Vehicle control method, device, automatic parking auxiliary controller, terminal and system

Abstract

This invention discloses a vehicle control method, device, automatic parking assist controller, terminal, and system. The vehicle control method, applied to an automatic parking assist (APA) controller, includes: sending images and camera calibration data collected by multiple cameras installed on the vehicle to a terminal, enabling the terminal to determine parking space information and construct an electronic map based on the images and camera calibration data; receiving parking space information and electronic map information returned by the terminal; determining a parking trajectory based on the parking space information, electronic map information, and radar data; and controlling the vehicle to park in the target parking space according to the parking trajectory. This technical solution, through the APA controller sending images and camera calibration data to the terminal, where the parking space information is determined and an electronic map is constructed, and then the terminal returning the parking space information and electronic map information to the APA controller, enables the APA controller to determine the parking trajectory and control the vehicle to park in the target parking space according to the parking trajectory, thus saving vehicle hardware resources.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a vehicle control method, device, automatic parking assist controller, terminal and system. Background Technology

[0002] With the development of vehicle control technology, automatic parking technology is gradually being integrated into more and more vehicle models. Automatic parking technology uses visual algorithms to acquire images collected by radar installed on the vehicle and processes these images to determine parking space information and build an electronic map. This information is then combined with traffic control algorithms to determine the parking trajectory and control the vehicle to park.

[0003] In existing technologies, the vision algorithms for automatic parking are mostly deployed on the vehicle's Automatic Park Assist (APA) controller, making the vehicle's hardware relatively cumbersome. When the vision algorithm is improved and needs to be updated to the vehicle, it is necessary to consider whether the vehicle's hardware resources can support the updated vision algorithm. Furthermore, updating the vision algorithm requires multiple remote upgrades via Over-The-Air (OTA) technology, making the upgrade process cumbersome. Summary of the Invention

[0004] This invention provides a vehicle control method, device, automatic parking assist controller, terminal, and system. By setting the vision algorithm in the terminal, it saves vehicle hardware resources, solves the problem of the cumbersome upgrade of vision algorithms in the vehicle's APA controller, and improves the user experience.

[0005] In a first aspect, embodiments of the present invention provide a vehicle control method applied to an automatic parking assist (APA) controller, comprising:

[0006] Images captured by multiple cameras installed on the vehicle, along with camera calibration data, are sent to a terminal, enabling the terminal to determine parking space information and construct an electronic map based on the images and camera calibration data.

[0007] Receive parking space information and electronic map information returned by the terminal;

[0008] The parking trajectory is determined based on the parking space information, the electronic map information, and the radar data, and the vehicle is controlled to park in the target parking space based on the parking trajectory.

[0009] Secondly, embodiments of the present invention provide a vehicle control method applied to a terminal, comprising:

[0010] Receives images and camera calibration data sent by the Automatic Parking Assist (APA) controller, the images being captured by multiple cameras installed on the vehicle;

[0011] Based on the image and the camera calibration data, parking space information is determined and an electronic map is constructed.

[0012] The system returns parking space information and electronic map information to the APA controller, so that the APA controller can determine the parking trajectory based on the parking space information, the electronic map information and radar data, and control the vehicle to park in the target parking space according to the parking trajectory.

[0013] Thirdly, embodiments of the present invention provide a vehicle control device, comprising:

[0014] The sending module is used to send images captured by multiple cameras installed on the vehicle and camera calibration data to the terminal, so that the terminal can determine parking space information and construct an electronic map based on the images and camera calibration data;

[0015] The information receiving module is used to receive parking space information and electronic map information returned by the terminal;

[0016] The control module is used to determine the parking trajectory based on the parking space information, the electronic map information, and radar data, and to control the vehicle to park in the target parking space based on the parking trajectory.

[0017] Fourthly, embodiments of the present invention provide a vehicle control device, comprising:

[0018] The receiving module is used to receive images and camera calibration data sent by the Automatic Parking Assist (APA) controller, wherein the images are captured by multiple cameras installed on the vehicle;

[0019] The construction module is used to determine parking space information and construct an electronic map based on the image and the camera calibration data;

[0020] The information return module is used to return parking space information and electronic map information to the APA controller, so that the APA controller can determine the parking trajectory based on the parking space information, the electronic map information and radar data, and control the vehicle to park in the target parking space according to the parking trajectory.

[0021] Fifthly, embodiments of the present invention provide an automatic parking assist controller, comprising:

[0022] At least one processor; and

[0023] A memory communicatively connected to the at least one processor; wherein,

[0024] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method as described in the first aspect.

[0025] Sixthly, embodiments of the present invention provide a terminal, including:

[0026] At least one processor; and

[0027] A memory communicatively connected to the at least one processor; wherein,

[0028] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method as described in the second aspect.

[0029] In a seventh aspect, embodiments of the present invention provide a vehicle control system, including an APA controller as described in the fifth aspect and a terminal as described in the sixth aspect.

[0030] The technical solution of this invention sends images and camera calibration data to the terminal through the APA controller. The terminal determines the parking space information and constructs an electronic map. Then, the terminal returns the parking space information and electronic map information to the APA controller, enabling the APA controller to determine the parking trajectory and control the vehicle to park in the target parking space according to the parking trajectory. This saves vehicle hardware resources and improves the user experience.

[0031] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart of a vehicle control method provided according to Embodiment 1 of the present invention;

[0034] Figure 2 This is a schematic diagram of controlling a vehicle to park in a target parking space according to a parking trajectory, provided by Embodiment 1 of the present invention;

[0035] Figure 3This is a schematic diagram of another method for controlling a vehicle to park in a target parking space based on a parking trajectory, according to Embodiment 1 of the present invention.

