Automatic Vehicle Parking Control Method and Device

Abstract

The present invention discloses an automatic vehicle moving control method and device, which relates to the technical field of automobiles. After the on-vehicle camera of the target vehicle captures the vehicle key corresponding to the model of the blocked vehicle and the vehicle unlocking signal corresponding to the model of the blocked vehicle is detected within the first preset time period, the vehicle is controlled to automatically move. The automatic vehicle moving function of this vehicle is triggered by the vehicle key of the blocked vehicle. The owner of the blocked vehicle can activate the automatic vehicle moving function of this vehicle under any circumstances, which is applicable to the situation where the door of the blocked vehicle is also blocked, and the automatic vehicle moving function has strong adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of automobiles, and particularly to an automatic parking control method and device. Background Art

[0002] With the development of social economy, the number of automobiles in society has increased significantly, and the problem of difficult urban parking has become increasingly prominent. It is more common for one vehicle to block other vehicles. Most vehicle owners attach contact information to their vehicles, and the owners of the blocked vehicles can contact the owners of the blocking vehicles to move their cars. If the owner has no time to move the car, it will affect the travel of the blocked vehicle. If it is necessary to move the car in the middle of the night, it will affect the normal life of the owner of the blocking vehicle. If there is no contact information on the blocking vehicle, disputes are likely to arise over the parking problem.

[0003] Currently, some vehicles have an automatic parking function. The automatic parking function can be activated after observing that the blocked vehicle has moved, which can solve most parking problems. However, it often happens that the doors of the blocked vehicle are also blocked, and the owner cannot enter the vehicle. The blocked vehicle cannot be started and moved, resulting in the failure of automatic parking. Therefore, the existing vehicle automatic parking function has the problem of poor adaptability and cannot be activated in many cases. Summary of the Invention

[0004] The present invention provides an automatic parking control method and device, which solves the technical problem of poor adaptability of the existing vehicle automatic parking function.

[0005] On the one hand, the embodiments of the present invention provide the following technical solutions:

[0006] An automatic parking control method, comprising:

[0007] After the vehicle enters the automatic parking mode and the owner selects the target vehicle model, start the target vehicle-mounted camera; the target vehicle model is the vehicle model to which the blocked vehicle belongs;

[0008] Obtain the image information output by the target vehicle-mounted camera;

[0009] Judge whether the vehicle key corresponding to the target vehicle model is detected according to the image information;

[0010] If so, within the first preset time period after the vehicle key is detected, judge whether the vehicle unlocking signal corresponding to the target vehicle model is detected;

[0011] If the vehicle unlocking signal corresponding to the target vehicle model is detected, control the vehicle to automatically park.

[0012] Preferably, the vehicle unlocking signal includes a vehicle unlocking flash signal and / or a vehicle unlocking sound signal.

[0013] Preferably, the control for automatic vehicle parking includes:

[0014] Determine whether there are obstacles in front of and behind the vehicle. If there are obstacles in both the front and the rear of the vehicle, obtain the first distance between the vehicle head and the front obstacle and the second distance between the vehicle tail and the rear obstacle;

[0015] If the first distance and the second distance are equal and both are less than a preset distance, compare the intensities of the vehicle unlocking signals at the vehicle head and the vehicle tail;

[0016] If the intensity of the vehicle unlocking signal at the vehicle head is higher than that at the vehicle tail, control the vehicle to automatically drive backward by the second distance;

[0017] If the intensity of the vehicle unlocking signal at the vehicle head is lower than that at the vehicle tail, control the vehicle to automatically drive forward by the first distance.

[0018] Preferably, after controlling the vehicle to automatically park if the vehicle unlocking signal corresponding to the target vehicle model is detected, it further includes:

[0019] After the automatic vehicle parking is completed, play a first voice message to remind the owner of the blocked vehicle that the automatic parking has been completed.

[0020] Preferably, after playing the first voice message to remind the owner of the blocked vehicle that the automatic parking has been completed after the automatic vehicle parking is completed, it further includes:

[0021] Within a second preset duration after playing the first voice message, if the car key and the vehicle locking signal corresponding to the target vehicle model are detected, send a parking message to the owner of this vehicle to notify the owner of this vehicle to come and park, and play a second voice message to remind the owner of the blocked vehicle that the owner of this vehicle has been notified to come and park.

