Vehicle parking method, device, vehicle and storage medium

Abstract

The present application relates to a parking method, device, vehicle, and storage medium for a vehicle, wherein the method includes: detecting whether the vehicle is in automatic parking mode; when it is detected that the vehicle is in automatic parking mode, and the vehicle is in a preset parking area and the actual speed is less than the preset parking speed, establishing an environmental map of the vehicle and obtaining the current state parameters of the vehicle; and identifying the driving intention of the vehicle based on the current state parameters, and when the driving intention is to park in, searching for a parking space based on the environmental map, and when the driving intention is to park out, obtaining a parking direction and a target area based on the type of the current parking space to perform the parking action. The embodiments of the present application can intelligently determine the driving intention of the vehicle, realize intelligent parking in and out of the vehicle, and determine the parking direction based on the environmental map and the vehicle's state parameters, so that the parking direction is more in line with user needs, thereby improving the user experience.

Description

Technical Field

[0001] The present application relates to the field of automotive electrical technology, and in particular to a vehicle parking method, device, vehicle, and storage medium. Background Art

[0002] With the development of my country's economy, cars have become a basic means of transportation for social interaction and travel. With the development of intelligent connected vehicles and the country's strong promotion of smart cars, smart parking has become a must-have feature in many high-end models, and even a standard feature in many models. However, the current level of smart parking is not yet intelligent enough. Users must select parking entry and exit or direction when using it, and some even have a function removed, which fails to meet user experience requirements.

[0003] In the related technology, although intelligent parking of vehicles can be realized, when parking, in order to realize the parking function, users are still required to select parking spaces by themselves. It cannot intelligently judge user needs and user requirements for parking in and out and direction, which is not conducive to improving user experience and needs to be improved. Summary of the Invention

[0004] The present application provides a vehicle parking method, device, vehicle and storage medium to solve the technical problem in related technologies that, in order to realize the parking function, users still need to select parking spaces by themselves and the parking needs of users cannot be identified.

[0005] A first aspect embodiment of the present application provides a vehicle parking method, comprising the following steps: detecting whether the vehicle is in an automatic parking mode; when detecting that the vehicle is in the automatic parking mode, and the vehicle is in a preset parkingable area and the actual speed is less than a preset parking speed, establishing an environmental MAP of the vehicle and obtaining current state parameters of the vehicle; and identifying the driving intention of the vehicle based on the current state parameters, and when the driving intention is an intention to park in, searching for a parking space that can be parked according to the environmental MAP, and when the driving intention is an intention to park out, obtaining a parking direction and a target area based on the type of the current parking space to perform a parking action.

[0006] According to the above-mentioned technical means, the embodiment of the present application can intelligently judge the driving intention of the vehicle, realize the intelligent parking in and out of the vehicle, and judge the parking direction based on the environmental map and the vehicle's state parameters, so that the parking direction is more in line with user needs, thereby enhancing the user experience.

[0007] Optionally, in one embodiment of the present application, obtaining the parking direction and the target area based on the type of the current parking space includes: detecting the type of the current parking space; when the type is a parallel parking space type, determining the parking direction and the target area based on the last parking direction and in combination with the turn signal and lane direction; when the type is a vertical or oblique parking space type, determining the parking direction and the target area based on the turn signal and the lane direction.

[0008] According to the above technical means, the embodiment of the present application can determine the parking direction and target area of ​​the vehicle based on the type of the current parking space, so that the parking direction is more in line with user needs.

[0009] Optionally, in one embodiment of the present application, before detecting that the vehicle is in the automatic parking mode, it also includes: determining whether the vehicle meets a preset automatic parking condition; if the preset automatic parking condition is met, controlling the vehicle to enter the automatic parking mode.

[0010] According to the above technical means, the embodiment of the present application can determine whether the vehicle meets the preset automatic parking conditions, thereby preventing the vehicle from entering the automatic parking mode in a non-parking area, thereby causing a traffic accident.

[0011] Optionally, in one embodiment of the present application, the method further includes: when the vehicle is not in the preset parking area or the actual speed is greater than or equal to the preset parking speed, providing a relevant reminder to the user.

