Vehicle parking-out method and device, vehicle, and storage medium

Abstract

The application relates to a vehicle parking-out method and device, a vehicle and a storage medium, wherein the method comprises the following steps: receiving an activation instruction of a memory parking-out function; controlling the vehicle to enter a memory parking-out mode based on the activation instruction, judging whether the vehicle meets preset memory parking-out conditions; if the vehicle meets the preset memory parking-out conditions, controlling the vehicle to drive to a parking-in starting point along a parking-in driving track memorized in a parking-in process in an automatic parking mode, performing a parking action, otherwise, clearing the driving track and the parking-in starting point and closing the memory parking-out function. The application automatically memorizes a parking-in starting point and a parking-in driving track through a vehicle-mounted system, a user selects a memory parking-out function when using the vehicle next time, and the vehicle will adaptively drive to the parking-in starting point at that time, so that an automatic parking process is not limited by an area, map information of a target area does not need to be acquired or constructed, the use experience of the user is greatly improved, and the intelligent degree and the humanization level of the vehicle are improved.

Description

Technical Field

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

[0002] With the rapid development of automotive intelligence, automatic parking technology has become increasingly mature, and major automakers have successively launched their own automatic parking solutions and are constantly updating them, such as short-range valet parking technology and memory parking technology. However, the value and experience brought to users by the wide variety of parking technologies are also different. Through research on users' needs for parking functions, it was found that users really need a system that can solve the problems of parking and exiting in narrow parking spaces and complex parking scenarios, and that is simple and easy to operate.

[0003] Currently, the relevant technology can determine the parking trajectory of a vehicle using map information of the target area and location information of fixed parking spaces. The vehicle memorizes this trajectory, and the user can control the vehicle to automatically park into the fixed parking space from the memorized starting position of the automatic parking system.

[0004] However, the automatic parking methods of related technologies rely on map information and are limited by region and supporting facilities, which greatly affects the user's driving experience and urgently needs to be addressed. Summary of the Invention

[0005] This application provides a method, device, vehicle, and storage medium for parking a vehicle, in order to solve the problems that related technologies rely on map information and are limited by region and supporting facilities.

[0006] The first aspect of this application provides a method for parking a vehicle, comprising the following steps: receiving an activation command for a memory parking function; controlling the vehicle to enter a memory parking mode based on the activation command, determining whether the vehicle meets preset memory parking conditions; and if the vehicle meets the preset memory parking conditions, controlling the vehicle to drive along a parking trajectory memorized during the parking process in automatic parking mode to the parking starting point, and performing a parking action; otherwise, clearing the parking trajectory and the parking starting point while deactivating the memory parking function.

[0007] Based on the above-mentioned technical means, the embodiments of this application automatically memorize the parking start point and parking driving trajectory through the vehicle system. When the user selects the memory parking function the next time they use the vehicle, the vehicle will adaptively drive to the parking start point at that time. This makes the automatic parking process not limited by area, and there is no need to obtain or construct map information of the target area, which greatly improves the user experience and enhances the intelligence and humanization level of the vehicle.

[0008] Optionally, in one embodiment of this application, the preset memory parking condition is that the current position of the vehicle is consistent with the last position of the parking process.

[0009] Based on the above-mentioned technical means, the embodiments of this application effectively ensure the success rate of vehicle parking by setting appropriate memory parking conditions, thereby further improving the reliability of the vehicle.

[0010] Optionally, in one embodiment of this application, before controlling the vehicle to travel along the parking trajectory memorized during the parking process in the automatic parking mode to the parking starting point, the method further includes: receiving an automatic parking instruction from the vehicle; controlling the vehicle to enter the automatic parking mode based on the automatic parking instruction, and controlling the vehicle to park to the final position based on a preset automatic parking strategy, while recording the parking trajectory and the parking starting point.

[0011] Based on the above-mentioned technical means, the embodiments of this application control the vehicle to park to the final position according to the automatic parking strategy, and record the parking driving trajectory and parking start point, thereby providing reliable data for the subsequent automatic parking of the vehicle and effectively ensuring the performance of vehicle parking.

[0012] Optionally, in one embodiment of this application, before recording the parking trajectory and the parking start point, the method further includes: detecting the gear information of the vehicle; and when the gear information meets the preset parking start conditions, determining the parking start point based on the current position of the vehicle.

