Parking method, device, equipment and storage medium

Abstract

The present invention relates to a parking method, device, equipment and storage medium, the method comprising: receiving a parking instruction, the parking instruction including target parking space information; judging whether a vehicle door can be opened to a door opening threshold after the vehicle is parked in the target parking space based on the target parking space information; if the vehicle door can be opened to the door opening threshold after the vehicle is parked in the target parking space, controlling the vehicle to park in the target parking space; if the vehicle door cannot be opened to the door opening threshold after the vehicle is parked in the target parking space, determining a target position, controlling the vehicle to travel to the target position, and then pausing, and sending a prompt signal, the prompt signal being used to prompt the driver to get off the vehicle; the target position is a position where the door can be opened to the door opening threshold; and controlling the vehicle to park in the target parking space after receiving a resumption parking instruction sent by the driver via a car key. The present invention can avoid limited space for drivers and passengers to get off the vehicle and the risk of collision and scratching of vehicle doors, thereby improving the utilization rate of automatic parking.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a parking method, device, equipment and storage medium. Background Art

[0002] In recent years, with the advancement of science and technology, the application of autonomous driving functions has become more extensive. Among them, the automatic parking function has also been iteratively updated from the initial stage of semi-automatic parking to mid-to-high-end product forms such as full-scene parking, remote parking, memory parking and integrated parking. However, the functions of current smart parking products are not convenient enough and lack humanized considerations, which can easily make users feel tired and bored, reducing users' enthusiasm for using smart parking functions and reducing the usage rate of smart parking functions. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a lane line detection method, device, electronic device and storage medium that overcome the above problems or at least partially solve the above problems.

[0004] To solve the above problems, an embodiment of the present invention discloses a parking method, which is applied to an automatic parking assistance system. The method includes:

[0005] receiving a parking instruction, wherein the parking instruction includes target parking space information;

[0006] Determining, based on the target parking space information, whether the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space;

[0007] If the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space, controlling the vehicle to park in the target parking space;

[0008] If the door of the vehicle cannot be opened to the door opening threshold after parking in the target parking space, a target position is determined, the vehicle is controlled to travel to the target position, then pauses, and a prompt signal is issued, the prompt signal being used to prompt the driver to get out of the vehicle; the target position is a position where the door can be opened to the door opening threshold;

[0009] After receiving the resumption parking instruction sent by the driver through the vehicle key, the vehicle is controlled to park in the target parking space.

[0010] Optionally, judging whether a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space based on the target parking space information includes:

[0011] Detecting whether the target parking space has a parking space line according to the target parking space information;

[0012] When the target parking space has a parking space line, obtain the single-side width of the parking space line and the vehicle width, where the single-side width of the parking space line is the distance from the left parking space line or the right parking space line of the target parking space to the center line of the target parking space;

[0013] Obtaining a door opening threshold, and calculating an average value of the vehicle width and the door opening threshold;

[0014] If the single-side width of the parking space line is greater than the average value, it is determined that the door of the vehicle can be opened to the door opening threshold after the vehicle is parked in the target parking space.

[0015] Optionally, the determining, based on the target parking space information, whether a door of the vehicle can be opened to a door opening threshold after the vehicle parks in the target parking space further includes:

[0016] If the unilateral width of the parking space line is greater than the unilateral width threshold and is less than or equal to the average value, it is determined that the door of the vehicle cannot be opened to the door opening threshold after the vehicle is parked in the target parking space.

[0017] Optionally, the determining, based on the target parking space information, whether a door of the vehicle can be opened to a door opening threshold after the vehicle parks in the target parking space further includes:

[0018] When the target parking space has no parking space line, detecting whether there are obstacles on both sides of the target parking space;

[0019] If there are obstacles on both sides of the target parking space, obtain the single-side width between the left obstacle and the right obstacle; the single-side width between the left obstacle and the right obstacle is the distance from the left obstacle or the right obstacle to the center line of the obstacles on both sides;

[0020] If the width of a single side between the left obstacle and the right obstacle is greater than the average value, it is determined that the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space.

[0021] Optionally, the determining, based on the target parking space information, whether a door of the vehicle can be opened to a door opening threshold after the vehicle parks in the target parking space further includes:

[0022] If there is an obstacle on one side of the target parking space or there is no obstacle in the target parking space, it is determined that the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space.

