An electric vehicle precision parking auxiliary control method and device and medium

Abstract

The application provides a precise parking auxiliary control method and device for an electric vehicle and a medium, and belongs to the technical field of wireless charging of electric vehicles. After detecting that an electric vehicle enters a parking place, a charging parking space matched with the charging system of the electric vehicle is screened, a parking instruction carrying target charging parking space information is received, and target charging parking space information, target center point coordinates at a standard parking position of the target charging parking space, and target edge angle point coordinates are sent to the electric vehicle. In the process of the electric vehicle driving into the target charging parking space position, current edge angle point coordinates and current center point information of the electric vehicle are acquired in real time, and it is determined whether the electric vehicle is parked in the middle position of the target charging parking space. If not, the steering angle of the electric vehicle is adjusted, the electric vehicle is controlled to enter the middle position of the target charging parking space based on the adjusted steering angle, precise parking is finally realized, and the charging efficiency of the electric vehicle is improved.

Description

A method, device and medium for precise parking assistance control of electric vehicles Technical Field

[0001] This application relates to the field of vehicle parking technology, and in particular to a method, device and medium for precise parking assistance control of electric vehicles. Background Technology

[0002] With the rapid development of the electric vehicle industry, my country attaches great importance to electric vehicle charging technology and has carried out research and application of charging technologies such as conductive charging, wireless charging, and battery swapping. Compared with traditional wired charging methods, Wireless Power Transfer (WPT) technology does not require a physical connection, thus avoiding wire loss and cable faults in traditional wired transmission, making power transmission more convenient and flexible. WPT systems can be used for wireless charging of electric vehicles, making the charging process more convenient and seamless.

[0003] Electric vehicles can be flexibly charged at multiple locations such as parking lots and charging stations via wireless power transfer systems, eliminating the need for physical plug connections and improving the convenience and user experience of electric vehicles. Therefore, WPT technology boasts advantages such as strong environmental adaptability, high safety, and flexibility, and is widely used in transportation and other fields.

[0004] However, WPT technology is actually a short-distance charging technology. Inductive charging allows energy to be transferred between the transmitter and receiver coils over a short distance. When charging a car in a parking space, the pickup and transmitter coils need to be coupled, requiring the inductive system to have the coils close together and aligned; typically, the device is in direct contact with the charging pad. When misalignment occurs between the pickup and transmitter coils, the coupling between the coils decreases, causing problems such as reduced system output power and transmission efficiency.

[0005] Therefore, this charging method requires high accuracy in the parking position of the car. How to guide electric vehicles to park accurately is the key to improving the efficiency and power of the wireless charging system for electric vehicles. Summary of the Invention

[0006] This application provides a precise parking assistance control method for electric vehicles, which guides the real-time adjustment of the electric vehicle's position to reduce the offset between the transmitting coil of the wireless charging device in the parking lot and the picking coil of the electric vehicle, thereby improving charging efficiency by improving parking accuracy.

[0007] In a first aspect, this application provides a method for precise parking assistance control of electric vehicles, the method comprising:

[0008] After an electric vehicle is detected entering a parking area, a charging space that matches the charging system of the electric vehicle is selected, and the usage status of the charging space is obtained, including whether it is idle or occupied.

[0009] When it is detected that there are still vacant charging spaces in the parking lot, the parking space map information of the preset parking lot and the information of vacant charging spaces are sent to the electric vehicle so that the target charging space can be selected.

[0010] Upon receiving a parking instruction carrying information about a target charging space, the location of the target charging space, as well as the coordinates of the center point and the corner points of the standard parking position of the target charging space, are sent to the electric vehicle.

[0011] During the process of the electric vehicle driving into the target charging parking space, the coordinates of the edge corner points and the center point information of the electric vehicle are obtained to determine whether the electric vehicle is parked in the middle position of the target charging parking space; if not, the steering angle of the electric vehicle is adjusted to control the electric vehicle to enter the middle position of the target charging parking space based on the adjusted steering angle.