[0013] Based on the above-mentioned technical means, the embodiments of this application detect the vehicle's gear information and determine the parking starting point according to the vehicle's current position, thereby facilitating the vehicle to obtain relevant coordinate information and providing scientific and reliable data support for realizing automatic parking and exiting of vehicles.

[0014] Optionally, in one embodiment of this application, while controlling the vehicle to travel along the parking trajectory memorized during the parking process in the automatic parking mode to the parking starting point, the method further includes: collecting information on static and dynamic obstacles around the parking trajectory; determining whether the vehicle meets preset safe parking conditions based on the information; if the preset safe parking conditions are not met, controlling the vehicle to stop moving or return to the preset position while issuing an obstacle warning.

[0015] Based on the above-mentioned technical means, the embodiments of this application determine whether the vehicle meets the safe parking conditions by using information on surrounding static and dynamic obstacles, so as to control the vehicle to perform parking operations, thereby improving the vehicle's safety and reliability, making the vehicle more intelligent and user-friendly, and improving the user experience.

[0016] A second aspect of this application provides a vehicle parking device, comprising: a receiving module for receiving an activation command for a memory parking function; a judging module for controlling the vehicle to enter a memory parking mode based on the activation command and judging whether the vehicle meets preset memory parking conditions; and a control module for controlling the vehicle to drive along a parking trajectory memorized during the parking process in automatic parking mode to the parking starting point and perform a parking action when the vehicle meets the preset memory parking conditions, otherwise clearing the parking trajectory and the parking starting point while deactivating the memory parking function.

[0017] Optionally, in one embodiment of this application, the preset memory parking condition is that the current position of the vehicle is consistent with the last position of the parking process.

[0018] Optionally, in one embodiment of this application, it further includes: a second receiving module, configured to receive an automatic parking instruction from the vehicle before controlling the vehicle to drive along the parking trajectory memorized during the parking process in the automatic parking mode to the parking starting point; and a recording module, configured to control the vehicle to enter the automatic parking mode based on the automatic parking instruction, and control the vehicle to park to the final position based on a preset automatic parking strategy, while recording the parking trajectory and the parking starting point.

[0019] Optionally, in one embodiment of this application, it further includes: a detection module, used to detect the gear information of the vehicle before recording the parking driving trajectory and the parking start point; and a determination module, used to determine the parking start point based on the current position of the vehicle when the gear information meets the preset parking start conditions.

[0020] Optionally, in one embodiment of this application, it further includes: a data acquisition module, used to acquire information on static and dynamic obstacles around the parking trajectory while controlling the vehicle to drive along the parking trajectory memorized during the parking process in the automatic parking mode to the parking starting point; a second judgment module, used to judge whether the vehicle meets the preset safe parking conditions based on the information; and a second control module, used to control the vehicle to stop moving or drive back to the preset position while providing obstacle warnings if the preset safe parking conditions are not met.

[0021] A third aspect of this application provides a vehicle, including: 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 parking method of the vehicle as described in the above embodiments.

[0022] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described vehicle parking method.

[0023] Therefore, the embodiments of this application have the following beneficial effects:

[0024] (1) According to the above technical means, the embodiments of this application automatically memorize the parking start point and parking driving trajectory through the vehicle system. When the user selects the memory parking function the next time he uses the vehicle, the vehicle will adaptively drive to the parking start point at that time, so that the automatic parking process is not limited by area and there is no need to obtain or build map information of the target area, which greatly improves the user experience and enhances the intelligence and humanization of the vehicle.

[0025] (2) Based on the above technical means, the embodiments of this application effectively ensure the success rate of vehicle parking by setting appropriate memory parking conditions, thereby further improving the reliability of the vehicle.

[0026] (3) Based on the above technical means, the embodiments of this application control the vehicle to park to the final position according to the automatic parking strategy, and record the parking driving trajectory and parking starting point, thereby providing reliable data for the subsequent automatic parking of the vehicle and effectively ensuring the performance of vehicle parking.

[0027] (4) Based on the above technical means, the embodiments of this application detect the gear information of the vehicle and determine the parking start point according to the current position of the vehicle, thereby facilitating the vehicle to obtain relevant coordinate information and providing scientific and reliable data support for realizing automatic parking and exit of the vehicle.

[0028] (5) Based on the above technical means, the embodiments of this application determine whether the vehicle meets the safe parking conditions by using information on surrounding static and dynamic obstacles, so as to control the vehicle to perform parking operations, thereby improving the safety and reliability of the vehicle, making the vehicle more intelligent and user-friendly, and improving the user experience.