[0022] On the other hand, the embodiment of the present invention also provides the following technical solution:

[0023] An automatic parking control device includes:

[0024] A camera activation module, which is used to activate the target vehicle-mounted camera after the vehicle enters the automatic parking mode and the owner selects the target vehicle model; the target vehicle model is the vehicle model to which the blocked vehicle belongs;

[0025] An image acquisition module, which is used to acquire the image information output by the target vehicle-mounted camera;

[0026] An image recognition module, which is used to determine whether the car key corresponding to the target vehicle model is detected according to the image information;

[0027] A signal recognition module, configured to, if a car key corresponding to the target vehicle model is detected, determine whether a vehicle unlocking signal corresponding to the target vehicle model is detected within a first preset time period after the car key is detected;

[0028] A vehicle control module, configured to, if the vehicle unlocking signal corresponding to the target vehicle model is detected, control the vehicle to automatically move the vehicle.

[0029] Preferably, the vehicle unlocking signal includes a vehicle unlocking flashing signal and / or a vehicle unlocking sound signal.

[0030] Preferably, the vehicle control module is further configured to:

[0031] Determine whether there are obstacles in front of and behind the vehicle. If there are obstacles in both front and rear of the vehicle, obtain a first distance between the vehicle head and the front obstacle and a second distance between the vehicle tail and the rear obstacle;

[0032] If the first distance and the second distance are equal and both are less than a preset distance, compare the intensities of the vehicle unlocking signals at the vehicle head and the vehicle tail;

[0033] If the intensity of the vehicle unlocking signal at the vehicle head is higher than that at the vehicle tail, control the vehicle to automatically drive backward by the second distance;

[0034] If the intensity of the vehicle unlocking signal at the vehicle head is lower than that at the vehicle tail, control the vehicle to automatically drive forward by the first distance.

[0035] On the other hand, the embodiments of the present invention further provide the following technical solutions:

[0036] An electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the program, the above-mentioned any automatic vehicle moving control method is implemented.

[0037] On the other hand, the embodiments of the present invention further provide the following technical solutions:

[0038] A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned any automatic vehicle moving control method is implemented.

[0039] One or more technical solutions provided by the present invention have at least the following technical effects or advantages:

[0040] After the target vehicle-mounted camera captures the car key corresponding to the model of the blocked vehicle and the vehicle unlocking signal corresponding to the model of the blocked vehicle is detected within the first preset duration, the vehicle is controlled to automatically move the vehicle. The automatic vehicle moving function of this vehicle is triggered by the car key of the blocked vehicle. The owner of the blocked vehicle can activate the automatic vehicle moving function of this vehicle under any circumstances, which is applicable to the situation where the doors of the blocked vehicle are also blocked, and the automatic vehicle moving function has strong adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0042] Figure 1 It is a flowchart of the automatic vehicle moving control method in the embodiment of the present invention;

[0043] Figure 2 It is a schematic structural diagram of the automatic vehicle moving control device in the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0044] The embodiments of the present invention provide an automatic vehicle moving control method and device, which solve the technical problem of poor adaptability of the vehicle automatic vehicle moving function in the prior art.

[0045] In order to better understand the technical solutions of the present invention, the following will describe the technical solutions of the present invention in detail in conjunction with the accompanying drawings of the specification and specific embodiments.

[0046] First, it should be noted that the term "and / or" appearing in this article is only an association relationship describing associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0047] As Figure 1 shown, the automatic vehicle moving control method of this embodiment includes:

[0048] Step S1, after the vehicle enters the automatic vehicle moving mode and the owner selects the target model, start the target vehicle-mounted camera; the target model is the model of the blocked vehicle;

[0049] Step S2, obtain the image information output by the target vehicle-mounted camera;

[0050] Step S3, determine whether the car key corresponding to the target model is detected according to the image information;

[0051] Step S4, if the car key corresponding to the target vehicle model is detected, within the first preset duration after the car key is detected, it is determined whether the vehicle unlocking signal corresponding to the target vehicle model is detected;

[0052] Step S5, if the vehicle unlocking signal corresponding to the target vehicle model is detected, the vehicle is controlled to automatically move the vehicle.

[0053] The traffic jam scenarios in this embodiment mainly include two types: the vehicle of the present invention is parked parallel to the blocked vehicle and the vehicle of the present invention is parked perpendicular to the blocked vehicle.

