Parking control method, parking route storage method, system, device and vehicle

Abstract

The present disclosure provides a parking control method, a parking route storage method, a system, a device, and a vehicle. The parking control method includes: determining that a vehicle has entered a parking lot and obtaining a target parking space; retrieving a target parking route from a server based on the vehicle's current position and the target parking space; wherein the server pre-stores at least one parking route previously learned by each vehicle; and controlling the vehicle to travel to the target parking space based on the target parking route. In this way, each parking route can be uniformly stored in the server, and subsequent parking processes can simply retrieve the corresponding parking route from the server, eliminating the need to create a custom parking route. This ensures automated parking requirements for vehicles, improves the efficiency of automated parking, and facilitates user experience.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle driving control technology, and in particular to a parking control method, a parking route storage method, a system, a device, and a vehicle. Background Art

[0002] With the development of the automotive industry, the demand for intelligent vehicles is becoming increasingly demanding. For automated parking, existing technologies rely on the vehicle's parking system to pre-learn and construct a parking route map. Once the parking route map is learned and constructed, subsequent vehicles can then park automatically.

[0003] After the parking route is learned and constructed, it can only be used by a specific car, which is inconvenient to use. Summary of the Invention

[0004] In view of this, the purpose of the present disclosure is to propose a parking control method, a parking route storage method, a system, a device and a vehicle to solve the problem in the prior art that after the vehicle parking route is learned and constructed, it can only be used for a dedicated vehicle and is inconvenient to use.

[0005] Based on the above objectives, a first aspect of the present disclosure provides a parking control method, which is applied to a parking control system of a vehicle, comprising:

[0006] Determine that the vehicle enters the parking lot and obtain a target parking space;

[0007] Retrieving a target parking route from the server based on the current position of the vehicle and the target parking space; wherein the server pre-stores at least one parking route pre-learned by each vehicle;

[0008] The vehicle is controlled to travel to the target parking space according to the target parking route.

[0009] In some embodiments, the target parking route is a first parking route from the current position of the vehicle to the target parking space;

[0010] The controlling the vehicle to travel to the target parking space according to the target parking route includes:

[0011] In response to there being a plurality of first parking routes, selecting a shortest first parking route from the plurality of first parking routes, and controlling the vehicle to drive into the target parking space according to the shortest first parking route;

[0012] or,

[0013] In response to there being only one first parking route, the vehicle is controlled to drive into the target parking space according to the first parking route.

[0014] In some embodiments, controlling the vehicle to enter the target parking space according to the shortest first parking route or according to the first parking route includes:

[0015] Acquiring vehicle surrounding environment information, and controlling the vehicle to move laterally or longitudinally based on the shortest first parking route or the first parking route, to drive the vehicle into the target parking space;

[0016] The lateral driving includes: determining a turning direction and a turning angle based on the surrounding environment information and the shortest first parking route or the first parking route, and controlling the vehicle steering according to the turning direction and the turning angle;

[0017] The longitudinal driving includes: determining driving torque or braking data based on the surrounding environment information and the shortest first parking route or the first parking route, and controlling the vehicle to move forward based on the driving torque, or controlling the vehicle to brake based on the braking data.

[0018] In some embodiments, when it is determined that a first parking route from the current position of the vehicle to the target parking space has not been retrieved from the server, the target parking route is a second parking route corresponding to an adjacent parking space from the current position of the vehicle to the target parking space; wherein the adjacent parking space is a parking space closest to the target parking space within a predetermined distance range from the target parking space;

[0019] The controlling the vehicle to travel to the target parking space according to the target parking route includes:

[0020] The vehicle is controlled to travel to the adjacent parking space according to the second parking route, so that an automatic parking assistance system controls the vehicle to travel from the adjacent parking space into the target parking space, or so that a driver controls the vehicle to travel from the adjacent parking space into the target parking space.

[0021] In some embodiments, further comprising:

[0022] In response to not retrieving the target parking route from the server, activating a cruise parking mapping function for the driver to control the vehicle to self-drive into the target parking space;

[0023] During the self-driving into the target parking space, the route learning and mapping is performed based on the real-time acquired route information of the vehicle to obtain a self-built parking route;

[0024] The self-built parking route is stored locally, and the self-built parking route is sent to the server for storage.

[0025] Based on the same inventive concept, the second aspect of the present application proposes a parking route storage method applied to a vehicle, comprising:

[0026] In response to starting the cruise parking mapping function, the vehicle's route information is obtained in real time, and the route learning and mapping is performed to obtain a parking route;

[0027] The parking route is uploaded to a server for storage, so that the server can retrieve a target parking route from at least one stored parking route according to the current position of the vehicle and the corresponding target parking space.

