CN118323114B - Automatic parking method, vehicle, electronic device and storage medium - Google Patents

Abstract

The application provides an automatic parking method, a vehicle, electronic equipment and a storage medium, wherein the method comprises the following steps: determining a parking location of the vehicle in response to the automatic parking request; acquiring the exposure rate of the user on the vulnerable road matched with the parking position; wherein the vulnerable road user exposure rate is used to characterize the frequency of encountering a vulnerable road user when the vehicle automatically cruises to the parking location within a historical period of time; determining a maximum cruising speed of the vehicle according to the vulnerable road user exposure; and controlling the vehicle to automatically cruise to the parking position according to the maximum cruising speed. The application can accurately evaluate the maximum cruising speed of the vehicle during automatic parking, and improve the driving experience of a user while ensuring the safety of automatic cruising.

Description

Automatic parking method, vehicle, electronic device and storage medium

Technical Field

The present application relates to the field of vehicle technology, and in particular to an automatic parking method, a vehicle, an electronic device and a storage medium.

Background Art

As the software and mechatronics technology of mass-produced passenger cars become increasingly complex, the risks from systematic failures and random hardware failures are gradually increasing. Functional safety means "there is no unreasonable risk caused by hazards caused by abnormal performance of electronic and electrical systems", that is, functional safety focuses on whether the system can enter a safe state after failure to avoid greater hazards, or reduce the probability of hazards through safety measures, rather than the original functions or performance of the system, so as to ensure the functional safety of electronic and electrical systems and the safety of drivers and vulnerable road users.

With the development and use of intelligent driving systems in automobiles, functional safety hazard analysis and risk assessment of intelligent driving systems have become particularly important. For example, how to accurately evaluate the maximum cruising speed of the currently popular memory parking (VPA) function in the automatic parking scenario has become an urgent problem to be solved in this field.

Summary of the invention

In view of this, the present application provides an automatic parking method, a vehicle, an electronic device and a storage medium, which can accurately evaluate the maximum cruising speed of the vehicle during automatic parking, while ensuring the safety of automatic cruising and improving the user's driving experience.

An embodiment of the present application provides an automatic parking method, comprising: determining a parking position of a vehicle in response to an automatic parking request; obtaining a vulnerable road user exposure rate that matches the parking position; wherein the vulnerable road user exposure rate is used to characterize the frequency of encountering vulnerable road users when the vehicle automatically cruises to the parking position within a historical time period; determining a maximum cruising speed of the vehicle according to the vulnerable road user exposure rate; and controlling the vehicle to automatically cruise to the parking position according to the maximum cruising speed.

Compared with the related art, the embodiment of the present application has at least the following advantages: after determining the parking position of the vehicle, the vulnerable road user exposure rate matching the parking position is obtained, and then the maximum cruising speed of the vehicle is determined according to the vulnerable road user exposure rate. Since the vulnerable road user exposure rate represents the frequency of encountering vulnerable road users when the vehicle automatically cruises to the parking position in the historical time period, the maximum cruising speed determined according to the vulnerable road user exposure rate can meet the driving safety requirements, improve the accuracy of evaluating the maximum cruising speed of the vehicle when automatically parking, and ensure that when the vehicle automatically cruises to the parking position at the maximum cruising speed, it can also brake in time when a vulnerable road user appears in front of the driving path, thereby ensuring driving safety while improving the user's driving experience.

In some possible implementations, before obtaining the vulnerable road user exposure rate that matches the parking position, the method further includes: during the historical time period, each time the vehicle automatically cruises to the parking position, detecting whether a vulnerable road user appears within a preset distance in front of the vehicle's driving path; when a vulnerable road user is detected within the preset distance in front of the vehicle's driving path, adding 1 to the total number of times the vehicle encounters a vulnerable road user.

In some possible implementations, obtaining the vulnerable road user exposure rate that matches the parking position includes: determining the vulnerable road user exposure rate based on a total number of times the vehicle encounters vulnerable road users when automatically cruising to the parking position during the historical time period.