[0012] Optionally, before detecting an electric vehicle entering a parking area, filtering for charging spaces that match the electric vehicle's charging system, and before obtaining the usage status of the charging spaces, the method includes:

[0013] When the vehicle enters the entrance of the smart venue, the license plate number of the electric vehicle is obtained through intelligent recognition technology, and the vehicle model is extracted through the national vehicle management system.

[0014] The length and width information of the electric vehicle are obtained based on the vehicle model, and charging parking spaces that match the charging system of the electric vehicle are selected.

[0015] Optionally, the charging parking space is divided into a standard position area and an offset correction area, and a preset number of laser sensors are installed on the bottom line of the parking space in the offset correction area; wherein, the sum of the widths of the standard position area and the offset correction area is a first width, and the widths of the standard position area and the offset correction area are dynamically determined according to the vehicle model.

[0016] Optionally, upon receiving a parking instruction carrying target charging space information, the location of the target charging space, along with the center point coordinates and edge corner point coordinates of the standard parking position of the target charging space, is sent to the electric vehicle. Specifically, this includes:

[0017] Upon receiving a parking instruction carrying a target charging space, the system sends the center point coordinates and edge corner coordinates of the standard parking position of the target charging space to the electric vehicle; and activates the laser sensor of the target charging space to obtain the edge corner coordinates of the electric vehicle in real time.

[0018] Optionally, during the process of the electric vehicle entering the target charging space, the coordinates of the edge corner point and the center point of the electric vehicle are acquired in real time to determine whether the electric vehicle is parked in the middle position of the target charging space; if not, the steering angle of the electric vehicle is adjusted to control the electric vehicle to enter the middle position of the target charging space based on the adjusted steering angle, specifically including:

[0019] During the process of the electric vehicle driving into the target charging parking space, the laser sensor is controlled at first intervals to emit a set of lasers along the long side of the charging parking space to obtain the current edge corner coordinates of the electric vehicle.

[0020] The current center point coordinates of the electric vehicle are obtained through the GPS system;

[0021] The offset of the electric vehicle is calculated using the current edge corner coordinates and the current center point coordinates;

[0022] If the offset is within a preset range, the electric vehicle is determined to be parked in the middle of the target charging space.

[0023] If the offset exceeds the preset range, the steering angle of the electric vehicle is adjusted to control the electric vehicle to enter the middle position of the target charging space based on the adjusted steering angle.

[0024] Optionally, calculating the offset of the electric vehicle using the current edge corner coordinates and the current center point coordinates specifically includes:

[0025] The laser sensor is controlled to send a laser to the detection point at the outermost edge of the electric vehicle. The current edge corner point coordinates are determined based on the feedback data. The first adjustment curve is determined based on the current edge corner point coordinates and the corner point coordinates at the standard parking position.

[0026] The second adjustment curve is determined based on the current center point coordinates and the center point coordinates at the standard parking position;

[0027] The offset of the electric vehicle is calculated based on the first adjustment curve and the second adjustment curve.

[0028] Secondly, this application provides a precise parking assist control device for electric vehicles, comprising:

[0029] The vehicle entry detection module is used to detect when an electric vehicle enters a parking area, filter for charging spaces that match the charging system of the electric vehicle, and obtain the usage status of the charging spaces, which includes whether they are free or occupied.

[0030] The idle charging space providing module is used to send the parking space map information of the preset parking space and the information of the idle charging spaces to the electric vehicle when it is detected that there are still idle charging spaces in the parking space, so as to select a target charging space.

[0031] The target charging parking space information sending module receives a parking instruction carrying target charging parking space information and sends the target charging parking space information location, as well as the target center point coordinates and target edge corner point coordinates at the standard parking position of the target charging parking space, to the electric vehicle.

[0032] The parking assistance module acquires the current edge corner coordinates and current center point information of the electric vehicle in real time during the process of the electric vehicle driving into the target charging space, and determines whether the electric vehicle is parked in the middle position of the target charging space; if not, it adjusts the steering angle of the electric vehicle to control the electric vehicle to enter the middle position of the target charging space based on the adjusted steering angle.