[0028] Based on the same inventive concept, a third aspect of the present application proposes a parking route storage method applied to a server, comprising:

[0029] receiving at least one parking route pre-learned by each vehicle in the parking lot;

[0030] The at least one parking route is stored so that the vehicle can retrieve a target parking route from the at least one stored parking route according to the current position of the vehicle and the corresponding target parking space.

[0031] Based on the same inventive concept, a fourth aspect of the present application provides a parking control system, which is provided in a vehicle and includes:

[0032] a parking space acquisition module, configured to determine that the vehicle enters the parking lot and acquire a target parking space;

[0033] a retrieval module configured to retrieve a target parking route from the server based on the current position of the vehicle and the target parking space; wherein the server pre-stores at least one parking route pre-learned by each vehicle;

[0034] The driving control module is configured to control the vehicle to drive to the target parking space according to the target parking route.

[0035] Based on the same inventive concept, the fifth aspect of this application proposes an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in the first aspect when executing the program.

[0036] Based on the same inventive concept, the sixth aspect of this application proposes a vehicle, including the parking control system described in the fourth aspect or the electronic device described in the fifth aspect.

[0037] As can be seen from the foregoing, the present disclosure provides a parking control method, parking route storage method, system, device, and vehicle. Each vehicle pre-sends at least one learned parking route to a server for storage. When the vehicle arrives at the parking lot, it retrieves a target parking route from the at least one parking route pre-stored on the server and controls the vehicle to travel according to the target parking route. This allows each parking route to be centrally stored in the server, allowing subsequent vehicles to directly retrieve the corresponding parking route from the server, eliminating the need to create their own parking routes. This ensures automated parking requirements, improves the efficiency of automated parking, and facilitates user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present disclosure or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 is a flowchart of a parking control method according to an embodiment of the present disclosure;

[0040] Figure 2 This is a flowchart of a parking route storage method applied to a vehicle according to an embodiment of the present disclosure;

[0041] Figure 3 This is a flowchart of a parking route storage method applied to a server according to an embodiment of the present disclosure;

[0042] Figure 4A A schematic block diagram of a cruise parking mapping process according to an embodiment of the present disclosure;

[0043] Figure 4B A schematic block diagram of each vehicle in an embodiment of the present disclosure uploading a parking route constructed by a cruise parking module via a parking lot communication device;

[0044] Figure 4C is a schematic block diagram of a parking control process according to an embodiment of the present disclosure;

[0045] Figure 5 Schematic diagram of the parking control system according to an embodiment of the present disclosure;

[0046] Figure 6 Schematic diagram of the structure of a parking route storage device applied to a vehicle according to an embodiment of the present disclosure;

[0047] Figure 7 Schematic diagram of the structure of a parking route storage device applied to a server according to an embodiment of the present disclosure;

[0048] Figure 8 Schematic diagram of the structure of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0049] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0050] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should have the usual meanings understood by people with ordinary skills in the field to which the present disclosure belongs. The "first", "second" and similar words used in the embodiments of the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may also change accordingly.

[0051] With the development of the automotive industry, vehicles are increasingly involved in daily life and work, meeting various scenarios and needs. Intelligent vehicle services are becoming increasingly important. Among them, cruise parking function is an intelligent function service designed to serve users.

[0052] An intelligent driving system refers to a vehicle equipped with advanced sensors, controllers, actuators, communication modules and other equipment to assist the driver in maneuvering the vehicle. Currently, more and more vehicles equipped with intelligent driving systems are entering the consumer market, and the number of models equipped with intelligent driving systems is also increasing. At the same time, faced with more and more parking scenarios and the improvement of their own sensor capabilities, cruise parking functions are increasingly facing end customers.

[0053] The following example briefly introduces the Learned Parking Navigation Pilot (LPNP) feature, which helps users automatically navigate and park along a memorized route. Before using Smart Parking, users must use the mapping function to learn and create a map of the Smart Parking route. During the Smart Parking process, the user does not need to control the vehicle, but for safety reasons, the user is required to monitor the system's operating status and, if necessary, apply the brakes to take over.

[0054] Mapping: To implement the "Car Memory" feature, route learning is required. A specific operation is performed to put the system into parking route learning mode. During parking route mapping, the driver drives the vehicle from the starting point into the parking space or parks automatically using APA (Auto Parking Assist). The system collects visual data to construct a map of the area and stores the corresponding route to complete the parking route mapping.

[0055] Smart Parking: The driver drives the vehicle near the starting point and activates the Memory Parking feature. After matching the route, the system automatically cruises along the memorized route and parks in the parking space. Before using Smart Parking, the user must use the Mapping feature to learn and create a map of the Smart Parking route. The user does not need to control the vehicle during the entire Smart Parking process.

