A valet parking abnormality processing method, device, electronic device and storage medium

Abstract

This invention discloses a method, apparatus, electronic device, and storage medium for handling valet parking anomalies. The method includes: acquiring abnormal status information of a vehicle waiting to be parked, parking location information, and environmental perception information; determining whether the vehicle meets takeover conditions based on the abnormal status information, and taking over the vehicle when the conditions are met; controlling the vehicle to automatically park based on the environmental perception information and parking location information, and uploading the parking information to the user terminal. Using the technical solution of this invention, if a vehicle malfunctions during valet parking, it can be automatically parked via cloud control, parking the vehicle in a designated location and notifying the user. Users do not need to monitor the parking process while using valet parking, ensuring worry-free use and improving the comfort of valet parking.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of automobile automatic driving, and in particular to a valet parking exception handling method, device, electronic device and storage medium. Background Art

[0002] Valet parking allows users to get off the vehicle at a designated drop-off point and issue parking instructions through a mobile phone APP. After receiving the instructions, the vehicle can automatically drive to the parking space in the parking lot. No user operation or monitoring is required, saving users time in finding parking spaces and parking.

[0003] The entire valet parking process requires that all parking-related systems are normal. If related components fail, the parking process will be interrupted and the vehicle will be parked in the middle of the parking lot, blocking the parking route. At this time, the user needs to return to the parking lot immediately to deal with the vehicle, causing user dissatisfaction and distrust of valet parking. At the same time, users need to pay attention to mobile phone APP information and monitor the vehicle's operating status throughout the parking process, and the convenience of valet parking will be greatly reduced.

[0004] Therefore, how to effectively handle valet parking anomalies is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0005] The embodiments of the present invention provide a valet parking exception handling method, device, electronic device and storage medium, so that the user does not need to pay attention to the parking process during the valet parking process, and can use the valet parking without worry, thereby improving the overall comfort.

[0006] In a first aspect, an embodiment of the present invention provides a method for handling valet parking exceptions, comprising:

[0007] Obtaining abnormal status information of the vehicle to be parked, parking location information, and environmental perception information;

[0008] Determining whether the vehicle to be parked meets a takeover condition based on the abnormal state information of the vehicle to be parked, so as to take over the vehicle to be parked when the takeover condition is met;

[0009] The vehicle to be parked is controlled to perform automatic parking according to the environmental perception information of the vehicle to be parked and the parking position information, and the parking information is uploaded to the user end.

[0010] In a second aspect, an embodiment of the present invention further provides a valet parking exception handling device, comprising:

[0011] An information acquisition module is used to acquire abnormal status information of the vehicle to be parked, parking position information, and environmental perception information;

[0012] A takeover judgment module, used to determine whether the vehicle to be parked meets the takeover conditions according to the abnormal state information of the vehicle to be parked, so as to take over the vehicle to be parked when the takeover conditions are met;

[0013] The automatic parking module is used to control the vehicle to be parked to perform automatic parking according to the environmental perception information of the vehicle to be parked and the parking position information, and upload the parking information to the user end.

[0014] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0015] one or more processors;

[0016] A storage device for storing one or more programs;

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the valet parking exception handling method described in any embodiment of the present invention.

[0018] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the valet parking exception handling method described in any embodiment of the present invention.

[0019] The embodiment of the present invention provides a valet parking abnormality processing method, device, electronic device and storage medium, which obtains abnormal state information, parking position information and environmental perception information of the vehicle to be parked; determines whether the vehicle to be parked meets the takeover conditions based on the abnormal state information of the vehicle to be parked, and takes over the vehicle to be parked when the takeover conditions are met; controls the vehicle to be parked to automatically park based on the environmental perception information and parking position information of the vehicle to be parked, and uploads the parking information to the user end. By adopting the technical solution of the embodiment of the present invention, if a vehicle breaks down during the valet parking process, the cloud can be used to control the vehicle to automatically park, park the vehicle in the designated location and inform the user, so that the user does not need to pay attention to the parking process during the valet parking process, and can use valet parking without worry, thereby improving the comfort of valet parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings. The drawings are only for the purpose of illustrating preferred embodiments and are not to be considered as limiting the present invention. Also, the same reference symbols are used throughout the drawings to represent the same parts. In the drawings:

