Method and device for taking over a vehicle in a drive-by-wire parking maneuver

Abstract

The application relates to a vehicle takeover method and device for driving and parking, wherein the method comprises the following steps: detecting the current state of the vehicle, recommending to search for a parking space meeting preset parking conditions during driving; sending a release reminding signal of a throttle pedal and a steering wheel to a user based on an activation instruction; within a preset time length, generating a parking planning route of the vehicle according to the actual position of the parking space and the current position of the vehicle, and controlling a parking system to drive the vehicle to park into the parking space according to the parking planning route. According to the application, when it is detected that the driver releases the throttle pedal and the steering wheel, the parking planning route of the vehicle is generated according to the actual position of the parking space and the current position of the vehicle, and the parking system is controlled to drive the vehicle to park into the parking space according to the parking planning route, so that the parking efficiency is improved, the demand of the user for driving and parking is met, the use experience of the user is improved, and the intelligence and practicability of the vehicle are ensured.

Description

Technical Field

[0001] This application relates to the field of driver assistance technology, and in particular to a vehicle takeover method and device for switching from driving to parking. Background Technology

[0002] With the development of driver assistance systems, more and more car manufacturers are equipping their vehicles with intelligent parking systems, and users are paying increasing attention to these systems. However, due to factors such as low parking efficiency and complex interaction, the user activity of intelligent parking systems remains low.

[0003] In related technologies, intelligent parking systems employ a two-stage braking and stopping process. The first stage involves the user selecting a parking space and activating parking. The second stage involves the system taking over and adjusting the parking posture, controlling the vehicle to move forward automatically, and searching for available parking spaces on both sides of the vehicle during the movement. The system then identifies the basic information of the target parking space and parks the vehicle within it.

[0004] However, the design of intelligent parking systems in related technologies does not conform to users' parking habits, is cumbersome to operate, increases parking time and user costs, and fails to meet user needs. Furthermore, there are obvious discontinuities in the experience when switching between driving and parking, giving users a discontinuous and fragmented feeling of the system, which reduces the user experience and urgently needs improvement. Summary of the Invention

[0005] This application provides a vehicle takeover method and device for switching from driving to parking, in order to solve the problems of intelligent parking systems in the prior art that are not designed to meet users' parking habits, are cumbersome to operate, increase parking time and user costs, are difficult to meet user needs, and have obvious discontinuities in the driving-to-parking experience, giving users a discontinuous and incoherent feeling of the system, thus reducing the user experience.

[0006] The first aspect of this application provides a vehicle takeover method for switching from driving to parking, comprising the following steps: detecting the current state of the vehicle, and when the current state is detected to be a preset low-speed dynamic driving state, recommending to search for a parking space that meets preset parking conditions during driving; obtaining an activation command for a parking system generated based on the parking space, and sending a release reminder signal to the user based on the activation command; and within a preset time period, when it is detected that the driver releases the accelerator pedal and the steering wheel, generating a parking planning route for the vehicle based on the actual location of the parking space and the current location of the vehicle, and controlling the parking system to drive the vehicle into the parking space according to the parking planning route.

[0007] Based on the aforementioned technical means, this application embodiment can generate a parking planning route for the vehicle based on the actual location of the parking space and the current location of the vehicle when it detects that the driver has released the accelerator pedal and steering wheel. The parking system is then controlled to drive the vehicle into the parking space according to the parking planning route, thereby improving parking efficiency, meeting the user's need for integrated driving and parking, enhancing the user experience, and ensuring the vehicle's intelligence and practicality.

[0008] Optionally, in one embodiment of this application, obtaining the activation command of the parking system generated based on the parking space includes: detecting the on / off state of the parking switch on the steering wheel, and generating the activation command of the parking system when the switch state is detected to be on; or, receiving the user's voice command and generating the activation command of the parking system according to the voice command; or, obtaining the user's touch command and generating the activation command of the parking system according to the touch command; or, collecting the user's gesture command and generating the activation command of the parking system according to the gesture command.

[0009] Based on the above-mentioned technical means, the embodiments of this application can generate an activation command for the parking system by detecting the on / off state of the parking switch on the steering wheel, receiving the user's voice commands, obtaining the user's touch commands, and collecting the user's gesture commands, thereby improving parking efficiency, reducing the operation time of braking to a stop and the user selecting a parking space, and meeting the user's parking needs.

[0010] Optionally, in one embodiment of this application, the step of recommending a parking space that meets preset parking conditions during driving includes: when there are multiple parking spaces, calculating the parking efficiency of each parking space based on the actual location of each parking space and the current location of the vehicle; and selecting the parking space with the highest parking efficiency as the parking space recommended to the user.

[0011] Based on the above-mentioned technical means, the embodiments of this application can calculate the parking efficiency of each parking space based on the actual location of each parking space and the current location of the vehicle when there are multiple parking spaces. The parking space with the highest parking efficiency is then recommended to the user, thereby improving parking efficiency and reducing the user's operation time on the parking system.

[0012] Optionally, in one embodiment of this application, while sending a release reminder signal for the accelerator pedal and the steering wheel to the user based on the activation command, the method further includes: generating an optimal parking mode based on the parking information of the parking space; and recommending the optimal parking mode to the user.

[0013] Based on the above-mentioned technical means, the embodiments of this application can generate the best parking mode according to the parking information of the parking space, recommend the best parking mode to the user, thereby reducing the user's burden and cost, and improving the user experience.

[0014] Optionally, in one embodiment of this application, after detecting that the driver has released the accelerator pedal and the steering wheel, the method further includes: if the optimal parking mode is remote parking mode, controlling the vehicle to decelerate evenly according to a preset deceleration strategy until it stops, and determining whether the occupants of the vehicle have gotten out; if all the occupants have gotten out, controlling the vehicle to enter parking mode.

[0015] Based on the above technical means, the embodiments of this application can control the vehicle to decelerate evenly until it stops according to a certain deceleration strategy when the optimal parking mode is remote parking mode, and determine whether the driver and passengers have gotten out of the vehicle. When all the drivers and passengers have gotten out of the vehicle, the vehicle is controlled to enter parking mode, thereby closely conforming to the user's usage habits, meeting the user's integrated driving and parking needs, and reducing the user's usage burden and cost.