[0023] The present invention also discloses a parking method, which is applied to an automatic parking assistance system. The method comprises:

[0024] receiving a parking exit instruction, wherein the parking exit instruction includes parking space information of a parking space where the vehicle is located;

[0025] Determining whether a door of the vehicle can be opened to a door opening threshold according to parking space information of the vehicle;

[0026] If the door of the vehicle can be opened to a door opening threshold, controlling the vehicle to park out of the parking space where the vehicle is located;

[0027] If the vehicle's door cannot be opened to the door opening threshold, a target position is determined, the vehicle is controlled to go straight to the target position and then stop, and the driver is notified to get on the vehicle and take over the vehicle; the target position is the position where the door can be opened to the door opening threshold.

[0028] Optionally, judging whether the door of the vehicle can be opened to a door opening threshold according to the parking space information of the vehicle includes:

[0029] Detecting whether there are obstacles around the vehicle based on the parking space information of the vehicle;

[0030] If there are no obstacles in front, on the left, and on the right of the vehicle, it is determined that the door of the vehicle can be opened to a door opening threshold.

[0031] Optionally, the determining, based on parking space information of the vehicle, whether the door of the vehicle can be opened to a door opening threshold, further includes:

[0032] If there is an obstacle in front of the vehicle, a prompt message is issued, and the prompt message is used to remind the driver that the vehicle cannot be parked.

[0033] Optionally, the determining, based on parking space information of the vehicle, whether the door of the vehicle can be opened to a door opening threshold, further includes:

[0034] If there is no obstacle directly in front of the vehicle and there are obstacles on both the left and right sides, obtain the lateral distance between the left and right obstacles of the vehicle. The lateral distance between the left and right obstacles of the vehicle is the sum of the distance from the left obstacle to the left side of the vehicle and the distance from the right obstacle to the right side of the vehicle.

[0035] If the lateral distance between the left obstacle and the right obstacle of the vehicle is greater than a preset distance, it is determined that the door of the vehicle can be opened to a door opening threshold.

[0036] Optionally, judging whether a door of the vehicle can be opened to a door opening threshold according to parking space information of the vehicle, further comprises:

[0037] If the lateral distance between the left obstacle and the right obstacle of the vehicle is greater than the minimum safety distance and less than the preset distance, it is determined that the door of the vehicle cannot be opened to the door opening threshold.

[0038] The present invention also discloses a parking device, which is applied to an automatic parking assistance system. The device includes:

[0039] a first receiving module, configured to receive a parking instruction, wherein the parking instruction includes target parking space information;

[0040] a first judgment module, configured to judge, based on the target parking space information, whether a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space;

[0041] a first control module, configured to control the vehicle to park in the target parking space if a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space;

[0042] a determination module configured to, if the door of the vehicle cannot be opened to a door opening threshold after parking in the target parking space, determine a target position, control the vehicle to travel to the target position, pause, and issue a prompt signal for prompting the driver to get out of the vehicle; the target position is a position where the door can be opened to the door opening threshold;

[0043] The second control module is configured to control the vehicle to park in the target parking space after receiving a resume parking instruction sent by the driver via the vehicle key.

[0044] Optionally, the first judgment module includes:

[0045] A first detection submodule is configured to detect whether the target parking space has a parking space line according to the target parking space information;

[0046] A first acquisition submodule is configured to acquire, when the target parking space has a parking space line, a single-side width of the parking space line and a vehicle width, wherein the single-side width of the parking space line is the distance from the left parking space line or the right parking space line of the target parking space to the center line of the target parking space;

[0047] a calculation submodule, configured to obtain a door opening threshold value and calculate an average value of the vehicle width and the door opening threshold value;

[0048] The first determining submodule is configured to determine that a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space if the single side width of the parking space line is greater than the average value.

[0049] Optionally, the first judgment module further includes:

[0050] The second determining submodule is configured to determine that a door of the vehicle cannot be opened to a door opening threshold after the vehicle is parked in the target parking space if the single-side width of the parking space line is greater than a single-side width threshold and less than or equal to the average value.