[0036] Figure 4 This is a flowchart of a vehicle control method provided according to Embodiment 2 of the present invention;

[0037] Figure 5 This is a schematic diagram illustrating the determination of parking space information based on images and camera calibration data according to Embodiment 2 of the present invention;

[0038] Figure 6 This is a schematic diagram of the connection between the APA controller and the mobile phone according to Embodiment 2 of the present invention;

[0039] Figure 7 This is a flowchart of another vehicle control method provided according to Embodiment 2 of the present invention;

[0040] Figure 8 This is a schematic diagram of the structure of a vehicle control device according to Embodiment 3 of the present invention;

[0041] Figure 9 This is a schematic diagram of the structure of a vehicle control device according to Embodiment 4 of the present invention;

[0042] Figure 10 This is a schematic diagram of the structure of an automatic parking assist controller that implements the vehicle control method of this invention.

[0043] Figure 11 This is a schematic diagram of the structure of a terminal that implements the vehicle control method of this invention.

[0044] Figure 12 This is a schematic diagram of the structure of a vehicle control system that implements the vehicle control method of the present invention. Detailed Implementation

[0045] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0046] It should be noted that the terms "first," "second," etc., used in this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0047] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0048] Example 1

[0049] Figure 1 This is a flowchart of a vehicle control method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where an Automatic Parking Assist (APA) controller controls a vehicle to perform automatic parking. This method can be executed by a vehicle control device, which can be implemented in software and / or hardware and integrated into the APA controller. The APA controller can perceive the parking environment through cameras and radar, and automatically or manually set a target parking space according to the user's selection, enabling the vehicle to automatically park along a parking trajectory until it reaches the final target parking space.

[0050] like Figure 1 As shown, the method includes:

[0051] S110. Images collected by multiple cameras installed on the vehicle, along with camera calibration data, are sent to the terminal so that the terminal can determine parking space information and construct an electronic map based on the images and camera calibration data.

[0052] Here, "camera" can refer to a video input device. "Image" can refer to all kinds of graphics and images captured by the camera; an image can be a photograph or a video.

[0053] There is no limit to the number of cameras installed on the vehicle, as long as they can capture images. For example, the number of cameras on the vehicle can be determined based on actual application requirements.

[0054] There are no restrictions on the type of camera, as long as it can capture images, such as a wide-angle camera, fisheye camera, monocular camera, binocular camera, or ordinary viewing angle camera.

[0055] The placement of multiple cameras on a vehicle is not limited, as long as they can capture images. The specific placement can be determined based on the number of cameras or actual application requirements. Cameras in different locations can serve different functions. For example, a camera mounted on the windshield can automatically detect pedestrians, vehicles, road signs, or traffic lights. Similarly, cameras mounted on the sides of the vehicle can be used for blind spot monitoring. Since rearview mirrors have a limited range, blind spots can easily form in areas not visible in the mirrors. Installing cameras on the sides of the vehicle can largely cover these blind spots. When a vehicle enters a blind spot, the user can observe it through the side cameras, which can reduce the occurrence of traffic accidents to some extent.

[0056] In one embodiment, the type of camera can be determined based on its location on the vehicle. For example, a camera mounted on the windshield can be a monocular or binocular camera. A monocular or binocular camera can acquire distance information from the captured images, allowing the user to determine the distance between the vehicle and pedestrians, other vehicles, or obstacles. Alternatively, a camera mounted on the side of the vehicle can be a wide-angle camera. By installing multiple wide-angle cameras on the side of the vehicle, the user can observe the situation on the side of the vehicle through the camera. Another example is a camera mounted at the rear of the vehicle, which can be a wide-angle or fisheye camera. This camera can be used for parking assistance, allowing the user to observe the situation behind the vehicle while parking.

[0057] In one embodiment, at least four cameras are installed on the vehicle. The cameras are either wide-angle cameras or fisheye cameras. The four cameras are respectively positioned in the front, rear, left, and right directions of the vehicle. By stitching together the images captured by the four cameras, a panoramic view of the vehicle's surroundings can be obtained. Combined with algorithms, road line perception or parking control can be achieved.

[0058] Camera calibration data refers to data that reflects the relative position of a camera on a vehicle. Camera calibration data can characterize the positions of multiple cameras installed on a vehicle. This can be achieved by establishing a coordinate system with the vehicle's center as the origin, and then calibrating the positions of the multiple cameras relative to the vehicle's center within that coordinate system.

[0059] In one embodiment, if the number of cameras and their relative positions on the vehicle are predetermined during vehicle production, then the camera calibration data is fixed and unchanging.

[0060] In one embodiment, the number of cameras and their relative positions on the vehicle can be determined based on actual conditions, thereby determining camera calibration data. When the number of cameras or their relative positions on the vehicle change, the camera calibration data will change accordingly.

[0061] A terminal can refer to an input / output device. The type of terminal is not limited in this invention. For example, it can be a laptop, tablet computer, laptop computer, personal digital assistant and other suitable computer. It can also be various forms of mobile terminals, such as personal digital processors, smartphones, wearable devices and other similar devices.

[0062] There are no restrictions on the method used to send images and camera calibration data captured by multiple cameras installed on the vehicle to the terminal, as long as it is possible to send the images and camera calibration data captured by multiple cameras installed on the vehicle to the terminal. For example, by verifying the terminal's permissions and establishing a wireless connection with the terminal, the images and camera calibration data captured by multiple cameras installed on the vehicle can be sent to the terminal.

[0063] The method of verifying terminal permissions is not limited, and can include password verification. The method of establishing a wireless connection with the terminal is also not limited, and can include Bluetooth, Wi-Fi, or 4G wireless communication technologies.