[0016] Optionally, in one embodiment of this application, the recommendation to find a parking space that meets preset parking conditions during driving includes: displaying the parking space information for a preset duration, wherein the preset duration is a preset value or is obtained from the actual speed of the vehicle.

[0017] Based on the above-mentioned technical means, the embodiments of this application can display the duration of parking space information, thereby improving the user experience, reducing the user's operation time on the parking system, ensuring the intelligence and practicality of the vehicle, and reducing the user's psychological pressure.

[0018] Optionally, in one embodiment of this application, the step of recommending the search for parking spaces that meet preset parking conditions during driving includes: obtaining parking space information for each available parking space based on the vehicle-to-everything (V2X) communication protocol; and determining whether each available parking space meets the preset parking conditions based on the parking space information, thereby identifying parking spaces that meet the preset parking conditions.

[0019] Based on the above technical means, the embodiments of this application can obtain parking space information for each available parking space according to the V2X communication protocol of vehicle wireless communication technology, determine whether each available parking space meets certain parking conditions based on the parking space information, and identify parking spaces that meet certain parking conditions, thereby analyzing real-time information, improving parking efficiency, and further meeting the user's integrated driving and parking needs.

[0020] A second aspect of this application provides a vehicle takeover device for driving and parking, comprising: a recommendation module for detecting the current state of the vehicle and, when the current state is detected to be a preset low-speed dynamic driving state, recommending the search for a parking space that meets preset parking conditions during driving; a sending module for acquiring an activation command of a parking system generated based on the parking space and sending a release reminder signal to the user based on the activation command; and a first control module for, within a preset time period, when detecting that the driver has released the accelerator pedal and the steering wheel, generating a parking planning route for the vehicle based on the actual location of the parking space and the current location of the vehicle, and controlling the parking system to drive the vehicle into the parking space according to the parking planning route.

[0021] Optionally, in one embodiment of this application, the sending module includes: a detection unit, configured to detect the on / off state of the parking switch on the steering wheel, and generate an activation command for the parking system when the switch state is detected to be on; or, a receiving unit, configured to receive the user's voice command and generate an activation command for the parking system based on the voice command; or, an acquisition unit, configured to acquire the user's touch command and generate an activation command for the parking system based on the touch command; or, a collection unit, configured to collect the user's gesture command and generate an activation command for the parking system based on the gesture command.

[0022] Optionally, in one embodiment of this application, the recommendation module includes: a calculation unit, configured to calculate the parking efficiency of each parking space based on the actual location of each parking space and the current location of the vehicle when there are multiple parking spaces; and a determination unit, configured to select the parking space with the highest parking efficiency as the parking space recommended to the user.

[0023] Optionally, in one embodiment of this application, it further includes: a generation module, configured to generate an optimal parking mode based on the parking information of the parking space while sending a release reminder signal of the accelerator pedal and the steering wheel to the user based on the activation command; and a recommendation module, configured to recommend the optimal parking mode to the user.

[0024] Optionally, in one embodiment of this application, it further includes: a judgment module, configured to, after detecting that the driver has released the accelerator pedal and the steering wheel, when the optimal parking mode is remote parking mode, control the vehicle to decelerate evenly until it stops according to a preset deceleration strategy, and determine whether the occupants of the vehicle have gotten out; and a second control module, configured to, when all the occupants have gotten out, control the vehicle to enter parking mode.

[0025] Optionally, in one embodiment of this application, the recommendation module is further configured to display the parking space information of the parking space for a preset duration, wherein the preset duration is a preset value or is obtained from the actual speed of the vehicle.

[0026] Optionally, in one embodiment of this application, the recommendation module includes: a second acquisition unit, configured to acquire parking space information of each available parking space based on the vehicle-to-everything (V2X) communication protocol; and a second determination unit, configured to determine whether each available parking space meets the preset parking conditions based on the parking space information, so as to determine parking spaces that meet the preset parking conditions.

[0027] 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 vehicle takeover method for driving-to-parking as described in the above embodiments.

[0028] 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 takeover method for driving and parking.

[0029] The beneficial effects of the embodiments of this application are as follows:

[0030] (1) In this embodiment of the application, when the driver releases the accelerator pedal and the steering wheel, a parking planning route for the vehicle is generated based on the actual location of the parking space and the current location of the vehicle. The parking system is then controlled to drive the vehicle into the parking space according to the parking planning route, thereby improving parking efficiency, meeting the user's need for integrated driving and parking, enhancing the user experience, and ensuring the vehicle's intelligence and practicality.

[0031] (2) The embodiments of this application can generate an activation command for the parking system by detecting the on / off state of the parking switch on the steering wheel, receiving the user's voice command, obtaining the user's touch command, and collecting the user's gesture command, thereby improving parking efficiency, reducing the operation time of braking to stop and the user's selection of parking space, and meeting the user's parking needs.

[0032] (3) In this embodiment, when the optimal parking mode is remote parking mode, the vehicle can be controlled to decelerate evenly until it stops according to a certain deceleration strategy, and it can be determined whether the driver and passengers have gotten out of the vehicle. When all the drivers and passengers have gotten out of the vehicle, the vehicle is controlled to enter the parking mode, thereby conforming to the user's usage habits, meeting the user's need for integrated driving and parking, and reducing the user's usage burden and cost.

[0033] 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

[0034] 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:

[0035] Figure 1 This is a flowchart of a vehicle takeover method for switching from driving to parking, according to an embodiment of this application;

[0036] Figure 2 This is a schematic diagram illustrating the principle of a vehicle takeover method for switching from driving to parking according to an embodiment of this application;

[0037] Figure 3 This is a schematic diagram illustrating the principle of a vehicle takeover method for switching from driving to parking according to an embodiment of this application;

[0038] Figure 4 This is a schematic diagram illustrating the principle of a vehicle takeover method for switching from driving to parking according to an embodiment of this application;

[0039] Figure 5 This is a schematic diagram illustrating the principle of a vehicle takeover method for switching from driving to parking according to an embodiment of this application;

[0040] Figure 6 This is a flowchart of a vehicle takeover method for switching from driving to parking according to an embodiment of this application;

[0041] Figure 7 This is a schematic diagram of a vehicle takeover device for driving and parking according to an embodiment of this application;

[0042] Figure 8 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application.

