention of manually entering or exiting the parking space or not, and detecting a gear change signal; if yes, the process proceeds to step S203.

Specifically, the gear change signal may be used to indicate that the gear of the vehicle is changed from an initial gear to a reverse gear, where the initial gear may be any gear other than the reverse gear, and when the gear change signal is detected, the vehicle starts to reverse. Specifically, the gear change signal can also be used for indicating that the gear of the vehicle is changed from the parking gear to the forward gear, and when the gear change signal is detected, the vehicle starts to advance from the parking state. The gear change signal may also be used to indicate that the gear of the vehicle has changed from an initial gear to a forward gear, which initial state may be any gear other than the forward gear, for example reverse gear. It should be noted that the gear change signal is generated by a manual gear shift by the user, but not an automatic gear shift by the automatic parking function.

Step S203: and controlling the vehicle to execute a manual parking assist strategy based on the driving state information of the vehicle.

In one specific embodiment, the manual parking assist strategy is stopped in the following scenarios: the automatic parking function of the vehicle and the vehicle body sensor do not identify the parking space; the automatic parking function of the vehicle identifies the parking space, but the vehicle is not put into a reverse gear or a forward gear by other gears; the vehicle body radar and the panoramic camera recognize that the vehicle leaves the parking space; the auto park function is active. That is, in the above scenario, the position information of the vehicle indicates that the body of the vehicle is not within the parking space, or that the automatic parking function is enabled, or that no shift is made to the forward or reverse gear.

An exemplary vehicle surroundings of a parking assistance method provided by the present application will be described below. FIG. 3 is a schematic view of a vehicle environment provided by an embodiment of the present application. As illustrated in fig. 3, a left obstacle 302, a right obstacle 303, a rear obstacle 304, and a front obstacle 305 may be present around the vehicle 301. Specifically, the left obstacle 302, the right obstacle 303, the rear obstacle 304, and the front obstacle 305 may be objects near parking spaces such as other vehicles, walls, pillars, fire plugs, and charging piles.

In the embodiment of the application, when a user manually drives a vehicle into or out of a parking space, the risk of collision or friction with the obstacles exists, and even if the distance early warning prompt exists, the user cannot easily judge when the user collides with the obstacles. By executing the auxiliary parking method, the parking driving process of the vehicle can be interfered, and the collision risk is reduced.

Specifically, when the vehicle 301 manually enters the parking space, the vehicle is closer to the rear obstacle 304, and therefore, the vehicle easily collides with the rear obstacle 304 if the vehicle is carelessly operated; in addition, there is a risk of collision with the left obstacle 302 and the right obstacle 303 during turning in the parking garage. When the vehicle 301 is manually driven away from the parking space, the vehicle is closer to the front obstacle 305, and therefore the vehicle is likely to collide with the front obstacle 305 if the vehicle is carelessly operated; in addition, there is a risk of collision with the left obstacle 302 and the right obstacle 303 during turning in the parking garage.

Specifically, if the vehicle 301 is in a narrow space, there may be multiple forward and reverse operations during the driving in and out of the vehicle, and there is a risk of collision with the left obstacle 302, the right obstacle 303, and the front obstacle 305 during forward operation and a risk of collision with the left obstacle 302, the right obstacle 303, and the rear obstacle 304 during reverse operation.

When a user operates a vehicle, the user may give up using the automatic parking function due to poor use of the automatic driving function or poor trust of the automatic driving system, which may cause an accident due to an operation error during manual parking. When the distance between the vehicle and the obstacle is close, the vehicle usually gives an alarm, but a user with a profound driving habit still controls the vehicle to be close to the obstacle even when the alarm sounds, and if the distance is judged incorrectly at the moment, accidents are easy to happen; moreover, the common user is easy to have misoperation to cause accidents under the condition of no support of the automatic parking function. Taking the exemplary flows illustrated in fig. 4a and 4b as examples, the embodiment of the present application may intervene in the parking process of the vehicle by executing the control vehicle in step S203 to execute the manual parking assist strategy, so as to avoid the occurrence of an accident. Step S203 is further explained below based on fig. 4a and 4 b.