[0021] Figure 1 is a flow chart of a valet parking exception handling method provided in Embodiment 1 of the present invention;

[0022] Figure 2A is a structural schematic diagram of a valet parking system provided by an embodiment of the present invention;

[0023] Figure 2B is a flow chart of a valet parking method provided in an embodiment of the present invention;

[0024] Figure 3 is a structural schematic diagram of a valet parking abnormality processing device provided in Embodiment 3 of the present invention;

[0025] Figure 4 It is a structural schematic diagram of an electronic device provided in Example 4 of the present application. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0027] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the operations (or steps) as sequential processes, many of the operations (or steps) therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0028] Embodiment 1

[0029] Figure 1 1 is a flowchart of a valet parking exception handling method provided in the first embodiment of the present invention. This embodiment is applicable to the case where an exception occurs in valet parking. The method of this embodiment can be executed by a valet parking exception handling device, which can be implemented in hardware and / or software. The device can be configured in a valet parking exception handling server. The method specifically includes the following steps:

[0030] S110, obtaining abnormal status information of the vehicle to be parked, parking position information, and environment perception information.

[0031] The waiting-to-park vehicle may refer to a vehicle waiting to be parked in or out of a parking space; for example, a vehicle waiting to be parked in a parking space after a user gets off at a designated drop-off point; or a vehicle waiting to be parked out of a parking space when a user needs to use the vehicle. The waiting-to-park vehicle is parked in or out of a parking space by valet parking. The valet parking may refer to a user getting off at a designated drop-off point, and issuing a parking instruction through the user terminal. After receiving the instruction, the vehicle can automatically drive to the parking space in the parking lot, without the need for user operation and monitoring, saving the user's time in finding a parking space and parking.

[0032] Abnormal state information may refer to state information of the vehicle to be parked when a parking failure occurs, and the abnormal state information of the vehicle to be parked is obtained according to the valet parking controller configured for the vehicle to be parked. If any of the components of the valet parking controller fails, the valet parking fails and the automatic driving is terminated; wherein, the components of the valet parking controller include a vehicle controller, a sensor, an actuator and related modules; the abnormal state information of the vehicle to be parked is determined according to the state information of each component. For example, if any part of the vehicle to be parked fails during the valet parking process, the valet parking is terminated.

[0033] The parking position information may refer to the position information of the vehicle to be parked in or out, and the parking position information may be obtained from the parking instruction issued by the user on the user end. For example, when the user needs to park the vehicle in the parking space, the parking instruction is issued, and the cloud may obtain the position information of the vehicle to be parked.

[0034] Environmental perception information may refer to information such as the area and obstacles that the vehicle to be parked passes through when parking in the parking space; the environmental perception information includes but is not limited to driving area information, obstacle target information, parking path angle information, and distance information from surrounding vehicles. The environmental perception information of the vehicle to be parked is obtained based on at least two sensors configured for the vehicle to be parked; for example, the distance information from surrounding vehicles is obtained through a radar sensor, the obstacle target information is obtained through a camera, or the parking path angle information is obtained through a steering control module.

[0035] S120: Determine whether the vehicle to be parked meets a takeover condition based on the abnormal state information of the vehicle to be parked, so as to take over the vehicle to be parked when the takeover condition is met.

[0036] The takeover condition may refer to determining whether the vehicle can be parked in the parking space through automatic driving based on the abnormal status information of the vehicle to be parked. For example, if the chassis of the vehicle to be parked fails and cannot be parked in the parking space through automatic driving, that is, the takeover condition is not met, then the vehicle needs to be parked in the parking space manually. If the radar sensor of the vehicle to be parked fails, that is, the takeover condition is met, the vehicle to be parked can be remotely controlled through the cloud, the vehicle can be parked in the designated location, and the user can be informed that the user does not need to pay attention to the parking process during the valet parking process, and can use valet parking without worries, thereby improving the comfort of valet parking. Among them, during the automatic driving process of valet parking, the vehicle driving information is reported to the user end in real time, which is convenient for the user to view the vehicle operation status and to intervene in time when a failure occurs.