[0064] This step involves sending images and camera calibration data collected by multiple cameras installed on the vehicle to the terminal, enabling the terminal to determine parking space information and build an electronic map based on the images and camera calibration data. This saves vehicle hardware resources and improves the user experience.

[0065] S120, receiving parking space information and electronic map information returned by the receiving terminal.

[0066] Parking space information refers to the location where a vehicle can park. This information may include, but is not limited to, the coordinates of the four corner points of a parking space or parking space lines. The coordinates of the four corner points can be determined by establishing a coordinate system with the vehicle's center position as the origin. Parking space lines can be lines used to distinguish parking spaces from other areas. Parking space information can identify one or more parking spaces available for parking. When the information indicates multiple parking spaces are available, the user can select a target parking space from among them to park the vehicle, or the vehicle's APA controller can randomly select a target parking space from among the multiple spaces. The target parking space can refer to the final parking space where the vehicle will be parked.

[0067] An electronic map can refer to a map stored and viewed digitally using computer technology; it is also known as a digital map. The electronic map in this invention may include, but is not limited to, information about obstacles around the vehicle, information about other vehicles, and parking space information. The information about obstacles around the vehicle may include, but is not limited to, the types of obstacles and their locations. The information about other vehicles may include, but is not limited to, the positions of other vehicles relative to the center of the vehicle. Electronic map information can refer to information about an electronic map, and electronic map information may include the electronic map itself.

[0068] There are no restrictions on the method of receiving the parking space information and electronic map information returned by the terminal, as long as it is possible to receive the parking space information and electronic map information returned by the terminal. For example, the parking space information and electronic map information can be received by establishing a wireless connection between the APA controller and the terminal.

[0069] By receiving parking space information and electronic map information returned by the terminal, the APA controller can determine the parking trajectory based on the parking space information, electronic map information, and radar data.

[0070] S130: Determine the parking trajectory based on parking space information, electronic map information, and radar data, and control the vehicle to park in the target parking space according to the parking trajectory.

[0071] Radar data can refer to data collected by radar installed on a vehicle. Radar can be an electronic device that uses electromagnetic waves to detect targets. Radar emits electromagnetic waves to illuminate a target and receives its echo, thereby obtaining information such as the distance from the target to the electromagnetic wave emission point, the rate of change of distance (radial velocity), azimuth, or altitude. By installing radar on a vehicle, the relative distance, relative speed, angle, or direction of motion between the vehicle and other objects can be detected. Radar data can include, but is not limited to, the relative distance, relative speed, angle, or direction of motion between the vehicle and other objects.

[0072] There are no restrictions on the type of radar installed on the vehicle, as long as it can acquire radar data. This could include millimeter-wave radar, infrared radar, ultrasonic radar, or lidar. Different types of radar can have different effects when collecting radar data. For example, millimeter-wave radar has a longer detection range, but its obstacle detection capability is relatively weaker than lidar; while lidar has a longer detection range and can accurately locate obstacles.

[0073] There is no limit to the number of radars installed on the vehicle, nor is there a limit to the location of the radars on the vehicle, as long as radar data can be obtained through the radars. The specific number and location of the radars can be determined according to the actual application needs.

[0074] In one embodiment, 12 radars are installed on the vehicle and evenly distributed around the vehicle, and radar data can be acquired through the 12 radars.

[0075] A parking trajectory refers to the path a vehicle follows when parking into a target space. By analyzing the parking trajectory, information such as steering wheel movement, speed, gear position, braking, and headlights can be determined during the parking process, allowing the vehicle to park precisely within the designated space.

[0076] Among these, steering wheel information indicates the proper state of the steering wheel when parking, such as the steering wheel angle or direction of rotation. Vehicle speed information indicates the appropriate speed for parking, such as setting a preset speed to maintain during parking (the preset speed can be set according to actual needs); or controlling the speed according to actual conditions, reducing speed when turning, or maintaining a preset speed while driving straight. Gear information indicates the appropriate gear for parking, such as using a set gear for parking (the set gear can be set according to actual needs); or changing gears according to actual conditions, such as using reverse gear when reversing, or selecting a lower gear when the vehicle is traveling at a low speed. Braking information indicates the braking status when parking, such as braking frequency or braking force. Headlight information indicates the headlight status when parking, such as activating hazard lights to warn surrounding vehicles.

[0077] There are no restrictions on the method used to determine a parking trajectory based on parking space information, electronic map information, and radar data, as long as the parking trajectory can be determined based on these factors. For example, the target parking space can be determined based on the parking space information; the position of the target parking space relative to the vehicle, as well as obstacles or other vehicles around the path from the vehicle to the target parking space, can be determined using electronic map information; the relative distance, relative speed, angle, or direction of movement between the vehicle and other objects can be determined using radar data; and by combining the parking space information, electronic map information, and radar data, the path for the vehicle to enter the target parking space can be planned, thus determining the parking trajectory.

[0078] The method of controlling a vehicle to park in a target space based on a parking trajectory is not limited, as long as it can be achieved. For example, the trajectory can be used to determine steering wheel information (the correct steering wheel position when parking), vehicle speed information (the appropriate speed), gear information (the correct gear), braking information (the correct brake status), or headlight information (the status of the headlights). Then, the necessary hardware for parking is identified, and connections are established with the associated vehicle hardware. The hardware of the relevant vehicle is then controlled to perform corresponding operations based on the parking trajectory, allowing the vehicle to park in the target space.