[0051] Optionally, the first judgment module further includes:

[0052] The second detection submodule is configured to detect whether there are obstacles on both sides of the target parking space when the target parking space has no parking space line;

[0053] The second acquisition submodule is configured to acquire the single-side width between the left obstacle and the right obstacle if there are obstacles on both sides of the target parking space; the single-side width between the left obstacle and the right obstacle is the distance from the left obstacle or the right obstacle to the center line of the obstacles on both sides;

[0054] The third determining submodule is configured to determine that the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space if the width of a single side between the left obstacle and the right obstacle is greater than the average value.

[0055] Optionally, the first judgment module further includes:

[0056] The fourth determining submodule is configured to determine whether a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space if there is an obstacle on one side of the target parking space or if there is no obstacle in the target parking space.

[0057] The present invention also discloses a parking device, which is applied to an automatic parking assistance system. The device includes:

[0058] a second receiving module, configured to receive a parking exit instruction, wherein the parking exit instruction includes parking space information of the vehicle;

[0059] a second judgment module, configured to judge whether a door of the vehicle can be opened to a door opening threshold according to parking space information of the vehicle;

[0060] a third control module, configured to control the vehicle to park out of the parking space if the door of the vehicle can be opened to a door opening threshold;

[0061] The notification module is used to determine a target position if the vehicle door cannot be opened to a door opening threshold, control the vehicle to go straight to the target position and then pause, and notify the driver to get on the vehicle and take over the vehicle; the target position is a position where the door can be opened to the door opening threshold.

[0062] Optionally, the second judgment module includes:

[0063] A third detection submodule is configured to detect whether there are obstacles around the vehicle based on the parking space information of the vehicle;

[0064] The fifth determining submodule is configured to determine that the vehicle door can be opened to a door opening threshold if no obstacles exist in front of, on the left side of, or on the right side of the vehicle.

[0065] Optionally, the second judgment module further includes:

[0066] The issuing submodule is used to issue a prompt message if there is an obstacle in front of the vehicle, and the prompt message is used to remind the driver that the vehicle cannot be parked.

[0067] Optionally, the second judgment module further includes:

[0068] a third acquisition submodule, configured to, if there is no obstacle directly in front of the vehicle and there are obstacles on both the left and right sides of the vehicle, acquire a lateral distance between the left obstacle and the right obstacle of the vehicle, where the lateral distance between the left obstacle and the right obstacle of the vehicle is the sum of the distance from the left obstacle to the left side of the vehicle and the distance from the right obstacle to the right side of the vehicle;

[0069] The sixth determining submodule is configured to determine that the door of the vehicle can be opened to a door opening threshold if the lateral distance between the left obstacle and the right obstacle of the vehicle is greater than a preset distance.

[0070] Optionally, the second judgment module further includes:

[0071] The seventh determination submodule is configured to determine that the door of the vehicle cannot be opened to a door opening threshold if the lateral distance between the left obstacle and the right obstacle of the vehicle is greater than a minimum safety distance and less than the preset distance.

[0072] The present invention also discloses an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the steps of the parking method as described above when executed by the processor.

[0073] The present invention also discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the parking method as described above are implemented.

[0074] The present invention can determine whether the door of the vehicle can be opened to the door opening threshold after the vehicle is parked in the parking space through the target parking space information, and further determine whether the user can get off the vehicle comfortably after the vehicle is parked. On this basis, the vehicle is controlled to be parked in the target parking space in different ways, thereby achieving the goal of comfortable getting on and off the vehicle for the driver and passengers. At the same time, it is also more in line with the user's requirements for more humanization, and realizes multiple improvements such as humanization of parking functions, parking utilization rate and user comfort experience, effectively avoiding the risk of limited space for getting off the vehicle for the driver and passengers and collision and scratching of vehicle doors. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Figure 1 This is a flowchart of the steps of a parking method provided by an embodiment of the present invention;

[0076] Figure 2 This is a schematic diagram of the width between a door edge and a door frame provided by an embodiment of the present invention;

[0077] Figure 3 is a schematic diagram of a vehicle parking in a target parking space provided by an embodiment of the present invention;

[0078] Figure 4 is a schematic diagram of a vehicle parking at a target location provided by an embodiment of the present invention;

[0079] Figure 5 is a schematic diagram of a vehicle parking from a target position into a target parking space provided by an embodiment of the present invention;

[0080] Figure 6 is a flowchart of another parking method provided by an embodiment of the present invention;

[0081] Figure 7 is a flowchart of another parking method provided by an embodiment of the present invention;