[0043] Among them, 10-vehicle takeover device for driving to parking: 100-recommendation module, 200-sending module, 300-first control module. Detailed Implementation

[0044] 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.

[0045] The following description, with reference to the accompanying drawings, describes a vehicle takeover method and apparatus for switching from driving to parking according to embodiments of this application. Addressing the issues mentioned in the background section regarding intelligent parking systems that do not conform to user parking habits, are cumbersome to operate, increase parking time and user costs, fail to meet user needs, and exhibit noticeable discontinuities during driving-to-parking transitions, resulting in a fragmented and disjointed user experience, this application provides a vehicle takeover method for switching from driving to parking. In this method, upon detecting that the driver has released the accelerator pedal and steering wheel, a parking planning route is generated based on the actual location of the parking space and the vehicle's current position. The parking system is then controlled to drive the vehicle into the parking space according to the planned route, thereby improving parking efficiency, meeting the user's need for integrated driving and parking, enhancing the user experience, and ensuring the vehicle's intelligence and practicality. This solves the problems in the technology of intelligent parking systems, such as designs that do not conform to users' parking habits, cumbersome operation, increased parking time and user costs, difficulty in meeting user needs, and obvious discontinuities in the experience of switching between driving and parking, giving users a discontinuous and incoherent feeling of the system and reducing the user experience.

[0046] Specifically, Figure 1 This is a schematic flowchart illustrating a vehicle takeover method for switching from driving to parking, provided in an embodiment of this application.

[0047] like Figure 1 As shown, the vehicle takeover method for switching from driving to parking includes the following steps:

[0048] In step S101, the current state of the vehicle is detected, and when the current state is detected to be a preset low-speed dynamic driving state, it is recommended to search for a parking space that meets the preset parking conditions during the driving process.

[0049] It is understood that the current state of the vehicle in this application embodiment may be, but is not limited to, a low-speed dynamic driving state and a high-speed dynamic driving state. The preset low-speed dynamic driving state in this application embodiment may be a vehicle speed of less than 0 to 20 km / h.

[0050] In actual implementation, this embodiment can detect the current state of the vehicle. When the current state of the vehicle is detected to be a certain low-speed dynamic driving state, a parking space can be identified through a parking space recognition system, and a parking space recommendation system can be used to recommend parking spaces that meet certain parking conditions found during the driving process. For example, this embodiment can search for parking spaces at low speed when the user drives the vehicle to the vicinity of the destination. After finding a parking space, it approaches the parking space at low speed and recommends the parking space. When the vehicle's dynamic driving speed is detected to be lower than 0-20 km / h, the current state of the vehicle is determined. When the vehicle is in a low-speed dynamic driving state, a parking space can be identified by the parking space recognition system, and a parking space recommendation system can recommend parking spaces that meet certain parking conditions. When recommending parking spaces, one parking space is recommended at a time. The available parking space is displayed on the vehicle's central control LCD screen and remains there for one second. After one second, the next parking space is recommended, which is convenient for the user. For example, in this embodiment, when the vehicle's dynamic driving speed is detected to be higher than 0-20 km / h, it is determined that the vehicle's current state does not meet the requirements of a certain low-speed dynamic driving state. In this case, no parking space is recommended.

[0051] This application embodiment can detect the current state of the vehicle, and when the current state is detected to be a certain low-speed dynamic driving state, it recommends searching for parking spaces that meet certain parking conditions during the driving process, thereby improving parking efficiency, reducing the operation time of braking to stop and the user selecting a parking space, and reducing safety risks.

[0052] Optionally, in one embodiment of this application, recommending the search for parking spaces that meet preset parking conditions during driving includes: when there are multiple parking spaces, calculating the parking efficiency of each parking space based on the actual location of each parking space and the current location of the vehicle; and selecting the parking space with the highest parking efficiency as the parking space recommended to the user.

[0053] In some cases, embodiments of this application can calculate the parking efficiency of each parking space based on its actual location and the current location of the vehicle when there are multiple parking spaces. The parking space with the highest parking efficiency can be recommended to the user. For example, embodiments of this application can recommend a parking space when only one parking space is identified. When two or more parking spaces are identified, the parking efficiency of each parking space can be calculated based on its actual location and the current location of the vehicle. The parking space with the highest parking efficiency can be recommended to the user.

[0054] This application embodiment can calculate the parking efficiency of each parking space based on its actual location and the current location of the vehicle when there are multiple parking spaces. The parking space with the highest parking efficiency is then recommended to the user, thereby improving parking efficiency, reducing the user's operation time on the parking system, ensuring a seamless driving and parking experience, enhancing continuity, and improving the user experience.

[0055] Optionally, in one embodiment of this application, while sending a release reminder signal to the user based on the activation command for the accelerator pedal and steering wheel, the method further includes: generating an optimal parking mode based on the parking information of the parking space; and recommending the optimal parking mode to the user.

[0056] In some embodiments, while sending a release reminder signal for the accelerator pedal and steering wheel to the user based on the activation command, the optimal parking mode can be generated based on the parking space information and recommended to the user. For example, in this embodiment, when the activation command is a voice command, a release reminder signal for the accelerator pedal and steering wheel can be sent to the user via voice, the optimal parking mode can be generated based on the parking space information, and the optimal parking mode can be recommended to the user. This frees up the user's eyes, ensuring that the user can find a parking space based on the voice prompts and activate and execute parking through shortcuts, reducing the user's burden and cost, and improving the user experience.

[0057] Optionally, in one embodiment of this application, it is recommended to search for parking spaces that meet preset parking conditions during driving, including: displaying the parking space information for a preset duration, wherein the preset duration is a preset value or obtained from the actual speed of the vehicle.

[0058] In actual implementation, this application embodiment can obtain the parking space information for a certain duration based on a certain value or the actual vehicle speed, and display the parking space information for a certain duration. This application embodiment can display the parking space information for a certain duration, thereby improving the user experience, reducing the user's operation time on the parking system, ensuring the vehicle's intelligence and practicality, and reducing the user's psychological pressure.

[0059] Optionally, in one embodiment of this application, it is recommended to search for parking spaces that meet preset parking conditions during driving, including: obtaining parking space information for each available parking space based on the vehicle-to-everything (V2X) communication protocol; and determining whether each available parking space meets the preset parking conditions based on the parking space information, so as to identify parking spaces that meet the preset parking conditions.