[0029] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0030] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0031] Figure 1 This is a flowchart of a vehicle parking method according to an embodiment of this application;

[0032] Figure 2A logical architecture diagram of a vehicle parking method according to an embodiment of this application;

[0033] Figure 3 Here is an execution logic diagram of a vehicle parking method according to an embodiment of this application;

[0034] Figure 4 This is a schematic diagram illustrating a parking method for a vehicle according to an embodiment of this application.

[0035] Figure 5 This is an example diagram of a vehicle parking device according to an embodiment of this application;

[0036] Figure 6 This is a schematic diagram of the vehicle structure provided in an embodiment of this application.

[0037] Among them, 100-vehicle parking device, 1-automatic parking system, 2-automatic parking controller, 3-panoramic high-definition camera, 4-ultrasonic radar, 5-millimeter-wave radar, 6-forward camera, 7-gateway controller, 8-automatic parking system switch, 9-turning angle sensor, 10-transmission system, 11-vehicle stability system, 12-engine management system, 13-electronic shift system, 14-electric power steering system, 15-vehicle infotainment system, 16-vehicle control system, 17-mobile communication terminal vehicle connectivity APP, 18-smart remote control key, 19-driver, 20-target vehicle reference position, 21-target vehicle reference position, 22-reference vehicle, 23-reference vehicle, 24-reference vehicle, 25-target vehicle reference position, 26-reference vehicle, 27-reference vehicle, 28-reference vehicle, 101-receiving module, 102-judgment module, 103-control module, 601-memory, 602-processor, 603-communication interface. Detailed Implementation

[0038] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0039] The following description, with reference to the accompanying drawings, describes a vehicle parking method, apparatus, vehicle, and storage medium according to embodiments of this application. Addressing the problems mentioned in the background section, this application provides a vehicle parking method. In this method, an activation command for a memory parking function is received; based on the activation command, the vehicle is controlled to enter a memory parking mode; it is determined whether the vehicle meets preset memory parking conditions; if the vehicle meets the preset memory parking conditions, the vehicle is controlled to follow the parking trajectory memorized during the parking process in automatic parking mode to the parking start point, and a parking action is performed; otherwise, the parking trajectory and parking start point are cleared, and the memory parking function is deactivated. This application automatically memorizes the parking start point and parking trajectory through the vehicle system. When the user selects the memory parking function the next time they use the vehicle, the vehicle will adaptively drive to the current parking start point. This makes the automatic parking process unrestricted by area, eliminating the need to acquire or construct map information for the target area, greatly improving the user experience and enhancing the vehicle's intelligence and user-friendliness. Thus, it solves the problems of related technologies relying on map information and being limited by area and supporting facilities.

[0040] Specifically, Figure 1 This is a flowchart illustrating a method for parking a vehicle, as provided in an embodiment of this application.

[0041] like Figure 1 As shown, the parking method for this vehicle includes the following steps:

[0042] In step S101, the activation command for the memory docking function is received.

[0043] In the embodiments of this application, when a user uses the vehicle, they can connect to the vehicle via Bluetooth using a mobile communication terminal vehicle connectivity APP next to the vehicle, and then enter the intelligent parking function interface to select and activate the memory parking function. The vehicle system receives the activation command of the memory parking function to control the vehicle to enter the memory parking mode, thereby facilitating user operation, improving the user experience and the vehicle's intelligence level.

[0044] In step S102, the vehicle is controlled to enter the memory parking mode based on the activation command, and it is determined whether the vehicle meets the preset memory parking conditions.

[0045] After the vehicle receives the activation command for the memory parking function, the embodiments of this application can control the vehicle to enter the memory parking mode according to the command. At the same time, the automatic parking system determines whether the vehicle meets the conditions for memory parking, thereby improving the success rate of the vehicle to achieve automatic parking.

[0046] Optionally, in one embodiment of this application, the preset memory parking condition is that the current position of the vehicle is consistent with the last position of the parking process.

[0047] It should be noted that the embodiments of this application can use the consistency between the actual coordinates and the stored coordinates as the condition for the vehicle to remember and exit parking. Those skilled in the art can also set appropriate conditions for remembering and exiting parking according to actual circumstances, and no specific limitations are made here.