[0082] Figure 8 1 is a schematic diagram of a vehicle parking out of a target position from a parking space provided by an embodiment of the present invention;

[0083] Figure 9 This is a structural block diagram of a parking device provided by an embodiment of the present invention;

[0084] Figure 10 It is a structural block diagram of another parking device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0085] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0086] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0087] In the existing technology, the automatic parking function of the vehicle lacks arbitrary consideration. After the vehicle automatically parks in the target parking space, it may cause the driver and passengers to be unable to get out of the vehicle or even collide with obstacles on both sides. It is easy for the driver and passengers to develop a mentality of being bored with the automatic driving function, reducing the user's enthusiasm for using the smart parking function and also reducing the usage rate of the smart parking function.

[0088] One of the core concepts of the embodiment of the present invention is to determine, through the target parking space information, whether the door can be opened to the door opening threshold after the vehicle is parked in the parking space, and then determine whether the user can get off the vehicle comfortably after the vehicle is parked. On this basis, the vehicle is controlled to park in the target parking space in different ways, achieving the goal of comfortable getting on and off the vehicle for the driver and passengers. At the same time, it is also more in line with the user's requirements for more anthropomorphism, achieving multiple improvements and enhancements such as humanized parking functions, parking utilization rate and user comfort experience, and effectively avoiding the risk of limited space for the driver and passengers to get off the vehicle and collision and scratches of the vehicle doors.

[0089] Reference Figure 1 A flowchart of a parking method provided by an embodiment of the present invention is shown. The method is applied to an automatic parking assistance system and may include the following steps:

[0090] Step 101: Receive a parking instruction, which includes target parking space information.

[0091] In an embodiment of the present invention, the target parking space information refers to the geographical location of the target parking space where the vehicle needs to be parked. The automatic parking assistance system (APA, Auto Parking Assist) can perceive the lane lines, parking space lines, and surrounding obstacles in the parking area through multiple surround-view cameras and ultrasonic radars installed on the periphery of the vehicle, identify multiple available parking spaces in the parking area, and then push the available parking spaces to the user through the mobile terminal. The user can select the target parking space to be parked from the multiple available parking spaces. After the selection is completed, the user can use the mobile terminal to issue a parking instruction to the automatic parking assistance driving system, so that the vehicle can drive to the target parking space.

[0092] In some application scenarios, the user may be outside the vehicle and send parking instructions to the automatic parking assistance system through a mobile phone terminal.

[0093] In some application scenarios, the user may be inside the vehicle and may send parking instructions to the automatic parking assistance system via a mobile phone terminal or an in-vehicle terminal.

[0094] Step 102 : Determine, based on the target parking space information, whether the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space.

[0095] In the embodiment of the present invention, the door opening refers to the different degrees of door opening, which has different levels. The higher the level, the larger the door opening. The door opening is generally divided into three levels, with level 3 being the highest. The door opening threshold refers to the width between the door edge and the door frame corresponding to the door opening to level 3. Figure 2 As shown, d is the door opening threshold.

[0096] After obtaining the target parking space information, the geographical situation of the target parking space can be determined based on the target parking space information, thereby determining whether the door can be opened to the door opening threshold after the vehicle is parked in the target parking space.

[0097] Step 103 : If the door of the vehicle can be opened to the door opening threshold after the vehicle is parked in the target parking space, the vehicle is controlled to park in the target parking space.

[0098] In the embodiment of the present invention, if the door of the vehicle can be opened to the door opening threshold after parking in the target parking space, it means that the space of the target parking space is wide enough. At this time, the automatic parking assistance system can be used to control the vehicle to park in the target parking space. The parking method can be to control the vehicle to reverse into the target parking space in a centered posture, or other reverse parking methods, which are not limited here. Figure 3 A schematic diagram of a vehicle parking into a target parking space is shown, wherein the vehicle reverses into the target parking space in a centered posture.

[0099] In step 104, if the door of the vehicle cannot be opened to the door opening threshold after parking in the target parking space, a target position is determined, the vehicle is controlled to travel to the target position and then pause, and a prompt signal is issued to prompt the driver to get off the vehicle; the target position is a position where the door can be opened to the door opening threshold.