[0056] Note: On vehicles equipped with cruise parking systems, the parking system's sensor module learns the cruise route environment information, and then based on the path information obtained after learning, it can independently complete end-to-end (from the starting point to the end point parking space) automatic parking behavior. That is, there must be a learning process from the target point to the end point, and this behavior is not resource-sharing and can only be used for special vehicles.

[0057] Based on the above description, if Figure 1 As shown, the parking control method proposed in this embodiment is applied to a parking control system of a vehicle.

[0058] Before implementing the parking control method of this embodiment, each vehicle will transmit at least one learned parking route to a server for storage via parking lot communication equipment installed in the parking lot. The learned parking route may be uploaded to the server with the vehicle owner's consent before being transmitted to the server for storage. The server stores the parking route's name and identifier as a combination of the parking space symbol and the route's distance.

[0059] Based on the above description, the steps of executing the method by the parking control system of the vehicle include:

[0060] Step 101: Determine whether the vehicle enters a parking lot and obtain a target parking space.

[0061] In specific implementation, after a vehicle enters a parking lot, it will obtain the parking lot entrance identification (e.g., picture identification, text identification, or symbol identification). After recognizing the corresponding entrance identification, it will automatically match the corresponding target parking space. If there is a fixed dedicated parking space for the user of the vehicle in the parking lot, the fixed dedicated parking space will be the target parking space. If there is no fixed dedicated parking space, the vacant parking space closest to the current position of the vehicle will be selected from the vacant parking spaces in the parking lot as the target parking space.

[0062] Preferably, before executing step 102, a search can be automatically started to determine whether a parking route from the current position to the target parking space is stored locally. If so, the vehicle is controlled to drive to the target parking space according to the locally stored parking route. If not, the process proceeds to step 102 and the subsequent process is executed.

[0063] Step 102: Retrieve a target parking route from the server based on the current position of the vehicle and the target parking space.

[0064] In practice, the vehicle's internal T-BOX (Telematics Box) device establishes a communication connection with parking lot communication equipment within the parking lot using V2X (Vehicle to Everything) technology. Based on the vehicle's current location and target parking space, the server searches for at least one target parking route from a pre-stored database. The server then transmits this target parking route to the vehicle's parking control system.

[0065] The specific retrieval process involves the server searching for multiple parking routes corresponding to the target parking space's name in a database based on the parking lot communication device's identifier. The server then determines a matching target parking route from these multiple routes based on the vehicle's current location. The server then transmits the target parking route to the vehicle's external communication device, the T-BOX, via V2X communication via the parking lot communication device. The T-BOX then sends the target parking route to the parking control system.

[0066] Step 103: Control the vehicle to travel to the target parking space according to the target parking route.

[0067] In specific implementation, after receiving the target parking route, the parking control system will control the vehicle to drive according to the target parking route and enter the target parking space.

[0068] Through the above solution, the parking routes obtained by each vehicle can be uniformly stored in the server in advance. During the subsequent parking process, the corresponding parking routes can be directly retrieved from the server without the need to build parking routes by themselves. This ensures the needs of automated parking for vehicles, improves the efficiency of automatic parking driving, and facilitates user use.

[0069] In some embodiments, the target parking route is a first parking route from the current position of the vehicle to the target parking space. Step 103 includes:

[0070] Step 103A: In response to there being a plurality of first parking routes, a shortest first parking route is selected from the plurality of first parking routes, and the vehicle is controlled to enter the target parking space according to the shortest first parking route.

[0071] In specific implementation, each first parking route obtained is named according to the target parking space name + distance. Since the target parking spaces have the same name, the distance values ​​can be directly compared, and the first parking route with the smallest distance value is selected to control the vehicle to enter the target parking space.

[0072] Alternatively, multiple first parking routes may be pushed to the vehicle's display screen, and the user may select one of the first parking routes to control the vehicle into the target parking space. Alternatively, the parking control system may select any one of the multiple first parking routes to control the vehicle into the target parking space.

[0073] Alternatively, in step 103B, in response to there being only one first parking route, the vehicle is controlled to enter the target parking space according to the first parking route.

[0074] Through the above solution, the route to the target parking space can be determined more accurately, ensuring the intelligent parking effect.

[0075] In some embodiments, in step 103A or step 103B, the process of controlling the vehicle to enter the target parking space includes:

[0076] Acquiring vehicle surrounding environment information, and controlling the vehicle to move laterally or longitudinally based on the shortest first parking route or the first parking route, to drive the vehicle into the target parking space;

[0077] The lateral driving includes: determining a turning direction and a turning angle according to the surrounding environment information and the shortest first parking route or the first parking route, and controlling the vehicle steering according to the turning direction and the turning angle;

[0078] The longitudinal driving includes: determining driving torque or braking data based on the surrounding environment information and the shortest first parking route or the first parking route, and controlling the vehicle to move forward based on the driving torque, or controlling the vehicle to brake based on the braking data.