[0033] Optionally, the electric vehicle precision parking assist control device further includes:

[0034] The communication module is used to obtain the license plate number of the electric vehicle through intelligent recognition technology and extract the vehicle model through the national vehicle management system when the vehicle enters the entrance of the smart venue.

[0035] The length and width information of the electric vehicle are obtained based on the vehicle model, and charging parking spaces that match the charging system of the electric vehicle are selected.

[0036] Optionally, the charging parking space is divided into a standard position area and an offset correction area, and a preset number of laser sensors are installed on the bottom line of the parking space in the offset correction area; wherein, the sum of the widths of the standard position area and the offset correction area is a first width, and the widths of the standard position area and the offset correction area are dynamically determined according to the vehicle model.

[0037] Thirdly, this application provides a computer-readable storage medium, characterized in that the computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-6.

[0038] This application provides a precise parking assistance control method and system for electric vehicles. After detecting that an electric vehicle has entered a parking area, the system filters for charging spaces that match the electric vehicle's charging system. Upon receiving a parking instruction carrying target charging space information, the system sends the target charging space information, along with the coordinates of the target center point and the target edge corner point at the standard parking position of the target charging space, to the electric vehicle. During the process of the electric vehicle entering the target charging space, the system acquires the current edge corner point coordinates and current center point information of the electric vehicle in real time to determine whether the electric vehicle is parked in the middle position of the target charging space. If not, the system adjusts the steering angle of the electric vehicle to control it to enter the middle position of the target charging space, ultimately achieving precise parking and improving the charging efficiency of the electric vehicle. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0040] Figure 1 is a flowchart illustrating an exemplary embodiment of the present application of a precise parking assist control method for electric vehicles;

[0041] Figure 2 is a schematic diagram of the structure of a charging parking space provided in an exemplary embodiment of this application;

[0042] Figure 3 is a structural schematic diagram of a charging parking space provided in another exemplary embodiment of this application;

[0043] Figure 4 is a schematic diagram of a precise parking assist control method for electric vehicles provided in an exemplary embodiment of this application;

[0044] Figure 5 is a schematic diagram of an exemplary embodiment of the present application of the electric vehicle precise parking assistance control method;

[0045] Figure 6 is a schematic diagram of an electric vehicle precision parking assist control device provided in an exemplary embodiment of this application. Detailed Implementation

[0046] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0047] Figure 1 is a flowchart of a precise parking assist control method for an electric vehicle provided in an exemplary embodiment of this application. As shown in Figure 1, the specific steps of the precise parking assist control method for an electric vehicle provided in this embodiment of the invention are as follows:

[0048] S11: After detecting that an electric vehicle has entered the parking area, filter the charging spaces that match the charging system of the electric vehicle, and obtain the usage status of the charging spaces, which includes whether they are vacant or occupied.

[0049] In some embodiments of this application, the parking location may be a parking lot, a charging station, or a garage.

[0050] All devices and parking areas using WPT (Wireless Charging Technology) are managed uniformly on the wireless charging platform. This platform can obtain vehicle location information through vehicle-to-everything (V2X) networks, GPS (Global Positioning System) data, onboard cameras, or ultrasonic radar.

[0051] In actual implementation, the platform of this application maintains parking space information for each charging space. This parking space information may include original parking space information such as usage status and location. Once an electric vehicle establishes a connection with the wireless charging platform, the platform will filter for charging spaces that match the electric vehicle's charging system and obtain the usage status of the charging spaces, which includes whether they are idle or occupied.

[0052] In other embodiments, a barrier gate installed at the vehicle entrance of the parking lot and charging station can be used to initiate interconnection with the wireless charging platform when a car is detected passing through the barrier gate. Of course, not all parking spaces in a parking lot may be charging spaces; a regular parking space becomes a charging space after a charging device is installed, and the charging space immediately reports to the wireless charging platform once powered on. The wireless charging platform maintains information on all charging spaces in a given parking lot or charging station.