[0100] In the embodiment of the present invention, if the door of the vehicle cannot be opened to the door opening threshold after parking in the target parking space, it means that the space in the target parking space is insufficient for the driver to open the door and get out, and the vehicle can only be controlled to automatically drive to the target parking space; the target position refers to the position where the door can be opened to the opening threshold. In one example, the vehicle body length is 4.9 meters, and the door can just be opened to the door opening threshold when the rear end of the vehicle enters the garage 3 meters away. Figure 4 As shown, the vehicle has a body length of 4.9m. When the width on both sides of the vehicle is relatively narrow, the door cannot be opened to the door opening threshold after the vehicle is parked in the target parking space. The automatic parking assistance system controls the vehicle to reverse to the target position and then pause. At this time, the target position of the vehicle is the position where the door can be opened to the door opening threshold just 3m after the body enters the parking space. The automatic parking assistance system sends a prompt signal to remind the driver to get off the vehicle.

[0101] In one embodiment of the present invention, if the door of a vehicle cannot be opened to the door opening threshold after the vehicle is parked in the target parking space, an instruction message can be directly issued, which is used to instruct the driver to get off the vehicle. After the driver gets off the vehicle, the driver sends a parking instruction to the automatic parking assistance system through the car key. After receiving the parking instruction, the automatic parking assistance system controls the vehicle to automatically drive to the target parking space. After the vehicle is parked, the driver is reminded that parking is completed so that the user can lock the vehicle.

[0102] Step 105 : After receiving the parking resumption instruction sent by the driver via the vehicle key, the vehicle is controlled to park in the target parking space.

[0103] In an embodiment of the present invention, after the driver gets off the vehicle and reaches a safe location, the driver can use the vehicle key to send a resume parking command to the automatic parking assistance system. The resume parking command is used to instruct the vehicle to drive from the target position to the target parking space. After receiving the resume parking command, the automatic parking assistance system can control the vehicle to park in the target parking space from the target position in a centered posture. After parking is completed, a prompt message can be issued to remind the user that the vehicle has been parked. The driver can lock the vehicle according to the prompt signal. In one example, if Figure 5 As shown, after receiving the resumption parking instruction, the automatic parking assistance system controls the vehicle to park from the target position into the target parking space. The direction indicated by the arrow is the direction of the vehicle reversing into the target parking space.

[0104] The present invention determines whether the door can be opened to the door opening threshold after the vehicle is parked in the parking space through the target parking space information, and further determines whether the user can get off the vehicle comfortably after the vehicle is parked. On this basis, the vehicle is controlled to be parked in the target parking space in different ways, thereby achieving the goal of comfortable getting on and off the vehicle for the driver and passengers. At the same time, it is also more in line with the user's requirements for a more humanized parking function, and realizes multiple improvements such as humanized parking function, parking utilization rate and user comfort experience, effectively avoiding the limited space for the driver and passengers to get off the vehicle and the risk of collision and scratching of vehicle doors, providing convenience for users.

[0105] Reference Figure 6 A flowchart of another parking method provided by an embodiment of the present invention is shown. The method is applied to an automatic parking assistance system and may include the following steps:

[0106] Step 201: Receive a parking instruction, which includes target parking space information.

[0107] Step 202: Detect whether the target parking space has a parking space line based on the target parking space information.

[0108] In the embodiment of the present invention, the automatic parking assistance system can detect whether the target parking space has parking space lines through cameras and radars around the vehicle body based on the target parking space information.

[0109] Step 203 : When the target parking space has a parking line, obtain the single-side width of the parking line and the vehicle width. The single-side width of the parking line is the distance from the left parking line or the right parking line of the target parking space to the center line of the target parking space.

[0110] In an embodiment of the present invention, when the automatic parking assistance system detects that the target parking space has parking lines, the unilateral width of the parking lines and the width of the vehicle can be obtained. Specifically, the unilateral width of the parking lines is obtained by measuring the distance from the left parking line to the right parking line of the target parking space through a laser radar. The unilateral width d1 of the parking lines is half of the distance from the left parking line to the right parking line; the vehicle width d2 is obtained by measuring the distance from the left side to the right side of the vehicle body through a laser radar.

[0111] Step 204: obtaining a door opening threshold, and calculating an average value of the vehicle width and the door opening threshold;

[0112] In the embodiment of the present invention, different vehicle models have different door opening thresholds. In one example, the door opening threshold of vehicle model A is d3, and the average value of the vehicle width and the door opening threshold is d=(d2+d3) / 2.