[0048] Therefore, the embodiments of this application effectively ensure the success rate of vehicle parking by setting appropriate memory parking conditions, thereby further improving vehicle reliability.

[0049] In step S103, if the vehicle meets the preset memory parking conditions, the vehicle is controlled to drive along the parking trajectory memorized during the parking process in automatic parking mode to the parking start point and the parking action is performed; otherwise, the parking trajectory and parking start point are cleared and the memory parking function is turned off.

[0050] The automatic parking system compares the actual coordinates with the stored coordinates to determine if the conditions for memory parking are met. If the coordinates match, it means the user has not manually driven the vehicle away from its original position. The automatic parking controller then sends a memory parking recommendation signal to the Bluetooth module of the vehicle control system. The user can then use a mobile communication terminal with a vehicle connectivity app to connect via Bluetooth and access the intelligent parking function interface to select the memory parking function. After the user activates the memory parking function using the app next to the vehicle, the vehicle is activated and adaptively drives back to the original parking starting point along the remembered parking trajectory.

[0051] If the automatic parking system determines that the coordinates are inconsistent, it means that the user has left the original position of the vehicle. In this case, the automatic parking system will clear the relevant memory, and the APP will not display the memory parking function option. This makes the automatic parking technology in this embodiment more in line with user needs, and is not limited by region. It does not require obtaining or building map information of the target area, thus improving the efficiency of vehicle parking.

[0052] Optionally, in one embodiment of this application, before controlling the vehicle to drive along the parking trajectory memorized during the parking process in automatic parking mode to the parking starting point, the method further includes: receiving an automatic parking command from the vehicle; controlling the vehicle to enter automatic parking mode based on the automatic parking command; controlling the vehicle to park to the final position based on a preset automatic parking strategy; and recording the parking trajectory and the parking starting point.

[0053] It should be noted that when a user arrives at any parking garage or parking spot and issues an automatic parking command through a mobile app or other device, the automatic parking system receives the command and uses the automatic parking function to park in the selected parking space. After that, the automatic parking system automatically remembers the starting point of parking, the parking trajectory, and the current coordinates.

[0054] Therefore, the embodiments of this application control the vehicle to park to the final position according to the automatic parking strategy, and record the parking trajectory and parking start point, thereby providing reliable data for the subsequent automatic parking of the vehicle and effectively ensuring the performance of vehicle parking.

[0055] Optionally, in one embodiment of this application, before recording the parking trajectory and the parking start point, the method further includes: detecting the vehicle's gear information; and when the gear information meets the preset parking start conditions, determining the parking start point based on the vehicle's current position.

[0056] Those skilled in the art will understand that the embodiments of this application can obtain the coordinates of the vehicle's parking start point based on the vehicle's gear information, thereby completing the determination of the parking exit conditions. Therefore, before recording the parking trajectory and parking start point, the embodiments of this application also need to detect the vehicle's gear information, etc.

[0057] It should be noted that the parking start point in this embodiment is the DR coordinate when the vehicle shifts from D to R gear; the parking trajectory can be represented by the trajectory line connecting the DR coordinates throughout the parking process; furthermore, the DR coordinate at the completion of parking is the current coordinate after parking is completed. Therefore, this embodiment detects the vehicle's gear information and determines the parking start point based on the vehicle's current position, thereby facilitating the vehicle to obtain relevant coordinate information and providing scientific and reliable data support for achieving automatic parking and exiting of the vehicle.

[0058] Optionally, in one embodiment of this application, while controlling the vehicle to travel along the parking trajectory memorized during the parking process in automatic parking mode to the parking starting point, the method further includes: collecting information on static and dynamic obstacles around the parking trajectory; determining whether the vehicle meets the preset safe parking conditions based on the information; if the preset safe parking conditions are not met, controlling the vehicle to stop moving or return to the preset position while issuing an obstacle warning.

[0059] In the embodiments of this application, during the vehicle parking process, the panoramic high-definition camera 3 and millimeter-wave radar 5 in the automatic parking system can detect static or dynamic obstacles around the parking trajectory in real time, and obtain information such as the distance between the vehicle and the obstacles. Figure 2 As shown, embodiments of this application can compare the distance information between the vehicle and multiple obstacles with a preset safe distance threshold of the vehicle system. If and only if all distance information is greater than the distance threshold, it indicates that the vehicle meets the safe parking conditions and the vehicle can perform the parking operation normally; otherwise, the vehicle is controlled to stop in time or return to its original position. At the same time, the vehicle can remind the user of obstacles by flashing turn signals, honking the horn, or making voice broadcasts, and wait for the surrounding environment to be safe before performing the parking operation again.