[0053] In addition, intelligent detection equipment, such as image detectors, is installed at the entrance gate. When a vehicle enters the intelligent facility entrance, the image detector identifies the license plate number of the electric vehicle using intelligent recognition technology, and then uploads the license plate number to the national vehicle management system. The national vehicle management system then retrieves the registered vehicle model. After retrieving the vehicle model, it searches a table of vehicle model information stored in memory. This table contains the corresponding specifications of the vehicle, including but not limited to exterior information such as the vehicle's length and width, as well as internal module information such as the engine and charging system. Therefore, the length and width information of the electric vehicle can be obtained based on the vehicle model.

[0054] In some embodiments, since the internal module specifications of each electric vehicle are different, the wireless charging platform needs to select charging spaces that match the charging system of the electric vehicle based on the vehicle model.

[0055] S12: When it is detected that there are still vacant charging spaces in the parking lot, the parking space map information of the preset parking lot and the information of vacant charging spaces are sent to the electric vehicle so that the target charging space can be selected.

[0056] When the system detects that there is an available charging space in the parking lot that matches the electric vehicle charging system, the wireless charging platform sends the parking space map information and the information of the available charging spaces to the electric vehicle.

[0057] The information for available charging spaces includes the space number and its location on the parking map. This parking map information is displayed on the electric vehicle's screen via a map navigation system, and the locations of available charging spaces are marked on the map for easy searching and selection by electric vehicle users.

[0058] S13: Upon receiving a parking instruction carrying target charging space information, the location of the target charging space information, as well as the coordinates of the target center point and the target edge corner point at the standard parking position of the target charging space, are sent to the electric vehicle.

[0059] In some embodiments, parking spaces in parking lots are designated according to a uniform standard, without considering the car model or optimal wireless charging efficiency. Therefore, the width of all parking spaces is defined by width W. Then, considering the charging efficiency and parking accuracy of the wireless charging device installed in the charging space, the charging space is further divided into a standard position area and an offset correction area. When the car is in the standard position area, the wireless charging module charges the electric vehicle most efficiently; when the car is in the offset correction area, the charging efficiency drops sharply. The precise parking assistance control method in this embodiment aims to help electric vehicles park in the standard position area as much as possible.

[0060] As shown in Figure 2, to facilitate precise parking, the charging parking space 20 is divided into a standard position area 201 and an offset correction area 202. The standard position area 201 includes a standard parking position 203. A preset number of laser sensors are installed on the bottom line of the parking space in the offset correction area 202. When the car body is in the offset correction area, the laser sensors will detect the car body in that area. The width of the charging parking space 20 is W, the width of the standard position area 201 is w1, and the width of the offset correction area 202 is w2. The width w1 of the standard position area 201 is less than the overall width W of the charging parking space 20, i.e., the first width. The sum of the width w1 of the standard position area 201 and the width w2 of the offset correction area 202 satisfies w1 + w2 = W. Furthermore, since the width of the charging system varies for different car models, the widths of the standard position area 201 and the offset correction area 202 are dynamically determined according to the car model.

[0061] When an electric vehicle user selects a target charging location on the map navigation, the electric vehicle sends the target charging space information to the wireless charging platform. When the wireless charging platform receives a parking instruction carrying the target charging space information, it sends the target charging space information location, as well as the target center point coordinates P(x0,y0) and target edge corner point coordinates Q(x1,y1) at the standard parking position 203 of the target charging space, to the electric vehicle.

[0062] S14: During the process of the electric vehicle driving into the target charging parking space, the current edge corner coordinates and current center point information of the electric vehicle are obtained in real time to determine whether the electric vehicle is parked in the middle position of the target charging parking space; if not, the steering angle of the electric vehicle is adjusted to control the electric vehicle to enter the middle position of the target charging parking space based on the adjusted steering angle.

[0063] In some embodiments of this application, the platform can be connected to a national vehicle management system. Generally, parking lots and charging stations have gates at vehicle entrances. When a vehicle enters, the license plate number is obtained through intelligent recognition and uploaded to the wireless charging platform. The wireless charging platform then extracts the vehicle model from the national vehicle management system. For different electric vehicle models, due to variations in appearance, the width may differ slightly; however, for specific models, the width is a fixed value.