[0113] In step 205 , if the width of the single side of the parking space line is greater than the average value, it is determined that the door of the vehicle can be opened to the door opening threshold after the vehicle is parked in the target parking space.

[0114] In an embodiment of the present invention, if d1 > d, it is determined that the door can be opened to the door opening threshold after the vehicle is parked in the target parking space.

[0115] In an embodiment of the present invention, the determining whether the door can be opened to the door opening threshold after the vehicle is parked in the target parking space according to the target parking space information further includes:

[0116] If the unilateral width of the parking space line is greater than the unilateral width threshold and less than or equal to the average value, it is determined that the door cannot be opened to the door opening threshold after the vehicle is parked in the target parking space.

[0117] In an embodiment of the present invention, if d3 < d1 <= d, it means that the door cannot be opened to the door opening threshold after the vehicle is parked in the target parking space. At this time, the vehicle can be parked in the target parking space, but it cannot meet the driver's safe getting off. That is, at this time, the driver can be notified to get off, and then the vehicle is controlled to drive to the target parking space through the automatic parking assist system.

[0118] In an embodiment of the present invention, the determining whether the door can be opened to the door opening threshold after the vehicle is parked in the target parking space according to the target parking space information may further include:

[0119] When there is no parking space line in the target parking space, detect whether there are obstacles on both sides of the target parking space; if there are obstacles on both sides of the target parking space, obtain the unilateral width between the left obstacle and the right obstacle; the unilateral width between the left obstacle and the right obstacle is the distance from the left obstacle or the right obstacle to the center boundary line of the two obstacles; if the unilateral width between the left obstacle and the right obstacle is greater than the average value, it is determined that the door can be opened to the door opening threshold after the vehicle is parked in the target parking space.

[0120] In an embodiment of the present invention, when the lidar recognizes that there is no parking space line in the target parking space, that is, the target parking space may be an empty area. In one example, the target parking space is the area on the first floor of a community. At this time, it can be detected whether there are obstacles on both sides of the target parking space. If there are obstacles on both sides of the target parking space, in one example, there are vehicles parked on both sides of the vehicle. The unilateral width between the left obstacle and the right obstacle can be obtained. The methods for obtaining the unilateral width between the left obstacle and the right obstacle include the following two:

[0121] (1) If the parking positions of the left obstacle and the right obstacle are irregular, first obtain the center line of the two obstacles, then calculate the distance from the left obstacle to the center line and the distance from the right obstacle to the center line respectively, and then take the minimum value as the unilateral width d4 between the left obstacle and the right obstacle.

[0122] (2) If the parking positions of the left and right obstacles are regular, first determine the center lines of the obstacles on both sides, and then use the distance from the left obstacle to the center line or the distance from the right obstacle to the center line as the single-side width d4 between the left and right obstacles.

[0123] After obtaining the single-side width d4 between the left obstacle and the right obstacle, if d4>d, it is determined that the door can be opened to the door opening threshold after the vehicle is parked in the target parking space.

[0124] In one embodiment of the present invention, determining whether a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space based on the target parking space information may further include:

[0125] If there is an obstacle on one side of the target parking space or there is no obstacle in the target parking space, it is determined that the door can be opened to the door opening threshold after the vehicle is parked in the target parking space.

[0126] In an embodiment of the present invention, when the laser radar identifies that the target parking space has no parking space lines, and there is an obstacle on one side of the target parking space or there is no obstacle in the target parking space, it can be determined that the door can be opened to the door opening threshold after the vehicle is parked in the target parking space, that is, the width of the target parking space is sufficient for the driver to get off.

[0127] Step 206 : If the door of the vehicle can be opened to the door opening threshold after the vehicle is parked in the target parking space, the vehicle is controlled to park in the target parking space.

[0128] In an embodiment of the present invention, if the target parking space has no parking space lines and there is an obstacle on one side of the target parking space, the automatic parking assistance system can use the obstacle on one side as the boundary and control the vehicle to park in the target parking space with a lateral posture and a preset distance from the boundary.

[0129] If there is no obstacle in the target parking space, the automatic parking assistance system can control the vehicle to park in the target parking space. Since there is no obstacle, the way the vehicle parks in the target parking space is not limited here.

[0130] In step 207, if the door of the vehicle cannot be opened to the door opening threshold after parking in the target parking space, a target position is determined, the vehicle is controlled to travel to the target position and then pause, and a prompt signal is issued to prompt the driver to get off the vehicle; the target position is a position where the door can be opened to the door opening threshold.

