Low obstacle recognition method and automatic parking method, electronic device, and storage medium

Abstract

The present invention provides a low obstacle recognition method and an automatic parking method, an electronic device, and a storage medium, belonging to the field of automatic parking technology. It includes: obtaining the slope information of the vehicle; determining the torque increase value according to the slope information and the pre-set mapping relationship between the slope information and the torque increase value; increasing the output torque of the vehicle according to the torque increase value to obtain the torque-increased driving state of the vehicle; and determining whether the vehicle encounters a low obstacle through the torque-increased driving state. The present invention can judge whether a low obstacle is encountered, and realizes the recognition of low obstacles. The judgment process does not require additional reliance on ultrasonic radar, laser radar, camera and other sensors, and does not require additional sensors, which is conducive to reducing the cost of the entire vehicle. The parameters are adjustable to adapt to a variety of scenarios and curb scenes of various heights without increasing costs. The recognition of curbs can be increased on the existing basis, thereby increasing the safety of the entire vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of automatic parking, and in particular to a low obstacle recognition method and an automatic parking method, an electronic device, and a storage medium. Background Art

[0002] At present, automatic parking devices have been widely used in the automotive field. Many manufacturers at home and abroad have achieved mass production of fully automatic parking technology. By controlling the steering, braking, gear and other actuators, the vehicle can be automatically parked in and out of the warehouse, freeing the driver's hands and feet throughout the process, greatly reducing the user's pressure on the car during use and improving the user experience.

[0003] Existing automatic parking systems primarily rely on ultrasonic radar and cameras to scan and detect vacant parking spaces. Dangerous obstacles during parking are primarily detected by ultrasonic radar and braking, while characteristic obstacles are primarily identified through deep learning of camera images. Parking spaces and the characteristic objects within them are complex in shape and variety. Relying solely on cameras to identify all objects would be difficult and unreliable. Using deep learning methods for images would be cost-prohibitive and unable to guarantee coverage of all parking scenarios. Furthermore, due to the limitations of current ultrasonic radar hardware technology, low obstacles such as curbs have low reflection intensity and cannot be identified. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, the present invention provides a low obstacle recognition method and an automatic parking method, an electronic device, and a storage medium to solve the above-mentioned technical problems.

[0005] The present invention provides a method for identifying low obstacles during automatic parking, comprising:

[0006] Obtaining slope information of the vehicle;

[0007] Determining the torque increase value according to the slope information and a preset mapping relationship between the slope information and the torque increase value;

[0008] increasing the output torque of the vehicle according to the torque increase value to obtain a torque-increased driving state of the vehicle;

[0009] Whether the vehicle encounters a low obstacle is determined through the torque-increasing driving state.

[0010] Optionally, determining the torque increase value according to the slope information and a preset mapping relationship between the slope information and the torque increase value includes:

[0011] Determining the road state of the vehicle based on the slope information and a preset mapping relationship between the slope information and the road state;

[0012] The road state includes a flat ground state and a slope state. If the road state is a flat ground state, the torque increase value is a pre-set flat ground torque increase value. If the road state is a slope state, the torque increase value is determined according to a proportional relationship between the pre-set torque increase value and the slope information.

[0013] Optionally, determining whether the vehicle encounters a low obstacle according to the torque-increasing driving state includes:

[0014] If the torque-increasing driving state is stopped, the vehicle encounters a low obstacle. If the torque-increasing driving state is driving, the vehicle does not encounter a low obstacle.

[0015] Optionally, determining the road state of the vehicle according to the slope information and a preset mapping relationship between the slope information and the road state includes:

[0016] The slope information is compared with a preset flat ground slope threshold. If the slope information meets the flat ground slope threshold, the road state is a flat ground state. If the slope information does not meet the flat ground slope threshold, the road state is a ramp state.

[0017] The present invention also provides an automatic parking method, comprising:

[0018] When the vehicle stops or starts abnormally during parking, obtaining the slope information of the vehicle;

[0019] Determining the torque increase value according to the slope information and a preset mapping relationship between the slope information and the torque increase value;

[0020] increasing the output torque of the vehicle according to the torque increase value to obtain a torque-increased driving state of the vehicle;

[0021] The parking action is determined based on the mapping relationship between the torque-increasing driving state and the parking action.