[0060] For example, when the vehicle is parking, if it detects a child and a pet approaching from a distance of 1m and 2m respectively, it compares these distances to a safe distance threshold. If the safe distance threshold is set to 30cm, the vehicle can continue parking. If a pet is detected within 20cm of the vehicle during parking, the vehicle immediately stops and sounds its horn as a warning. Once the surrounding environment is safe, it continues parking. After parking, the automatic parking system engages the parking brake and shifts the vehicle into Park (P) gear. The system then clears the parking data, the doors unlock automatically, and the driver can then take over the vehicle.

[0061] Therefore, the embodiments of this application determine whether the vehicle meets the safe parking conditions by using information about surrounding static and dynamic obstacles, thereby controlling the vehicle to perform a parking operation, which improves the vehicle's safety and reliability, makes the vehicle more intelligent and user-friendly, and improves the user experience.

[0062] The parking method of the vehicle according to this application will be described below with reference to the accompanying drawings.

[0063] Figure 3 This is a schematic diagram illustrating the execution logic of the vehicle parking method. For example... Figure 3 As shown in the figure, the process of performing a vehicle parking operation in this embodiment of the application is as follows:

[0064] S1: The user activates the automatic parking function;

[0065] S2: The automatic parking system automatically memorizes the starting point of parking, the parking trajectory, and the coordinate position after parking is completed;

[0066] S3: The system determines whether the parking conditions can be met: check whether the vehicle coordinates have moved. If they have moved, execute S4; otherwise, execute S5.

[0067] S4: Coordinate movement, automatic parking system clears related memories, APP no longer recommends the memory parking function;

[0068] S5: User activates memory exit function;

[0069] S6: The automatic parking system controls the vehicle to park back to the original parking starting point;

[0070] S7: The vehicle has completed parking and the automatic parking system has cleared the relevant memory.

[0071] The following detailed description, through a specific embodiment, further illustrates the vehicle parking method of this application.

[0072] Figure 4 This is a schematic diagram illustrating a scenario for the vehicle parking method proposed in an embodiment of this application. Figure 4 As shown, driver 19 locates the parking space between reference vehicles 24 and 26, and exits at the target vehicle reference position 20. The automatic parking function is then activated. The target vehicle initially moves forward to reference position 21, which the automatic parking system automatically memorizes as the parking start point. The vehicle then reverses into the parking space at reference position 25, and the automatic parking system automatically memorizes the parking trajectory and the coordinates after parking. Once parking is complete, the automatic parking system shuts off the engine and locks the vehicle, allowing driver 19 to leave the scene.

[0073] Driver 19 uses the vehicle again, but reference vehicles 24 and 26 have not left. At this time, driver 19 can stand next to the target vehicle, connect to the vehicle via Bluetooth using the vehicle connectivity APP 17, and then enter the intelligent parking function interface to activate the memory parking function. The vehicle will be activated and adaptively drive to the original parking starting point, i.e., the reference position 21 of the target vehicle, following the remembered parking trajectory. During the parking process, the automatic parking system uses the panoramic high-definition camera 3 and millimeter-wave radar 5 to detect surrounding static or dynamic obstacles in real time. Once the vehicle has completed parking, the automatic parking system controls the vehicle to engage P gear and pull the handbrake. The automatic parking system clears the memory of this parking session, the doors unlock automatically, and driver 19 can get in and take over the vehicle.

[0074] According to the vehicle parking method proposed in this application, an activation command for the memory parking function is received; based on the activation command, the vehicle is controlled to enter the memory parking mode, and it is determined whether the vehicle meets the preset memory parking conditions; if the vehicle meets the preset memory parking conditions, the vehicle is controlled to follow the parking trajectory memorized during the parking process in automatic parking mode to the parking start point and perform a parking action; otherwise, the parking trajectory and parking start point are cleared, and the memory parking function is turned off. This application automatically memorizes the parking start point and parking trajectory through the vehicle system. When the user selects the memory parking function the next time they use the vehicle, the vehicle will adaptively drive to the parking start point at that time, thereby making the automatic parking process unrestricted by area and eliminating the need to obtain or construct map information of the target area, greatly improving the user experience and enhancing the vehicle's intelligence and user-friendliness.