[0079] In a specific implementation, the first parking route includes the parking route and the corresponding vehicle control information. The vehicle control information includes lateral travel control information and longitudinal travel control information. The lateral travel control information and longitudinal travel control information are pre-assigned vehicle travel control information during the parking route mapping process.

[0080] For example, during parking control, if a turn is determined at an intersection based on the first parking route and surrounding environment information, the vehicle is first braked based on the braking data in the longitudinal travel control information. The vehicle is then turned based on the turning direction and angle in the corresponding lateral travel control information. Finally, the vehicle is accelerated based on the driving torque in the longitudinal travel control information. Upon reaching the target parking space, the vehicle is parked correctly in the target space based on the lateral travel control information recorded in the target parking route and the longitudinal travel control information.

[0081] Through the above solution, the control process of automatic parking of the vehicle in the parking lot is realized, the intelligent characteristics of the vehicle are improved, the user's driving is more convenient, and the user experience is enhanced.

[0082] In some embodiments, when it is determined that the first parking route from the current position of the vehicle to the target parking space is not retrieved from the server, the target parking route is a second parking route corresponding to an adjacent parking space from the current position of the vehicle to the target parking space; wherein the adjacent parking space is a parking space closest to the target parking space within a predetermined distance range from the target parking space.

[0083] Step 103 includes:

[0084] The vehicle is controlled to travel to the adjacent parking space according to the second parking route, so that an automatic parking assistance system controls the vehicle to travel from the adjacent parking space into the target parking space, or so that a driver controls the vehicle to travel from the adjacent parking space into the target parking space.

[0085] In specific implementations, if the server does not have a first parking route from the vehicle's current location to the target parking space, the server will search for the nearest parking space within a predetermined distance range (e.g., within a 20-meter radius) of the target parking space as an adjacent parking space. If a second parking route from the vehicle's current location to the adjacent parking space exists, the second parking route will be sent to the vehicle's parking control system in the same manner as the first parking route described above, and will not be further described here.

[0086] The vehicle can then intelligently drive along the second parking route, avoiding entering an adjacent parking space when it reaches it. The driver can then manually steer the vehicle into the target parking space, or activate the automated parking assistance system, which uses the vehicle's cameras and sensors (including radar and / or infrared sensors) to automatically steer the vehicle into the target parking space based on surrounding information.

[0087] Through the above scheme, even if the server does not store the first parking route from the vehicle's current position to the target parking space, the vehicle can still drive to the vicinity of the target parking space with the help of the second parking route adjacent to the parking space. Then, the automatic parking assistance system can be activated to automatically park in the target parking space based on the environmental information around the vehicle, or the user can manually drive the vehicle into the target parking space.

[0088] In some embodiments, the method further comprises:

[0089] In step A1, in response to the target parking route not being retrieved from the server, a cruise parking mapping function is activated so that the driver can control the vehicle to drive into the target parking space.

[0090] Step A2: During the self-driving into the target parking space, based on the real-time acquired route information of the vehicle, a route learning and mapping is performed to obtain a self-built parking route.

[0091] Step A3: locally storing the self-built parking route and sending the self-built parking route to the server for storage.

[0092] In specific implementations, if the target parking route is not found on the server, the vehicle will autonomously construct a parking route map corresponding to the parking route according to the above process. During the construction process, the user can manually drive the vehicle to the target parking space and park at least once, allowing the vehicle to learn the route and then construct a parking route map based on the driving and parking process. After the construction is completed, the constructed parking route map is not only stored locally, but can also be sent to the server for storage via the parking lot communication equipment. This can be retrieved and used by other vehicles or the vehicle itself when they enter the parking lot.

[0093] In some embodiments, step A2 includes:

[0094] Step A21 , obtaining in real time lane information of the vehicle and vehicle body information of the vehicle while passing through the lane.

[0095] Step A22: construct a parking route map based on the lane information traveled through, mark the corresponding position of the parking route map with the vehicle body information, and obtain a self-constructed parking route.

[0096] In specific implementation, when the vehicle is learning and mapping its route, the lane information the vehicle is traveling through will be drawn in real time based on the vehicle's position, as well as the body information obtained through the vehicle's own IMU (Inertial Measurement Unit). These lane information and body information will be marked at the corresponding positions on the parking route map so that when parking is carried out subsequently according to the parking route map, the vehicle's parking process can be controlled based on this information.