Fig. 4a is a second flowchart of a parking assistance method according to an embodiment of the present application. Wherein steps S401-S407 are exemplary flows of step S203 illustrated in fig. 2. In this exemplary process, the manual parking space entering and exiting intention may be a manual parking space entering intention, and the gear change information in step S202 may be used to characterize that the gear of the vehicle is changed from the initial gear to the reverse gear. As shown in fig. 4a in particular, the method comprises:

step S401: an obstacle located on the rear side of the vehicle is determined.

Specifically, the obstacle on the rear side of the vehicle may include an obstacle behind the vehicle and obstacles on both sides of the vehicle. Taking the scenario illustrated in fig. 3 as an example, the obstacles on the rear side may include a left obstacle 302, a right obstacle 303, and a rear obstacle 304.

Step S402: judging whether the distance between the vehicle and the obstacle is detected to be continuously reduced along with the running of the vehicle; if yes, the process proceeds to step S403.

In a specific embodiment, the vehicle gear is switched from the initial gear to the reverse gear and the reverse operation is started, and taking the scenario illustrated in fig. 3 as an example, the vehicle 301 specifically determines whether the distance between the vehicle and the obstacle is detected to be continuously reduced along with the running of the vehicle, and the determination may be based on a preset detection time period. For example, if the distance continues to decrease within the preset detection time period, the process proceeds to step S403.

Step S403: judging whether the distance is smaller than a first distance threshold value; if yes, the process proceeds to step S404.

Step S404: the current gear of the vehicle is detected.

Step S405: judging whether the current gear is a reverse gear; if yes, the process proceeds to step S406.

Step S406: and controlling the gear of the vehicle to be changed from the reverse gear to the neutral gear.

Step S407: judging whether the distance is smaller than a second distance threshold value; if yes, the process proceeds to step S408.

Step S408: and controlling the vehicle to stop running.

In particular, the first distance threshold may be greater than the second distance threshold.

In a specific implementation manner, step S406 may further include: and if the brake pedal state is detected to be a release state, applying a preset braking force to the vehicle. The vehicle is guaranteed not to slide under the neutral gear, and the safety of the vehicle is guaranteed.

In a specific embodiment, steps S401-S408 may be performed when the vehicle is manually driven into a parking space, which is referred to as a vehicle reversing into a parking space. In another specific embodiment, steps S401-S408 may also be performed when the vehicle is backing out of the parking space. In another specific embodiment, steps S411-S418 may also be performed during the reverse process of backing up the vehicle into and out of the garage. When the distance between the vehicle and the obstacle is smaller than a first distance threshold value, the gear of the vehicle is controlled to be changed from a reverse gear to a neutral gear, so that the situation that the driver forgets that the vehicle needs to shift gears or the gear shifting operation is unsuccessful before the driver performs the next operation and directly steps on the accelerator, and the vehicle continuously moves according to the original gear to cause collision or danger is avoided. When the distance between the vehicle and the obstacle is smaller than the second distance threshold value, the vehicle is controlled to stop running, and the situation that the braking is not timely due to misoperation or misjudgment of a user can be prevented.

Fig. 4b is a third flowchart of a parking assistance method according to an embodiment of the present application. Wherein steps S411-S418 are exemplary flows of step S203 illustrated in fig. 2. In this exemplary process, the manual parking space entering and exiting intention may be a manual driving space leaving intention, and the gear change information in step S202 may be used to characterize that the gear of the vehicle is changed from the parking gear to the forward gear. Specifically, the gear change information may also be used to characterize that the gear of the vehicle is changed from an initial gear to a forward gear, and the initial gear may be any gear other than the forward gear. As shown in fig. 4b in particular, the method comprises:

step S411: an obstacle located on the front side of the vehicle is determined.