[0075] Next, the vehicle parking device according to an embodiment of this application is described with reference to the accompanying drawings.

[0076] Figure 5 This is a block diagram of a vehicle parking device according to an embodiment of this application.

[0077] like Figure 5 As shown, the parking device 100 for the vehicle includes: a receiving module 101, a judging module 102, and a control module 103.

[0078] The receiving module 101 is used to receive the activation command of the memory berthing function.

[0079] The judgment module 102 is used to control the vehicle to enter the memory parking mode based on the activation command and to determine whether the vehicle meets the preset memory parking conditions.

[0080] The control module 103 is used to control the vehicle to drive along the parking trajectory memorized during the parking process in automatic parking mode to the parking start point and perform a parking action when the vehicle meets the preset memory parking conditions. Otherwise, the parking trajectory and parking start point are cleared and the memory parking function is turned off.

[0081] Optionally, in one embodiment of this application, the preset memory parking condition is that the current position of the vehicle is consistent with the last position of the parking process.

[0082] Optionally, in one embodiment of this application, the vehicle parking device 10 of this application embodiment further includes: a second receiving module and a recording module;

[0083] The second receiving module is used to receive the vehicle's automatic parking command before the vehicle travels along the parking trajectory memorized during the automatic parking process to the parking starting point.

[0084] The recording module is used to control the vehicle to enter the automatic parking mode based on the automatic parking command, and to control the vehicle to park to the final position based on the preset automatic parking strategy, while recording the parking trajectory and the starting point of parking.

[0085] Optionally, in one embodiment of this application, the vehicle parking device 10 of this application embodiment further includes: a detection module and a determination module.

[0086] The detection module is used to detect the vehicle's gear information before recording the parking trajectory and parking start point.

[0087] The determination module is used to determine the parking start point based on the vehicle's current position when the gear information meets the preset parking start conditions.

[0088] Optionally, in one embodiment of this application, the vehicle parking device 10 of this application embodiment further includes: a data acquisition module, a second judgment module, and a second control module.

[0089] The data acquisition module is used to collect information on static and dynamic obstacles around the parking trajectory while controlling the vehicle to drive along the parking trajectory memorized during the parking process in automatic parking mode to the parking starting point.

[0090] The second judgment module is used to determine whether the vehicle meets the preset safe parking conditions based on the information.

[0091] The second control module is used to control the vehicle to stop moving or return to the preset position while providing obstacle warnings if the preset safe parking conditions are not met.

[0092] It should be noted that the foregoing explanation of the vehicle parking method embodiment also applies to the vehicle parking device of this embodiment, and will not be repeated here.

[0093] The vehicle parking device proposed in this application receives an activation command for the memory parking function; based on the activation command, it controls the vehicle to enter the memory parking mode and determines whether the vehicle meets the preset memory parking conditions; if the vehicle meets the preset memory parking conditions, it controls the vehicle to drive along the parking trajectory memorized during the parking process in automatic parking mode to the parking start point and performs a parking action; otherwise, it clears the parking trajectory and parking start point while deactivating the memory parking function. This application automatically memorizes the parking start point and parking trajectory through the vehicle system. When the user selects the memory parking function the next time they use the vehicle, the vehicle will adaptively drive to the parking start point at that time. This makes the automatic parking process unrestricted by area, eliminating the need to acquire or construct map information of the target area, greatly improving the user experience and enhancing the vehicle's intelligence and user-friendliness.

[0094] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0095] The memory 601, the processor 602, and the computer program stored on the memory 601 and capable of running on the processor 602.

[0096] When the processor 602 executes the program, it implements the vehicle parking method provided in the above embodiments.

[0097] Furthermore, the vehicle also includes:

[0098] Communication interface 603 is used for communication between memory 601 and processor 602.

[0099] The memory 601 is used to store computer programs that can run on the processor 602.

[0100] The memory 601 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0101] If the memory 601, processor 602, and communication interface 603 are implemented independently, then the communication interface 603, memory 601, and processor 602 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0102] Optionally, in a specific implementation, if the memory 601, processor 602, and communication interface 603 are integrated on a single chip, then the memory 601, processor 602, and communication interface 603 can communicate with each other through an internal interface.

[0103] The processor 602 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 this application.

[0104] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described vehicle parking method.