[0012] According to the above technical means, the embodiment of the present application can remind the user that parking is not allowed when the vehicle does not meet the conditions for automatic parking.

[0013] Optionally, in one embodiment of the present application, the identifying the driving intention of the vehicle based on the current state parameters includes: if the vehicle is in a driving state and the vehicle is not in a parking space, then judging that the driving intention of the vehicle is an intention to park in; if the vehicle is not in a driving state, then reading the steering information and / or gear status of the vehicle, and when the turn signal of the vehicle is turned on, the steering wheel angle is greater than a preset threshold and / or the gear is changed to a forward gear or a reverse gear, then judging that the driving intention of the vehicle is an intention to park out.

[0014] According to the above technical means, the embodiment of the present application can determine the driving intention of the vehicle, thereby controlling the vehicle to park in or out.

[0015] A second aspect of the present application provides a parking device for a vehicle, comprising: a detection module, configured to detect whether the vehicle is in an automatic parking mode; a mapping module, configured to establish an environmental map of the vehicle and obtain current state parameters of the vehicle when detecting that the vehicle is in the automatic parking mode, the vehicle is in a preset parkingable area, and the actual speed is less than a preset parking speed; and a parking module, configured to identify the driving intention of the vehicle based on the current state parameters, and when the driving intention is an intention to park in, search for a parking space that can be parked according to the environmental map, and when the driving intention is an intention to park out, obtain a parking direction and a target area according to the type of the current parking space to perform a parking action.

[0016] Optionally, in one embodiment of the present application, the parking module includes: a detection unit for detecting the type of the current parking space; a first parking-out unit for determining the parking-out direction and the target area based on the last parking direction and in combination with the turn signal and lane direction when the type is a parallel parking space type; and a second parking-out unit for determining the parking-out direction and the target area based on the turn signal and the lane direction when the type is a vertical or oblique parking space type.

[0017] Optionally, in one embodiment of the present application, it further includes: a judgment module for judging whether the vehicle meets the preset automatic parking conditions; and a control module for controlling the vehicle to enter the automatic parking mode when the preset automatic parking conditions are met.

[0018] Optionally, in one embodiment of the present application, it further includes: a reminder module, configured to provide a relevant reminder to the user when the vehicle is not in the preset parking area or the actual speed is greater than or equal to the preset parking speed.

[0019] Optionally, in one embodiment of the present application, the parking module includes: a first judgment unit, configured to judge that the driving intention of the vehicle is an intention to park in when the vehicle is in driving state and the vehicle is not in a parking space; a second judgment unit, configured to read the steering information and / or gear status of the vehicle if the vehicle is not in driving state, and judge that the driving intention of the vehicle is an intention to park out when the turn signal of the vehicle is turned on, the steering wheel angle is greater than a preset threshold and / or the gear is changed to forward gear or reverse gear.

[0020] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle parking method as described in the above embodiment.

[0021] A fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the above-mentioned vehicle parking method.

[0022] Beneficial effects of the embodiments of the present application:

[0023] (1) The embodiments of the present application can intelligently determine the driving intention of the vehicle and realize intelligent parking and unparking of the vehicle;

[0024] (2) The embodiment of the present application can determine the parking direction based on the environment map and the vehicle's status parameters, so that the parking direction is more in line with user needs, thereby improving the user experience;

[0025] (3) The embodiment of the present application can determine whether the vehicle meets the conditions for automatic parking, thereby preventing the vehicle from entering the parking state in a non-parking area and causing a traffic accident.

[0026] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0028] Figure 1 A flowchart of a vehicle parking method provided according to an embodiment of the present application;

[0029] Figure 2 1 is a schematic diagram illustrating a parking method for a vehicle according to an embodiment of the present application;

[0030] Figure 3 Schematic diagram of an application of a vehicle parking method according to one embodiment of the present application;

[0031] Figure 4 2 is a schematic diagram illustrating an application of a vehicle parking method according to another embodiment of the present application;

[0032] Figure 5 2 is a schematic diagram illustrating an application of a vehicle parking method according to another embodiment of the present application;

[0033] Figure 6 is a flowchart of a vehicle parking method according to one embodiment of the present application;

[0034] Figure 7 A schematic structural diagram of a vehicle parking device provided according to an embodiment of the present application;

[0035] Figure 8A schematic structural diagram of a vehicle provided according to an embodiment of the present application.