Specifically, the obstacle on the front side of the vehicle may include an obstacle in front of the vehicle and obstacles on both sides of the vehicle. Taking the scenario illustrated in fig. 3 as an example, the front obstacles may include a left obstacle 302, a right obstacle 303, and a front obstacle 305.

Step S412: judging whether the distance between the vehicle and the obstacle is detected to be continuously reduced along with the running of the vehicle; if yes, the process proceeds to step S413.

Specifically, the determination as to whether or not the distance between the vehicle and the obstacle is detected to continuously decrease as the vehicle travels may be made based on a preset detection time period. For example, if the distance continues to decrease within the preset detection time period, the process proceeds to step S413.

Step S413: judging whether the distance is smaller than a third distance threshold value; if yes, the process proceeds to step S414.

Step S414: the current gear of the vehicle is detected.

Step S415: judging whether the current gear is a forward gear; if yes, the process proceeds to step S416.

Step S416: the gear of the vehicle is controlled to change from the forward gear to the neutral gear.

Step S417: judging whether the distance is smaller than a fourth distance threshold value or not; if yes, the process proceeds to step S418.

Step S418: and controlling the vehicle to stop running.

In a specific embodiment, step S416 may further include: and if the brake pedal state is detected to be a release state, applying a preset braking force to the vehicle. The vehicle is guaranteed not to slide under the neutral gear, and the safety of the vehicle is guaranteed.

In one particular embodiment, steps S411-S418 may be performed when the vehicle is manually driven out of the space, which means that the vehicle is driving forward out of the space. In another specific embodiment, steps S411-S418 may also be performed when the vehicle is driving forward into a space. In another specific embodiment, steps S411 to S418 may also be performed during the forward process of backing up the vehicle and entering or leaving the vehicle, and the gear change signal is used to indicate that the vehicle is changed from the initial gear to the forward gear. And when the distance between the vehicle and the obstacle is smaller than a third distance threshold, controlling the gear of the vehicle to be changed from the forward gear to the neutral gear so as to prevent the driver from directly stepping on the accelerator before forgetting that the vehicle needs to shift or the gear shifting operation is unsuccessful before executing the next operation, so that the vehicle continues to move according to the original gear to cause collision or danger. When the distance between the vehicle and the obstacle is smaller than the fourth distance threshold value, the vehicle is controlled to stop running, and the situation that the braking is not timely due to misoperation or misjudgment of a user can be prevented.

When the vehicle is parked on a slope, the vehicle is easy to slide, and the degree of the vehicle sliding is different according to the difference of the ground sliding degree. Taking the exemplary flow illustrated in fig. 5 as an example, the parking assistance method according to the embodiment of the present application may intervene to prevent the vehicle from rolling. Step S203 is further explained below based on fig. 5.

Fig. 5 is a fourth flowchart illustrating a parking assistance method according to an embodiment of the present application. Wherein steps S501-S503 are an exemplary flow of step S203 illustrated in fig. 2. As shown in particular in fig. 5, the method comprises:

step S501: judging whether the driving state information of the vehicle comprises driving on a slope; if yes, the process proceeds to step S502.

Step S502: judging whether the state of the brake pedal is detected to be a released state or not; if yes, the process proceeds to step S503.

Step S503: a first braking force is applied to the vehicle.

Specifically, the first braking force may be used to prevent the vehicle from rolling.

In the case of performing steps S501 to S503, the manual parking space entering and exiting intention in step S202 may be a manual parking space entering intention, and correspondingly, the gear change information may be used to represent that the gear of the vehicle is changed from the initial gear to the reverse gear; the manual parking space entering and exiting intention in step S202 may be a manual parking space leaving intention, and correspondingly, the gear change information may be used to represent that the gear of the vehicle is changed from the parking gear to the forward gear. By executing the steps S501-S503, when the vehicle is manually driven into or out of the parking space, even if the driver releases the brake pedal, the vehicle keeps applying a certain brake force, so that the vehicle is ensured not to slide under the condition of a certain gradient, and the safety of the vehicle is ensured.