[0097] In addition, during the mapping process, the vehicle's lateral driving control information (including the vehicle's turning angle and direction) and longitudinal driving control information (including the vehicle's braking control information and driving torque information) are also obtained in real time. This information is marked at the corresponding location on the parking route map, so that when parking according to the parking route map is subsequently carried out, automatic parking can be performed directly based on the lateral driving control information and / or longitudinal driving control information in the parking route map.

[0098] Based on the same inventive concept, the parking route storage method proposed in the embodiment of the present disclosure is applied to a vehicle, such as Figure 2 As shown, including:

[0099] In step 201 , in response to starting the cruise parking mapping function, the route information of the vehicle is obtained in real time, and the route is learned and mapped to obtain a parking route.

[0100] During specific implementation, the cruise parking mapping function is activated to allow the driver to control the vehicle to drive into the target parking space and park at least once, allowing the vehicle to perform route learning and mapping, and then construct a parking route map corresponding to the parking route based on the driving and parking process.

[0101] Step 201 includes:

[0102] Step 2011: Acquire in real time the lane information that the vehicle is traveling through and the body information of the vehicle while traveling through the lane.

[0103] Step 2012: construct a parking route map based on the lane information traveled through, mark the corresponding position of the parking route map with the vehicle body information, and obtain a self-constructed parking route.

[0104] During the specific implementation, when the vehicle is learning and mapping the route, the lane information of the vehicle will be drawn in real time according to the vehicle's position, as well as the body information obtained through the vehicle's own IMU. These lane information and body information will be marked at the corresponding positions of the parking route map, so that when parking according to the parking route map is carried out subsequently, the parking process of the vehicle can be controlled based on this information.

[0105] In addition, during the mapping process, the vehicle's lateral driving control information (including the vehicle's turning angle and direction) and longitudinal driving control information (including the vehicle's braking control information and driving torque information) are also obtained in real time. This information is marked at the corresponding location on the parking route map, so that when parking according to the parking route map is subsequently carried out, automatic parking can be performed directly based on the lateral driving control information and / or longitudinal driving control information in the parking route map.

[0106] In step 202 , the parking route is uploaded to a server for storage, so that the server can retrieve a target parking route from at least one stored parking route based on the current position of the vehicle and the corresponding target parking space.

[0107] In practice, after the parking route is constructed and stored locally, with the vehicle owner's consent, a communication connection is established via the vehicle's internal T-BOX device, using V2X, with parking lot communication equipment within the parking lot. The constructed parking route is then transmitted to a server for storage via the parking lot communication equipment. This route can then be retrieved and used by other vehicles, or the vehicle itself, entering the parking lot. The specific process and results of retrieving the parking route are similar to those of the parking control method described above and will not be further elaborated here.

[0108] Based on the same inventive concept, the parking route storage method proposed in the embodiment of the present disclosure is applied to a server, such as Figure 3 As shown, including:

[0109] Step 301: Receive at least one parking route pre-learned by each vehicle in a parking lot.

[0110] During specific implementation, each vehicle may send at least one corresponding parking route to the server through steps 201 and 202 of the above embodiment.

[0111] In step 302 , the at least one parking route is stored so that the vehicle can retrieve a target parking route from the at least one stored parking route based on the current position of the vehicle and the corresponding target parking space.

[0112] In specific implementations, after obtaining these parking routes, the server, in response to receiving the current location and corresponding target parking space from the vehicle, searches for a target parking route corresponding to the current location and the corresponding target parking space from at least one stored parking route. This target parking route is then transmitted to the vehicle's T-BOX via V2X using parking lot communication equipment. The T-BOX then transmits the target parking route to the parking control system, enabling the parking control system to execute the parking control process according to the aforementioned parking control method embodiment. This is similar to the aforementioned parking control method embodiment and will not be further described here.

[0113] It should be noted that, based on the same inventive concept, the embodiments of the present disclosure are further described according to the following specific implementation scenario:

[0114] 1. Single vehicle mapping stage:

[0115] like Figure 4A As shown, based on information from the individual vehicle parking system sensor modules and associated modules such as the vehicle body IMU module, lane information (i.e., lane information) and vehicle body information (i.e., body information) during cruising are collected in real time. The cruise parking mapping module completes cruise mapping of the corresponding route, and the mapping information (i.e., parking route map) is transmitted to the parking lot communication device via the vehicle's external communication device T-BOX using V2X communication. The parking lot communication device then sends the mapping information to a server (e.g., a cloud server) for storage.

[0116] Mapping information includes but is not limited to parking space information (parking space number and location), the starting point of the route, the driving path distance, the driving trajectory (turning, slope, etc.), and surrounding obstacle information (obstacle type, relative distance, size).