[0036] Among them, 1-parking system, 2-parking system controller, 3-parking system ultrasonic sensor, 4-parking system high-definition camera, 5-parking system switch, 6-gateway, 7-smart key, 8-smart body controller, 9-instrument, 10-on-board display and communication controller, 11-electric power steering system, 12-electronic shift system, 13-engine management system, 14-body stability system, 15-transmission system, 16-angle sensor, 17-vehicle, 18-target area, 19-reference vehicle; 100-vehicle parking device, 101-detection module, 102-mapping module, 103-parking module. DETAILED DESCRIPTION

[0037] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0038] The following describes a vehicle parking method, apparatus, vehicle, and storage medium according to an embodiment of the present application with reference to the accompanying drawings. In response to the technical problem that the related art mentioned in the background art center still requires the user to select a parking space and cannot identify the user's parking needs, the present application provides a vehicle parking method. In this method, when it is detected that the vehicle is in automatic parking mode, is in a preset parking area, and the actual speed is less than the preset parking speed, the vehicle's driving intention is identified based on the vehicle's current state parameters. If the driving intention is to park in, a parking space is found based on the environment map. If the driving intention is to park out, an exit direction and target area are obtained based on the type of the current parking space to execute the exit action. The vehicle's driving intention can be intelligently determined, achieving intelligent parking in and out of the vehicle. The exit direction is determined based on the environment map and the vehicle's state parameters, making the exit direction more consistent with the user's needs, thereby improving the user experience. This solves the technical problem that the related art still requires the user to select a parking space and cannot identify the user's parking needs.

[0039] Specifically, Figure 1 A schematic flow chart of a vehicle parking method provided in an embodiment of the present application.

[0040] like Figure 1 As shown, the parking method of the vehicle includes the following steps:

[0041] In step S101 , it is detected whether the vehicle is in an automatic parking mode.

[0042] During actual implementation, the embodiment of the present application can detect whether the vehicle is currently in automatic parking mode, thereby avoiding the vehicle taking over the parking control of the vehicle in non-automatic parking mode and causing control confusion.

[0043] In step S102 , when it is detected that the vehicle is in the automatic parking mode, the vehicle is in a preset parking area, and the actual speed is less than the preset parking speed, an environment MAP of the vehicle is established and the current state parameters of the vehicle are obtained.

[0044] As a possible implementation method, the embodiment of the present application can determine whether the vehicle meets the parking conditions when detecting that the vehicle is in automatic parking mode, that is, whether the vehicle is in a preset parking area and whether the actual speed of the vehicle is less than a preset parking speed, where the preset parking area can be a parking lot, a roadside with parking lines, etc., and the preset parking speed can be 30kph. The specific value can be set by those skilled in the art according to actual conditions, or can be set by the user.

[0045] For example, when the embodiment of the present application determines that the vehicle is not in a no-parking area such as a highway or expressway, and the vehicle speed is less than 30 kph, it can perceive the vehicle's surrounding information based on the 1 controller, 12 ultrasonic sensors, 4 high-definition panoramic cameras, 5 millimeter-wave radars and 1 forward-looking camera installed on the vehicle, and then establish an environmental MAP map and record the vehicle's current state parameters, such as steering parameters, conversion light status, gear status, etc.

[0046] In step S103, the vehicle's driving intention is identified based on the current state parameters. If the driving intention is to park in, a parking space is searched for based on the environment map. If the driving intention is to park out, the parking direction and target area are obtained based on the type of the current parking space to execute the parking action.

[0047] In some embodiments, the embodiments of the present application can identify the driving intention of the vehicle based on the acquired current state parameters, and when the driving intention is to park, find a parking space based on the established environment MAP, thereby realizing intelligent parking.