[0022] Optionally, if the torque-increasing driving state of the vehicle is moving, parking is continued; if the torque-increasing driving state is stopping, parking is stopped.

[0023] Optionally, determining the torque increase value according to the slope information and a preset mapping relationship between the slope information and the torque increase value includes:

[0024] Determining the road state of the vehicle based on the slope information and a preset mapping relationship between the slope information and the road state;

[0025] The road state includes a flat ground state and a slope state. If the road state is a flat ground state, the torque increase value is a pre-set flat ground torque increase value. If the road state is a slope state, the torque increase value is determined according to a proportional relationship between the pre-set torque increase value and the slope information.

[0026] Optionally, determining the road state of the vehicle according to the slope information and a preset mapping relationship between the slope information and the road state includes:

[0027] The slope information is compared with a preset flat ground slope threshold. If the slope information meets the flat ground slope threshold, the road state is a flat ground state. If the slope information does not meet the flat ground slope threshold, the road state is a ramp state.

[0028] Optionally, after determining the road state of the vehicle based on the slope information and a preset mapping relationship between the slope information and the road state, the method further includes:

[0029] If the road state is a flat state, the remaining distance between the vehicle and the parking target is obtained, and if the remaining distance is greater than a preset completion distance, the automatic parking is exited.

[0030] The present invention also provides an automatic parking device, comprising:

[0031] A slope acquisition module is used to obtain the slope information of the vehicle when the vehicle stops or starts abnormally during parking.

[0032] a torque analysis module, determining a torque increase value based on the slope information and a preset mapping relationship between the slope information and the torque increase value;

[0033] The torque-increasing driving module increases the output torque of the vehicle according to the torque increase value to obtain the torque-increasing driving state of the vehicle. If the torque-increasing driving state of the vehicle is moving, the vehicle continues to park; if the torque-increasing driving state is stopping, the vehicle stops parking.

[0034] 9. An electronic device, characterized in that the electronic device comprises:

[0035] one or more processors;

[0036] A storage device is used to store one or more programs, and when the one or more programs are executed by the one or more processors, the electronic device implements the automatic parking method as described in any one of the above items.

[0037] The present invention also provides a computer-readable storage medium, characterized in that a computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute any of the automatic parking methods described above.

[0038] The present invention has the following beneficial effects: The curb recognition system, which is applicable to automatic parking systems that integrate ultrasonic radar and high-definition cameras, is also applicable to automatic parking systems that rely solely on ultrasonic radar. By increasing the vehicle's output torque and combining it with slope information to determine whether a low obstacle is encountered, the system achieves low obstacle recognition without relying on additional sensors such as ultrasonic radar, lidar, and cameras. This eliminates the need for additional sensors and helps reduce vehicle costs. Adjustable parameters adapt to a wide range of scenarios, including curbs of various heights, without increasing costs. Curb recognition can be added to existing systems, enhancing vehicle safety.

[0039] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0041] Figure 1 is a schematic diagram of an automatic parking process shown in an exemplary embodiment of the present application;

[0042] Figure 2 is a flow chart of a method for identifying low obstacles during automatic parking, shown in an exemplary embodiment of the present application;

[0043] Figure 3 is a flowchart of an automatic parking method shown in an exemplary embodiment of the present application;

[0044] Figure 4 is a structural block diagram of an automatic parking device shown in an exemplary embodiment of the present application;

[0045] Figure 51 is a schematic structural diagram of an automatic parking device 1 according to an exemplary embodiment of the present application;

[0046] Figure 6 It is a logic block diagram of the actual implementation of the automatic parking method shown in an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0047] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0048] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0049] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0050] Existing automatic parking systems primarily rely on sensors such as lidar, ultrasonic radar, and cameras to scan and detect vacant parking spaces. During parking, dangerous obstacles are primarily identified and braked by ultrasonic radar, while characteristic obstacles are primarily identified through deep learning using camera images. Parking spaces and the characteristic objects within them are complex in shape and variety. Relying solely on cameras to identify all objects would be difficult and unreliable. Using deep learning methods based on images would be cost-effective and unable to guarantee coverage of all parking scenarios. Furthermore, due to the limitations of current ultrasonic radar hardware technology, low obstacles such as curbs have low reflection intensity and cannot be identified, making automatic parking difficult to continue when encountering low obstacles.