[0105] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0106] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0107] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0108] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing 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 (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs 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: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0109] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0110] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0111] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0112] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for parking a vehicle, characterized in that, Includes the following steps: Receive the activation command for the memory docking function; Based on the activation command, the vehicle is controlled to enter the memory parking mode, and it is determined whether the vehicle meets the preset memory parking conditions. as well as If the vehicle meets the preset memory parking conditions, the vehicle is controlled to follow the parking trajectory memorized during the parking process in automatic parking mode to the parking start point and perform a parking action; otherwise, the parking trajectory and the parking start point are cleared and the memory parking function is turned off. The preset memory parking exit condition is that the current position of the vehicle is the same as the last position of the parking process; Before controlling the vehicle to travel along the parking trajectory memorized during the parking process in the automatic parking mode to the parking starting point, the method further includes: receiving the vehicle's automatic parking instruction; controlling the vehicle to enter the automatic parking mode based on the automatic parking instruction; controlling the vehicle to park to the final position based on a preset automatic parking strategy; and recording the parking trajectory and the parking starting point. Before recording the parking trajectory and the parking start point, the method further includes: detecting the vehicle's gear information; and when the gear information meets the preset parking start conditions, determining the parking start point based on the vehicle's current position. The parking start point is the DR coordinate when the vehicle shifts from D to R gear. The parking trajectory is represented by a line connecting the DR coordinates throughout the parking process. The stored coordinates include the DR coordinates at the end of parking, which is the current coordinate after parking is completed. The automatic parking system compares the actual coordinates with the stored coordinates to determine whether the conditions for remembering the parking exit are met. If the actual coordinates match the stored coordinates, the automatic parking controller sends a remember parking exit recommendation signal to the Bluetooth module of the vehicle control system. After the mobile communication terminal vehicle connectivity APP connects to Bluetooth, it enters the intelligent parking function interface and selects the remember parking exit function to generate the activation command. If the actual coordinates do not match the stored coordinates, the automatic parking system clears the relevant memory, and the mobile communication terminal vehicle connectivity APP does not display the remember parking exit function option. While controlling the vehicle to travel along the parking trajectory memorized during the parking process in the automatic parking mode to the parking starting point, the system also includes: collecting information on static and dynamic obstacles around the parking trajectory; determining whether the vehicle meets preset safe parking conditions based on the information; if the preset safe parking conditions are not met, controlling the vehicle to stop moving or return to the preset position while issuing obstacle warnings; during the vehicle's parking process, using the panoramic high-definition camera 3 and millimeter-wave radar 5 in the automatic parking system to detect static or dynamic obstacles around the parking trajectory in real time and obtain distance information between the vehicle and multiple obstacles; comparing the distance information with a preset safe distance threshold of the vehicle system; if and only if all distance information is greater than the safe distance threshold, the vehicle meets the safe parking conditions and performs the parking operation normally; otherwise, controlling the vehicle to stop or return to the original position in time, and simultaneously, the vehicle warns the user of obstacles by flashing turn signals, honking the horn, or making a voice announcement, and waits until the surrounding environment is safe before attempting the parking operation again.

2. A parking device for a vehicle, characterized in that, To implement the method as described in claim 1, comprising: The receiving module is used to receive the activation command for the memory output function; The judgment module is used to control the vehicle to enter the memory parking mode based on the activation command, and to determine whether the vehicle meets the preset memory parking conditions; and The control module is used to control the vehicle to drive along the parking trajectory memorized during the parking process in automatic parking mode to the parking starting point and perform a parking action when the vehicle meets the preset memory parking conditions. Otherwise, the parking trajectory and the parking starting point are cleared, and the memory parking function is turned off.

3. The apparatus according to claim 2, characterized in that, The preset memory parking condition is that the current position of the vehicle is the same as the last position of the parking process.

4. The apparatus according to claim 3, characterized in that, Also includes: The second receiving module is used to receive the automatic parking command of the vehicle before controlling the vehicle to drive along the parking trajectory memorized during the parking process in the automatic parking mode to the parking starting point. The recording module is used to control the vehicle to enter the automatic parking mode based on the automatic parking command, and to control the vehicle to park to the final position based on the preset automatic parking strategy, while recording the parking trajectory and the parking starting point.

5. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the parking method for a vehicle as described in claim 1.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the parking method for a vehicle as described in claim 1.

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