[0064] Therefore, when the vehicle enters the entrance of the smart venue, the license plate number of the electric vehicle is obtained through intelligent recognition technology, and the vehicle model is extracted through the national vehicle management system; the width of the electric vehicle is determined based on the vehicle model, and charging spaces that match the charging system of the electric vehicle are selected.

[0065] As shown in Figure 3, in the exemplary embodiment shown in Figure 3, a right rear wheel limiter 301 and a right rear wheel limiter 302 are installed in the standard position area of ​​the charging parking space 30, a wireless charging device 303 is installed between the right rear wheel limiter 301 and the right rear wheel limiter 302, and a set of laser sensors are installed on the left and right sides of the offset correction area respectively.

[0066] In some embodiments, the wireless charging device coil includes a left rear wheel limiter and a right rear wheel limiter on each side. When both rear wheels of the car are within the range of the limiters, the system indicates that the electric vehicle is in the charging position, thereby instructing the driver to stop reversing and the electric vehicle enters the charging state.

[0067] In some embodiments, three distance-sensing laser sensors are placed on the left and right sides of the standard parking position, respectively. Other optical ranging sensors, such as infrared sensors, can also be used.

[0068] In some embodiments, the precise parking assist control method specifically includes:

[0069] S401, during the process of the electric vehicle driving into the target charging parking space, the laser sensor is controlled to emit a set of lasers along the long side of the charging parking space at first intervals to obtain the current edge corner coordinates of the electric vehicle.

[0070] S402, Obtain the current center point coordinates of the electric vehicle through the GPS system;

[0071] S403, calculate the offset H of the electric vehicle using the current edge corner point coordinates and the current center point coordinates;

[0072] S404, If the offset is within a preset range, then the electric vehicle is determined to be parked in the middle of the target charging space.

[0073] S405, if the offset exceeds the preset range, the steering angle of the electric vehicle is adjusted to control the electric vehicle to enter the middle position of the target charging space based on the adjusted steering angle.

[0074] In some embodiments, as shown in the execution principle diagram of the precise parking assist control method in Figure 4, a laser sensor emits a laser, and obtains the coordinates of a point farthest from the center point using ranging technology. This point is then used as the current edge corner point coordinate A(x). a ,y a Then, the current center point coordinates B(x) of the electric vehicle are obtained through the GPS system. b ,y bBased on these two points and the previously obtained length and width information of the car, the current position of the car in the target charging space can be obtained.

[0075] In some embodiments, a Reed-Shepp curve is used to connect the coordinates of the current edge corner point A(x) a ,y a The path generated between the target edge corner point coordinates P(x0, y0) and the current intermediate point coordinates B(x0, y0) is connected. b ,y b The path between the target center point and the target position Q(x1,y1) is calculated to obtain the turning angle planning path for the entire journey.

[0076] In some embodiments, as shown in Figure 5, the laser sensors on the left side of the offset correction area are labeled L1, L2, and L3, and the laser sensors on the right side are labeled R1, R2, and R3. Under normal circumstances, the electric vehicle drives into a parking space equipped with a wireless charging device. If the electric vehicle does not exceed the prescribed limits, drives smoothly as required, and remains parallel to the parking space boundary, with the vehicle body positioned in the standard parking position, the laser sensors will not be triggered. After the rear of the vehicle approaches the limit switch, the electric vehicle stops precisely at the wireless charging position. This is the ideal situation, allowing for direct wireless charging.

[0077] However, if the electric vehicle exceeds the prescribed limits during parking and deviates to the left or right, the system's optical distance sensor will capture this information and issue warnings to the electric vehicle in three levels to guide the driver to correct the vehicle's direction and adjust its position.