In some possible implementations, determining the maximum cruising speed of the vehicle based on the vulnerable road user exposure rate includes: detecting whether the total number of encounters with vulnerable road users is greater than or equal to 1 and less than or equal to a first preset number; when detecting that the total number of encounters with vulnerable road users is 0, determining the maximum cruising speed to be the first preset speed; when detecting that the total number of encounters with vulnerable road users is greater than or equal to 1 and less than or equal to the first preset number, determining the maximum cruising speed to be the second preset speed; wherein the second preset speed is less than the first preset speed; when detecting that the total number of encounters with vulnerable road users is greater than the first preset number, determining the maximum cruising speed to be the third preset speed; wherein the third preset speed is less than the second preset speed.

In some possible implementations, the first preset speed is determined according to the following method: obtaining the acceleration of the vehicle when braking and the braking reaction time of the vehicle when automatically cruising; and calculating the first preset speed according to the acceleration, the braking reaction time and the preset distance.

In some possible implementations, before acquiring the exposure rate of vulnerable road users that matches the parking location, it also includes: detecting whether the number of times the vehicle automatically cruises to the parking location within the historical time period is greater than a second preset number; acquiring the exposure rate of vulnerable road users that matches the parking location includes: when detecting that the number of times the vehicle automatically cruises to the parking location within the historical time period is greater than or equal to the second preset number, acquiring the exposure rate of vulnerable road users that matches the parking location.

In some possible implementations, the method further includes: when it is detected that the number of times the vehicle automatically cruises to the parking position during the historical time period is less than the second preset number, controlling the vehicle to automatically cruise to the parking position according to a preset cruising speed; wherein the preset cruising speed is determined based on the braking reaction time and braking performance of the vehicle during automatic cruising.

A second aspect of the present application discloses a vehicle, comprising: a parking position confirmation module, a vulnerable road user exposure rate acquisition module, a cruising speed acquisition module and a parking module; the parking position confirmation module is used to determine the parking position of the vehicle in response to an automatic parking request; the vulnerable road user exposure rate acquisition module is used to acquire a vulnerable road user exposure rate matching the parking position; wherein the vulnerable road user exposure rate is used to characterize the frequency of encountering vulnerable road users when the vehicle automatically cruises to the parking position within a historical time period; the cruising speed acquisition module is used to determine the maximum cruising speed of the vehicle according to the vulnerable road user exposure rate; and the parking module is used to control the vehicle to automatically cruise to the parking position according to the maximum cruising speed.

The third aspect of the present application discloses an electronic device, which includes a processor and a memory, wherein the memory is used to store instructions, and the processor is used to call the instructions in the memory so that the electronic device executes the above-mentioned automatic parking method.

A fourth aspect of the present application discloses a storage medium, including computer instructions. When the computer instructions are executed on an electronic device, the electronic device executes the above-mentioned automatic parking method.

It can be understood that the vehicle of the second aspect, the electronic device of the third aspect and the storage medium of the fourth aspect provided above all correspond to the method of the first aspect. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above and will not be repeated here.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a flow chart of an automatic parking method provided in accordance with an embodiment of the present application.

FIG. 2 is another schematic flow chart of an automatic parking method provided in an embodiment of the present application.

FIG. 3 is another schematic flow chart of an automatic parking method provided in an embodiment of the present application.

FIG. 4 is a schematic diagram of a scenario in which a vulnerable road user appears in front of a vehicle according to an embodiment of the present application.

FIG. 5 is a schematic diagram of the structure of a vehicle provided in one embodiment of the present application.

FIG. 6 is a schematic diagram of functional modules of an electronic device provided in one embodiment of the present application.

DETAILED DESCRIPTION

In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application is described in detail below in conjunction with the accompanying drawings and specific implementations. It should be noted that the implementations of the present application and the features in the implementations can be combined with each other without conflict.

In the following description, many specific details are set forth to facilitate a full understanding of the present application. The described implementations are only part of the implementations of the present application, rather than all of the implementations.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

It should be further noted that, in this article, the terms "comprises", "includes" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

In this application, "at least one" means one or more, and "more than one" means two or more than two. "And/or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and/or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

Please refer to FIG1 , which is a flow chart of an automatic parking method provided in an embodiment of the present application. This embodiment is applied to a vehicle and includes the following steps:

Step 101: In response to an automatic parking request, determine a parking position of a vehicle.