[0054] The automatic vehicle moving control method in this embodiment is based on the following scenario: after the vehicle owner of the present vehicle parks the vehicle and finds that it will block other vehicles, the vehicle owner will observe the vehicle models of the blocked vehicles. Generally, there are 1-3 blocked vehicles. The vehicle owner will control the vehicle to enter the automatic vehicle moving mode and select the vehicle model of the blocked vehicle, that is, select the target vehicle model; the vehicle has a database, and the database stores the car key images, vehicle unlocking signals and vehicle locking signals corresponding to each vehicle model on the market; the vehicle owner will place a prompt message in front of the vehicle, introducing that the vehicle of the present invention has the function of automatically moving the vehicle. The owner of the blocked vehicle can place the car key in front of the target vehicle-mounted camera and unlock the vehicle within 10s to activate the automatic vehicle moving function of the vehicle of the present invention. If the blocked vehicle still cannot leave after the automatic vehicle moving is completed, the owner of the blocked vehicle can place the car key in front of the target vehicle-mounted camera again and lock the vehicle within 10s after the automatic vehicle moving is completed, and the vehicle of the present invention will notify the vehicle owner of the present vehicle to come and move the vehicle. If the vehicle does not enter the automatic vehicle moving mode, steps S1-S5 will not be executed.

[0055] In step S1, after the vehicle owner selects the target vehicle model, this embodiment will extract the car key image, vehicle unlocking signal and vehicle locking signal corresponding to each target vehicle model from the database. The target vehicle-mounted camera can be a camera specifically used for automatically moving the vehicle on the vehicle, or the camera of the existing driving recorder on the vehicle. Generally, the camera will be turned off after the vehicle is parked. This embodiment will start the target vehicle-mounted camera after the vehicle enters the automatic vehicle moving mode and the vehicle owner selects the target vehicle model. The target vehicle-mounted camera can monitor the environmental image in a certain direction of the vehicle.

[0056] In step S3, this embodiment will continuously compare the image information output by the target vehicle-mounted camera with the car key images corresponding to each target vehicle model extracted. When the owner of the blocked vehicle places the car key in front of the target vehicle-mounted camera, the vehicle will determine that the car key corresponding to the target vehicle model is detected.

[0057] In principle, after detecting the car key corresponding to the target vehicle model, it can be determined that a certain blocked vehicle is about to leave, and the automatic vehicle moving can start. However, if the vehicle model of an unrelated vehicle owner is the same as the target vehicle model, but this owner's vehicle is not blocked by the present vehicle, and this owner just wants to try the automatic vehicle moving function of the present vehicle after seeing the prompt information in front of the vehicle, and may place the car key in front of the target vehicle's camera. If the vehicle is controlled to move automatically after detecting the car key corresponding to the target vehicle model, unnecessary vehicle moving behavior will occur.

[0058] In this embodiment, unnecessary vehicle moving behavior is avoided as much as possible through steps S4 and S5. In step S4, the first preset duration can be 10 s. The vehicle unlocking signal includes the vehicle unlocking flash signal and / or the vehicle unlocking sound signal. It can be understood that the probability of the unlocking of an unrelated vehicle of the same type as the blocked vehicle occurring within 10 s after an unrelated vehicle owner places the car key in front of the target vehicle's camera is very small. In this way, by detecting the vehicle unlocking signal corresponding to the target vehicle model within the first preset duration after detecting the car key and then controlling the vehicle to move automatically, unnecessary vehicle moving behavior can be avoided as much as possible. Of course, it cannot be excluded that an unrelated vehicle owner places the car key in front of the target vehicle's camera, an unrelated vehicle of the same type as the blocked vehicle happens to be near the present vehicle, and this unrelated vehicle happens to be unlocked within 10 s after the unrelated vehicle owner places the car key in front of the target vehicle's camera.

[0059] As can be seen from the above, in this embodiment, after the target vehicle's camera captures the car key corresponding to the vehicle model of the blocked vehicle and the vehicle unlocking signal corresponding to the vehicle model of the blocked vehicle is detected within the first preset duration, the vehicle is controlled to move automatically. The automatic vehicle moving function of the present vehicle is triggered by the car key of the blocked vehicle. The owner of the blocked vehicle can start the automatic vehicle moving function of the present vehicle under any circumstances, which is applicable to the situation where the door of the blocked vehicle is also blocked, and the automatic vehicle moving function has strong adaptability.