[0048] When the driving intention is to park out, the parking direction and target area are obtained according to the type of the current parking space to execute the parking action. While ensuring parking safety, the parking direction is more in line with the driving intention of the vehicle, making it easier for the user to take over the vehicle later.

[0049] Optionally, in one embodiment of the present application, the driving intention of the vehicle is identified based on current state parameters, including: if the vehicle is in a driving state and the vehicle is not in a parking space, then the driving intention of the vehicle is judged to be an intention to park in; if the vehicle is not in a driving state, then the steering information and / or gear status of the vehicle is read, and when the vehicle's turn signal is turned on, the steering wheel angle is greater than a preset threshold and / or the gear is changed to forward gear or reverse gear, the driving intention of the vehicle is judged to be an intention to park out.

[0050] In actual implementation, the embodiment of the present application can determine whether the vehicle is in a parking space (including painted lines and obstacle parking spaces);

[0051] If the vehicle is in the parking space, the driving intention of the vehicle is determined to be an intention to park out;

[0052] If the vehicle is not in the parking space, determine whether the vehicle is in driving state;

[0053] If the vehicle is in a driving state, the driving intention of the vehicle is determined to be a parking intention;

[0054] If the vehicle is not in driving mode, the system uses the MAP to determine the environmental status and the user's steering, turn signal, and gear shifting behaviors to determine the vehicle's driving intention. For example, if the vehicle's turn signal is on, the steering wheel angle is greater than a preset threshold, and / or the gear is shifted to forward or reverse, the vehicle's driving intention is determined to be an intention to park.

[0055] If the vehicle is parked alongside and meets the conditions for exiting (e.g., parallel parking with an obstacle ahead; perpendicular / diagonal parking with an obstacle on at least one side), the embodiment of the present application may determine that the vehicle's driving intention is an exit intention;

[0056] If the vehicle is not in a pull-over state or does not meet the conditions for parking out, it is determined that the vehicle's driving intention is an intention to park in.

[0057] Optionally, in one embodiment of the present application, the parking direction and target area are obtained according to the type of the current parking space, including: detecting the type of the current parking space; when the type is a parallel parking space type, determining the parking direction and target area according to the last parking direction and in combination with the turn signal and lane direction; when the type is a vertical or oblique parking space type, determining the parking direction and target area according to the turn signal and lane direction.

[0058] The embodiment of the present application can detect the type of the current parking space. When the parking space type is a parallel parking space, the exit direction and target area can be determined based on the last parking direction combined with the turn signal and lane direction;

[0059] When the parking space type is vertical or diagonal, the parking direction and target area can be determined based on the turn signal and lane direction, thereby ensuring the parking efficiency of the vehicle and ensuring that the parking direction of the vehicle meets user needs.

[0060] Optionally, in one embodiment of the present application, before detecting that the vehicle is in the automatic parking mode, it also includes: determining whether the vehicle meets the preset automatic parking conditions; if the preset automatic parking conditions are met, controlling the vehicle to enter the automatic parking mode.

[0061] As a possible implementation method, the embodiment of the present application can perform a vehicle self-check before entering the automatic parking mode, and after confirming that the automatic parking mode can be started in the current state of the vehicle, control the vehicle to enter the automatic parking mode. At the same time, after the automatic parking mode cannot be started in the current state of the vehicle, the embodiment of the present application can control the vehicle to self-check again and push the failure of the automatic parking mode to the user.

[0062] Optionally, in one embodiment of the present application, the method further includes: when the vehicle is not in a preset parking area or the actual speed is greater than or equal to a preset parking speed, providing a relevant reminder to the user.

[0063] In some embodiments, the embodiments of the present application can push relevant reminders to the user when the vehicle enters automatic parking mode but is not in a preset parking area, such as a highway or expressway, or when the actual speed is greater than or equal to a preset parking speed, such as 30kph.

[0064] Combine Figures 2 to 6 As shown, the working principle of the vehicle parking method of the embodiment of the present application is described in detail with an embodiment.