In some embodiments, the vehicle includes a physical button that matches automatic parking, and the driver enters the automatic parking mode by clicking the physical button.

In some embodiments, the vehicle includes a voice control device, and the driver causes the vehicle to enter the automatic parking mode by voice. For example, the driver says "enter the automatic parking mode", and the voice control device controls the vehicle to enter the automatic parking mode after receiving the voice signal.

In some embodiments, the vehicle includes a central control display screen, and the driver can also operate on the central control display screen to put the vehicle into automatic parking mode.

It is understandable that the parking position of the vehicle can be determined by the driver's voice input or text input. For example, after the driver clicks "enter automatic parking mode" on the central control display screen and then enters the destination, the vehicle can determine the current parking position.

In some embodiments, the vehicle can store multiple parking positions. For example, the driver can click on a pre-stored parking position on the central control display screen, and the vehicle can determine the current parking position.

Step 102: Obtain a vulnerable road user exposure rate that matches the parking position; wherein the vulnerable road user exposure rate is used to characterize the frequency of encountering vulnerable road users when the vehicle automatically cruises to the parking position within a historical time period.

Specifically, vulnerable road users refer to groups that are relatively vulnerable to harm in road traffic, mainly including pedestrians, cyclists, bus passengers, etc. These groups are in a relatively vulnerable state when using the road, so they are called vulnerable groups in road safety.

In some embodiments, the length of the historical time period is not specifically limited. The historical time period can be one month, two months, etc., and can be set according to actual needs.

It is worth noting that the length of the historical time period is preferably greater than or equal to one month. In this way, the accuracy of the acquired vulnerable road user exposure rate can be further improved.

In some embodiments, the vulnerable road user exposure rates matched to different parking positions may be the same or different. Specifically, the vulnerable road user exposure rate matched to each parking position is determined based on the frequency of encountering vulnerable road users when the vehicle automatically cruises to the parking position in a historical time period.

In some embodiments, during a historical time period, each time the vehicle automatically cruises to a parking position, it detects whether a vulnerable road user appears within a preset distance ahead of the vehicle's driving path, and when a vulnerable road user is detected within the preset distance ahead of the vehicle's driving path, the total number of times the vehicle encounters a vulnerable road user is increased by 1.

The specific numerical value of the preset distance is described in detail in the subsequent embodiments, and will not be repeated here to avoid repetition.

Specifically, the vehicle includes ADAS (Advanced Driving Assistance System). ADAS uses various sensors installed on the vehicle, such as millimeter-wave radar, lidar, single/binocular cameras, and satellite navigation, to sense the surrounding environment at any time during the driving process of the car, collect data, and identify, detect, and track static and dynamic objects. ADAS can also combine navigation map data to perform systematic calculations and analysis, so that the driver can be aware of possible dangers in advance, effectively increasing the comfort and safety of car driving. Therefore, ADAS can detect whether there are vulnerable road users within a preset distance in front of the vehicle's driving path.

In some embodiments, there is no specific limitation on the size of the preset distance and it can be set according to actual needs. It only needs to ensure that the vehicle can brake within the preset distance during the automatic cruising process.

In some embodiments, the vulnerable road user exposure rate is determined based on the total number of times the vehicle encounters vulnerable road users when automatically cruising to a parking position during a historical period of time.

For ease of understanding, taking a historical period of one month as an example, how to determine the exposure rate of vulnerable road users in this embodiment is specifically described:

Assume that the number of times the vehicle automatically cruises to parking position A in a month is 40 times. During each automatic cruise, if the vehicle detects a vulnerable road user within a preset distance ahead of the driving path, the total number of times the vehicle encounters vulnerable road users is increased by 1. It can be understood that for the same automatic cruise, as long as the vehicle encounters a vulnerable road user during the automatic cruise, no matter how many times the vulnerable road user is encountered, the total number of times the vehicle encounters vulnerable road users is increased by 1. Assuming that the total number of times the vehicle encounters vulnerable road users is 10 times, the vulnerable road user exposure rate is determined based on 10 times.