[0117] 2. Parking Lot Path Collection Phase:

[0118] like Figure 4B As shown, after each vehicle (e.g., vehicle A, vehicle B, vehicle C, vehicle D, vehicle E, etc.) completes driving from the starting point of the parking lot to the target parking space or learns the parking path and constructs a corresponding parking route map through the vehicle cruise parking module (wherein, the parking route map includes corresponding parking spaces, such as parking space A or parking space B, etc.), the learned parking route map (as described above) is sent through the external communication device T-BOX and then to the parking lot communication device using V2X communication. The parking lot communication device then sends it to the server for storage. When storing, each parking route map is named as follows: parking space number (such as parking space A or parking space B, etc.) and driving path length, for example, A100+500m.

[0119] 3. Single vehicle cruising parking stage:

[0120] When the user selects the target parking space, the parking lot communication device will send the acquired parking route (ie, the target parking route) to the own vehicle parking system (ie, the vehicle's parking control system) for trajectory planning.

[0121] There is only one parking route: use this parking route for parking.

[0122] There are multiple parking routes: Park using the shortest route.

[0123] No parking route: Use the parking route closest to the target parking space (i.e. the adjacent parking route) and do not park in the adjacent parking space before driving to the adjacent parking space. The remaining routes require the driver to assist in controlling the vehicle to enter the target parking space.

[0124] 4. Single vehicle cruising parking stage:

[0125] like Figure 4C As shown, according to the above, the parking lot communication device uses V2X communication to send information to the vehicle's external communication device T-BOX, obtains parking route information, and sends the parking route information to the parking control system; and the external environment information (i.e., surrounding environment information) recognized in real time by the sensor is sent to the parking control system through the cruise parking perception system.

[0126] The parking control system analyzes parking route information and external environmental information to determine whether to perform lateral or longitudinal control. For lateral control, a steering request (including steering angle and direction) is generated, which the vehicle's steering system uses to control the vehicle's steering. For longitudinal control, the analysis results determine a braking request, including braking data, and control the vehicle's braking system accordingly. Alternatively, the analysis results determine a torque request, including driving torque, and control the vehicle's powertrain for longitudinal maneuvering. This enables end-to-end automated parking and parking in the target space.

[0127] In summary, this solution can automatically acquire parking routes in multiple scenarios of cruise parking functions in parking lots covered by V2X equipment, thus realizing a technical solution for cruise parking functions without the need for self-driving and trajectory learning.

[0128] It should be noted that the method of the embodiments of the present disclosure can be performed by a single device, such as a computer or server. The method of the embodiments of the present disclosure can also be applied in a distributed scenario, where multiple devices cooperate to perform the method. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiments of the present disclosure, and the multiple devices will interact with each other to complete the method.

[0129] It should be noted that the above description is limited to some embodiments of the present disclosure. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0130] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure further provides a parking control system.

[0131] refer to Figure 5 , the system is provided in a vehicle and includes:

[0132] The parking space acquisition module 51 is configured to determine that the vehicle enters the parking lot and acquire a target parking space;

[0133] a retrieval module 52 configured to retrieve a target parking route from the server based on the current position of the vehicle and the target parking space; wherein the server pre-stores at least one parking route pre-learned by each vehicle;

[0134] The driving control module 53 is configured to control the vehicle to drive to the target parking space according to the target parking route.

[0135] In some embodiments, the target parking route obtained by the retrieval module 52 is a first parking route from the current position of the vehicle to the target parking space;

[0136] The driving control module 53 is further configured to:

[0137] In response to there being a plurality of first parking routes, selecting a shortest first parking route from the plurality of first parking routes, and controlling the vehicle to drive into the target parking space according to the shortest first parking route;

[0138] or,

[0139] In response to there being only one first parking route, the vehicle is controlled to drive into the target parking space according to the first parking route.

[0140] In some embodiments, the driving control module 53′ is further configured to:

[0141] Acquiring vehicle surrounding environment information, and controlling the vehicle to move laterally or longitudinally based on the shortest first parking route or the first parking route, to drive the vehicle into the target parking space;

[0142] The lateral driving includes: determining a turning direction and a turning angle based on the surrounding environment information and the shortest first parking route or the first parking route, and controlling the vehicle steering according to the turning direction and the turning angle;

[0143] The longitudinal driving includes: determining driving torque or braking data based on the surrounding environment information and the shortest first parking route or the first parking route, and controlling the vehicle to move forward based on the driving torque, or controlling the vehicle to brake based on the braking data.