[0065] like Figure 2 As shown, an embodiment of the present application may include a parking system 1, a parking system controller 2, a parking system ultrasonic sensor 3, a parking system high-definition camera 4, a parking system switch 5, a gateway 6, a smart key 7, an intelligent body controller 8, an instrument 9, an on-board display and communication controller 10, an electric power steering system 11, an electronic shifting system 12, an engine management system 13, a body stability system 14, a transmission system 15 and a steering angle sensor 16.

[0066] The parking system 1 can identify the position of the vehicle 17 based on the positioning information sent by the vehicle display communication controller 10. If the vehicle is located on a highway / expressway, it is determined that the vehicle is in a non-parking area.

[0067] If the vehicle 17 enters a parking area, the parking system 1 determines that the vehicle speed from the vehicle body stability system 14 is less than 30 kph (calibratable). The parking system 1 creates an environmental map (signage and dynamic and static obstacle information) based on the information sensed by the parking system ultrasonic sensor 3 and the parking system high-definition camera 4, and records the turn signal information from the intelligent vehicle body controller 8, the gear position information from the electronic shift system 12, and the steering angle information from the steering angle sensor 16.

[0068] When the user activates the parking function, the parking system 1 determines whether the vehicle is in a parking space (including painted lines and spaces with obstacles);

[0069] If the parking system 1 determines that the vehicle 17 is in the parking space, it determines that the user wants to use the parking exit function and recommends an exit direction based on the user's last parking direction, the turn signal information sent by the intelligent body controller 8, and the real-time perception information compared with the map;

[0070] If the parking system 1 determines that the vehicle 17 is not in the parking space, it determines whether the vehicle 17 is in a driving state;

[0071] If the parking system 1 determines that the vehicle 17 is in a driving state (the driving distance in a single direction after starting is greater than 2m (calibratable)), it is determined that the user wants to use the parking function, and the parking system 1 enters a parking space search state;

[0072] If the parking system 1 determines that the vehicle 17 is not in a driving state, the parking system 1 determines the driving intention of the vehicle based on the environmental state and the vehicle's steering parameters, turn signal status, gear status, etc., using the environmental map (signage and dynamic and static obstacle information) created based on the information sensed by the parking system ultrasonic sensor 3 and the parking system high-definition camera 4, and the turn signal information from the intelligent body controller 8, the gear information from the electronic shift system 12, and the turning angle information from the turning angle sensor 16.

[0073] If the parking system 1 determines that the vehicle 17 is in a pull-over state (parked in the rightmost lane and has engaged or disengaged the vehicle), it determines that the user wants to use the exit function and recommends an exit direction based on the user's last pull-over direction and the real-time perception information compared with the map.

[0074] If the parking system 1 determines that the vehicle 17 is not in the pull-over state, it determines that the driving intention of the vehicle is a parking intention.

[0075] like Figure 3 The figure shows an embodiment of the present application.

[0076] In the figure, there are vehicle 17, target area 18, and reference vehicle 19.

[0077] When the user starts parking and the parking system 1 parks the vehicle 17 in the parking space, it is determined that the driving intention of the vehicle is to park out.

[0078] The parking system 1 determines the exit direction required by the user based on the last parking direction, lane direction, and / or the direction of the turn signal operated by the user issued by the intelligent vehicle body controller 8.

[0079] The user confirms to start parking, and the parking system 1 controls the parking vehicle 17 to park in the target area 18 .

[0080] like Figure 4 Shown is another embodiment of the embodiment of the present application.

[0081] The user starts parking, and the parking system 1 determines that the vehicle 17 is in a driving state (the driving distance in a single direction after starting is greater than 2m (calibrable)).

[0082] The parking system 1 determines that the user needs to use the parking space search function and searches for a parking space.

[0083] The parking system 1 senses information through the parking system ultrasonic sensor 3 and the parking system high-definition camera 4 to remind the user to find a parking space and start parking.

[0084] like Figure 5 As shown, it is another embodiment of the embodiment of the present application.

[0085] The user starts parking, and the parking system 1 determines that the vehicle 17 is in a pull-over state (parked in the rightmost lane, with power on and off and getting on and off).

[0086] The parking system 1 determines that the user wants to use the parking exit function.

[0087] The parking system 1 recommends a parking direction based on the direction the user last pulled over, the real-time perception information, and the comparison with the MAP.