[0060] It is understood that V2X (Vehicle to Everything) in this application embodiment is a communication judgment method for real-time information acquisition. With the help of wireless communication technology, the vehicle can acquire more perception information. The parking space information of each available parking space in this application embodiment may include, but is not limited to, the vacant parking space with the shortest parking time, the vacant parking space with a longer parking time, and the vacant parking space with the longest parking time. The preset parking conditions in this application embodiment may be that the parking space found at low speed is in an vacant state and has the shortest parking time.

[0061] In practical implementation, embodiments of this application can obtain parking space information for each available parking space according to the V2X communication protocol. For example, the parking space information obtained through the V2X communication protocol can be the vacant parking space with the shortest parking time; another example is that the parking space information obtained through the V2X communication protocol can be the vacant parking space with the longest parking time; yet another example is that the parking space information obtained through the V2X communication protocol can be the vacant parking space with the longest parking time. The parking space information is the available parking space with the longest parking time. In this embodiment of the application, the parking space information can be used to determine whether each available parking space meets certain parking conditions, so as to determine the parking space that meets certain parking conditions. When the parking space information is the available parking space with the shortest parking time, it is determined that certain parking conditions are met, and parking can be performed in the parking space that meets certain parking conditions. When the parking space information is the available parking space with a long parking time and the available parking space with the longest parking time, it is determined that certain parking conditions are not met, and parking is refused in the parking space that does not meet certain parking conditions.

[0062] This application embodiment can obtain parking space information for each available parking space according to the V2X communication protocol of vehicle wireless communication technology, determine whether each available parking space meets certain parking conditions based on the parking space information, and identify parking spaces that meet certain parking conditions. This allows for analysis of real-time information, improves parking efficiency, and further meets the user's integrated driving and parking needs.

[0063] In step S102, an activation command for the parking system generated based on the parking space is obtained, and a release reminder signal for the accelerator pedal and steering wheel is sent to the user based on the activation command.

[0064] It is understood that the activation command in the embodiments of this application may be, but is not limited to, voice commands, touch commands, etc.

[0065] For example, in this embodiment, an activation command for the parking system can be generated based on the parking space. Based on the activation command, a release reminder signal for the accelerator pedal and steering wheel is sent to the user. When the activation command is a voice command, the user can activate parking based on the voice command. If the accelerator pedal and steering wheel are not released within a specified time range after activation, the system exits. When the accelerator pedal and steering wheel are released within the specified time range, the system takes over the vehicle. This, combined with the steering wheel hard switch, central control LCD display, and voice control system, achieves a seamless transition from driving to parking. Alternatively, in this embodiment, a release reminder signal for the accelerator pedal and steering wheel can be sent to the user based on a touch activation command. During the parking process, if the steering wheel is turned, the system exits, and the user takes over the vehicle. If the user presses the accelerator pedal during the parking process, the system does not respond.

[0066] This application embodiment can obtain the activation command of the parking system generated based on the parking space, and send a reminder signal to the user to release the accelerator pedal and steering wheel based on the activation command, thereby freeing the user's eyes, reducing accidental touch screen operation, ensuring that the user activates parking at a fixed position on the steering wheel, without having to click on the already searched parking space on the central control screen, thus reducing the probability of accidental triggering.

[0067] Optionally, in one embodiment of this application, obtaining the activation command of the parking system generated based on the parking space includes: detecting the on / off state of the parking switch on the steering wheel, and generating the activation command of the parking system when the switch state is detected to be on; or receiving a user's voice command and generating the activation command of the parking system according to the voice command; or obtaining a user's touch command and generating the activation command of the parking system according to the touch command; or collecting a user's gesture command and generating the activation command of the parking system according to the gesture command.

[0068] In actual implementation, this application embodiment can detect the on / off state of the parking switch on the steering wheel. When the switch is detected to be in the on state, an activation command for the parking system is generated via the steering wheel parking shortcut key. Based on the parking space recommendation system, the user can activate the parking system while the vehicle is in dynamic motion. Alternatively, this application embodiment can receive the user's voice command and generate an activation command for the parking system via voice control. Based on the parking space recommendation system, the user can activate the parking system while the vehicle is in dynamic motion. Alternatively, this application embodiment can acquire the user's touch command. Based on the parking space recommendation system, the user can generate an activation command for the parking system based on the touch command while the vehicle is in dynamic motion, thus activating the parking system. Alternatively, this application embodiment can collect the user's gesture command. Based on the parking space recommendation system, the user can generate an activation command for the parking system based on the gesture command while the vehicle is in dynamic motion, thus activating the parking system.

[0069] This application embodiment can generate an activation command for the parking system by detecting the on / off state of the parking switch on the steering wheel, receiving user voice commands, acquiring user touch commands, and collecting user gesture commands. This improves parking efficiency, reduces the operation time for braking and stopping and for the user to select a parking space, reduces the user's operation time when parking, reduces the user's psychological pressure, and meets the user's parking needs.

[0070] In step S103, within a preset time period, when it is detected that the driver has released the accelerator pedal and the steering wheel, a parking planning route for the vehicle is generated based on the actual location of the parking space and the current location of the vehicle, and the parking system is controlled to drive the vehicle into the parking space according to the parking planning route.

[0071] It is understood that the embodiments of this application can detect when the driver releases the accelerator pedal and steering wheel, such as through a user status feedback system, to identify and monitor the user's operation and provide feedback.

[0072] In actual implementation, the embodiments of this application can identify and monitor the user's operation of the accelerator pedal and steering wheel through the user status feedback system within a certain period of time. After the user activates parking, when it is detected that the driver has not released the accelerator pedal and steering wheel within a certain period of time, the parking system exits and enters the parking space search state. When it is detected that the driver has released the accelerator pedal and steering wheel within a certain period of time, the system dynamically takes over the vehicle. It can generate a parking planning route for the vehicle based on the actual location of the parking space and the current location of the vehicle, and control the parking system to drive the vehicle into the parking space according to the parking planning route.

[0073] This application embodiment can generate a parking planning route for the vehicle based on the actual location of the parking space and the current location of the vehicle when it detects that the driver has released the accelerator pedal and steering wheel. The parking system then drives the vehicle into the parking space according to the parking planning route, thereby ensuring that the entire process does not require the user to stop and operate, improving parking efficiency, conforming to user habits, meeting the user's need for integrated driving and parking, enhancing the user experience, and ensuring the vehicle's intelligence and practicality.