[0037] S130: Control the vehicle to be parked to perform automatic parking according to the environment perception information of the vehicle to be parked and the parking position information, and upload the parking information to the user end.

[0038] Optionally, controlling the vehicle to be parked to automatically park according to the environment perception information of the vehicle to be parked and the parking position information, and uploading the parking information to the user terminal, includes:

[0039] Determining a parking path for the vehicle to be parked based on the environmental perception information and parking position information of the vehicle to be parked;

[0040] Controlling the vehicle to be parked to perform automatic parking according to the parking path of the vehicle to be parked and the environmental perception information;

[0041] After the vehicle to be parked completes automatic parking, the parking information will be uploaded to the user end via the cloud.

[0042] The parking path of the vehicle to be parked is determined based on the current position of the vehicle to be parked and the parking position information; and the vehicle to be parked is controlled to turn at the corresponding corner, adjust the gear, control the driving speed, and control the driving distance based on the environmental perception information of the vehicle to be parked. The vehicle to be parked starts to drive after receiving the control signal from the cloud, reports to the user to inform the cloud to take over, and after driving to the position input by the user, the cloud exits the takeover, locks the vehicle and shuts down the engine, and reports the position information to the user.

[0043] Among them, the acquisition, storage, use and processing of vehicle abnormal status information and location information in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations.

[0044] The embodiment of the present invention provides a method for handling valet parking exceptions, by obtaining abnormal state information, parking position information and environmental perception information of the vehicle to be parked; determining whether the vehicle to be parked meets the takeover conditions based on the abnormal state information of the vehicle to be parked, so as to take over the vehicle to be parked when the takeover conditions are met; controlling the vehicle to be parked to automatically park based on the environmental perception information and parking position information of the vehicle to be parked, and uploading the parking information to the user end. By adopting the technical solution of the embodiment of the present invention, when a vehicle fails during valet parking and the cloud has the takeover conditions, the cloud can be used to control the vehicle to be parked to automatically park, park the vehicle to be parked in the user-specified position and inform the user, so that the user does not need to pay attention to the parking process during the valet parking process, and can use valet parking without worries, thereby improving the comfort of valet parking.

[0045] Embodiment 2

[0046] The embodiment of the present invention further optimizes the above embodiment on the basis of the above embodiment. The embodiment of the present invention can be combined with various optional solutions in one or more of the above embodiments. Figure 2A is a schematic diagram of the structure of a valet parking system provided by an embodiment of the present invention, see Figure 2A The valet parking system describes a valet parking fault handling method. After the vehicle is safely parked, the cloud takes over the vehicle, controls the vehicle to drive into the user's designated location, and notifies the user.

[0047] like Figure 2A As shown, the valet parking control system consists of a valet parking controller, vehicle-mounted communications, a cloud server of the OEM, a parking lot server, and a user end. The valet parking controller includes but is not limited to a surround view camera, a front view camera, a millimeter wave radar, an ultrasonic radar, an entertainment host, a body comfort system, a chassis control system, and a steering control system. The user end may refer to a mobile phone APP.

[0048] The status information of the vehicle to be parked is obtained through the valet parking controller. If any part of the valet parking controller fails, the valet parking will fail and the automatic driving will be terminated. The abnormal status information is transmitted to the cloud server of the OEM through the vehicle communication. If the cloud does not have the conditions to take over the abnormal status of the vehicle to be parked, the parking lot server is notified to take over the vehicle to be parked. If the cloud has the conditions to take over the abnormal status of the vehicle to be parked, the cloud controls the vehicle to be parked to or park at the preset parking position, and informs the user through the user end. The cloud deploys the valet parking exception handling service to improve the success rate of valet parking.

[0049] Figure 2B is a flow chart of a valet parking method provided in an embodiment of the present invention, see Figure 2B , which may include the following steps:

[0050] B1: The user sends the parking target location through the mobile phone APP;

[0051] B2: The valet parking controller receives the location, the vehicle drives automatically, and reports the vehicle status and target location to the cloud;

[0052] B3: System abnormality, vehicle brakes to a stop, reports abnormal status to the cloud and requests cloud takeover;

[0053] B4: The cloud takes over the vehicle, receives the parking lot image, and the cloud customer service staff remotely drives the vehicle to the target location;

[0054] B5: After driving the vehicle to the target location, the cloud takes over and exits, locks the vehicle and turns off the engine, and sends the target location information to the user's mobile phone APP.