[0079] Figure 2 This is a schematic diagram of controlling a vehicle to park in a target parking space according to a parking trajectory, as provided in Embodiment 1 of the present invention. Figure 2 As shown, the vehicle is parked perpendicularly into the target parking space. Figure 2 From top to bottom, the steps are as follows: First, plan ahead of the target parking space to position the vehicle in front of the target parking space; second, plan ahead of the inner entrance area of ​​the target parking space, and if an obstacle is detected, replan ahead of the target parking space; third, upon reaching the parking point planned in the second step or encountering an obstacle, replan and adjust the vehicle's posture forward so that the vehicle can park into the target parking space at a small angle.

[0080] Figure 3 This is a schematic diagram of another method for controlling a vehicle to park in a target parking space based on a parking trajectory, as provided in Embodiment 1 of the present invention. Figure 3 As shown, the vehicle is parked horizontally in the target parking space. Figure 3 From left to right, the steps are as follows: First, position the vehicle to the left front of the target parking space; second, position the vehicle to the right rear, and determine the turning angle into the target parking space based on the rear position of the vehicle in the first step; third, park the vehicle in the target parking space; fourth, adjust the vehicle's posture.

[0081] The technical solution of this invention sends images and camera calibration data to the terminal through the APA controller. The terminal determines the parking space information and constructs an electronic map. The terminal then returns the parking space information and electronic map information to the APA controller, enabling the APA controller to determine the parking trajectory based on the parking space information, electronic map information, and radar data. Based on the parking trajectory, the controller controls the vehicle to park in the target parking space, saving vehicle hardware resources and improving user experience.

[0082] Furthermore, before controlling the vehicle to park in the target parking space based on the parking trajectory, the vehicle control method also includes:

[0083] The system performs a handshake with the vehicle's associated components, which include at least one of the following: the body control module, the electronic parking brake system, the electronic power steering system, the electronic stability control unit, and the automatic transmission control unit.

[0084] The associated component can refer to the vehicle's hardware related to controlling vehicle parking. The associated component handshake with the vehicle can be understood as establishing a connection between the APA controller and the vehicle's associated component. The APA controller can send the parking trajectory to the corresponding associated component and control the associated component to perform corresponding operations so that the vehicle can park into the target parking space according to the parking trajectory.

[0085] The associated components include at least one of the following: body control module, electronic parking brake system, electronic power steering system, electronic stability control unit, and automatic transmission control unit.

[0086] The Body Control Module (BCM) refers to a module used to control commonly used vehicle functions, such as headlight control, window control, or central locking. By establishing a handshake between the APA controller and the Body Control Module, hazard lights can be activated during parking to alert surrounding vehicles to take evasive action.

[0087] Electronic Parking Brake (EPB) refers to a system that controls the vehicle's parking brake through electronic circuitry. By connecting the APA controller with the electronic parking brake system, the vehicle can be controlled to apply the parking brake when parking is required during the parking process.

[0088] Electronic Power Steering (EPS) is a power steering system that directly relies on an electric motor to provide auxiliary torque. EPS uses signals from vehicle speed and torque sensors to determine the motor's rotation direction and the magnitude of the assist current, thereby controlling the steering wheel. EPS can provide different levels of assistance from the motor at different vehicle speeds, ensuring the vehicle is light and agile when turning at low speeds and stable and reliable when turning at high speeds. By integrating the APA controller with the electronic power steering system, the steering wheel can be controlled via the electronic power steering system during parking.

[0089] Electronic Stability Control (ESC) refers to a unit that controls vehicle stability. ESC combines multiple sensors, electronic control units, and actuators to control the longitudinal and lateral stability of the vehicle. By integrating the APA controller with the ESC, the vehicle's acceleration can be controlled by the ESC during parking to maintain stability.

[0090] An automatic transmission control unit (TCU) can be a unit that enables automatic gear shifting in a vehicle through computer and power electronic drive technology. By connecting the APA controller with the automatic transmission control unit, the vehicle's gear status can be automatically changed during parking.

[0091] By handshaking with the vehicle's associated components before controlling the vehicle to park in the target parking space according to the parking trajectory, the APA controller can control the corresponding associated components to perform corresponding operations based on the parking trajectory, thereby controlling the vehicle to park in the target parking space.

[0092] Furthermore, before determining the parking trajectory based on parking space information, electronic map information, and radar data, vehicle control methods also include:

[0093] The target parking space is determined based on the user's selection of parking space information.

[0094] The parking space information can include one or more parking spaces, and users can select the target parking space for their vehicle.

[0095] There are no restrictions on how users select parking spaces, as long as it allows them to choose and specify a target parking space. For example, users can select a parking space through the central control screen on the vehicle's APA controller. This central control screen can display information such as vehicle audio, navigation, or vehicle information. It enables user interaction with the vehicle and can show different parking spaces. Users can select any one of these spaces as their target parking space through touch controls. The APA controller then determines the target parking space based on the user's selection.

[0096] Before determining the parking trajectory based on parking space information, electronic map information, and radar data, the system determines the target parking space based on the user's selection of parking space information. This allows the system to determine the target parking space when multiple parking spaces are indicated by the user's selection, making the selection of the target parking space more in line with the user's needs.

[0097] Furthermore, vehicle control methods also include:

[0098] The images captured by each camera are stitched together based on the camera calibration data, and the stitched image is displayed on the vehicle's central control screen.

[0099] Multiple cameras positioned at different locations on a vehicle can capture different images. For example, a camera positioned at the front of the vehicle can capture images of the front of the vehicle, a camera positioned on the side of the vehicle can capture images of the side of the vehicle, and a camera positioned at the rear of the vehicle can capture images of the rear of the vehicle. By stitching together the different images captured by each camera, a complete field of view around the vehicle can be obtained.