Since the vehicle is more likely to slip on a slope with a high ground humidity, in a specific embodiment, step S203 may further include the steps of: if the brake pedal is detected to be in a release state and weather information is determined to be rain weather, determining that the first braking force is a first preset value; and if the brake pedal state is detected to be the release state and the weather information is determined not to be the rain weather, determining that the magnitude of the first braking force is the second preset value. Wherein the first preset value is larger than the second preset value.

Considering that there may be a misoperation of stepping on the accelerator deeply by the user, taking the exemplary flow illustrated in fig. 5 as an example, the parking assistance method according to the embodiment of the present application may intervene in this situation, so as to prevent a dangerous situation from occurring. Step S203 is further explained below based on fig. 6.

Fig. 6 is a fifth flowchart illustrating a parking assistance method according to an embodiment of the present application. Wherein steps S601-S602 are exemplary flows of step S203 illustrated in fig. 2. As shown in fig. 6 in particular, the method comprises:

step S601: judging whether a gearbox upshift request is detected; if yes, the process proceeds to step S602.

Step S602: the vehicle is controlled to be unresponsive.

In the embodiment of the application, when the user does not start the automatic parking function, the safe driving of the user is taken as a primary goal, so the gear-up of the gearbox is limited when the gear-up request of the gearbox exists, and the driving safety of the vehicle is ensured. It is to be noted that gearbox upshifts are not equivalent to manual shifting of gears, alternatively gearbox upshifts are performed automatically in an automatic transmission vehicle.

Accordingly, the application provides a parking assisting device. Fig. 7 is a schematic structural diagram of a parking assist apparatus according to an embodiment of the present application. As illustrated in fig. 7, the parking assist apparatus 700 includes:

the determining module 701 is used for determining the user intention according to the position information of the vehicle and the activation information of the parking function.

The control module 702 is configured to, if the user intention is an intention to manually enter or exit the parking space and a gear change signal is detected, control the vehicle to execute a manual parking assist strategy based on the driving state information of the vehicle.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space entering intention, the gear change information is used for representing that the gear of the vehicle is changed from an initial gear to a reverse gear; the control module 702 is used to determine an obstacle located on the rear side of the vehicle; detecting the current gear of the vehicle if the distance is smaller than a first distance threshold value under the condition that the distance between the vehicle and the obstacle is continuously reduced along with the running of the vehicle; if the current gear is a reverse gear, controlling the gear of the vehicle to be changed from the reverse gear to a neutral gear; if the distance is smaller than the second distance threshold value, controlling the vehicle to stop running; the first distance threshold is greater than the second distance threshold.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space leaving intention, the gear change information is used for representing that the gear of the vehicle is changed from a parking gear to a forward gear; the control module 702 is configured to determine an obstacle located on a front side of a vehicle; detecting the current gear of the vehicle if the distance is smaller than a third distance threshold value under the condition that the distance between the vehicle and the obstacle is continuously reduced along with the running of the vehicle; if the current gear is a forward gear, controlling the gear of the vehicle to be changed from the forward gear to a neutral gear; if the distance is smaller than the fourth distance threshold value, controlling the vehicle to stop running; the third distance threshold is greater than the fourth distance threshold.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space entering intention, the gear change information is used for representing that the gear of the vehicle is changed from an initial gear to a reverse gear; the control module 702 is configured to determine that the driving status information of the vehicle includes driving on a hill; if the brake pedal state is detected to be a release state, applying a first braking force to the vehicle; the first braking force is used for preventing the vehicle from rolling.