[0055] After the user chooses to confirm parking in or out of the parking space on the mobile phone APP, the cloud receives the destination information, and the vehicle starts automatic driving in the parking lot. During this period, a fault occurs. After the vehicle stops, the system reports the fault information to the customer's mobile phone APP and the cloud. At the same time, the system determines whether the vehicle to be parked meets the conditions for being taken over by the cloud and sends it to the cloud; if not, the cloud reports to the parking lot management end, and the parking lot management party intervenes to take over; if it meets the conditions and the cloud can take over at the same time, the cloud sends a takeover request handshake. After the handshake is successful, the cloud customer service intervenes in the vehicle driving and the vehicle enters the takeover state; the cloud controls the vehicle to be parked to lock the vehicle and light up the double flash to warn other vehicles. The cloud customer service staff also obtains the real-time image of the parking lot through the 5G platform. According to the real-time image, the cloud customer service staff controls the driving from the cloud. The cloud sends the corresponding corner signal, gear signal, maximum driving speed and driving distance to the vehicle to be parked. After receiving the corresponding signal, the vehicle to be parked starts to drive and reports to the user's mobile phone APP to inform the cloud to take over. After driving to the target position entered by the user, the cloud exits the takeover, locks the vehicle, turns off the engine, and reports the location information to the mobile phone APP.

[0056] The embodiment of the present invention uses cloud-based remote vehicle moving as a way to handle valet parking faults. During the valet parking process, cloud-based control is used for vehicles in abnormal conditions, and cloud-based takeover information and parking location information are uploaded to the user's mobile phone APP, so that customers do not have to worry about whether autonomous driving can proceed smoothly, and can use valet parking with confidence, thereby improving the comfort of valet parking.

[0057] Embodiment 3

[0058] Figure 3 3 is a schematic diagram of a valet parking exception handling device provided in Embodiment 3 of the present invention, the device comprising: an information acquisition module 310, a takeover judgment module 320 and an automatic parking module 330; wherein:

[0059] The information acquisition module 310 is used to acquire abnormal state information of the vehicle to be parked, parking position information and environment perception information;

[0060] The takeover judgment module 320 is used to determine whether the vehicle to be parked meets the takeover condition according to the abnormal state information of the vehicle to be parked, so as to take over the vehicle to be parked when the takeover condition is met;

[0061] The automatic parking module 330 is used to control the vehicle to be parked to perform automatic parking according to the environment perception information of the vehicle to be parked and the parking position information, and upload the parking information to the user end.

[0062] Based on the above embodiment, optionally, the information acquisition module includes:

[0063] Obtaining the parking entry or exit position of the vehicle to be parked input by the user at the user end, and determining the parking position information;

[0064] Acquiring environmental perception information of the vehicle to be parked according to at least two sensors configured for the vehicle to be parked;

[0065] The abnormal state information of the vehicle to be parked is obtained according to the valet parking controller configured for the vehicle to be parked.

[0066] Based on the above embodiment, optionally, the valet parking controller configured according to the vehicle to be parked obtains abnormal state information of the vehicle to be parked, including:

[0067] If any one of the components of the valet parking controller fails, the valet parking fails and the automatic driving is terminated; wherein the components of the valet parking controller include a vehicle controller, a sensor, an actuator and related modules;

[0068] According to the status information of each component, the abnormal status information of the vehicle to be parked is determined.

[0069] Based on the above embodiment, optionally, the takeover judgment module includes:

[0070] According to the abnormal state information of the vehicle to be parked, judging whether the vehicle to be parked meets the conditions for being taken over;

[0071] If the conditions for taking over are not met, the parking lot management terminal is reported to control the parking lot management terminal to park the vehicle to be parked;

[0072] If the conditions for taking over are met, the cloud is used to control the vehicle to be parked.