[0100] Based on the camera calibration data, the images captured by each camera are stitched together and displayed on the vehicle's central control screen. This allows the images captured by different cameras to be stitched together into a complete 360-degree surround view and displayed on the central control screen, enabling users to observe the situation around the vehicle through the central control screen and making the parking process safer.

[0101] Example 2

[0102] Figure 4This is a flowchart of a vehicle control method according to Embodiment 2 of the present invention. This embodiment is applicable to situations where a terminal determines parking space information and constructs an electronic map by receiving information sent by an APA controller. This method can be executed by a vehicle control device, which can be implemented in software and / or hardware and integrated into the terminal. The type of terminal is not limited; it can be a laptop, tablet, computer, personal digital assistant, or other suitable computer. Alternatively, it can be various forms of mobile terminals, such as personal digital processors, smartphones, wearable devices, and other similar devices.

[0103] like Figure 4 As shown, the method includes:

[0104] S210 receives images and camera calibration data sent by the Automatic Parking Assist (APA) controller. The images are captured by multiple cameras installed on the vehicle.

[0105] The images sent by the APA controller can include various graphics and images captured by multiple cameras installed on the vehicle; these images can be photos or videos.

[0106] The camera calibration data sent by the APA controller can characterize the positions of multiple cameras installed on the vehicle. By establishing a coordinate system with the vehicle center as the origin, the positions of multiple cameras relative to the vehicle center can be calibrated in the coordinate system.

[0107] There are no restrictions on the method of receiving images and camera calibration data sent by the Automatic Parking Assist (APA) controller, as long as it can receive these data. For example, the terminal can establish a wireless connection with the APA controller to receive the images and camera calibration data sent by the APA controller.

[0108] By receiving images and camera calibration data sent by the APA controller, the terminal can obtain the positions of multiple cameras installed on the vehicle relative to the center of the vehicle, as well as the images collected by each camera, so that the terminal can determine parking space information and build an electronic map based on the images and camera calibration data.

[0109] S220: Determine parking space information and construct an electronic map based on images and camera calibration data.

[0110] The method for determining parking space information based on images and camera calibration data is not limited, as long as it can be done. For example, images from multiple cameras can be stitched together. During the stitching process, the positions of the multiple cameras on the vehicle relative to the center of the vehicle and the images captured by each camera can be determined based on the camera calibration data. Then, the stitched image is transformed to form a bird's-eye view. The bird's-eye view is then binarized, that is, the grayscale value of the pixels in the bird's-eye view is set to 0 or 255, which is the process of making the entire bird's-eye view have a clear black and white effect, greatly reducing the amount of data in the bird's-eye view, thereby highlighting the outline of the parking space lines, and then the parking space information can be determined based on the images and camera calibration data. Here, the bird's-eye view can refer to a three-dimensional map drawn from a high point using the perspective principle and the high-viewpoint perspective method, which can preserve the geometric features of the ground lines, which is beneficial for the detection of parking space lines.

[0111] In one embodiment, Figure 5 This is a schematic diagram illustrating the determination of parking space information based on images and camera calibration data according to Embodiment 2 of the present invention, as shown below. Figure 5 As shown, the camera is positioned in front of the vehicle. By transforming the viewpoint of the image captured by this camera to form a bird's-eye view, and then binarizing the bird's-eye view, features that conform to the parking lines (such as...) can be extracted. Figure 5 (See the black border shown). By processing the bird's-eye view, the coordinates of the two corner points of the parking space in front of the vehicle or the parking space line can be obtained. By combining this with images captured by cameras placed at other locations on the vehicle, complete parking space information can be obtained.

[0112] The method for constructing an electronic map based on images and camera calibration data is not limited, as long as it can be constructed from images and camera calibration data. For example, by obtaining the positions of multiple cameras on the vehicle relative to the vehicle's center and the images captured by each camera through camera calibration data, and then using image processing software to identify the images captured by the multiple cameras on the vehicle, information about obstacles and other vehicles around the vehicle can be obtained. This information, combined with parking space information, can then be used to construct an electronic map that displays information about obstacles around the vehicle, information about other vehicles, and parking space information. The obstacle information may include, but is not limited to, the types of obstacles around the vehicle and their locations. The information about other vehicles may include, but is not limited to, the positions of other vehicles relative to the vehicle's center.

[0113] The display method of obstacle information and other vehicle information around the vehicle on the electronic map is not limited. For example, it can be displayed as text on the electronic map; or it can be displayed as icons on the electronic map, with different icons used to distinguish the obstacle information and other vehicle information around the vehicle; or it can extract the outlines of obstacles and other vehicles around the vehicle through image processing, represent these outlines as points, establish a coordinate system with the vehicle center as the origin, and then display the obstacle information and other vehicle information around the vehicle in the form of points on the electronic map using coordinates.

[0114] There are no restrictions on how parking space information is displayed on the electronic map. For example, it can be displayed as a box on the electronic map; or a coordinate system can be established with the center of the vehicle as the origin, and the parking space information can be displayed in the form of coordinates.

[0115] This step determines parking space information and constructs an electronic map based on images and camera calibration data, which helps determine parking trajectories using parking space information and electronic maps.

[0116] S230: Return parking space information and electronic map information to the APA controller so that the APA controller can determine the parking trajectory based on the parking space information, electronic map information and radar data and control the vehicle to park in the target parking space according to the parking trajectory.

[0117] The electronic map information may include the electronic map constructed in step S220 based on the image and camera calibration data. The parking space information may be the parking space information determined in step S220 based on the image and camera calibration data.