[0088] The user confirms to start parking, and the parking system 1 controls the parking vehicle 17 to park in the target area 18 .

[0089] like Figure 6 As shown, the working logic flow chart can be as follows:

[0090] The user turns on the parking system 1 through the parking system switch 5 , and the parking system 1 performs a self-check.

[0091] Parking system 1 self-checks for faults and the system exits.

[0092] If the parking system 1 self-checks and finds no fault, the parking system 1 determines whether the vehicle 17 is on a highway / expressway through the positioning information of the vehicle-mounted display communication controller 10 .

[0093] If the vehicle 17 is on a highway / expressway, the parking system 1 sends a message to the onboard display communication controller 10 through the gateway 6 to prompt the user that parking is not available in the current area.

[0094] If the vehicle 17 is not on the highway / expressway, the parking system 1 determines whether the vehicle 17 is in the parking space (based on the MAP established by the last perception and the current perception information).

[0095] If the parking system 1 determines that the vehicle 17 is in the parking space, it is determined that the user needs to use the parking-out function, and the parking system 1 determines the parking-out direction and target area required by the user (for parallel parking spaces: the parking-out direction and target area are determined based on the last parking direction combined with the turn signal and lane direction; for perpendicular / oblique parking spaces: the parking-out direction and target area are determined based on the turn signal and lane direction).

[0096] If the parking system 1 determines that the vehicle 17 is not in the parking space, it determines whether the vehicle 17 is in a driving state (a single direction driving distance after starting is greater than 2 m (calibrable)).

[0097] If the parking system 1 determines that the vehicle 17 is in the driving state, it is determined that the user wants to use the parking function, and the parking system 1 enters the parking space search state;

[0098] If the parking system 1 determines that the vehicle 17 is not in a moving state, the parking system 1 determines the position and state of the vehicle 17 by using the environment map (signage and dynamic and static obstacle information) created based on the information sensed by the parking system ultrasonic sensor 3 and the parking system high-definition camera 4, and the turn signal information sent by the intelligent vehicle body controller 8, the gear information sent by the electronic shift system 12, and the turning angle information sent by the turning angle sensor 16. The environment state and the vehicle's steering parameters, turn signal status, and gear status are determined by using the map.

[0099] If the parking system 1 determines that the vehicle 17 is parked on the side of the road (parked in the rightmost lane and has engaged or disengaged the vehicle), the system determines that the vehicle's driving intention is to exit the parking area and recommends an exit direction based on the last direction the vehicle 17 pulled over and the comparison of the real-time perception information with the map.

[0100] If the parking system 1 determines that the vehicle 17 is not in the pull-over state, it determines that the driving intention of the vehicle is a parking intention.

[0101] According to the vehicle parking method proposed in the embodiment of the present application, when it is detected that the vehicle is in automatic parking mode, is in a preset parking area, and the actual speed is less than the preset parking speed, the vehicle's driving intention is identified based on the vehicle's current state parameters. If the driving intention is to park in, a parking space is found based on the environment map. If the driving intention is to park out, the parking direction and target area are obtained based on the type of the current parking space to execute the parking action. This can intelligently determine the vehicle's driving intention, realize intelligent parking in and out of the vehicle, and determine the parking direction based on the environment map and the vehicle's state parameters, so that the parking direction is more in line with user needs, thereby improving the user experience. This solves the technical problem in related technologies that, while focusing on realizing the parking function, still require users to select parking spaces and cannot identify users' parking needs.

[0102] Next, a parking device for a vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.

[0103] Figure 7 It is a block diagram of a parking device for a vehicle according to an embodiment of the present application.

[0104] like Figure 7 As shown, the vehicle parking device 100 includes: a detection module 101 , a mapping module 102 and a parking module 103 .

[0105] Specifically, the detection module 101 always detects whether the vehicle is in the automatic parking mode.

[0106] The mapping module 102 is used to create an environmental map of the vehicle and obtain the current state parameters of the vehicle when it is detected that the vehicle is in automatic parking mode, is in a preset parking area, and the actual speed is less than a preset parking speed.