[0051] Figure 1 1 is a schematic diagram of the automatic parking process in this embodiment, which includes a curb 17, an empty parking space 18, a starting parking space 19, a reverse parking space 20, a process parking space 21, and a reference obstacle vehicle 22.

[0052] See also Figure 2 This embodiment provides a method for identifying low obstacles during automatic parking provided by the present invention. When a vehicle stops or starts abnormally during parking, the method includes the following steps:

[0053] S10: Obtaining the slope information of the vehicle.

[0054] S20: Determine the torque increase value according to the slope information and a preset mapping relationship between the slope information and the torque increase value.

[0055] S30: Increasing the output torque of the vehicle according to the torque increase value to obtain a torque-increased driving state of the vehicle.

[0056] S40: Determine whether the vehicle encounters a low obstacle based on the torque-increasing driving state.

[0057] When a vehicle stops or starts abnormally during parking, this embodiment increases the vehicle's output torque and, in combination with the slope information of the vehicle's location, determines whether it encounters a low obstacle, thereby realizing the recognition of low obstacles. The judgment process does not require the participation of additional sensors such as ultrasonic radar, lidar, and cameras, and there is no need to add additional sensors, which helps reduce the cost of the entire vehicle.

[0058] In some embodiments, step S20, i.e., the step of determining the torque increase value based on the slope information and the preset mapping relationship between the slope information and the torque increase value, includes the following sub-steps:

[0059] S21: Determine the road state of the vehicle based on the slope information and a preset mapping relationship between the slope information and the road state.

[0060] S22: The road state includes a flat ground state and a slope state. If the road state is a flat ground state, the torque increase value is a preset flat ground torque increase value. If the road state is a slope state, the torque increase value is determined according to the proportional relationship between the preset torque increase value and the slope information.

[0061] Step S22: During the automatic parking process, the vehicle's output torque is typically low, and even on flat ground, if it encounters a small obstacle such as a rock or branch, it may stop or start unexpectedly. In this embodiment, by increasing the output torque, the vehicle is able to pass over small obstacles, allowing automatic parking to continue. Furthermore, if the vehicle remains stationary after increasing its output torque, it indicates that the vehicle has encountered a low obstacle such as a curb or large rock. Automatic parking is then aborted to prevent the safety risks associated with further parking attempts. The level ground torque increase value can be appropriately set based on actual conditions, such as the height of different obstacles, to enable the vehicle to pass over small obstacles without incurring safety risks due to excessive output torque.

[0062] In step S21, that is, the step of determining the road state of the vehicle based on the slope information and the preset mapping relationship between the slope information and the road state, the following steps are included:

[0063] S211: Compare the slope information with a preset flat ground slope threshold.

[0064] S212: Determine the road state of the vehicle based on a comparison result between the slope information and a preset flat ground slope threshold.

[0065] Specifically, in step S212, if the slope information meets the flat ground slope threshold, the road state is a flat ground state; if the slope information does not meet the flat ground slope threshold, the road state is a ramp state.

[0066] In step S40, that is, the step of determining whether the vehicle encounters a low obstacle by the torque-increasing driving state, if the torque-increasing driving state is stopped, the vehicle encounters a low obstacle; if the torque-increasing driving state is driving, the vehicle does not encounter a low obstacle.

[0067] See also Figure 3 This embodiment also provides an automatic parking method, comprising the following steps:

[0068] S100: When the vehicle stops or starts abnormally during parking, obtaining slope information of the vehicle;

[0069] S200: Determine a torque increase value according to the slope information and a preset mapping relationship between the slope information and the torque increase value.

[0070] In some embodiments, step S200, i.e., the step of determining the torque increase value based on the slope information and the preset mapping relationship between the slope information and the torque increase value, includes the following sub-steps:

[0071] S210: Determine the road state of the vehicle based on the slope information and a preset mapping relationship between the slope information and the road state.