[0118] The parking space information returned to the APA controller may include, but is not limited to, the coordinates of the four corner points of the parking space or the parking space lines. By returning parking space information to the APA controller, the APA controller can obtain one or more parking spaces available for vehicle parking. When the parking space information indicates that multiple parking spaces are available for parking, the user can either select a target parking space from among the multiple parking spaces using the parking space information in the APA controller, or the vehicle's APA controller can randomly select a target parking space from among the multiple parking spaces using the parking space information.

[0119] The electronic map information returned to the APA controller may include, but is not limited to, information on obstacles around the vehicle, information on other vehicles, and parking space information. By returning electronic map information to the APA controller, the APA controller can obtain the position of the target parking space relative to the vehicle, as well as the situation of obstacles or other vehicles around the path from the vehicle to the target parking space.

[0120] The technical solution of this invention involves receiving images and camera calibration data sent by the APA controller through a terminal, determining parking space information and constructing an electronic map on the terminal, and returning it to the APA controller. This enables the APA controller to determine the parking trajectory based on the parking space information, electronic map information, and radar data, and control the vehicle to park in the target parking space according to the parking trajectory. This saves vehicle hardware resources and improves the user experience.

[0121] The present invention will be described by way of example below:

[0122] Taking a mobile phone as an example, this paper proposes a method to implement parking by setting a visual algorithm (i.e., determining parking space information and constructing an electronic map based on images and camera calibration data) in the mobile phone software (Application, APP) and a planning and control algorithm (i.e. determining the parking trajectory based on parking space information, electronic map information and radar data and controlling the vehicle to park in the target parking space based on the parking trajectory) in the APA controller.

[0123] Figure 6 This is a schematic diagram of the connection between the APA controller and the mobile phone according to Embodiment 2 of the present invention; as shown Figure 6 As shown, the cameras and radar installed on the vehicle can connect to the APA controller, sending images captured by the cameras and radar data to the APA controller. The APA controller can have four cameras positioned at the front, rear, left, and right of the vehicle, and twelve radars. The APA controller may contain a control algorithm, a state machine for user interaction, and a related component control module. The mobile app may contain a vision algorithm. The APA controller and the mobile app connect via Wi-Fi or Bluetooth. The APA controller can communicate with the vehicle's CAN bus via the Controller Area Network (CAN). The display in the vehicle's central control screen can show the user the video content transmitted from the 360-degree surround view controller.

[0124] The system includes four cameras (front, rear, left, and right) that acquire image information in real time. Twelve radars can detect distances in real time. The APA controller can communicate with a mobile app, acquiring images and calibration data from the cameras and sending them to the app's visual algorithm via Wi-Fi or Bluetooth. The visual algorithm then processes the images to identify parking spaces and constructs an electronic map. The app then feeds the visual algorithm results (parking space information and electronic map information) to the planning and control algorithm on the APA controller, which determines the parking trajectory to complete the parking maneuver.

[0125] Figure 7 This is a flowchart of another vehicle control method provided according to Embodiment 2 of the present invention, such as... Figure 7As shown, the APA controller connects to a mobile app. The APA controller sends images and camera calibration data to the mobile app in real time. The mobile app's vision algorithm processes the images. If a parking space is detected, the parking space information and electronic map information are sent back to the APA controller. The APA controller displays a parking space map. Users can select a target parking space based on the parking space information through the parking space map on the APA controller. If the user confirms parking, the APA controller performs a handshake with the associated components, and the control algorithm calculates the trajectory (i.e., determines the parking trajectory) to control the vehicle parking.

[0126] By running the vision algorithm on a mobile app, hardware resources for embedded devices in vehicles are saved, reducing costs. Simultaneously, the short update cycle of mobile phones means users have a greater chance of accessing more powerful algorithm chips as they become available. Mobile phones have richer resources and better performance, allowing for the execution of superior vision algorithms, and different levels of vision algorithms can be run depending on the phone's hardware resources. Mobile app upgrades are stable, convenient, and fast, reducing the risk of controller failure after OTA upgrades of embedded device vision algorithms. Furthermore, the input parameters of the vision algorithm can be flexibly adjusted to adapt to various vehicles.

[0127] Example 3

[0128] Figure 8 This is a schematic diagram of a vehicle control device according to Embodiment 3 of the present invention. This embodiment is applicable to situations where an Automatic Parking Assist (APA) controller controls a vehicle to perform automatic parking. Figure 8 As shown, the specific structure of the device includes:

[0129] The sending module 31 is used to send images collected by multiple cameras installed on the vehicle and camera calibration data to the terminal, so that the terminal can determine parking space information and build an electronic map based on the images and camera calibration data;

[0130] Information receiving module 32 is used to receive parking space information and electronic map information returned by the terminal;

[0131] The control module 33 is used to determine the parking trajectory based on parking space information, electronic map information and radar data, and control the vehicle to park into the target parking space according to the parking trajectory.

[0132] The vehicle control device provided in this embodiment first sends images and camera calibration data collected by multiple cameras installed on the vehicle to the terminal through the sending module 31, so that the terminal can determine parking space information and build an electronic map based on the images and camera calibration data; then, the information receiving module 32 receives the parking space information and electronic map information returned by the terminal; finally, the control module 33 determines the parking trajectory based on the parking space information, electronic map information and radar data, and controls the vehicle to park in the target parking space according to the parking trajectory.

[0133] Furthermore, before controlling the vehicle to park in the target parking space based on the parking trajectory, the device also includes:

[0134] The component handshake module is used to perform component handshakes with the vehicle. The components include at least one of the following: body control module, electronic parking brake system, electronic power steering system, electronic stability control unit, and automatic transmission control unit.