[0074] It should be noted that the preset duration in the embodiments of this application can be set by those skilled in the art according to the actual situation, and no specific restrictions are imposed here.

[0075] Optionally, in one embodiment of this application, after detecting that the driver has released the accelerator pedal and the steering wheel, the method further includes: if the optimal parking mode is remote parking mode, controlling the vehicle to decelerate evenly according to a preset deceleration strategy until it stops, and determining whether the occupants of the vehicle have gotten out; if all occupants have gotten out, controlling the vehicle to enter parking mode.

[0076] As one possible implementation, in this embodiment, when the optimal parking mode is remote parking mode, the system controls the vehicle to decelerate smoothly according to a certain deceleration strategy until it stops. When the user is searching for a parking space at low speed, the system recommends the already searched parking spaces. After finding a parking space, the system approaches the parking space at low speed and recommends the space. If the searched parking space is narrow, and the user has difficulty getting out of the car after parking, the system can display a message on the central control LCD screen indicating that the parking space is narrow and recommend that the user use remote parking. When the vehicle is traveling at low speed (approximately 0-20 km / h), the user can use the parking shortcut key on the steering wheel and the soft-open function on the LCD screen. The parking function is activated via voice control. In this embodiment, the user is prompted to release the accelerator and steering wheel on the central control LCD screen. If the user releases the accelerator and steering wheel, the system takes over the vehicle. In this embodiment, the vehicle can be controlled to decelerate smoothly until it stops. The central control LCD screen then prompts the user that the vehicle has stopped. The user can activate the parking system from outside the vehicle. The path planning system in this embodiment plans a corresponding path based on the current vehicle speed, the relative position of the parking space, and the yaw angle, and performs parking according to the planned path until the vehicle enters the corresponding parking space.

[0077] This application embodiment can control the vehicle to decelerate evenly until it stops according to a preset deceleration strategy when the optimal parking mode is remote parking mode, and determine whether the driver and passengers have gotten out of the vehicle. When all the drivers and passengers have gotten out of the vehicle, the vehicle is controlled to enter parking mode, thereby improving parking efficiency, meeting the user's need for integrated driving and parking, enhancing the user experience, and ensuring the vehicle's intelligence and practicality.

[0078] Specifically, in combination Figures 2 to 6 As shown, the working principle of the vehicle takeover method for driving and parking according to a specific embodiment of this application will be explained in detail.

[0079] like Figure 2As shown, this application embodiment can identify either a parking space or a marked parking space through a parking space recognition system combined with the vehicle's vision and radar perception systems; this application embodiment can recommend parking spaces based on the parking space recognition system, recommending one parking space at a time. When only one parking space is recognized, that parking space is recommended. When two or more other parking spaces are recognized, the parking efficiency priority is taken and recommended for one second to facilitate user operation; this application embodiment can take over parking during user driving through a dynamic takeover system (vehicle driving at low speed). The parking system initiator can activate the parking system based on the parking space recommendation system, steering wheel parking shortcut keys, LCD soft switch, or voice control; this application embodiment can identify and monitor external environmental data (such as...) through an environmental recognition system. This application can identify and monitor user actions using a user status feedback system. For example, if the user does not release the steering wheel and accelerator within a specified time after activating parking, the system will exit. Alternatively, if the user releases the steering wheel and accelerator within a specified time after activating parking, the system will take over the vehicle. Another example is when entering parking space search mode; if the user releases the steering wheel and accelerator within a specified time after activating parking, the system will take over the vehicle. Yet another example is when the user turns the steering wheel during parking; the system will exit and the user will take over the vehicle. In this application embodiment, if the user presses the accelerator during parking, the system will not respond.

[0080] Furthermore, in the human-machine interaction system of this application embodiment, the user can control the logical transition states of the parking process, such as activation, pause, and exit, through the steering wheel parking shortcut key, the LCD soft switch, and voice control; in this application embodiment, the instruction generator can give the specified vehicle control based on the comprehensive judgment of the environment recognition system, path planning system, user status feedback system, and human-machine interaction system. In this application embodiment, the priority of each instruction is: environment recognition system > human-machine interaction system > user status feedback system > path planning system; the parking execution system in this application embodiment can perform parking by controlling the lateral and longitudinal speeds and acceleration of the vehicle according to the instruction generator.

[0081] like Figure 3 As shown, the embodiments of this application can be applied to a user's intention to park inside the vehicle while driving.

[0082] In practice, this embodiment can identify parking spaces when the user is searching for a parking space at low speed and recommend one available space at a time. The user can activate the parking function at low speeds (approximately 0-20 km / h) via the steering wheel parking shortcut key, the LCD soft switch, or voice control. This embodiment can also prompt the user to release the accelerator and steering wheel on the central control LCD screen. If the user releases the accelerator and steering wheel, the system takes over the vehicle. Furthermore, this embodiment can use a path planning system to plan a corresponding path based on the current vehicle speed, the relative position of the parking space, and the yaw angle, and execute parking according to the planned path until the vehicle enters the corresponding parking space, at which point the user is notified that parking is complete.

[0083] To ensure that users can remotely park while driving, the embodiments of this application can... Figure 4 The system achieves the following: When a user searches for a parking space at low speed, the system recommends the already searched parking spaces. After finding a parking space, the system approaches the space at low speed and recommends it, using the searched space as a narrow parking space. After parking, if the user has difficulty getting out of the car, the system can display a message on the central control LCD screen indicating that the parking space is narrow and recommend that the user use remote parking. When the vehicle is traveling at low speed (approximately 0-20 km / h), the user can activate the parking function through the steering wheel parking shortcut key, the LCD screen soft switch, and voice control. In this embodiment, the system can prompt the user to release the accelerator and steering wheel on the central control LCD screen. If the user releases the accelerator and steering wheel, the system takes over the vehicle. In this embodiment, the system can control the vehicle to decelerate smoothly until it stops. The central control LCD screen will then display a message indicating that the vehicle has stopped. The user can activate the parking system from outside the vehicle. The path planning system in this embodiment plans a corresponding path based on the current vehicle speed, the relative position of the parking space, and the yaw angle, and executes parking according to the planned path until the vehicle enters the corresponding parking space.