[0072] S220: The road state includes a flat ground state and a slope state. If the road state is a flat ground state, the torque increase value is a preset flat ground torque increase value. If the road state is a slope state, the torque increase value is determined according to the proportional relationship between the preset torque increase value and the slope information.

[0073] In some embodiments, step S210, i.e., determining the road state of the vehicle based on the slope information and a preset mapping relationship between the slope information and the road state, includes the following steps:

[0074] S213: Compare the slope information with a preset flat ground slope threshold.

[0075] S214: Determine the road state of the vehicle based on a comparison result between the slope information and a preset flat ground slope threshold.

[0076] Specifically, in step S214, if the slope information meets the flat ground slope threshold, the road state is a flat ground state; if the slope information does not meet the flat ground slope threshold, the road state is a ramp state.

[0077] S300: increasing the output torque of the vehicle according to the torque increase value to obtain a torque-increased driving state of the vehicle;

[0078] S400: Determine a parking action based on a mapping relationship between the torque-increasing driving state and the parking action.

[0079] Specifically, in step S400, if the torque-increasing driving state of the vehicle is moving, parking is continued; if the torque-increasing driving state is stopping, parking is stopped.

[0080] In some embodiments, after step S200, that is, after the step of determining the road state of the vehicle based on the slope information and the preset mapping relationship between the slope information and the road state, the following steps are further included:

[0081] S500: If the road state is a flat ground state, obtain the remaining distance between the vehicle and the parking target, and if the remaining distance is greater than the preset completion distance, exit the automatic parking.

[0082] The present invention also provides an automatic parking device, comprising:

[0083] A slope acquisition module is used to obtain the slope information of the vehicle when the vehicle stops or starts abnormally during parking.

[0084] a torque analysis module, determining a torque increase value based on the slope information and a preset mapping relationship between the slope information and the torque increase value;

[0085] The torque-increasing driving module increases the output torque of the vehicle according to the torque increase value to obtain the torque-increasing driving state of the vehicle. If the torque-increasing driving state of the vehicle is moving, the vehicle continues to park; if the torque-increasing driving state is stopping, the vehicle stops parking.

[0086] It should be noted that the automatic parking device provided in the above-described embodiment and the automatic parking method provided in the above-described embodiment share the same concept. The specific manner in which the various modules and units perform their operations has been described in detail in the method embodiments and will not be repeated here. In actual applications, the road condition updating device provided in the above-described embodiment can, as needed, distribute the aforementioned functions among different functional modules, i.e., divide the internal structure of the device into different functional modules to perform all or part of the functions described above. This is not a limitation herein.

[0087] Specifically, such as Figure 5 As shown, the automatic parking device 1 includes a system controller 2 and an ultrasonic radar 3. Some automatic parking devices also include a high-definition camera 4 for capturing parking images. The automatic parking device 1 also includes an automatic parking switch 5 for starting or stopping automatic parking. The system controller 2 connects to the key 7, as well as the vehicle's body controller 8, instrument panel 9, onboard display 10, electric power steering module 11, electronic shift module 12, engine management module 13, body stability module 14, transmission module 15, and steering angle sensor 16 via a gateway 6 to obtain vehicle information or send control commands. The slope acquisition module, torque analysis module, and torque-enhancing driving module can all be integrated into the system controller 2.

[0088] like Figure 6 As shown, after the vehicle is started, it first performs a power-on self-test. If a fault is found, a fault alarm is issued. If no fault is found, the vehicle operates normally. After receiving the automatic parking switch signal, the current gear information of the vehicle is checked to determine whether it is reverse gear. If not, the vehicle gear is shifted to reverse gear. If it is reverse gear, the driver is asked to drive the vehicle to find a parking space.

[0089] While the driver is driving, the automatic parking system 1 continuously scans for an open parking space 18 using ultrasonic radar 3 and high-definition camera 4. Once the automatic parking system 1 finds an open space 18, it alerts the driver, and the system continues to activate until the driver parks the vehicle. After the driver confirms the automatic parking request, the automatic parking system 1 activates and begins parking. During the actual automatic parking process, the open parking space 18 serves as the parking target.