[0135] Furthermore, before determining the parking trajectory based on parking space information, electronic map information, and radar data, the device also includes:

[0136] The target parking space determination module is used to determine the target parking space based on the user's selection of parking space information.

[0137] Furthermore, the device also includes:

[0138] The image stitching display module is used to stitch together the images captured by each camera according to the camera calibration data, and display the stitched image on the vehicle's central control screen.

[0139] The vehicle control device provided in this embodiment of the invention can execute the vehicle control method provided in Embodiment 1 of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0140] Example 4

[0141] Figure 9 This is a schematic diagram of a vehicle control device according to Embodiment 4 of the present invention. This embodiment is applicable to situations where the terminal determines parking space information and constructs an electronic map by receiving information sent by the APA controller. Figure 9 As shown, the specific structure of the device includes:

[0142] The receiving module 41 is used to receive images and camera calibration data sent by the automatic parking assist (APA) controller. The images are captured by multiple cameras installed on the vehicle.

[0143] Module 42 is used to determine parking space information and build an electronic map based on images and camera calibration data;

[0144] The information return module 43 is used to return parking space information and electronic map information to the APA controller, so that the APA controller can determine the parking trajectory based on the parking space information, electronic map information and radar data, and control the vehicle to park into the target parking space according to the parking trajectory.

[0145] The vehicle control device provided in this embodiment first receives images and camera calibration data sent by the Automatic Parking Assist (APA) controller through the receiving module 41. The images are captured by multiple cameras installed on the vehicle. Then, the construction module 42 determines the parking space information and constructs an electronic map based on the images and camera calibration data. Finally, the information return module 43 returns the parking space information and electronic map information to the APA controller, so that the APA controller can determine the parking trajectory based on the parking space information, electronic map information, and radar data, and control the vehicle to park in the target parking space according to the parking trajectory.

[0146] The vehicle control device provided in this embodiment of the invention can execute the vehicle control method provided in Embodiment 2 of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0147] Example 5

[0148] Figure 10 This is a schematic diagram of the structure of an automatic parking assist controller that implements the vehicle control method of this invention. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0149] like Figure 10 As shown, the automatic parking assist controller 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the automatic parking assist controller 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0150] Multiple components in the automatic parking assist controller 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the automatic parking assist controller 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0151] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as vehicle control methods.

[0152] In some embodiments, the vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the automatic parking assist controller 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle control method by any other suitable means (e.g., by means of firmware).

[0153] Figure 11 This is a schematic diagram of the structure of a terminal implementing the vehicle control method of this invention. The terminal is intended to represent a laptop, tablet, computer, personal digital assistant, and other suitable computer, or various forms of mobile terminal, such as a personal digital processor, smartphone, wearable device, and other similar device.

[0154] like Figure 11 As shown, terminal 20 includes at least one processor 21 and a memory, such as read-only memory (ROM) 22 and random access memory (RAM) 23, communicatively connected to at least one processor 21. The memory stores computer programs executable by at least one processor. Processor 21 can perform various appropriate actions and processes based on the computer program stored in ROM 22 or loaded from storage unit 28 into RAM 23. RAM 23 can also store various programs and data required for the operation of terminal 20. Processor 21, ROM 22, and RAM 23 are interconnected via bus 24. Input / output (I / O) interface 25 is also connected to bus 24.

[0155] Multiple components in terminal 20 are connected to I / O interface 25, including: input unit 26, such as keyboard, mouse, etc.; output unit 27, such as various types of displays, speakers, etc.; storage unit 28, such as disk, optical disk, etc.; and communication unit 29, such as network card, modem, wireless transceiver, etc. Communication unit 29 allows terminal 20 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0156] Processor 21 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 21 performs the various methods and processes described above, such as vehicle control methods.

[0157] In some embodiments, the vehicle control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 28. In some embodiments, part or all of the computer program may be loaded and / or installed on terminal 20 via ROM 22 and / or communication unit 29. When the computer program is loaded into RAM 23 and executed by processor 21, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, processor 21 may be configured to execute the vehicle control method by any other suitable means (e.g., by means of firmware).

[0158] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0159] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0160] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0161] To provide interaction with the user, the systems and techniques described herein can be implemented on an automatic parking assist controller or terminal, which includes: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the automatic parking assist controller or terminal. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0162] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0163] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0164] Figure 12 This is a schematic diagram of the structure of a vehicle control system that implements the vehicle control method of this invention. For example... Figure 12 As shown, the vehicle control system 50 includes an APA controller 51 and a terminal 52. The APA controller 51 and the terminal 52 can communicate by establishing a wireless connection. The method of establishing the wireless connection is not limited, and can be established through wireless communication technologies such as Bluetooth, Wi-Fi, or fourth-generation mobile communication technology.

[0165] A wireless connection is established between the APA controller 51 and the terminal 52. The APA controller 51 can send images and camera calibration data collected by multiple cameras installed on the vehicle to the terminal 52. The terminal 52 determines the parking space information and constructs an electronic map by receiving the images and camera calibration data sent by the APA controller 51. Then, it returns the parking space information and electronic map information to the APA controller 51, so that the APA controller 51 can determine the parking trajectory based on the parking space information, electronic map information and radar data, and control the vehicle to park in the target parking space according to the parking trajectory.