[0107] The parking module 103 is used to identify the vehicle's driving intention based on the current state parameters. When the driving intention is to park in, it searches for a parking space based on the environment map. When the driving intention is to park out, it obtains the parking direction and target area based on the type of the current parking space to execute the parking action.

[0108] Optionally, in one embodiment of the present application, the parking module 103 includes: a detection unit, a first parking-out unit and a second parking-out unit.

[0109] The detection unit is used to detect the type of the current parking space.

[0110] The first parking-out unit is configured to determine, when the parking space type is a parallel parking space, a parking-out direction and a target area based on the last parking direction combined with the turn signal and the lane direction.

[0111] The second parking unit is used to determine the parking direction and target area according to the turn signal and lane direction when the parking space type is a vertical or oblique parking space type.

[0112] Optionally, in one embodiment of the present application, the vehicle parking device 100 further includes: a judgment module and a control module.

[0113] Among them, the judgment module is used to judge whether the vehicle meets the preset automatic parking conditions.

[0114] The control module is used to control the vehicle to enter the automatic parking mode when the preset automatic parking conditions are met.

[0115] Optionally, in one embodiment of the present application, the vehicle parking device 100 further includes: a reminder module.

[0116] Among them, the reminder module is used to remind the user when the vehicle is not in a preset parking area or the actual speed is greater than or equal to the preset parking speed.

[0117] Optionally, in one embodiment of the present application, the parking module 103 includes: a first judgment unit and a second judgment unit.

[0118] The first judgment unit is configured to judge that the driving intention of the vehicle is an intention to park when the vehicle is in a driving state and is not in a parking space.

[0119] The second judgment unit is used to read the vehicle's steering information and / or gear status if the vehicle is not in driving state, and to judge that the vehicle's driving intention is an intention to park when the vehicle's turn signal is turned on, the steering wheel angle is greater than a preset threshold and / or the gear is turned to forward gear or reverse gear.

[0120] It should be noted that the above explanation of the embodiment of the vehicle parking method is also applicable to the vehicle parking device of this embodiment, and will not be repeated here.

[0121] According to the vehicle parking device proposed in the embodiment of the present application, when it is detected that the vehicle is in automatic parking mode, is in a preset parking area, and the actual speed is less than the preset parking speed, the vehicle's driving intention is identified based on the vehicle's current state parameters. If the driving intention is to park in, a parking space that can be parked in is found based on the environment map. If the driving intention is to park out, the parking direction and target area are obtained based on the type of the current parking space to execute the parking action. This can intelligently determine the vehicle's driving intention, realize intelligent parking in and out of the vehicle, and determine the parking direction based on the environment map and the vehicle's state parameters, so that the parking direction is more in line with user needs, thereby improving the user experience. This solves the technical problem in related technologies that, while focusing on realizing the parking function, still require users to select parking spaces and cannot identify users' parking needs.

[0122] Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0123] A memory 801 , a processor 802 , and a computer program stored in the memory 801 and executable on the processor 802 .

[0124] When the processor 802 executes the program, the vehicle parking method provided in the above embodiment is implemented.

[0125] Furthermore, the vehicle further comprises:

[0126] The communication interface 803 is used for communication between the memory 801 and the processor 802 .

[0127] The memory 801 is used to store computer programs that can be run on the processor 802.

[0128] The memory 801 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0129] If the memory 801, processor 802, and communication interface 803 are implemented independently, the communication interface 803, memory 801, and processor 802 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 8 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0130] Optionally, in a specific implementation, if the memory 801, the processor 802 and the communication interface 803 are integrated on a chip, the memory 801, the processor 802 and the communication interface 803 can communicate with each other through an internal interface.

[0131] The processor 802 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0132] This embodiment also provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned vehicle parking method when executed by a processor.