[0090] When automatic parking begins, the vehicle is positioned in starting parking space 19. Automatic parking system 1 takes over and automatically parks the vehicle in vacant parking space 18. During parking, automatic parking system 1 controls electric power steering module 11 for steering, electronic shift module 12 for shifting, and vehicle stability system 14 and engine management system 13 for driving. The vehicle first reaches reverse parking space 20, passes through intermediate parking space 21, and finally reaches vacant parking space 18, thus completing the automatic parking process.

[0091] During the vehicle's automatic parking process, the vehicle usually maintains the established target speed. When the vehicle is driving, planned unexpected stops are all abnormal stops. When abnormal stops occur, the roadside condition identification and judgment process is entered.

[0092] Specifically, during the automatic parking process, the system controller 2 of the automatic parking device 1 continuously obtains the vehicle standstill signal (VehicleStandstill) through the body stability module 14 to detect the current vehicle motion state in real time. If the vehicle is not stationary, that is, in a driving state, parking continues.

[0093] When the vehicle is stationary, i.e., unexpectedly stops or starts, the system controller 2 obtains the vehicle's current actual gear position through the transmission system 15. If the vehicle's current gear position is a forward gear, the conditions for exiting or completing automatic parking are not met. If other conditions currently meet the automatic parking conditions, the vehicle can continue parking.

[0094] When the vehicle is stationary and in reverse gear, the automatic parking device 1 filters and converts the longitudinal acceleration of the vehicle body stabilization module 14 to obtain the current slope of the vehicle to determine whether the vehicle is on a level road or a small slope.

[0095] When the slope is greater than a preset reference value p0, also known as the flat ground slope threshold (e.g., 3%), the vehicle meets the hill parking condition. Automatic parking system 1 controls engine management module 13 to enter torque-increasing mode, increasing the vehicle's output torque. The increased torque is calculated based on the current slope of the vehicle's location, as well as parameters such as the vehicle's weight and load. The greater the slope, the greater the vehicle's weight, and the higher the load, the greater the torque increase.

[0096] After increasing the vehicle's output torque, the automatic parking system 1 obtains the vehicle's state through the vehicle body stability module 14. If the vehicle is in motion after the output torque is increased, it is determined that the vehicle is on a slope and has insufficient torque, or has encountered an obstacle such as a small rock or branch, causing it to stop unexpectedly. The increased torque will allow the vehicle to pass, so parking can be continued. If the vehicle remains stationary after the output torque is increased, it can be determined that the vehicle has encountered a low obstacle such as a curb or a large rock, causing it to stop unexpectedly.

[0097] When the slope is less than or equal to a preset reference value p0, also known as the flat ground slope threshold (e.g., 3%), the vehicle meets the flat ground parking condition. Automatic parking system 1 controls engine management module 13 to enter torque-increasing mode, increasing the vehicle's output torque. The vehicle's torque increase is a preset flat ground torque-increasing value, which can be appropriately selected based on parameters such as the vehicle's weight and load.

[0098] After increasing the vehicle's output torque, the automatic parking system 1 obtains the vehicle's status through the vehicle body stability module 14. If the vehicle is in motion after the output torque is increased, it can be determined that the vehicle has unexpectedly stopped due to an obstacle such as a small rock or branch, and that the vehicle can pass through after increasing the torque, so parking can continue. If the vehicle remains stationary after the output torque is increased, it is determined that the vehicle has encountered a low obstacle such as a curb or large rock, and automatic parking is terminated.

[0099] During automatic parking, the system controller 2 of the automatic parking system 1 obtains the vehicle standstill signal (VehicleStandstill) from the vehicle stability module 14 to detect the vehicle's current motion state in real time. If the vehicle is stationary, the system controller 2 obtains the vehicle's current actual gear position from the transmission module 15. If the vehicle is in reverse gear, the automatic parking system 1 calculates the remaining distance between the current position and the parking destination.

[0100] If the remaining distance is greater than the set distance value x0, the automatic parking is automatically exited to avoid another unsafe start. The set value x0 can be set according to the accuracy requirement of the automatic parking. The higher the parking accuracy requirement, the smaller the set value. In this embodiment, the set value x0 is 1m to 1.5m.