[0084] Furthermore, such as Figure 5 As shown, in this embodiment of the application, when the user intends to search for a parking space at low speed, the system enters the parking space search. If a parking space is found, it is displayed on the central control LCD screen W03. The parking space found on the central control LCD screen corresponds to the parking space W01 seen by the user through the windshield W04. When the vehicle is in dynamic driving state (approximately 0-20 km / h), the driver can activate the parking system using the steering wheel parking shortcut key W06 on the steering wheel W05. Similarly, the user can pause or exit the parking system using the steering wheel parking shortcut key W06 on the steering wheel W05. The user can activate the parking system using the LCD soft switch W07 on the central control LCD screen W03. Similarly, the user can pause, resume, or exit the parking system using the LCD soft switch W07 on the central control LCD screen W03.

[0085] Furthermore, in this embodiment, the user can use voice control to activate the parking system via W09. Similarly, the user can use voice control to pause, resume, or exit the parking system via W09. Voice control of W09 only supports voice control by the driver W08; voice control by other occupants cannot issue commands to the parking system.

[0086] Next, we can... Figure 6 The vehicle takeover method for switching from driving to parking according to the embodiments of this application will be further described in detail.

[0087] like Figure 6 As shown, embodiments of this application may include the following steps:

[0088] Step S601: The user drives the vehicle. In this embodiment, the user drives the vehicle with the intention of parking.

[0089] Step S602: User searches for parking spaces at low speed. In this embodiment of the application, the user initiates a parking space search by searching for parking spaces at low speed.

[0090] Step S603: The system recommends parking spaces. This embodiment of the application can search for parking spaces in the background, identify existing parking spaces, and recommend parking spaces.

[0091] Step S604: During low-speed driving, the user activates the parking space. In this embodiment, during low-speed dynamic driving (approximately 0–20 km / h), the user can select a parking space and activate the parking function via the steering wheel parking shortcut key, the LCD soft switch, and voice control.

[0092] Step S605: Determine whether to activate parking using a mobile phone outside the vehicle. If yes, proceed to step S606; otherwise, proceed to step S607. This embodiment of the application can determine whether to activate parking using a mobile phone outside the vehicle. When the parking space is determined to be narrow, the system recommends that the user activate parking using a mobile phone outside the vehicle. When the parking space is determined not to be narrow, the system jumps to the background system for searching, identifying, and recommending parking spaces, without requiring the user to select an activation method.

[0093] Step S606: Determine whether the user has released the accelerator and steering wheel. If yes, proceed to step S608; otherwise, proceed to step S602.

[0094] Step S607: Determine whether the user has released the accelerator and steering wheel. If yes, proceed to step S614; otherwise, proceed to step S602. This embodiment of the application can determine whether the user has released the accelerator and steering wheel. When the user releases the accelerator and steering wheel, step S614 is executed; when the user has not released the accelerator and steering wheel, step S602 is executed.

[0095] Step S608: The vehicle decelerates smoothly and comes to a stop. This embodiment of the application can control the vehicle to decelerate smoothly and come to a stop via a parking system.

[0096] Step S609: User gets out of the car. In this embodiment of the application, the system can prompt the user to get out of the car via the central control LCD display. If the user gets out of the car within the specified time, the system proceeds to the next step; if the user does not get out within the specified time, the system jumps to search for parking spaces.

[0097] Step S610: The user activates the parking system outside the vehicle. In this embodiment, when the user gets out of the vehicle within a specified time and activates the parking system outside the vehicle, the parking system can be activated in various ways, such as via an app, remote control, voice, or gesture.

[0098] Step S611: System route planning. This embodiment of the application can plan a corresponding route using a route planning system based on the current vehicle speed, the relative position of the parking space, and the yaw angle.

[0099] Step S612: Perform parking. In this embodiment of the application, the vehicle performs parking.

[0100] Step S613: The vehicle is parked in the parking space. In this embodiment of the application, the vehicle performs parking and is parked in the corresponding parking space.

[0101] Step S614: System route planning. This embodiment of the application can plan a corresponding route using a route planning system based on the current vehicle speed, the relative position of the parking space, and the yaw angle.

[0102] Step S615: Perform parking. In this embodiment of the application, the vehicle performs parking.

[0103] Step S616: Park the vehicle in the parking space. This embodiment of the application allows the vehicle to be parked in the appropriate parking space.

[0104] Step S617: User gets out of the vehicle. In this embodiment of the application, the user can get out of the vehicle after it has been parked in the corresponding parking space.

[0105] The vehicle takeover method for switching from driving to parking proposed in this application can generate a parking planning route for the vehicle based on the actual location of the parking space and the current location of the vehicle when the driver releases the accelerator pedal and steering wheel. The parking system then drives the vehicle into the parking space according to the planned route, thereby improving parking efficiency, meeting the user's need for integrated driving and parking, enhancing the user experience, and ensuring the vehicle's intelligence and practicality. This solves the problems of previous intelligent parking systems where the design did not conform to user parking habits, operation was cumbersome, parking time and user costs were increased, and the system failed to meet user needs. Furthermore, the driving-to-parking transition resulted in a noticeable disconnect, giving the user a discontinuous and fragmented experience, thus reducing the user experience.

[0106] Next, the vehicle takeover device for switching from driving to parking according to an embodiment of this application is described with reference to the accompanying drawings.

[0107] Figure 7 This is a block diagram of a vehicle takeover device for driving and parking according to an embodiment of this application.

[0108] like Figure 7 As shown, the vehicle takeover device 10 for driving and parking includes: a recommendation module 100, a sending module 200, and a first control module 300.

[0109] Specifically, the recommendation module 100 is used to detect the current state of the vehicle, and when the current state is detected to be a preset low-speed dynamic driving state, it recommends to search for parking spaces that meet the preset parking conditions during the driving process.

[0110] The sending module 200 is used to obtain the activation command of the parking system generated based on the parking space, and send a reminder signal to the user to release the accelerator pedal and steering wheel based on the activation command.

[0111] The first control module 300 is used to generate a parking planning route for the vehicle based on the actual location of the parking space and the current location of the vehicle when the driver releases the accelerator pedal and steering wheel within a preset time period, and to control the parking system to drive the vehicle into the parking space according to the parking planning route.