[0073] Based on the above embodiment, optionally, the automatic parking module includes:

[0074] Determining a parking path for the vehicle to be parked based on the environmental perception information and parking position information of the vehicle to be parked;

[0075] Controlling the vehicle to be parked to perform automatic parking according to the parking path of the vehicle to be parked and the environmental perception information;

[0076] After the vehicle to be parked completes automatic parking, the parking information will be uploaded to the user end via the cloud.

[0077] The valet parking exception handling device provided in the embodiments of the present invention can execute the valet parking exception handling method provided in any of the embodiments of the present invention described above, and has the corresponding functions and beneficial effects of executing the valet parking exception handling method. For detailed processes, please refer to the relevant operations of the valet parking exception handling method in the aforementioned embodiments.

[0078] Embodiment 4

[0079] Figure 4 Schematic diagram of the structure of an electronic device provided in the fourth embodiment of the present application. The present embodiment provides an electronic device, in which the interactive device for abnormal valet parking provided in the embodiment of the present application can be integrated. Figure 4 As shown, this embodiment provides an electronic device 400, which includes: one or more processors 420; a storage device 410, which is used to store one or more programs. When the one or more programs are executed by the one or more processors 420, the one or more processors 420 implement the valet parking exception handling method provided in the embodiment of the present application, and the method includes:

[0080] Obtaining abnormal status information of the vehicle to be parked, parking location information, and environmental perception information;

[0081] Determining whether the vehicle to be parked meets a takeover condition based on the abnormal state information of the vehicle to be parked, so as to take over the vehicle to be parked when the takeover condition is met;

[0082] The vehicle to be parked is controlled to perform automatic parking according to the environmental perception information of the vehicle to be parked and the parking position information, and the parking information is uploaded to the user end.

[0083] Of course, those skilled in the art can understand that the processor 420 also implements the technical solution of the valet parking exception handling method provided in any embodiment of the present application.

[0084] Figure 4 The electronic device 400 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0085] like Figure 4As shown, the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of the processor 420 in the electronic device can be one or more. Figure 4 A processor 420 is taken as an example; the processor 420, the storage device 410, the input device 430 and the output device 440 in the electronic device can be connected via a bus or other means. Figure 4 The connection via bus 450 is taken as an example.

[0086] The storage device 410 is a computer-readable storage medium that can be used to store software programs, computer executable programs, and module units, such as program instructions corresponding to the valet parking exception handling method in the embodiment of the present application.

[0087] The storage device 410 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the terminal, etc. In addition, the storage device 410 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some instances, the storage device 410 may further include a memory remotely arranged relative to the processor 420, and these remote memories may be connected via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0088] The input device 430 may be used to receive input numbers, character information or voice information, and generate key signal input related to user settings and function control of the electronic device. The output device 440 may include electronic devices such as a display screen and a speaker.

[0089] The electronic device provided in the embodiment of the present application can effectively solve the problem of abnormal handling of valet parking, so that the user does not need to pay attention to the parking process during the valet parking process, and can use valet parking without worry, thereby improving the overall comfort.

[0090] Embodiment 5

[0091] Embodiment 5 of the present invention further provides a storage medium including computer executable instructions, wherein the computer executable instructions are used to execute a valet parking exception handling method when executed by a computer processor, the method comprising:

[0092] Obtaining abnormal status information of the vehicle to be parked, parking location information, and environmental perception information;

[0093] Determining whether the vehicle to be parked meets a takeover condition based on the abnormal state information of the vehicle to be parked, so as to take over the vehicle to be parked when the takeover condition is met;

[0094] The vehicle to be parked is controlled to perform automatic parking according to the environmental perception information of the vehicle to be parked and the parking position information, and the parking information is uploaded to the user end.

[0095] The computer storage medium of the embodiment of the present invention may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the above. The computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device.

[0096] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to: electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0097] The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the above.