Step 103: Determine the maximum cruising speed of the vehicle according to the vulnerable road user exposure rate.

How to determine the maximum cruising speed of the vehicle according to the exposure rate of vulnerable road users is described in detail in subsequent embodiments, and will not be described again here to avoid repetition.

Step 104: Control the vehicle to automatically cruise to a parking position according to the maximum cruising speed.

In some embodiments, the vehicle can be controlled to automatically cruise to the parking position at the maximum cruising speed, or the vehicle can be controlled to automatically cruise to the parking position at a speed less than the maximum cruising speed. In other words, the speed at which the vehicle automatically cruises to the parking position does not exceed the maximum cruising speed.

Compared with the related art, the embodiment of the present application has at least the following advantages: after determining the parking position of the vehicle, the vulnerable road user exposure rate matching the parking position is obtained, and then the maximum cruising speed of the vehicle is determined according to the vulnerable road user exposure rate. Since the vulnerable road user exposure rate represents the frequency of encountering vulnerable road users when the vehicle automatically cruises to the parking position in the historical time period, the maximum cruising speed determined according to the vulnerable road user exposure rate can meet the driving safety requirements, improve the accuracy of evaluating the maximum cruising speed of the vehicle when automatically parking, ensure that when the vehicle automatically cruises to the parking position at the maximum cruising speed, it can also brake in time when a vulnerable road user appears in front of the driving path, thereby ensuring driving safety while improving the user's driving experience.

Please refer to Figure 2, which is a flow chart of an automatic parking method provided by an embodiment of the present application. This embodiment is a further improvement of the above-mentioned embodiment. The main improvement is that before obtaining the number of vulnerable road user exposures matching the parking destination, it also includes: before obtaining the vulnerable road user exposure rate matching the parking position, it also detects whether the number of times the vehicle automatically cruises to the parking position in the historical time period is greater than the second preset number. In this way, the accuracy of the maximum cruising speed can be further improved, thereby further ensuring the safety of automatic cruising.

This embodiment is applied to a vehicle, and the specific process is shown in FIG2 , including the following steps:

Step 201: In response to an automatic parking request, determine a parking position of a vehicle.

Step 202, detect whether the number of times the vehicle automatically cruises to the parking position in the historical time period is greater than or equal to a second preset number. When it is detected that the number of times the vehicle automatically cruises to the parking position in the historical time period is greater than or equal to the second preset number, execute step 203; otherwise, execute step 206.

In some embodiments, the second preset number of times is not specifically limited and can be set according to actual needs. For example, the second preset number of times can be 30 times, 35 times, 40 times, etc.

It is worth noting that if the vehicle automatically cruises to the parking position less frequently within a historical time period, the exposure rate of vulnerable road users that matches the parking position obtained by the vehicle will not be accurate. By obtaining the exposure rate of vulnerable road users that matches the parking position when it is detected that the number of times the vehicle automatically cruises to the parking position within the historical time period is greater than or equal to a second preset number, the accuracy of the exposure rate of vulnerable road users that matches the parking position can be improved, thereby improving the accuracy of the subsequent determination of the maximum cruising speed of the vehicle based on the exposure rate of vulnerable road users.

In some embodiments, if the duration of the historical time period is less than the preset duration, the subsequent step 206 is also executed, that is, the vehicle is controlled to automatically cruise to the parking position according to the preset cruising speed.

This embodiment does not specifically limit the size of the preset time period, and it may be one month, two months, etc. In this way, the accuracy of the exposure rate of vulnerable road users can be further improved.

Step 203: Determine a vulnerable road user exposure rate according to the total number of times the vehicle encounters vulnerable road users when automatically cruising to a parking position during a historical period of time.

Step 204: Determine the maximum cruising speed of the vehicle according to the vulnerable road user exposure rate.

Step 205: Control the vehicle to automatically cruise to a parking position according to the maximum cruising speed.

Step 201 and step 203 to step 205 of this embodiment are similar to step 101 to step 104 of the aforementioned embodiment, and will not be described again here to avoid repetition.

Step 206: Control the vehicle to automatically cruise to a parking position according to a preset cruising speed; wherein the preset cruising speed is determined according to the braking reaction time and braking performance of the vehicle during automatic cruising.