[0144] In some embodiments, when it is determined that the first parking route from the current position of the vehicle to the target parking space is not retrieved from the server, the retrieval module 52 retrieves the target parking route as follows: a second parking route from the current position of the vehicle to an adjacent parking space of the target parking space; wherein the adjacent parking space is a parking space closest to the target parking space within a predetermined distance range from the target parking space;

[0145] The driving control module 53 is further configured to:

[0146] The vehicle is controlled to travel to the adjacent parking space according to the second parking route, so that an automatic parking assistance system controls the vehicle to travel from the adjacent parking space into the target parking space, or so that a driver controls the vehicle to travel from the adjacent parking space into the target parking space.

[0147] In some embodiments, the system further includes a self-building map module, including:

[0148] an activation unit configured to, in response to failure to retrieve the target parking route from the server, activate a cruise parking mapping function so that the driver can control the vehicle to self-drive into the target parking space;

[0149] A real-time acquisition unit is configured to perform route learning and mapping to obtain a self-built parking route based on the real-time acquired route information of the vehicle during the self-driving into the target parking space;

[0150] The storage unit is configured to locally store the self-built parking route and send the self-built parking route to the server for storage.

[0151] In some embodiments, the real-time acquisition unit is further configured to:

[0152] The lane information and vehicle body information of the vehicle during the lane passage are obtained in real time; a parking route map is constructed based on the lane information, and the vehicle body information is marked on the corresponding position of the parking route map to obtain a self-constructed parking route.

[0153] For the convenience of description, the above system is described as being divided into various modules according to their functions. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0154] The system of the above embodiment is used to implement the corresponding parking control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0155] Based on the same inventive concept, a parking route storage device corresponding to the above-mentioned parking route storage method applied to a vehicle is provided. Figure 6 As shown, including:

[0156] a learning and mapping module 61 configured to, in response to the activation of the cruise parking mapping function, obtain real-time vehicle route information and perform route learning and mapping to obtain a parking route;

[0157] The uploading module 62 is configured to upload the parking route to the server for storage, so that the server can retrieve a target parking route from at least one stored parking route based on the current position of the vehicle and the corresponding target parking space.

[0158] For the convenience of description, the above devices are described as being functionally divided into various modules. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0159] The apparatus of the above embodiment is used to implement the parking route storage method applied to a vehicle in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0160] Based on the same inventive concept, a parking route storage device corresponding to the parking route storage method applied to the server is provided. Figure 7 As shown, including:

[0161] The parking route receiving module 71 is configured to receive at least one parking route pre-learned by each vehicle in the parking lot;

[0162] The storage module 72 is configured to store the at least one parking route so that the vehicle can retrieve a target parking route from the at least one stored parking route according to the current position of the vehicle and the corresponding target parking space.

[0163] For the convenience of description, the above devices are described as being functionally divided into various modules. Of course, when implementing the present disclosure, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0164] The apparatus of the above embodiment is used to implement the parking route storage method applied to the server in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described in detail here.

[0165] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the parking control method described in any of the above embodiments is implemented.

[0166] Figure 8 10 is a schematic diagram showing a more specific hardware structure of an electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other within the device via the bus 1050.

[0167] The processor 1010 can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0168] The memory 1020 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 1020 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1020 and is called and executed by the processor 1010.

[0169] The input / output interface 1030 is used to connect input / output modules to implement information input and output. The input / output modules can be configured as components within the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0170] The communication interface 1040 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (e.g., USB (Universal Serial Bus), network cable, etc.) or a wireless method (e.g., mobile network, WIFI (Wireless Fidelity), Bluetooth, etc.).

[0171] The bus 1050 comprises a path for transmitting information between the various components of the device (eg, the processor 1010 , the memory 1020 , the input / output interface 1030 , and the communication interface 1040 ).

[0172] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0173] The electronic device of the above embodiment is used to implement the corresponding parking control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be described in detail here.

[0174] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present disclosure also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the parking control method described in any of the above embodiments.

[0175] The computer-readable media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0176] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute the parking control method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0177] Based on the same inventive concept, an embodiment of the present application also provides a vehicle, including the parking control system described in the above embodiment or the electronic device described in the above embodiment or the storage medium described in the above embodiment, which has the technical effects corresponding to the above embodiment and will not be repeated here.

[0178] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples. Within the scope of the present disclosure, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present disclosure as described above, which are not provided in detail for the sake of simplicity.