[0098] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0099] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0100] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A valet parking abnormality handling method, characterized in that: The method comprises: Obtaining abnormal status information of the vehicle to be parked, parking location information, and environmental perception information; Determining whether the vehicle to be parked meets a takeover condition based on the abnormal state information of the vehicle to be parked, so as to take over the vehicle to be parked when the takeover condition is met; Controlling the vehicle to be parked to automatically park according to the environmental perception information of the vehicle to be parked and the parking position information, and uploading the parking information to the user end; Wherein, determining whether the vehicle to be parked meets a takeover condition based on the abnormal state information of the vehicle to be parked, so as to control the vehicle to be parked when the takeover condition is met, includes: According to the abnormal state information of the vehicle to be parked, determining whether the vehicle to be parked meets the conditions for being taken over; wherein the take-over condition refers to determining, according to the abnormal state information of the vehicle to be parked, that the vehicle to be parked can be parked into the parking space through automatic driving; If the conditions for taking over are not met, the parking lot management terminal is reported to control the parking lot management terminal to park the vehicle to be parked; If the conditions for taking over are met, the cloud is used to control the vehicle to be parked.

2. The method according to claim 1, characterized in that The obtaining of abnormal state information of the to-be-parked vehicle, parking position information and environment perception information includes: Obtaining the parking entry or exit position of the vehicle to be parked input by the user at the user end, and determining the parking position information; Acquiring environmental perception information of the vehicle to be parked according to at least two sensors configured for the vehicle to be parked; The abnormal state information of the vehicle to be parked is obtained according to the valet parking controller configured for the vehicle to be parked.

3. The method according to claim 2, characterized in that The valet parking controller configured according to the vehicle to be parked obtains abnormal state information of the vehicle to be parked, including: If any one of the components of the valet parking controller fails, the valet parking fails and the automatic driving is terminated; wherein the components of the valet parking controller include a vehicle controller, a sensor, an actuator and related modules; According to the status information of each component, the abnormal status information of the vehicle to be parked is determined.

4. The method according to claim 1, characterized in that: The method of controlling the vehicle to be parked to automatically park according to the environmental perception information of the vehicle to be parked and the parking position information, and uploading the parking information to the user end, includes: Determining a parking path for the vehicle to be parked based on the environmental perception information and parking position information of the vehicle to be parked; Controlling the vehicle to be parked to perform automatic parking according to the parking path of the vehicle to be parked and the environmental perception information; After the vehicle to be parked completes automatic parking, the parking information will be uploaded to the user end via the cloud.

5. A valet parking abnormality handling device, characterized in that: The device comprises: An information acquisition module is used to acquire abnormal status information of the vehicle to be parked, parking position information, and environmental perception information; A takeover judgment module, used to determine whether the vehicle to be parked meets the takeover conditions according to the abnormal state information of the vehicle to be parked, so as to take over the vehicle to be parked when the takeover conditions are met; An automatic parking module, used to control the vehicle to be parked to automatically park according to the environmental perception information of the vehicle to be parked and the parking position information, and upload the parking information to the user end; Wherein, the takeover judgment module includes: According to the abnormal state information of the vehicle to be parked, determining whether the vehicle to be parked meets the conditions for being taken over; wherein the take-over condition refers to determining, according to the abnormal state information of the vehicle to be parked, that the vehicle to be parked can be parked into the parking space through automatic driving; If the conditions for taking over are not met, the parking lot management terminal is reported to control the parking lot management terminal to park the vehicle to be parked; If the conditions for taking over are met, the cloud is used to control the vehicle to be parked.

6. The device according to claim 5, characterized in that The information acquisition module comprises: Obtaining the parking entry or exit position of the vehicle to be parked input by the user at the user end, and determining the parking position information; Acquiring environmental perception information of the vehicle to be parked according to at least two sensors configured for the vehicle to be parked; The abnormal state information of the vehicle to be parked is obtained according to the valet parking controller configured for the vehicle to be parked.

7. The device according to claim 5, characterized in that The valet parking controller configured according to the vehicle to be parked obtains abnormal state information of the vehicle to be parked, including: If any one of the components of the valet parking controller fails, the valet parking fails and the automatic driving is terminated; wherein the components of the valet parking controller include a vehicle controller, a sensor, an actuator and related modules; According to the status information of each component, the abnormal status information of the vehicle to be parked is determined.

8. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the valet parking exception handling method according to any one of claims 1 to 4.

9. A storage medium containing computer executable instructions, characterized in that: The computer executable instructions are used to execute the valet parking exception handling method as claimed in any one of claims 1 to 4 when executed by a computer processor.

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