In some embodiments, there is no specific limit on the size of the preset cruising speed. It only needs to ensure that the vehicle can brake within a preset distance when automatically cruising according to the preset cruising speed.

Preferably, the preset cruising speed of this embodiment is between 15kph (kilometers per hour) and 20kph. By setting such a preset cruising speed, the vehicle can reach the berth position more quickly while ensuring driving safety, thereby further improving the user's driving experience.

For ease of understanding, the following takes the historical time period as one month and the second preset number of times as 30 as an example to specifically describe the application scenario of the automatic parking method of this embodiment:

Assuming that the parking position of the vehicle is parking position 1, and the number of times the vehicle automatically cruises to parking position 1 within one month is 23 times, which is less than the second preset number of 30 times, the maximum cruising speed is set to the preset cruising speed, and the vehicle is controlled to automatically cruise to the parking position according to the preset cruising speed; assuming that the parking position of the vehicle is parking position 2, and the number of times the vehicle automatically cruises to parking position 2 within one month is 35 times, which is greater than the second preset number of 30 times, the total number of times vulnerable road users are encountered in the 35 automatic cruises is detected, and the vulnerable road user exposure rate is determined based on the total number of vulnerable road users encountered, and then the maximum cruising speed of the vehicle is determined based on the vulnerable road user exposure rate, and finally the vehicle is controlled to automatically cruise to the parking position according to the maximum cruising speed.

Compared with the related art, the embodiment of the present application has at least the following advantages: after determining the parking position of the vehicle, the vulnerable road user exposure rate matching the parking position is obtained, and then the maximum cruising speed of the vehicle is determined according to the vulnerable road user exposure rate. Since the vulnerable road user exposure rate represents the frequency of encountering vulnerable road users when the vehicle automatically cruises to the parking position in the historical time period, the maximum cruising speed determined according to the vulnerable road user exposure rate can meet the driving safety requirements, improve the accuracy of evaluating the maximum cruising speed of the vehicle when automatically parking, ensure that when the vehicle automatically cruises to the parking position at the maximum cruising speed, it can also brake in time when a vulnerable road user appears in front of the driving path, thereby ensuring driving safety while improving the user's driving experience.

Please refer to FIG. 3 , which is a flow chart of an automatic parking method provided in an embodiment of the present application. This embodiment is a specific description of the aforementioned embodiment, and further illustrates how to determine the maximum cruising speed of the vehicle according to the exposure rate of vulnerable road users.

This embodiment is applied to a vehicle, and the specific process is shown in FIG3 , including the following steps:

Step 301: In response to an automatic parking request, determine a parking position of a vehicle.

Step 302, detect whether the number of times the vehicle automatically cruises to the parking position within the historical time period is greater than or equal to a second preset number. When it is detected that the number of times the vehicle automatically cruises to the parking position within the historical time period is greater than or equal to the second preset number, execute step 303; otherwise, execute step 309.

Step 303: Determine a vulnerable road user exposure rate according to the total number of times the vehicle encounters vulnerable road users when automatically cruising to a parking position during a historical time period.

Step 304, detecting whether the total number of encounters with vulnerable road users is greater than or equal to 1 and less than or equal to a first preset number; when it is detected that the total number of encounters with vulnerable road users is 0, executing step 305; when it is detected that the total number of encounters with vulnerable road users is greater than or equal to 1 and less than or equal to the first preset number, executing step 306; when it is detected that the total number of encounters with vulnerable road users is greater than the first preset number, executing step 307.

Step 305: Determine that the maximum cruising speed is a first preset speed.

In some embodiments, the first preset speed is determined by: obtaining the acceleration of the vehicle when braking and the braking reaction time of the vehicle when cruising automatically; and calculating the first preset speed according to the acceleration, the braking reaction time and the preset distance. The specific value of how to obtain the first preset speed is described in detail in the subsequent examples, and will not be repeated here to avoid repetition.

Step 306: Determine that the maximum cruising speed is a second preset speed; wherein the second preset speed is less than the first preset speed.