[0179] In addition, to simplify the description and discussion, and so as not to obscure the embodiments of the present disclosure, known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, devices may be shown in the form of block diagrams to avoid obscuring the embodiments of the present disclosure, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present disclosure are to be implemented (i.e., these details should be fully within the purview of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present disclosure, it will be apparent to those skilled in the art that the embodiments of the present disclosure may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0180] Although the present disclosure has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0181] The embodiments of the present disclosure are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A parking control method, characterized in that: Parking control systems for vehicles include: Determine that the vehicle enters the parking lot and obtain a target parking space; Retrieving a target parking route from a server based on the current position of the vehicle and the target parking space; wherein the server pre-stores at least one parking route pre-learned by each vehicle; Controlling the vehicle to travel to the target parking space according to the target parking route; When it is determined that the first parking route from the current position of the vehicle to the target parking space has not been retrieved from the server, the target parking route is a second parking route corresponding to an adjacent parking space from the current position of the vehicle to the target parking space; wherein the adjacent parking space is a parking space closest to the target parking space within a predetermined distance range from the target parking space; The controlling the vehicle to travel to the target parking space according to the target parking route includes: The vehicle is controlled to travel to the adjacent parking space according to the second parking route, so that an automatic parking assistance system controls the vehicle to travel from the adjacent parking space into the target parking space, or so that a driver controls the vehicle to travel from the adjacent parking space into the target parking space.

2. The method according to claim 1, characterized in that The target parking route is a first parking route from the current position of the vehicle to the target parking space; The controlling the vehicle to travel to the target parking space according to the target parking route includes: In response to there being a plurality of first parking routes, selecting a shortest first parking route from the plurality of first parking routes, and controlling the vehicle to drive into the target parking space according to the shortest first parking route; or, In response to there being only one first parking route, the vehicle is controlled to drive into the target parking space according to the first parking route.

3. The method according to claim 2, characterized in that The controlling the vehicle to enter the target parking space according to the shortest first parking route or according to the first parking route includes: Acquiring vehicle surrounding environment information, and controlling the vehicle to move laterally or longitudinally based on the shortest first parking route or the first parking route, to drive the vehicle into the target parking space; The lateral driving includes: determining a turning direction and a turning angle based on the surrounding environment information and the shortest first parking route or the first parking route, and controlling the vehicle steering according to the turning direction and the turning angle; The longitudinal driving includes: determining driving torque or braking data based on the surrounding environment information and the shortest first parking route or the first parking route, and controlling the vehicle to move forward based on the driving torque, or controlling the vehicle to brake based on the braking data.

4. The method according to any one of claims 1 to 3, characterized in that Also includes: In response to not retrieving the target parking route from the server, activating a cruise parking mapping function for the driver to control the vehicle to self-drive into the target parking space; During the self-driving into the target parking space, the route learning and mapping is performed based on the real-time acquired route information of the vehicle to obtain a self-built parking route; The self-built parking route is stored locally, and the self-built parking route is sent to the server for storage.

5. A parking route storage method, characterized in that: Applied to vehicles, including: In response to starting the cruise parking mapping function, the vehicle's route information is obtained in real time, and the route learning and mapping is performed to obtain a parking route; The parking route is uploaded to a server for storage, so that the server can retrieve a target parking route from at least one stored parking route based on the current position of the vehicle and the corresponding target parking space and send it to a parking control system to execute the parking control method according to any one of claims 1 to 4.

6. A parking route storage method, characterized in that: Applicable to servers, including: receiving at least one parking route pre-learned by each vehicle in the parking lot; The at least one parking route is stored so that the vehicle can retrieve a target parking route from the at least one stored parking route based on the current position of the vehicle and the corresponding target parking space, and send the target parking route to the parking control system to execute the parking control method according to any one of claims 1 to 4.

7. A parking control system, characterized in that: The system is provided in a vehicle and includes: a parking space acquisition module, configured to determine that the vehicle enters the parking lot and acquire a target parking space; a retrieval module configured to retrieve a target parking route from a server based on the current position of the vehicle and the target parking space; wherein the server pre-stores at least one parking route pre-learned by each vehicle; a driving control module, configured to control the vehicle to drive to the target parking space according to the target parking route; The retrieval module is further configured to, when determining that the first parking route from the current position of the vehicle to the target parking space has not been retrieved from the server, retrieve the target parking route as follows: a second parking route from the current position of the vehicle to an adjacent parking space of the target parking space; wherein the adjacent parking space is a parking space closest to the target parking space within a predetermined distance range from the target parking space; The driving control module is also configured to: The vehicle is controlled to travel to the adjacent parking space according to the second parking route, so that an automatic parking assistance system controls the vehicle to travel from the adjacent parking space into the target parking space, or so that a driver controls the vehicle to travel from the adjacent parking space into the target parking space.

8. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method according to any one of claims 1 to 6 is implemented.

9. A vehicle, characterized in that: The parking control system according to claim 7 or the electronic device according to claim 8 is included.

Images