CN-115743093-B - Vehicle control method, device, automatic parking auxiliary controller, terminal and system

CN115743093BCN 115743093 BCN115743093 BCN 115743093BCN-115743093-B

Abstract

The invention discloses a vehicle control method, a vehicle control device, an automatic parking auxiliary controller, a terminal and a system. The vehicle control method is applied to an automatic parking auxiliary APA controller and comprises the steps of sending images acquired by a plurality of cameras arranged on a vehicle and camera calibration data to a terminal, enabling the terminal to determine parking space information according to the images and the camera calibration data and construct an electronic map, receiving the parking space information and the electronic map information returned by the terminal, determining a parking track according to the parking space information, the electronic map information and radar data, and controlling the vehicle to park in a target parking space according to the parking track. According to the technical scheme, the APA controller sends the image and the camera standard data to the terminal, the terminal determines the parking space information and constructs the electronic map, and the terminal returns the parking space information and the electronic map information to the APA controller, so that the APA controller determines the parking track and controls the vehicle to park in the target parking space according to the parking track, and hardware resources of the vehicle are saved.

Inventors

WU ZHIKUAN
LI JIANPING

Assignees

惠州市德赛西威汽车电子股份有限公司

Dates

Publication Date: 20260505
Application Date: 20220801

Claims (10)

1. A vehicle control method applied to an automatic parking assist APA controller, the method comprising: Transmitting images acquired by a plurality of cameras arranged on a vehicle and camera calibration data to a terminal, so that the terminal determines parking space information according to the images and the camera calibration data and constructs an electronic map; Receiving parking space information and electronic map information returned by the terminal; Determining a parking track according to the parking space information, the electronic map information and the radar data, and controlling the vehicle to park in a target parking space according to the parking track; The electronic map at least comprises obstacle information, other vehicle information and parking space information around the vehicle, wherein the radar data at least comprises relative distance, relative speed, angle or movement direction between the vehicle and other objects; The determining a parking track according to the parking space information, the electronic map information and the radar data comprises the following steps: determining a target parking space according to the parking space information; Determining the position of the target parking space relative to the vehicle and the situation of obstacles or other vehicles around the path from the vehicle to the target parking space according to the electronic map information; Determining a relative distance, a relative speed, an angle or a movement direction between the vehicle and other objects according to the radar data; And planning a parking track of the vehicle driving into the target parking space according to the content determined based on the parking space information, the electronic map information and the radar data.
2. The method of claim 1, further comprising, prior to controlling the vehicle to be parked in the target parking space according to the parking trajectory: And carrying out a linkage handshake with the vehicle, wherein the linkage comprises at least one of a vehicle body control module, an electronic parking brake system, an electronic power steering system, an electronic stability control unit and an automatic transmission control unit.
3. The method of claim 1, further comprising, prior to determining a parking trajectory from the parking space information, the electronic map information, and radar data: And determining the target parking space according to the selection operation of the user on the parking space information.
4. The method as recited in claim 1, further comprising: and splicing the images acquired by the cameras according to the camera calibration data, and displaying the spliced images in a central control screen of the vehicle.
5. A vehicle control method, characterized by being applied to a terminal, the method comprising: receiving an image and camera calibration data sent by an automatic parking auxiliary APA controller, wherein the image is acquired by a plurality of cameras arranged on a vehicle; determining parking space information according to the image and the camera calibration data and constructing an electronic map; returning parking space information and electronic map information to the APA controller so that the APA controller determines a parking track according to the parking space information, the electronic map information and radar data and controls the vehicle to park in a target parking space according to the parking track; The electronic map at least comprises obstacle information, other vehicle information and parking space information around the vehicle, wherein the radar data at least comprises relative distance, relative speed, angle or movement direction between the vehicle and other objects; The determining a parking track according to the parking space information, the electronic map information and the radar data comprises the following steps: determining a target parking space according to the parking space information; Determining the position of the target parking space relative to the vehicle and the situation of obstacles or other vehicles around the path from the vehicle to the target parking space according to the electronic map information; Determining a relative distance, a relative speed, an angle or a movement direction between the vehicle and other objects according to the radar data; And planning a parking track of the vehicle driving into the target parking space according to the content determined based on the parking space information, the electronic map information and the radar data.
6. A vehicle control apparatus characterized by comprising: the sending module is used for sending images acquired by a plurality of cameras arranged on the vehicle and camera calibration data to the terminal so that the terminal can determine parking space information according to the images and the camera calibration data and construct an electronic map; The information receiving module is used for receiving the parking space information and the electronic map information returned by the terminal; the control module is used for determining a parking track according to the parking space information, the electronic map information and the radar data and controlling the vehicle to park in a target parking space according to the parking track; The electronic map at least comprises obstacle information, other vehicle information and parking space information around the vehicle, wherein the radar data at least comprises relative distance, relative speed, angle or movement direction between the vehicle and other objects; the control module is specifically configured to: determining a target parking space according to the parking space information; Determining the position of the target parking space relative to the vehicle and the situation of obstacles or other vehicles around the path from the vehicle to the target parking space according to the electronic map information; Determining a relative distance, a relative speed, an angle or a movement direction between the vehicle and other objects according to the radar data; And planning a parking track of the vehicle driving into the target parking space according to the content determined based on the parking space information, the electronic map information and the radar data.
7. A vehicle control apparatus characterized by comprising: The receiving module is used for receiving images and camera calibration data sent by the automatic parking auxiliary APA controller, wherein the images are collected by a plurality of cameras arranged on the vehicle; the construction module is used for determining parking space information according to the image and the camera calibration data and constructing an electronic map; The information return module is used for returning parking space information and electronic map information to the APA controller so that the APA controller can determine a parking track according to the parking space information, the electronic map information and radar data and control the vehicle to park in a target parking space according to the parking track; The electronic map at least comprises obstacle information, other vehicle information and parking space information around the vehicle, wherein the radar data at least comprises relative distance, relative speed, angle or movement direction between the vehicle and other objects; The determining a parking track according to the parking space information, the electronic map information and the radar data comprises the following steps: determining a target parking space according to the parking space information; Determining the position of the target parking space relative to the vehicle and the situation of obstacles or other vehicles around the path from the vehicle to the target parking space according to the electronic map information; Determining a relative distance, a relative speed, an angle or a movement direction between the vehicle and other objects according to the radar data; And planning a parking track of the vehicle driving into the target parking space according to the content determined based on the parking space information, the electronic map information and the radar data.
8. An automatic parking assist controller, comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of claims 1-4.
9. A terminal, comprising: at least one processor, and A memory communicatively coupled to the at least one processor, wherein, The memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle control method of claim 5.
10. A vehicle control system comprising the APA controller of claim 8 and the terminal of claim 9.