[0078] As shown in Figure 5, when the laser sensor detects a vehicle deviating from the expected route, it first determines whether it crosses the line on the left, right, or laterally. When the logic (L1||L2||L3)∪(R1||R2||R3) is true, it indicates that the electric vehicle has laterally crossed the line. In practical applications, both wireless charging devices and limiters generally have a margin. Correspondingly, sufficient margin is also left when designing the critical line. When an electric vehicle crosses the left or right line, it means that the angle between the vehicle body and the critical line is already very large. Due to the limited parking space, to prevent friction between the system and the vehicle, and to better access the wireless charging position, the car needs to be driven out of the parking space, backed into the parking space, and the above process repeated.

[0079] In addition, if the electric vehicle does not cross any lane lines and logic L1||L2||L3 is true, it indicates that the electric vehicle is veering to the left, requiring prompt adjustment. Based on this, the system first checks if the optical distance sensor L3 detects a vehicle crossing the lane line. If so, it indicates a significant deviation, and the system prompts the driver to steer sharply to the right until optical distance sensor L3 no longer detects a vehicle crossing the lane line. The system then repeats the check. If optical distance sensor L3 does not detect a vehicle crossing the lane line, the system checks if optical distance sensor L2 detects a vehicle crossing the lane line. If so, it indicates a moderate deviation, and the system prompts the driver to steer normally to the right until optical distance sensor L3 no longer detects a vehicle crossing the lane line. The system then repeats the check. If both optical distance sensors L3 and L2 do not detect a vehicle crossing the lane line, the system checks if optical distance sensor L1 detects a vehicle crossing the lane line. If so, it indicates that the vehicle body has slightly deviated from the lane. The system prompts the driver to turn the steering wheel slightly to the right until the optical distance sensor L1 no longer detects a vehicle crossing the lane. Then, the system repeats the check to see if the optical distance sensor has detected a vehicle crossing the lane.

[0080] Similarly, when the electric vehicle does not cross the left or right lane lines and logic R1||R2||R3 is true, it indicates that the electric vehicle is veering to the right, requiring the driver to make timely adjustments. Based on this, first check if the optical distance sensor R3 detects a vehicle crossing the lane line. If so, it means the vehicle is veering significantly to the left, and the system prompts the driver to steer sharply to the left until the optical distance sensor R3 no longer detects a vehicle crossing the lane line. Then, repeat the check to see if the optical distance sensor detects a vehicle crossing the lane line. If the optical distance sensor R3 does not detect a vehicle crossing the lane line, check if the optical distance sensor R2 detects a vehicle crossing the lane line. If so, it means the vehicle is veering moderately, and the system prompts the driver to steer normally to the left until the optical distance sensor R3 no longer detects a vehicle crossing the lane line. Then, repeat the check to see if the optical distance sensor detects a vehicle crossing the lane line. If neither the optical distance sensors R3 nor R2 detects a vehicle crossing the lane line, check if the optical distance sensor R1 detects a vehicle crossing the lane line. If so, it indicates that the vehicle body has slightly deviated from the lane. The system will prompt the driver to turn the steering wheel slightly to the left until the optical distance sensor R1 no longer detects a vehicle crossing the lane. Then, the system will repeat the check to see if the optical distance sensor has detected a vehicle crossing the lane.

[0081] Figure 6 is a schematic diagram of the structure of an electric vehicle precision parking assist control device provided in an exemplary embodiment of this application. The electric vehicle precision parking assist control device provided in this embodiment can execute the processing flow provided in an electric vehicle precision parking assist control method and system embodiment. As shown in Figure 6, the electric vehicle precision parking assist control device 60 provided in this application includes:

[0082] The vehicle entry detection module 601 is used to detect that an electric vehicle has entered a parking space, filter charging spaces that match the charging system of the electric vehicle, and obtain the usage status of the charging spaces, including whether they are free or occupied.

[0083] The idle charging space providing module 602 is used to send the parking space map information of the preset parking space and the information of the idle charging spaces to the electric vehicle when it is detected that there are still idle charging spaces in the parking space, so as to select a target charging space.

[0084] The target charging parking space information sending module 603 receives a parking instruction carrying target charging parking space information and sends the target charging parking space information location, as well as the target center point coordinates and target edge corner point coordinates at the standard parking position of the target charging parking space, to the electric vehicle.