[0060] In step S5, an existing and mature solution can be adopted to achieve automatic vehicle parking. For example, driverless technology can achieve automatic parking in most driving environments, but the cost of driverless is relatively high. In this embodiment, it is considered to simply move the vehicle forward or backward to make way for the blocked vehicle. Therefore, in step S5, the control of automatic vehicle parking includes: determining whether there are obstacles in front of and behind the vehicle; if there are no obstacles within a preset distance (such as 10 meters) in front of and behind the vehicle, the vehicle can be controlled to automatically move forward or backward a preset distance; if there is an obstacle within the preset distance in front of the vehicle and no obstacle within the preset distance behind the vehicle, the vehicle can be controlled to automatically move backward a preset distance; if there is an obstacle within the preset distance behind the vehicle and no obstacle within the preset distance in front of the vehicle, the vehicle can be controlled to automatically move forward a preset distance; if there are obstacles within the preset distance in front of and behind the vehicle, obtain the first distance between the vehicle head and the obstacle in front and the second distance between the vehicle tail and the obstacle behind; if the first distance is greater than the second distance, the vehicle can be controlled to automatically move forward the first distance; if the first distance is less than the second distance, the vehicle can be controlled to automatically move backward the second distance; if the first distance and the second distance are equal, compare the intensities of the vehicle unlocking signals (mainly the vehicle unlocking sound signals) at the vehicle head and the vehicle tail; if the intensity of the vehicle unlocking signal at the vehicle head is higher than that at the vehicle tail, control the vehicle to automatically move backward the second distance; if the intensity of the vehicle unlocking signal at the vehicle head is lower than that at the vehicle tail, control the vehicle to automatically move forward the first distance; if the intensity of the vehicle unlocking signal at the vehicle head is equal to that at the vehicle tail, control the vehicle to automatically move forward or backward.

[0061] It should be noted that the above automatic parking solution does not necessarily guarantee that the blocked vehicle can leave. In this embodiment, it is defaulted that the vehicle unlocking sound signal of the blocked vehicle comes from the center of the blocked vehicle. Among them, the intensity of the vehicle unlocking signal at the vehicle head being higher than that at the vehicle tail means that the vehicle head of this vehicle is closer to the center of the blocked vehicle than the vehicle tail; the intensity of the vehicle unlocking signal at the vehicle head being lower than that at the vehicle tail means that the vehicle tail of this vehicle is closer to the center of the blocked vehicle than the vehicle head. When the first distance and the second distance are equal, it is easy to think that if the vehicle head of this vehicle is closer to the center of the blocked vehicle, at this time, if the vehicle moves backward the second distance, the possibility that the blocked vehicle can drive away is higher; if the vehicle tail of this vehicle is closer to the center of the blocked vehicle, at this time, if the vehicle moves forward the first distance, the possibility that the blocked vehicle can drive away is higher. This can increase the possibility that the blocked vehicle can drive away and improve the parking effect.

[0062] After the automatic parking in this embodiment is completed, it is necessary to remind the owner of the blocked vehicle that the automatic parking has been completed so that the blocked vehicle can start to drive away. Therefore, after step S5, the automatic parking method of this embodiment further includes: after the vehicle automatically parks, playing a first voice message to remind the owner of the blocked vehicle that the automatic parking has been completed.

[0063] After the vehicle moves forward or backward, it is not necessarily guaranteed that the blocked vehicle can leave. If the blocked vehicle still cannot drive away, the owner of this vehicle needs to be notified to come and move the vehicle, and it is a relatively complex process to manually control the vehicle for moving. Therefore, after the vehicle automatically moves, a first voice message is played to remind the owner of the blocked vehicle that the automatic moving has been completed. After playing the first voice message, within a second preset duration, if the car key corresponding to the target vehicle type and the vehicle locking signal are detected, a moving message is sent to the owner of this vehicle to notify the owner of this vehicle to come and move the vehicle, and a second voice message is played to remind the owner of the blocked vehicle that the owner of this vehicle has been notified to come and move the vehicle. Among them, the second preset duration can be 10s. Since the prompt information in front of the vehicle has informed the owner of the blocked vehicle that the car key can be placed in front of the target vehicle-mounted camera again and the vehicle can be locked within 10s after the automatic moving ends, and this vehicle will notify the owner of this vehicle to come and move the vehicle. Therefore, within the second preset duration after playing the first voice message, if the car key corresponding to the target vehicle type and the vehicle locking signal are detected, it means that the blocked vehicle still cannot drive away, and the owner of this vehicle can be notified to come and move the vehicle.