[0101] If the remaining distance is less than or equal to the distance setting value x0, the automatic parking device 1 compares the current vehicle body angle (HeadingAngle) with the final target parking space angle. If the front vehicle body angle (HeadingAngle) and the target parking space angle are judged to meet the angle setting value h0 (for example: 2° for perpendicular parking spaces, 3° for parallel parking spaces), a delay t0 (for example, 2s) is entered for confirmation. If the vehicle status changes within time t0 and no longer meets the distance setting value x0 or the angle setting value h0, parking continues. If after time t0, the vehicle status still meets the distance setting value x0 and the angle setting value h0, and the roadside working condition verification is satisfied, parking is completed.

[0102] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the automatic parking method provided in the above-mentioned embodiments.

[0103] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When executed by a computer processor, the computer program causes the computer to perform the automatic parking method described above. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device.

[0104] Another aspect of the present application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the automatic parking method provided in each of the above embodiments.

[0105] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, any equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A method for identifying low obstacles during automatic parking, characterized in that: include: Get the slope information of the vehicle; Determining the road state of the vehicle based on the slope information and a preset mapping relationship between the slope information and the road state; The road state includes a flat ground state and a slope state. If the road state is a flat ground state, the torque increase value is a preset flat ground torque increase value. If the road state is a slope state, the torque increase value is determined according to a preset proportional relationship between the torque increase value and the slope information. increasing the output torque of the vehicle according to the flat ground torque increase value in a flat ground state or the torque increase value in a slope state to obtain a torque-increased driving state of the vehicle; If the torque-increasing driving state is stopped, the vehicle encounters a low obstacle; if the torque-increasing driving state is driving, the vehicle does not encounter a low obstacle.

2. An automatic parking method, characterized in that: include: Get the slope information of the vehicle; Determining the road state of the vehicle based on the slope information and a preset mapping relationship between the slope information and the road state; The road state includes a flat ground state and a slope state. If the road state is a flat ground state, the torque increase value is a preset flat ground torque increase value. If the road state is a slope state, the torque increase value is determined according to a preset proportional relationship between the torque increase value and the slope information. increasing the output torque of the vehicle according to the flat ground torque increase value in a flat ground state or the torque increase value in a slope state to obtain a torque-increased driving state of the vehicle; Based on the mapping relationship between the torque-increasing driving state and the parking action, the parking action is determined; if the torque-increasing driving state is moving, the parking is continued; if the torque-increasing driving state is stopping, the parking is stopped.

3. The automatic parking method according to claim 2, characterized in that: Determining the road state of the vehicle based on the slope information and a preset mapping relationship between the slope information and the road state includes: The slope information is compared with a preset flat ground slope threshold. If the slope information meets the flat ground slope threshold, the road state is a flat ground state. If the slope information does not meet the flat ground slope threshold, the road state is a ramp state.

4. The automatic parking method according to claim 2, characterized in that: After determining the road state of the vehicle based on the slope information and a preset mapping relationship between the slope information and the road state, the method further includes: If the road state is a flat state, the remaining distance between the vehicle and the parking target is obtained, and if the remaining distance is greater than a preset completion distance, the automatic parking is exited.

5. An automatic parking device, characterized in that: The device comprises: The slope acquisition module obtains the slope information of the vehicle when the vehicle stops or starts abnormally during parking; a torque analysis module, determining a road state of the vehicle based on the slope information and a preset mapping relationship between the slope information and the road state; The road state includes a flat ground state and a slope state. If the road state is a flat ground state, the torque increase value is a preset flat ground torque increase value. If the road state is a slope state, the torque increase value is determined according to a preset proportional relationship between the torque increase value and the slope information. The torque-increasing driving module increases the output torque of the vehicle according to the flat ground torque increase value in the flat ground state or the torque increase value in the slope state to obtain the torque-increasing driving state of the vehicle. If the torque-increasing driving state of the vehicle is moving, parking is continued; if the torque-increasing driving state is stopped, parking is stopped.

6. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the automatic parking method as described in any one of claims 2 to 4.

7. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the automatic parking method according to any one of claims 2 to 4.

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