Description

Vehicle control method, device, automatic parking auxiliary controller, terminal and system Technical Field The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle control method, a vehicle control device, an automatic parking auxiliary controller, a terminal and a system. Background With the development of vehicle control technology, automatic parking technology is gradually incorporated into more vehicle types. The automatic parking technology can acquire images acquired by a radar arranged on a vehicle through a visual algorithm, process the images, further determine parking space information, construct an electronic map, and then determine a parking track by combining a regulation algorithm so as to control the parking of the vehicle. In the prior art, most of visual algorithms of Automatic parking technology are deployed on an Automatic parking auxiliary controller (Automatic PARK ASSIST, APA) of a vehicle, so that hardware equipment on the vehicle is complicated. When The vision algorithm needs to be updated to The vehicle after being promoted, whether The hardware resource of The vehicle can support The updated vision algorithm needs to be considered, and when The vision algorithm is updated, the vision algorithm needs to be updated remotely through a remote upgrade technology (OTA) for a plurality of times, so that The updating of The vision algorithm becomes complicated. Disclosure of Invention The invention provides a vehicle control method, a device, an automatic parking auxiliary controller, a terminal and a system, wherein a visual algorithm is arranged at the terminal, so that hardware resources of a vehicle are saved, the problem that the visual algorithm is complicated to upgrade in an APA controller of the vehicle is solved, and user experience is improved. In a first aspect, an embodiment of the present invention provides a vehicle control method applied to an automatic parking assist APA controller, including: Transmitting images acquired by a plurality of cameras arranged on a vehicle and camera calibration data to a terminal, so that the terminal determines parking space information according to the images and the camera calibration data and constructs an electronic map; Receiving parking space information and electronic map information returned by the terminal; and determining a parking track according to the parking space information, the electronic map information and the radar data, and controlling the vehicle to park in a target parking space according to the parking track. In a second aspect, an embodiment of the present invention provides a vehicle control method, which is applied to a terminal, including: receiving an image and camera calibration data sent by an automatic parking auxiliary APA controller, wherein the image is acquired by a plurality of cameras arranged on a vehicle; determining parking space information according to the image and the camera calibration data and constructing an electronic map; and returning parking space information and electronic map information to the APA controller so that the APA controller determines a parking track according to the parking space information, the electronic map information and the radar data and controls the vehicle to park in a target parking space according to the parking track. In a third aspect, an embodiment of the present invention provides a vehicle control apparatus including: the sending module is used for sending images acquired by a plurality of cameras arranged on the vehicle and camera calibration data to the terminal so that the terminal can determine parking space information according to the images and the camera calibration data and construct an electronic map; The information receiving module is used for receiving the parking space information and the electronic map information returned by the terminal; and the control module is used for determining a parking track according to the parking space information, the electronic map information and the radar data and controlling the vehicle to park in a target parking space according to the parking track. In a fourth aspect, an embodiment of the present invention provides a vehicle control apparatus including: The receiving module is used for receiving images and camera calibration data sent by the automatic parking auxiliary APA controller, wherein the images are collected by a plurality of cameras arranged on the vehicle; the construction module is used for determining parking space information according to the image and the camera calibration data and constructing an electronic map; and the information return module is used for returning parking space information and electronic map information to the APA controller so that the APA controller can determine a parking track according to the parking space information, the electronic map information and radar data and control the vehicle to park in a target park