[0085] The parking assistance module 604 acquires the current edge corner coordinates and current center point information of the electric vehicle in real time during the process of the electric vehicle driving into the target charging parking space, and determines whether the electric vehicle is parked in the middle position of the target charging parking space; if not, it adjusts the steering angle of the electric vehicle to control the electric vehicle to enter the middle position of the target charging parking space based on the adjusted steering angle.

[0086] Optionally, the electric vehicle precision parking assist control device further includes: a communication module, used to obtain the license plate number of the electric vehicle through intelligent recognition technology and extract the vehicle model through the national vehicle management system when the vehicle enters the entrance of the smart venue; obtain the length and width information of the electric vehicle based on the vehicle model; and filter charging parking spaces that match the charging system of the electric vehicle.

[0087] Optionally, the charging parking space is divided into a standard position area and an offset correction area, and a preset number of laser sensors are installed on the bottom line of the parking space in the offset correction area; wherein, the sum of the widths of the standard position area and the offset correction area is a first width, and the widths of the standard position area and the offset correction area are dynamically determined according to the vehicle model.

[0088] This application also provides a computer-readable storage medium storing computer-executable instructions. When executed by a processor, the computer-executable instructions are used to implement the solution provided in any of the above method embodiments. The specific functions and technical effects to be achieved are not described here.

[0089] This application also provides a computer program product, which includes a computer program stored in a readable storage medium. At least one processor of the electronic device can read the computer program from the readable storage medium. The at least one processor executes the computer program to cause the electronic device to perform the solution provided in any of the above method embodiments. The specific functions and technical effects that can be achieved are not described here.

[0090] The application scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the emergence of new application scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0091] Those skilled in the art will understand that various aspects of this application can be implemented as a system, method, or program product. Therefore, various aspects of this application can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, collectively referred to herein as a "circuit," "module," or "system."

[0092] In some possible implementations, the electronic device according to this application may include at least one processor and at least one memory. The memory stores program code that, when executed by the processor, causes the processor to perform the operational data management methods according to the various exemplary embodiments of this application described above. For example, the processor may perform steps such as those in the operational data management method.

[0093] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0094] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0095] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0096] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable image scaling device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable image scaling device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0097] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable image scaling device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0098] These computer program instructions may also be loaded onto a computer or other programmable image scaling device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable device, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0099] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0100] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method for precise parking assistance control of electric vehicles, characterized in that, include: After detecting that an electric vehicle has entered the parking area, the system filters for charging spaces that match the electric vehicle's charging system and obtains the usage status of the charging spaces, including whether they are vacant or occupied. When vacant charging spaces are detected in the parking area, the system sends the parking area's preset parking space map information and the information on vacant charging spaces to the electric vehicle for selection of a target charging space. Upon receiving a parking instruction carrying target charging space information, the system sends the target charging space information location, as well as the target center point coordinates and target edge corner point coordinates at the standard parking position of the target charging space, to the electric vehicle. The system then proceeds as the electric vehicle enters the parking area. During the process of determining the target charging space location, the current edge corner coordinates and current center point information of the electric vehicle are acquired in real time to determine whether the electric vehicle is parked in the middle position of the target charging space. If not, the steering angle of the electric vehicle is adjusted to control the electric vehicle to enter the middle position of the target charging space based on the adjusted steering angle. The charging space is divided into a standard position area and an offset correction area. A preset number of laser sensors are set on the bottom line of the parking space in the offset correction area. The sum of the widths of the standard position area and the offset correction area is the first width, and the widths of the standard position area and the offset correction area are dynamically determined according to the vehicle model.

2. The electric vehicle precision parking assistance control method according to claim 1, characterized in that, Before filtering charging spaces that match the charging system of an electric vehicle and obtaining the usage status of the charging spaces after detecting that an electric vehicle has entered a parking area, the method includes: obtaining the license plate number of the electric vehicle through intelligent recognition technology and extracting the vehicle model through the national vehicle management system when the electric vehicle enters the entrance of the parking area; obtaining the length and width information of the electric vehicle based on the vehicle model; and filtering charging spaces that match the charging system of the electric vehicle.