[0166] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0167] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle control method, characterized in that, The method, applied to an automatic parking assist (APA) controller, includes: Images captured by multiple cameras installed on the vehicle, along with camera calibration data, are sent to a terminal, enabling the terminal to determine parking space information and construct an electronic map based on the images and camera calibration data. Receive parking space information and electronic map information returned by the terminal; The parking trajectory is determined based on the parking space information, the electronic map information, and the radar data, and the vehicle is controlled to park into the target parking space based on the parking trajectory. The parking space information includes at least the coordinates of the four corner points of the parking space or the parking space line, used to indicate one or more parking spaces where parking is possible; the electronic map includes at least obstacle information around the vehicle, information about other vehicles, and the parking space information; the radar data includes at least the relative distance, relative speed, angle, or direction of movement between the vehicle and other objects. Determining the parking trajectory based on the parking space information, the electronic map information, and radar data includes: Determine the target parking space based on the parking space information; The location of the target parking space relative to the vehicle is determined based on the electronic map information, as well as the situation of obstacles or other vehicles around the path from the vehicle to the target parking space; The relative distance, relative speed, angle, or direction of motion between the vehicle and other objects is determined based on the radar data. Based on the parking space information, the electronic map information, and the radar data, a parking trajectory for the vehicle to enter the target parking space is planned.

2. The method according to claim 1, characterized in that, Before controlling the vehicle to park in the target parking space according to the parking trajectory, the method further includes: The system performs a handshake with the vehicle, the associated components including at least one of the following: body control module, electronic parking brake system, electronic power steering system, electronic stability control unit, and automatic transmission control unit.

3. The method according to claim 1, characterized in that, Before determining the parking trajectory based on the parking space information, the electronic map information, and the radar data, the process also includes: The target parking space is determined based on the user's selection of the parking space information.

4. The method according to claim 1, characterized in that, Also includes: The images captured by each camera are stitched together based on the camera calibration data, and the stitched image is displayed on the vehicle's central control screen.

5. A vehicle control method, characterized in that, Applied to a terminal, the method includes: Receives images and camera calibration data sent by the Automatic Parking Assist (APA) controller, the images being captured by multiple cameras installed on the vehicle; Based on the image and the camera calibration data, parking space information is determined and an electronic map is constructed. The system returns parking space information and electronic map information to the APA controller, so that the APA controller can determine the parking trajectory based on the parking space information, the electronic map information and radar data, and control the vehicle to park in the target parking space based on the parking trajectory; The parking space information includes at least the coordinates of the four corner points of the parking space or the parking space line, used to indicate one or more parking spaces where parking is possible; the electronic map includes at least obstacle information around the vehicle, information about other vehicles, and the parking space information; the radar data includes at least the relative distance, relative speed, angle, or direction of movement between the vehicle and other objects. Determining the parking trajectory based on the parking space information, the electronic map information, and radar data includes: Determine the target parking space based on the parking space information; The location of the target parking space relative to the vehicle is determined based on the electronic map information, as well as the situation of obstacles or other vehicles around the path from the vehicle to the target parking space; The relative distance, relative speed, angle, or direction of motion between the vehicle and other objects is determined based on the radar data. Based on the parking space information, the electronic map information, and the radar data, a parking trajectory for the vehicle to enter the target parking space is planned.

6. A vehicle control device, characterized in that, include: The sending module is used to send images captured by multiple cameras installed on the vehicle and camera calibration data to the terminal, so that the terminal can determine parking space information and construct an electronic map based on the images and camera calibration data; The information receiving module is used to receive parking space information and electronic map information returned by the terminal; The control module is used to determine the parking trajectory based on the parking space information, the electronic map information, and radar data, and to control the vehicle to park in the target parking space based on the parking trajectory. The parking space information includes at least the coordinates of the four corner points of the parking space or the parking space line, used to indicate one or more parking spaces where parking is possible; the electronic map includes at least obstacle information around the vehicle, information about other vehicles, and the parking space information; the radar data includes at least the relative distance, relative speed, angle, or direction of movement between the vehicle and other objects. Specifically, the control module is used for: Determine the target parking space based on the parking space information; The location of the target parking space relative to the vehicle is determined based on the electronic map information, as well as the situation of obstacles or other vehicles around the path from the vehicle to the target parking space; The relative distance, relative speed, angle, or direction of motion between the vehicle and other objects is determined based on the radar data. Based on the parking space information, the electronic map information, and the radar data, a parking trajectory for the vehicle to enter the target parking space is planned.

7. A vehicle control device, characterized in that, include: The receiving module is used to receive images and camera calibration data sent by the Automatic Parking Assist (APA) controller, wherein the images are captured by multiple cameras installed on the vehicle; The construction module is used to determine parking space information and construct an electronic map based on the image and the camera calibration data; The information return module is used to return parking space information and electronic map information to the APA controller, so that the APA controller can determine the parking trajectory based on the parking space information, the electronic map information and radar data, and control the vehicle to park in the target parking space according to the parking trajectory; The parking space information includes at least the coordinates of the four corner points of the parking space or the parking space line, used to indicate one or more parking spaces where parking is possible; the electronic map includes at least obstacle information around the vehicle, information about other vehicles, and the parking space information; the radar data includes at least the relative distance, relative speed, angle, or direction of movement between the vehicle and other objects. Determining the parking trajectory based on the parking space information, the electronic map information, and radar data includes: Determine the target parking space based on the parking space information; The location of the target parking space relative to the vehicle is determined based on the electronic map information, as well as the situation of obstacles or other vehicles around the path from the vehicle to the target parking space; The relative distance, relative speed, angle, or direction of motion between the vehicle and other objects is determined based on the radar data. Based on the parking space information, the electronic map information, and the radar data, a parking trajectory for the vehicle to enter the target parking space is planned.

8. An automatic parking assist controller, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method as described in any one of claims 1-4.

9. A terminal, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the vehicle control method as described in claim 5.

10. A vehicle control system, characterized in that, It includes the APA controller as described in claim 8 and the terminal as described in claim 9.

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