Specifically, when the manual parking space entering and exiting intention comprises a manual parking space leaving intention, the gear change information is used for representing that the gear of the vehicle is changed from a parking gear to a forward gear; the control module 702 is configured to determine that the driving status information of the vehicle includes driving on a hill; if the brake pedal state is detected to be a release state, applying a first braking force to the vehicle; the first braking force is used for preventing the vehicle from rolling.

Specifically, the control module 702 is configured to determine that the magnitude of the first braking force is a first preset value if it is detected that the brake pedal state is the released state and it is determined that the weather information is rain weather; if the brake pedal is detected to be in a release state and the weather information is determined not to be rain weather, determining that the magnitude of the first braking force is a second preset value; wherein the first preset value is larger than the second preset value.

In particular, the control module 702 is configured to control the vehicle to not respond if a transmission upshift request is detected.

The device and method embodiments in the embodiments of the present application are based on the same application concept. Specifically, the parking assist apparatus 700 may correspond to the parking assist apparatus 1011 illustrated in fig. 1.

The method provided by the embodiment of the application can be executed in a computer terminal, a server or a similar operation device. Taking the operation on the server as an example, fig. 7 is a hardware structure block diagram of the server of the parking assistance method provided in the embodiment of the present application. As shown in fig. 7, the server 700 may have a relatively large difference due to different configurations or performances, and may include one or more Central Processing Units (CPUs) 710 (the CPU 710 may include but is not limited to a Processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 730 for storing data, and one or more storage media 720 (e.g., one or more mass storage devices) for storing applications 723 or data 722. Memory 730 and storage medium 720 may be, among other things, transient storage or persistent storage. The program stored in the storage medium 720 may include one or more modules, each of which may include a series of instruction operations for the server. Still further, central processor 710 may be configured to communicate with storage medium 720 and execute a series of instruction operations in storage medium 720 on server 700. The server 700 may also include one or more power supplies 760, one or more wired or wireless network interfaces 750, one or more input-output interfaces 740, and/or one or more operating systems 721, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

The input/output interface 740 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 700. In one example, the input/output Interface 740 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the input/output interface 740 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.

It will be understood by those skilled in the art that the structure shown in fig. 7 is only an illustration and is not intended to limit the structure of the electronic device. For example, server 700 may also include more or fewer components than shown in FIG. 7, or have a different configuration than shown in FIG. 7.

An embodiment of the present application further provides an electronic device, which includes a processor and a memory, where the memory stores at least one instruction, at least one program, a code set, or an instruction set, and the at least one instruction, the at least one program, the code set, or the instruction set is loaded and executed by the processor to implement the parking assistance method.

The present application provides a storage medium, which may be disposed in a server to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing an auxiliary parking method in an embodiment of the method, where the at least one instruction, the at least one program, the code set, or the set of instructions is loaded and executed by the processor to implement the auxiliary parking method.

Specifically, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, a storage medium including: various media that can store program codes, such as a usb disk, a Read-only Memory (ROM), a removable hard disk, a magnetic disk, or an optical disk.

In the present invention, unless otherwise expressly stated or limited, the terms "connected" and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It should be noted that: the foregoing sequence of the embodiments of the present application is for description only and does not represent the superiority and inferiority of the embodiments, and the specific embodiments are described in the specification, and other embodiments are also within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in the order of execution in different embodiments and achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown or connected to enable the desired results to be achieved, and in some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

All the embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment is described with emphasis on differences from other embodiments. In particular, for the embodiments of the apparatus/system, since they are based on embodiments similar to the method embodiments, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiments.

The foregoing is a preferred embodiment of the present invention, and it should be noted that it would be apparent to those skilled in the art that various modifications and enhancements can be made without departing from the principles of the invention, and such modifications and enhancements are also considered to be within the scope of the invention.

Claims

1. A method for assisting in parking a vehicle, the method comprising:

determining a user intention according to the position information of the vehicle and the activation information of the parking function;

and if the user intention is the intention of manually entering or exiting the parking space and the gear change signal is detected, controlling the vehicle to execute a manual parking auxiliary strategy based on the driving state information of the vehicle.