3. The electric vehicle precision parking assistance control method according to claim 1, characterized in that, Upon receiving a parking instruction carrying information about a target charging space, the system sends the location of the target charging space, along with the center and edge coordinates of the target charging space's standard parking position, to the electric vehicle. Specifically, this includes: upon receiving the parking instruction carrying information about the target charging space, sending the center and edge coordinates of the target charging space's standard parking position to the electric vehicle; and activating the laser sensor at the target charging space to acquire the edge coordinates of the electric vehicle in real time.

4. The electric vehicle precision parking assistance control method according to claim 3, characterized in that, During the process of the electric vehicle entering the target charging space, the edge corner coordinates and center point coordinates of the electric vehicle are acquired in real time to determine whether the electric vehicle is parked in the middle position of the target charging space. If not, the steering angle of the electric vehicle is adjusted to control the electric vehicle to enter the middle position of the target charging space based on the adjusted steering angle. Specifically, this includes: during the process of the electric vehicle entering the target charging space, controlling the laser sensor to emit a set of lasers along the long side of the charging space at first intervals to obtain the current edge corner coordinates of the electric vehicle; obtaining the current center point coordinates of the electric vehicle through the GPS system; calculating the offset of the electric vehicle using the current edge corner coordinates and the current center point coordinates; if the offset is within a preset range, determining that the electric vehicle is parked in the middle position of the target charging space; if the offset exceeds the preset range, adjusting the steering angle of the electric vehicle to control the electric vehicle to enter the middle position of the target charging space based on the adjusted steering angle.

5. The electric vehicle precision parking assist control method according to claim 4, characterized in that, The calculation of the electric vehicle's offset using the current edge corner coordinates and the current center point coordinates specifically includes: controlling a laser sensor to send a laser to the detection point at the outermost edge of the electric vehicle; determining the current edge corner coordinates based on feedback data; determining a first adjustment curve based on the current edge corner coordinates and the corner coordinates at the standard parking position; determining a second adjustment curve based on the current center point coordinates and the center point coordinates at the standard parking position; and calculating the electric vehicle's offset based on the first and second adjustment curves.

6. A precision parking assist control device for electric vehicles, characterized in that, include: The vehicle entry detection module is used to detect when an electric vehicle enters a parking area, filter for charging spaces that match the electric vehicle's charging system, and obtain the usage status of the charging spaces, including whether they are vacant or occupied. The vacant charging space providing module is used to send a preset parking space map and vacant charging space information to the electric vehicle when vacant charging spaces are detected in the parking area, allowing the vehicle to select a target charging space. The target charging space information sending module receives a parking instruction carrying target charging space information and sends the location of the target charging space, along with the coordinates of the target center point and the target edge corner point at the standard parking position of the target charging space, to the designated location. The electric vehicle is described; a parking assistance module, during the process of the electric vehicle entering the target charging parking space, acquires the current edge corner coordinates and current center point information of the electric vehicle in real time to determine whether the electric vehicle is parked in the middle position of the target charging parking space; if not, the steering angle of the electric vehicle is adjusted to control the electric vehicle to enter the middle position of the target charging parking space based on the adjusted steering angle; the charging parking space is divided into a standard position area and an offset correction area, and a preset number of laser sensors are set on the bottom line of the parking space in the offset correction area; wherein, the sum of the widths of the standard position area and the offset correction area is a first width, and the widths of the standard position area and the offset correction area are dynamically determined according to the vehicle model.

7. The electric vehicle precision parking assist control device according to claim 6, characterized in that, The electric vehicle precision parking assistance control device further includes: a communication module, used to obtain the license plate number of the electric vehicle through intelligent recognition technology and extract the vehicle model through the national vehicle management system when the electric vehicle enters the parking lot entrance; obtain the length and width information of the electric vehicle based on the vehicle model; and filter charging parking spaces that match the charging system of the electric vehicle.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-5.

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