[0112] Optionally, in one embodiment of this application, the sending module 200 includes: a detection unit, a receiving unit, a first acquisition unit, and a collection unit.

[0113] The detection unit is used to detect the on / off state of the parking switch on the steering wheel. When the switch is detected to be in the on state, it generates an activation command for the parking system.

[0114] Alternatively, a receiving unit may be used to receive the user's voice commands and generate an activation command for the parking system based on the voice commands.

[0115] Alternatively, the first acquisition unit is used to acquire the user's touch command and generate an activation command for the parking system based on the touch command.

[0116] Alternatively, a data acquisition unit can be used to acquire the user's gesture commands and generate an activation command for the parking system based on the gesture commands.

[0117] Optionally, in one embodiment of this application, the recommendation module 100 includes a calculation unit and a first determination unit.

[0118] The calculation unit is used to calculate the parking efficiency of each parking space when there are multiple parking spaces, based on the actual location of each parking space and the current location of the vehicle.

[0119] The first determining unit is used to select the parking space with the highest parking efficiency as the parking space recommended to the user.

[0120] Optionally, in one embodiment of this application, the vehicle takeover method 10 for driving and parking further includes a generation module and a recommendation module.

[0121] The generation module is used to generate the optimal parking mode based on the parking space information, while simultaneously sending a reminder signal to the user to release the accelerator pedal and steering wheel based on the activation command.

[0122] The recommendation module is used to suggest the best parking mode to users.

[0123] Optionally, in one embodiment of this application, the vehicle takeover method 10 for driving and parking further includes: a judgment module and a second control module.

[0124] The judgment module is used to control the vehicle to decelerate smoothly until it stops according to a preset deceleration strategy after detecting that the driver has released the accelerator pedal and steering wheel. When the optimal parking mode is remote parking mode, the module also determines whether the occupants of the vehicle have gotten out.

[0125] The second control module is used to control the vehicle to enter parking mode if all passengers have exited the vehicle.

[0126] Optionally, in one embodiment of this application, the recommendation module 100 is further configured to display parking space information for a preset duration, wherein the preset duration is a preset value or obtained from the actual speed of the vehicle.

[0127] Optionally, in one embodiment of this application, the recommendation module 100 includes: a second acquisition unit and a second determination unit.

[0128] The second acquisition unit is used to acquire parking space information for each available parking space based on the V2X communication protocol of vehicle wireless communication technology.

[0129] The second determining unit is used to determine whether each available parking space meets the preset parking conditions based on the parking space information, so as to determine the parking spaces that meet the preset parking conditions.

[0130] It should be noted that the foregoing explanation of the vehicle takeover method embodiment for driving-to-parking also applies to the vehicle takeover device for driving-to-parking in this embodiment, and will not be repeated here.

[0131] The vehicle takeover device for switching from driving to parking proposed in this application can generate a parking planning route for the vehicle based on the actual location of the parking space and the current location of the vehicle when the driver releases the accelerator pedal and steering wheel. It then controls the parking system to drive the vehicle into the parking space according to the planned route, thereby improving parking efficiency, meeting the user's need for integrated driving and parking, enhancing the user experience, and ensuring the vehicle's intelligence and practicality. This solves the problems of previous intelligent parking systems where the design did not conform to user parking habits, operation was cumbersome, parking time and user costs were increased, and user needs were difficult to meet. Furthermore, the driving-to-parking transition resulted in a noticeable disconnect, giving the user a discontinuous and fragmented experience, thus reducing the user experience.

[0132] Figure 8 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0133] The memory 801, the processor 802, and the computer program stored on the memory 801 and capable of running on the processor 802.

[0134] When processor 802 executes the program, it implements the vehicle takeover method for switching from driving to parking provided in the above embodiments.

[0135] Furthermore, the vehicle also includes:

[0136] Communication interface 803 is used for communication between memory 801 and processor 802.

[0137] The memory 801 is used to store computer programs that can run on the processor 802.

[0138] The memory 801 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0139] If the memory 801, processor 802, and communication interface 803 are implemented independently, then the communication interface 803, memory 801, and processor 802 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 divided into address buses, data buses, control buses, etc. For ease of representation, Figure 8The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0140] Optionally, in a specific implementation, if the memory 801, processor 802, and communication interface 803 are integrated on a single chip, then the memory 801, processor 802, and communication interface 803 can communicate with each other through an internal interface.

[0141] 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 this application.

[0142] 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 takeover method for switching from driving to parking.

[0143] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms are not necessarily required.

[0144] This refers to the same embodiments or examples. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, those skilled in the art can combine and integrate the different embodiments or examples described herein, as well as the features of those different embodiments or examples, without contradiction.

[0145] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or...

[0146] The number of indicated technical features is implicitly specified. Thus, features defined as "first" or "second" may explicitly or implicitly include at least one of those features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0147] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising 5 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.

[0148] 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 specifically implemented in any computer-readable medium for instruction execution.

[0149] This refers to a system, apparatus, or device (such as a computer-based system, a processor-based system, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device) for use, or in conjunction with such an instruction execution system, apparatus, or device. For the purposes of this specification, "computer-readable medium" can be anything that can contain, store, communicate, or propagate.

[0150] Or a means for transmitting programs to or in connection with an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: having one or N arrays...

[0151] Electrical connections of wires (electronic devices), portable computer disk cases (magnetic devices), random access memory (RAM),

[0152] Read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Additionally, computer-readable media can even be printed on.

[0153] The program can be obtained electronically on paper or other suitable media, as it can be optically scanned, followed by editing, decoding, or otherwise suitable processing if necessary, and then stored.

[0154] In computer memory.

[0155] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. If hardware implementation is used, as in another embodiment, the following techniques known in the art can be employed.

[0156] Any one or a combination thereof can be used to implement: discrete logic circuits with logic gates for implementing logic functions on data signals, application-specific integrated circuits (ASICs) with suitable combinational logic gates, programmable gate arrays (PGAs), and field-programmable gate arrays (FPGAs).

[0157] FPGA, etc.

[0158] 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.

[0159] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing module, or they can be separate units.

[0160] Each unit can exist physically independently, or two or more units can be integrated into a single 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.

[0161] 5. The storage media mentioned above can be read-only memory, disk, or optical disk, etc. Although already shown and described above...