In some embodiments, there is no specific limit on the size of the second preset speed. It is only necessary to ensure that when the vehicle is automatically cruising according to the second preset speed, when a vulnerable road user appears within a preset distance in front of the vehicle's driving path, the vehicle can brake to avoid collision with the vulnerable road user.

Step 307: Determine that the maximum cruising speed is a third preset speed; wherein the third preset speed is less than the second preset speed.

In some embodiments, there is no specific limit on the size of the third preset speed. It is only necessary to ensure that when the vehicle is automatically cruising according to the third preset speed, when a vulnerable road user appears within a preset distance in front of the vehicle's driving path, the vehicle can brake to avoid collision with the vulnerable road user.

Step 308: Control the vehicle to automatically cruise to a parking position according to the maximum cruising speed.

Step 309: Control the vehicle to automatically cruise to a parking position according to a preset cruising speed; wherein the preset cruising speed is determined according to the braking reaction time and braking performance of the vehicle during automatic cruising.

Steps 301 to 303, step 308, and step 309 of this embodiment are similar to steps 201 to 205 of the aforementioned embodiment, and are not described again here to avoid repetition.

For ease of understanding, the setting principle of the maximum cruising speed of this embodiment and the application scenario of the automatic parking method are specifically described below in conjunction with FIG. 4 , Table 1 and Table 2:

From the definition of ASIL (Automotive Safety Integrity Level), we can see that the determination of ASIL level is based on three key factors: Severity, Exposure and Controllability, which together determine the potential safety impact of the vehicle when a failure occurs. Then, the severity S, exposure E and controllability C are divided into 4 levels, as shown in Table 1:

Table 1

According to the above classification and combination, 5 ASIL levels are obtained, namely ASIL A, ASIL B, ASILC, ASIL D and QM. Among them, the combination of severity S, exposure rate E and controllability C equals 7 points for ASIL A, 8 points for ASIL B, 9 points for ASIL C, and 10 points for the highest level ASIL D. The remaining points are rated as QM, representing functions not related to safety.

According to the design assessment of the safety industry, when a vehicle collides with a vulnerable road user at a speed of 8kph to 15kph, the severity S is S2. When a vehicle collides with a vulnerable road user at a speed greater than 15kph, the severity S is S3. Therefore, by setting the controllability C to C3 and obtaining the size of the exposure rate E, the maximum cruising speed of the vehicle can be determined while ensuring the safety of the vehicle's automatic cruising.

Specifically, after the ADAS system of the vehicle detects a vulnerable road user ahead of the driving path, the reaction time of the ADAS system and the braking stopping distance of the vehicle are calculated and analyzed, as shown in Table 2 below:

Table 2

It can be seen from Table 2 that when the vehicle is traveling at a speed of 30 kph, if the ADAS system detects a vulnerable road user in front of the vehicle's driving path, the total braking distance of the vehicle is 12.45 m. As shown in FIG4, a schematic diagram of a scenario in which a vulnerable road user appears in front of the vehicle provided in this embodiment, in this embodiment, the preset distance is preferably set to 13.2 m, which can ensure that the vehicle can perform emergency braking within the preset distance when traveling at a speed of 30 kph.

Therefore, taking the first preset number of times as 10 times and the historical time period as one month as an example, when the total number of times the vehicle encounters vulnerable road users when automatically cruising to the parking position within one month is 0, the vulnerable road user exposure rate E is set to E2, and the first preset speed is set to 30kph. At this time, the severity is S3, the controllability is C3, and the scores of severity S, exposure rate E and controllability C are 8 points, so that the vehicle can reach the parking position more quickly while ensuring driving safety; when the total number of times the vehicle encounters vulnerable road users when automatically cruising to the parking position within one month is greater than or equal to 1 time, and less than or equal to 10 times, the exposure rate E of vulnerable road users is E3, and the second preset speed is set to 20 kph. At this time, the severity is S3, the controllability is C3, and the scores of severity S, exposure rate E and controllability C are 9 points, which can ensure driving safety; when the total number of vulnerable road users encountered when the vehicle automatically cruises to the parking position within one month is greater than 10 times, the exposure rate E of vulnerable road users is E4, and the third preset speed is set to 15 kph. At this time, the severity is S3, the controllability is C3, and the scores of severity S, exposure rate E and controllability C are 9 points, which can ensure driving safety.