[0064] As Figure 2 shown, this embodiment also provides an automatic vehicle moving control device, including:

[0065] A camera activation module, which is used to activate the target vehicle-mounted camera after the vehicle enters the automatic vehicle moving mode and the owner selects the target vehicle type; the target vehicle type is the vehicle type to which the blocked vehicle belongs;

[0066] An image acquisition module, which is used to acquire the image information output by the target vehicle-mounted camera;

[0067] An image recognition module, which is used to judge whether the car key corresponding to the target vehicle type is detected according to the image information;

[0068] A signal recognition module, which is used to judge whether the vehicle unlocking signal corresponding to the target vehicle type is detected within a first preset duration after the car key is detected if the car key corresponding to the target vehicle type is detected;

[0069] A vehicle control module, which is used to control the vehicle to automatically move if the vehicle unlocking signal corresponding to the target vehicle type is detected.

[0070] Among them, the vehicle unlocking signal includes a vehicle unlocking flashing signal and / or a vehicle unlocking sound signal. The vehicle control module is further configured to: determine whether there are obstacles in front of and behind the vehicle. If there are obstacles in both the front and the rear of the vehicle, obtain a first distance between the vehicle head and the front obstacle and a second distance between the vehicle tail and the rear obstacle; if the first distance and the second distance are equal and both are less than a preset distance, compare the intensities of the vehicle unlocking signals at the vehicle head and the vehicle tail; if the intensity of the vehicle unlocking signal at the vehicle head is higher than that at the vehicle tail, control the vehicle to automatically reverse for the second distance; if the intensity of the vehicle unlocking signal at the vehicle head is lower than that at the vehicle tail, control the vehicle to automatically move forward for the first distance.

[0071] After the automatic parking control device of this embodiment captures the vehicle key corresponding to the blocked vehicle by the target vehicle-mounted camera and detects the vehicle unlocking signal corresponding to the blocked vehicle within the first preset time period, it controls the vehicle to automatically park. The automatic parking function of this vehicle is triggered by the vehicle key of the blocked vehicle. The owner of the blocked vehicle can activate the automatic parking function of this vehicle under any circumstances, which is applicable to the situation where the doors of the blocked vehicle are also blocked, and the automatic parking function has strong adaptability.

[0072] Based on the same inventive concept as the automatic parking control method described above, this embodiment further provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the steps of any one of the automatic parking control methods described above.

[0073] Among them, the bus architecture (represented by the bus), the bus can include any number of interconnected buses and bridges. The bus links various circuits including one or more processors represented by the processor and the memory represented by the memory together. The bus can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, so they will not be further described herein. The bus interface provides an interface between the bus and the receiver and the transmitter. The receiver and the transmitter can be the same element, that is, a transceiver, which provides a unit for communicating with various other devices on the transmission medium. The processor is responsible for managing the bus and general processing, while the memory can be used to store data used by the processor when executing operations.

[0074] Since the electronic device introduced in this embodiment is the electronic device adopted for implementing the automatic parking control method in the embodiments of the present invention, based on the automatic parking control method introduced in the embodiments of the present invention, those skilled in the art can understand the specific implementation manners and various variations of the electronic device in this embodiment. Therefore, the implementation of how this electronic device realizes the method in the embodiments of the present invention will not be described in detail here. As long as those skilled in the art implement the electronic device adopted for the automatic parking control method in the embodiments of the present invention, it falls within the scope of protection of the present invention.

[0075] Based on the same inventive concept as the above automatic parking control method, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and the computer program realizes any of the above automatic parking control methods when executed by a processor.

[0076] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented 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.

[0077] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to the embodiments of the present invention. It should be understood that each flow and / or block in the flowchart and / or block diagram, as well as the combination of flows and / or blocks in the flowchart and / or block diagram, can be realized by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for realizing the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0078] These computer program instructions can also be stored in a computer-readable memory capable of guiding a computer or other programmable data processing devices to work in a specific manner, such that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device realizes the functions specified in Figure 1 one or more of the flows Figure 1 or blocks or combinations of blocks.

[0079] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus, so that a series of operation steps are executed on the computer or other programmable apparatus to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable apparatus provide steps for realizing the functions specified in one process or a plurality of processes and / or blocks Figure 1 one process or a plurality of processes and / or blocks Figure 1 or steps for realizing the functions specified in one block or a plurality of blocks.