[0162] The embodiments described in this application are exemplary and should not be construed as limiting the scope of 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 vehicle takeover during driving and parking, characterized in that, Includes the following steps: The vehicle's current status is detected, and when the current status is detected to be a preset low-speed dynamic driving state, it is recommended to search for a parking space that meets the preset parking conditions during the driving process. The system obtains an activation command for the parking system generated based on the parking space, and sends a release reminder signal for the accelerator pedal and steering wheel to the user on the central control LCD screen based on the activation command. It also generates the optimal parking mode based on the parking information of the parking space and recommends the optimal parking mode to the user. as well as Within a preset time period, when the system detects that the driver has released the accelerator pedal and the steering wheel, it identifies and monitors the user's operation through the user status feedback system and provides feedback. Specifically, when the system detects that the driver has released the accelerator pedal and the steering wheel within a certain period of time, it dynamically takes over the vehicle, generates a parking planning route for the vehicle based on the actual location of the parking space and the current location of the vehicle, and controls the parking system to drive the vehicle into the parking space according to the parking planning route. If the user does not release the steering wheel and the accelerator pedal within a specified time after activating parking, the system exits. After detecting that the driver has released the accelerator pedal and the steering wheel, the method further includes: if the optimal parking mode is remote parking mode, controlling the vehicle to decelerate evenly according to a preset deceleration strategy until it stops, and determining whether the occupants of the vehicle have gotten out; if all the occupants have gotten out, controlling the vehicle to enter parking mode. During the parking process, the parking system generates control commands for controlling the vehicle's lateral and longitudinal speeds and acceleration by comprehensively judging the information from the environmental recognition system, path planning system, user status feedback system, and human-machine interaction system. These control commands are then executed according to a preset priority order: environmental recognition system, human-machine interaction system, user status feedback system, and path planning system. Specifically, if the user turns the steering wheel during the parking process, the parking system disengages, and the user takes over control of the vehicle. If the user presses the accelerator pedal during the parking process, the parking system does not respond.

2. The method according to claim 1, characterized in that, The step of obtaining the activation command for the parking system generated based on the parking space includes: The system detects the on / off state of the parking switch on the steering wheel, and generates an activation command for the parking system when the switch is detected to be in the on state. Alternatively, the system may receive the user's voice commands and generate an activation command for the parking system based on the voice commands. Alternatively, the user's touch command can be obtained, and an activation command for the parking system can be generated based on the touch command; Alternatively, the user's gesture commands can be collected, and an activation command for the parking system can be generated based on the gesture commands.

3. The method according to claim 1, characterized in that, The recommendation to find parking spaces that meet preset parking conditions during driving includes: When there are multiple parking spaces, the parking efficiency of each parking space is calculated based on the actual location of each parking space and the current location of the vehicle. The parking space with the highest parking efficiency will be recommended to the user.

4. The method according to claim 1, characterized in that, The recommendation to find parking spaces that meet preset parking conditions during driving includes: The parking space information is displayed for a preset duration, wherein the preset duration is a preset value or is obtained from the actual speed of the vehicle.

5. The method according to claim 1, characterized in that, The recommendation to find parking spaces that meet preset parking conditions during driving includes: Based on the V2X communication protocol, a vehicle-to-everything (V2X) wireless communication technology, parking information for each available parking space is obtained. Based on the parking space information, determine whether each available parking space meets the preset parking conditions, and thus identify the parking spaces that meet the preset parking conditions.

6. A vehicle takeover device for implementing the driving-to-parking method as described in any one of claims 1-5, characterized in that, include: The recommendation module is used to detect the current state of the vehicle, and when the current state is detected to be a preset low-speed dynamic driving state, it recommends to search for parking spaces that meet preset parking conditions during the driving process. The sending module is used to obtain the activation command of the parking system generated based on the parking space, and send a reminder signal to the user to release the accelerator pedal and steering wheel based on the activation command; as well as The first control module is used to detect when the driver releases the accelerator pedal and the steering wheel within a preset time period, generate a parking planning route for the vehicle based on the actual position of the parking space and the current position of the vehicle, and control the parking system to drive the vehicle into the parking space according to the parking planning route. The generation module is used to generate the optimal parking mode based on the parking information of the parking space while sending a release reminder signal of the accelerator pedal and the steering wheel to the user based on the activation command. The recommendation module is used to recommend the optimal parking mode to the user. The judgment module is used to control the vehicle to decelerate evenly until it stops according to a preset deceleration strategy after detecting that the driver has released the accelerator pedal and the steering wheel, when the optimal parking mode is remote parking mode, and to determine whether the occupants of the vehicle have gotten out of the vehicle. The second control module is used to control the vehicle to enter parking mode when all the drivers and passengers have disembarked.

7. The apparatus according to claim 6, characterized in that, The sending module includes: The detection unit is used to detect the on / off state of the parking switch on the steering wheel, and when the switch is detected to be in the on state, it generates an activation command for the parking system. Alternatively, the receiving unit is configured to receive the user's voice commands and generate an activation command for the parking system based on the voice commands. Alternatively, the first acquisition unit is used to acquire the user's touch command and generate an activation command for the parking system based on the touch command; Alternatively, a data acquisition unit may be used to acquire the user's gesture commands and generate an activation command for the parking system based on the gesture commands.

8. The apparatus according to claim 6, characterized in that, The recommendation module includes: A calculation unit is used to calculate the parking efficiency of each parking space based on the actual position of each parking space and the current position of the vehicle when there are multiple parking spaces. The first determining unit is used to select the parking space with the highest parking efficiency as the recommended parking space to the user.

9. The apparatus according to claim 6, characterized in that, The recommendation module is also used to display the parking space information of the parking space for a preset duration, wherein the preset duration is a preset value or is obtained from the actual speed of the vehicle.

10. The apparatus according to claim 6, characterized in that, The recommendation module includes: The second acquisition unit is used to acquire parking space information for each available parking space based on the V2X communication protocol of vehicle wireless communication technology. The second determining unit is used to determine whether each available parking space meets the preset parking conditions based on the parking space information, so as to determine the parking spaces that meet the preset parking conditions.

11. 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 vehicle takeover method for driving-to-parking as described in any one of claims 1-5.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the vehicle takeover method for driving and parking as described in any one of claims 1-5.

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