It is worth noting that the vehicle will continuously update the exposure rate of vulnerable road users corresponding to the parking position. For example, when the vehicle automatically parks on September 10, the vehicle detects the number of times it automatically cruises to the parking position within the month before September 10; when the vehicle automatically parks on September 20, the vehicle detects the number of times it automatically cruises to the parking position within the month before September 20, so as to ensure the accuracy and real-time nature of the exposure rate of vulnerable road users.

Compared with the related art, the embodiment of the present application has at least the following advantages: after determining the parking position of the vehicle, the vulnerable road user exposure rate matching the parking position is obtained, and then the maximum cruising speed of the vehicle is determined according to the vulnerable road user exposure rate. Since the vulnerable road user exposure rate represents the frequency of encountering vulnerable road users when the vehicle automatically cruises to the parking position in the historical time period, the maximum cruising speed determined according to the vulnerable road user exposure rate can meet the driving safety requirements, improve the accuracy of evaluating the maximum cruising speed of the vehicle when automatically parking, and ensure that when the vehicle automatically cruises to the parking position at the maximum cruising speed, it can also brake in time when a vulnerable road user appears in front of the driving path, thereby ensuring driving safety while improving the user's driving experience.

Please refer to FIG5 , which is a schematic diagram of the structure of a vehicle 100 provided in an embodiment of the present application. The vehicle 100 includes: a parking position confirmation module 1, a vulnerable road user exposure rate acquisition module 2, a cruising speed acquisition module 3 and a parking module 4; the parking position confirmation module 1 is used to determine the parking position of the vehicle in response to an automatic parking request; the vulnerable road user exposure rate acquisition module 2 is used to acquire a vulnerable road user exposure rate matching the parking position; wherein the vulnerable road user exposure rate is used to characterize the frequency of encountering vulnerable road users when the vehicle automatically cruises to the parking position within a historical time period; the cruising speed acquisition module 3 is used to determine the maximum cruising speed of the vehicle according to the vulnerable road user exposure rate; and the parking module 4 is used to control the vehicle to automatically cruise to the parking position according to the maximum cruising speed.

Please refer to FIG6, which is a schematic diagram of the hardware structure of the electronic device 1000 provided in an embodiment of the present application. As shown in FIG6, the electronic device 1000 may include a processor 1001 and a memory 1002. The memory 1002 is used to store one or more computer programs 1003. The one or more computer programs 1003 are configured to be executed by the processor 1001. The one or more computer programs 1003 include instructions, and the above instructions can be used to implement the above automatic parking method in the electronic device 1000.

It is understandable that the structure shown in this embodiment does not constitute a specific limitation on the electronic device 1000. In other embodiments, the electronic device 1000 may include more or fewer components than shown, or combine or separate some components, or arrange the components differently.

The processor 1001 may include one or more processing units, for example, the processor 1001 may include an application processor (AP), a modem, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and/or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

The processor 1001 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 1001 is a cache memory. The memory may store instructions or data that the processor 1001 has just used or cyclically used. If the processor 1001 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 1001, and thus improves the efficiency of the system.

In some embodiments, the processor 1001 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver/transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input/output (GPIO) interface, a SIM interface, and/or a USB interface, etc.

In some embodiments, processor 1001 is used to execute acceleration schemes such as single instruction multiple data (SIMD) and very long instruction word (VLIW).

In some embodiments, memory 1002 may include high-speed random access memory and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

This embodiment further provides a storage medium in which computer instructions are stored. When the instructions are executed on an electronic device, the electronic device executes the above-mentioned related method steps to implement the automatic parking method in the above-mentioned embodiment.

Among them, the electronic device and storage medium provided in this embodiment are used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

In practical applications, the above functions can be distributed to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

In several embodiments provided in the present application, the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are schematic. For example, the division of the modules or units is a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

The unit described as a separate component may or may not be physically separated, and the component shown as a unit may be one physical unit or multiple physical units, that is, it may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program code.