2. The auxiliary parking method according to claim 1, wherein when the manual entry/exit space intention includes a manual entry space intention, the gear change information is used for representing that the gear of the vehicle is changed from an initial gear to a reverse gear; the controlling the vehicle to execute a manual parking assist strategy based on the driving state information of the vehicle includes:

determining an obstacle located on a rear side of the vehicle;

under the condition that the distance between the vehicle and the obstacle is detected to be continuously reduced along with the running of the vehicle, if the distance is smaller than a first distance threshold value, detecting the current gear of the vehicle;

if the current gear is the reverse gear, controlling the gear of the vehicle to be changed from the reverse gear to a neutral gear;

if the distance is smaller than a second distance threshold value, controlling the vehicle to stop running;

the first distance threshold is greater than the second distance threshold.

3. The parking assist method according to claim 1, wherein when the manual entry/exit space intention includes a manual exit space intention, the shift change information is used to characterize that the shift position of the vehicle is changed from a parking shift position to a forward shift position; the controlling the vehicle to execute a manual parking assist strategy based on the driving state information of the vehicle includes:

determining an obstacle located on a front side of the vehicle;

under the condition that the distance between the vehicle and the obstacle is detected to be continuously reduced along with the running of the vehicle, if the distance is smaller than a third distance threshold value, detecting the current gear of the vehicle;

if the current gear is the forward gear, controlling the gear of the vehicle to be changed from the forward gear to a neutral gear;

if the distance is smaller than a fourth distance threshold value, controlling the vehicle to stop running; the third distance threshold is greater than the fourth distance threshold.

4. The auxiliary parking method according to claim 1, wherein when the manual entry/exit space intention includes a manual entry space intention, the gear change information is used for representing that the gear of the vehicle is changed from an initial gear to a reverse gear; the controlling the vehicle to execute a manual parking assist strategy based on the driving state information of the vehicle includes:

determining that the driving state information of the vehicle includes driving on a slope;

if the brake pedal state is detected to be a release state, applying a first braking force to the vehicle; the first braking force is used for preventing the vehicle from rolling.

5. The parking assist method according to claim 1, wherein when the manual entry/exit space intention includes a manual exit space intention, the shift change information is used to characterize that the shift position of the vehicle is changed from a parking shift position to a forward shift position; the controlling the vehicle to execute a manual parking assist strategy based on the driving state information of the vehicle includes:

6. An assisted parking method according to claim 4 or 5, wherein the controlling the vehicle to execute a manual parking assist strategy comprises:

if the brake pedal is detected to be in a release state and weather information is determined to be rain weather, determining that the first braking force is a first preset value;

if the brake pedal is detected to be in a release state and weather information is determined not to be rain weather, determining that the first braking force is in a second preset value;

wherein the first preset value is greater than the second preset value.

7. The auxiliary parking method according to claim 1, wherein the controlling the vehicle to execute a manual parking assist strategy based on the driving state information of the vehicle includes:

and if the request for the gear-box upshifting is detected, controlling the vehicle to not respond.

8. A parking assist apparatus, characterized by comprising:

the determining module is used for determining the user intention according to the position information of the vehicle and the activation information of the parking function;

and the control module is used for controlling the vehicle to execute a manual parking auxiliary strategy based on the driving state information of the vehicle if the user intention is the intention of manually entering or exiting the parking space and the gear change signal is detected.

9. An electronic device comprising a processor and a memory, wherein the memory has stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, which are loaded and executed by the processor to implement the method of assisting parking according to any one of claims 1 to 7.

10. A computer-readable storage medium, wherein at least one instruction, at least one program, a set of codes, or a set of instructions is stored in the storage medium, and the at least one instruction, the at least one program, the set of codes, or the set of instructions is loaded and executed by a processor to implement the method for assisting parking according to any one of claims 1 to 7.