[0080] Although the preferred embodiments of the present invention have been described, additional changes and modifications can be made by those skilled in the art once they learn of the basic creative concept. Therefore, the appended claims are intended to be construed to include the preferred embodiments as well as all changes and modifications falling within the scope of the present invention.

[0081] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. An automatic car parking control method, characterized in that, Including: After the vehicle enters the automatic parking mode and the vehicle owner selects the target vehicle model, start the target vehicle-mounted camera; The target vehicle model is the vehicle model to which the blocked vehicle belongs; Obtain the image information output by the target vehicle-mounted camera; Judge whether the vehicle key corresponding to the target vehicle model is detected according to the image information; If so, within the first preset time period after the vehicle key is detected, judge whether the vehicle unlocking signal corresponding to the target vehicle model is detected; The vehicle unlocking signal includes a vehicle unlocking flash signal and / or a vehicle unlocking sound signal; If the vehicle unlocking signal corresponding to the target vehicle model is detected, control the vehicle to automatically park.

2. The automatic parking control method according to claim 1, characterized in that, The controlling the vehicle to automatically park includes: Judge whether there are obstacles in front of and behind the vehicle. If there are obstacles in both the front and the rear of the vehicle, obtain the first distance between the vehicle head and the front obstacle and the second distance between the vehicle tail and the rear obstacle; If the first distance and the second distance are equal and both are less than the preset distance, compare the intensities of the vehicle unlocking signals at the vehicle head and the vehicle tail; If the intensity of the vehicle unlocking signal at the vehicle head is higher than that at the vehicle tail, control the vehicle to automatically drive backward by the second distance; If the intensity of the vehicle unlocking signal at the vehicle head is lower than that at the vehicle tail, control the vehicle to automatically drive forward by the first distance.

3. The automatic parking control method according to claim 1, wherein After the step of if the vehicle unlocking signal corresponding to the target vehicle model is detected, then control the vehicle to automatically park, it further includes: After the vehicle automatically parks, play the first voice message to remind the owner of the blocked vehicle that the automatic parking has been completed.

4. The automatic parking control method according to claim 3, wherein After the step of after the vehicle automatically parks, play the first voice message to remind the owner of the blocked vehicle that the automatic parking has been completed, it further includes: Within the second preset time period after playing the first voice message, if the vehicle key and the vehicle locking signal corresponding to the target vehicle model are detected, send a parking message to the owner of this vehicle to notify the owner of this vehicle to come and park, and play the second voice message to remind the owner of the blocked vehicle that the owner of this vehicle has been notified to come and park.

5. An automatic vehicle relocation control device, characterized in that, Including: A camera startup module, configured to start the target vehicle-mounted camera after the vehicle enters the automatic parking mode and the vehicle owner selects the target vehicle model; The target vehicle model is the vehicle model to which the blocked vehicle belongs; An image acquisition module, configured to obtain the image information output by the target vehicle-mounted camera; An image recognition module, configured to judge whether the vehicle key corresponding to the target vehicle model is detected according to the image information; A signal recognition module, configured to, if the vehicle key corresponding to the target vehicle model is detected, judge whether the vehicle unlocking signal corresponding to the target vehicle model is detected within the first preset time period after the vehicle key is detected; The vehicle unlocking signal includes a vehicle unlocking flash signal and / or a vehicle unlocking sound signal; A vehicle control module, configured to control the vehicle to automatically park if the vehicle unlocking signal corresponding to the target vehicle model is detected.

6. The automatic vehicle parking control device according to claim 5, wherein The vehicle control module is further configured to: Judge whether there are obstacles in front of and behind the vehicle. If there are obstacles in both the front and the rear of the vehicle, obtain the first distance between the vehicle head and the front obstacle and the second distance between the vehicle tail and the rear obstacle; If the first distance and the second distance are equal and both are less than a preset distance, compare the intensities of the vehicle unlocking signals at the front and rear of the vehicle; If the intensity of the vehicle unlocking signal at the front of the vehicle is higher than that at the rear, control the vehicle to automatically drive backward by the second distance; If the intensity of the vehicle unlocking signal at the front of the vehicle is lower than that at the rear, control the vehicle to automatically drive forward by the first distance.

7. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, it implements the automatic vehicle parking control method described in any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is executed by the processor, it implements the automatic vehicle parking control method described in any one of claims 1-4.

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