The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims (7)

1. An automatic parking method, comprising:

Determining a parking location of the vehicle in response to the automatic parking request;

Acquiring the exposure rate of the user on the vulnerable road matched with the parking position; wherein the vulnerable road user exposure rate is used to characterize the frequency of encountering a vulnerable road user when the vehicle automatically cruises to the parking location within a historical period of time;

determining a maximum cruising speed of the vehicle according to the vulnerable road user exposure;

Controlling the vehicle to automatically cruise to the parking position according to the maximum cruising speed; prior to said obtaining the exposure rate of the vulnerable road user matched to said parking location, further comprising:

Detecting whether a vulnerable road user appears in a preset distance in front of a vehicle driving path or not every time the vehicle automatically cruises to the parking position in the historical time period;

When detecting that a user of the weak road appears in a preset distance in front of the vehicle driving path, adding 1 to the total number of times that the vehicle touches the user of the weak road; the obtaining the exposure rate of the vulnerable road users matched with the parking position comprises the following steps:

Determining the exposure rate of the users on the vulnerable road according to the total number of times of the users on the vulnerable road when the vehicle automatically cruises to the parking position in the historical time period; the determining the maximum cruising speed of the vehicle according to the vulnerable road user exposure comprises:

detecting whether the total times of users touching the vulnerable road is greater than or equal to 1 time and smaller than or equal to a first preset times;

When the total number of times of users encountering the vulnerable road is detected to be 0, determining that the maximum cruising speed is a first preset speed;

When the total number of times of the users encountering the vulnerable road is detected to be greater than or equal to 1 time and smaller than or equal to the first preset number of times, determining that the maximum cruising speed is a second preset speed; wherein the second preset speed is less than the first preset speed;

When the fact that the total number of times of users encountering the vulnerable road is larger than the first preset number of times is detected, determining that the maximum cruising speed is a third preset speed; wherein the third preset speed is less than the second preset speed.

2. The automatic parking method according to claim 1, wherein the first preset speed is determined according to:

Acquiring acceleration of the vehicle during braking and braking reaction time of the vehicle during automatic cruising;

and calculating the first preset speed according to the acceleration, the brake reaction time and the preset distance.

3. The automatic parking method according to claim 1, characterized by further comprising, prior to said obtaining the exposure rate of the vulnerable road user matching the parking location:

Detecting whether the number of times that the vehicle automatically cruises to the parking position in the historical time period is greater than or equal to a second preset number of times;

The obtaining the exposure rate of the vulnerable road users matched with the parking position comprises the following steps:

And when the number of times that the vehicle automatically cruises to the parking position in the historical time period is detected to be greater than or equal to the second preset number of times, acquiring the exposure rate of the vulnerable road user matched with the parking position.

4. The automatic parking method according to claim 3, characterized in that the method further comprises:

When the number of times that the vehicle automatically cruises to the parking position in the historical time period is detected to be smaller than the second preset number of times, controlling the vehicle to automatically cruise to the parking position according to a preset cruising speed;

the preset cruising speed is determined according to the braking response time and the braking performance of the vehicle during automatic cruising.

5. A vehicle, characterized in that it is applied to the automatic parking method according to any one of claims 1 to 4, the vehicle comprising: the system comprises a parking position confirmation module, a weak road user exposure rate acquisition module, a cruising speed acquisition module and a parking module;

the parking position confirmation module is used for responding to the automatic parking request and determining the parking position of the vehicle;

The vulnerable road user exposure rate acquisition module is used for acquiring the exposure rate of the vulnerable road user matched with the parking position; wherein the vulnerable road user exposure rate is used to characterize the frequency of encountering a vulnerable road user when the vehicle automatically cruises to the parking location within a historical period of time;

The cruising speed acquisition module is used for determining the maximum cruising speed of the vehicle according to the exposure rate of the user on the vulnerable road;

the parking module is used for controlling the vehicle to automatically cruise to the parking position according to the maximum cruising speed.

6. An electronic device comprising a processor and a memory, the memory for storing instructions, the processor for invoking the instructions in the memory to cause the electronic device to perform the auto-park method of any of claims 1-4.

7. A storage medium comprising computer instructions that, when executed on an electronic device, cause the electronic device to perform the auto-park method of any of claims 1-4.