[0133] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0134] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0135] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0136] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0137] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0138] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0139] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0140] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for parking a vehicle, characterized in that: The following steps are involved: Detect whether the vehicle is in automatic parking mode; When it is detected that the vehicle is in the automatic parking mode, the vehicle is in a preset parking area, and the actual speed of the vehicle is less than a preset parking speed, an environment map of the vehicle is established, and current state parameters of the vehicle are obtained; as well as identifying a driving intention of the vehicle based on the current state parameter, and searching for a parking space according to the environment map when the driving intention is an intention to park in, and obtaining an exit direction and a target area according to a type of the current parking space to execute an exit action when the driving intention is an intention to park out; The identifying the driving intention of the vehicle according to the current state parameter includes: Determining whether the vehicle is in a parking space; If the vehicle is in the parking space, determining that the driving intention of the vehicle is an intention to park out; If the vehicle is not in the parking space, further determining whether the vehicle is in a driving state; If the vehicle is in a driving state, determining that the driving intention of the vehicle is a parking intention; If the vehicle is not in driving state, the driving intention of the vehicle is determined by judging the environmental state and the vehicle's steering parameters, turn signal state and gear state behavior through the environmental map; If the vehicle is parked on the side of the road, the user's driving intention is determined to be an exit intention, and an exit direction is recommended based on the user's last parked direction and the real-time perception information compared with the environment map; If the vehicle is not in a pull-over state, it is determined that the driving intention of the vehicle is a parking intention.

2. The method according to claim 1, characterized in that The method of obtaining the exit direction and target area according to the type of the current parking space includes: Detecting the type of the current parking space; When the parking type is a parallel parking space, determining the exit direction and the target area based on the last parking direction combined with the turn signal and lane direction; When the parking type is a vertical or oblique parking space type, the parking direction and the target area are determined according to the turn signal and the lane direction.

3. The method according to claim 1, characterized in that Before detecting that the vehicle is in the automatic parking mode, the method further includes: Determining whether the vehicle meets a preset automatic parking condition; If the preset automatic parking condition is met, the vehicle is controlled to enter the automatic parking mode.

4. The method according to claim 1, wherein Also includes: When the vehicle is not in the preset parking area or the actual speed is greater than or equal to the preset parking speed, a relevant reminder is given to the user.

5. A parking device for a vehicle, characterized in that: include: Detection module, always detects whether the vehicle is in automatic parking mode; a mapping module, configured to, upon detecting that the vehicle is in the automatic parking mode, is in a preset parking area, and has an actual speed less than a preset parking speed, establish an environment map of the vehicle and obtain current state parameters of the vehicle; as well as a parking module configured to identify a driving intention of the vehicle based on the current state parameters, and when the driving intention is an intention to park in, search for a parking space available for parking based on the environment map; and when the driving intention is an intention to park out, determine an outbound direction and a target area based on a type of the current parking space to execute an outbound action; The identifying the driving intention of the vehicle according to the current state parameter includes: Determining whether the vehicle is in a parking space; If the vehicle is in the parking space, determining that the driving intention of the vehicle is an intention to park out; If the vehicle is not in the parking space, further determining whether the vehicle is in a driving state; If the vehicle is in a driving state, determining that the driving intention of the vehicle is a parking intention; If the vehicle is not in driving state, the driving intention of the vehicle is determined by judging the environmental state and the vehicle's steering parameters, turn signal state and gear state behavior through the environmental map; If the vehicle is parked on the side of the road, the user's driving intention is determined to be an exit intention, and an exit direction is recommended based on the user's last parked direction and the real-time perception information compared with the environment map; If the vehicle is not in a pull-over state, it is determined that the driving intention of the vehicle is a parking intention.

6. The device according to claim 5, characterized in that The parking module includes: A detection unit, configured to detect the type of the current parking space; a first parking-out unit, configured to determine, when the parking type is a parallel parking space, the parking-out direction and the target area based on the last parking direction in combination with the turn signal and the lane direction; The second parking-out unit is configured to determine the parking-out direction and the target area according to the turn signal and the lane direction when the parking type is a vertical or oblique parking type.

7. The device according to claim 5, characterized in that Also includes: A judgment module, configured to judge whether the vehicle satisfies a preset automatic parking condition; A control module is used to control the vehicle to enter the automatic parking mode when the preset automatic parking condition is met.

8. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle parking method according to any one of claims 1 to 4.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle parking method according to any one of claims 1 to 4.

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