[0131] Step 208 : After receiving the resumption parking instruction sent by the driver via the vehicle key, the vehicle is controlled to park in the target parking space.

[0132] The present invention determines whether the door can be opened to the door opening threshold after the vehicle is parked in the parking space through the target parking space information, and further determines whether the user can get off the vehicle comfortably after the vehicle is parked. On this basis, the vehicle is controlled to be parked in the target parking space in different ways, thereby achieving the goal of comfortable getting on and off the vehicle for the driver and passengers. At the same time, it is also more in line with the user's requirements for a more humanized parking function, and realizes multiple improvements such as humanized parking function, parking utilization rate and user comfort experience, effectively avoiding the limited space for the driver and passengers to get off the vehicle and the risk of collision and scratching of vehicle doors, providing convenience for users.

[0133] Reference Figure 7 , shows a flowchart of another parking method provided by an embodiment of the present invention, which is applied to an automatic parking assistance system. The method includes the following steps:

[0134] Step 301: Receive a parking exit instruction, where the parking exit instruction includes parking space information of the vehicle.

[0135] In an embodiment of the present invention, a user may use a mobile terminal to send an exit instruction to the automatic parking assistance system. After receiving the exit instruction, the automatic parking assistance system may control the vehicle to exit the parking space according to the exit instruction.

[0136] Step 302: Determine whether the vehicle door can be opened to a door opening threshold based on the parking space information of the vehicle.

[0137] In an embodiment of the present invention, the door opening refers to the different degrees of door opening, which has different levels. The higher the level, the larger the corresponding door opening. The door opening is generally divided into three levels, with level 3 being the highest. The door opening threshold refers to the width between the door edge and the door frame corresponding to when the door is opened to level 3.

[0138] After obtaining the parking space information of the vehicle, the geographical location of the parking space can be determined based on the parking space information, and then it is determined whether the vehicle door can be opened to the door opening threshold based on the geographical location.

[0139] Step 303: If the door of the vehicle can be opened to the door opening threshold, the vehicle is controlled to park out of the parking space where the vehicle is located.

[0140] In an embodiment of the present invention, if the vehicle's door can be opened to the door opening threshold, it means that the space in the parking space where the vehicle is located is wide enough. At this time, the automatic parking assistance system can be used to control the vehicle to park out from the vehicle's position. Since the space in the parking space where the vehicle is located is wide enough, the vehicle can be parked out in a centered posture or in other ways, which are not limited here.

[0141] Step 304: If the vehicle door cannot be opened to the door opening threshold, a target position is determined, the vehicle is controlled to go straight to the target position and then stop, and the driver is notified to get on the vehicle and take over the vehicle; the target position is the position where the door can be opened to the door opening threshold.

[0142] In the embodiment of the present invention, if the vehicle door cannot be opened to the door opening threshold, it means that the space of the parking space where the vehicle is located is relatively narrow. In this case, the vehicle can be controlled to move to the target position, which refers to the position where the door can be opened to the opening threshold. In one example, the vehicle body length is 4.9 meters. When the front of the vehicle is parked 2 meters out of the parking space, the door can just be opened to the door opening threshold. Figure 8 As shown, the vehicle has a body length of 4.9m. The automatic parking assistance system controls the vehicle to park out to the target position and then pauses. At this time, the target position of the vehicle is 2m from the front of the vehicle to the position where the door can be opened to the door opening threshold. The automatic parking assistance system sends a prompt signal to prompt the driver to get in and take over the vehicle, and then the driver drives the vehicle out of the parking space.

[0143] The present invention determines whether the door can be opened to the door opening threshold after the vehicle is parked in the parking space through the target parking space information, and further determines whether the user can get off the vehicle comfortably after the vehicle is parked. On this basis, the vehicle is controlled to be parked in the target parking space in different ways, thereby achieving the goal of comfortable getting on and off the vehicle for the driver and passengers. At the same time, it is also more in line with the user's requirements for a more humanized parking function, and realizes multiple improvements such as humanized parking function, parking utilization rate and user comfort experience, effectively avoiding the limited space for the driver and passengers to get off the vehicle and the risk of collision and scratching of vehicle doors, providing convenience for users.

[0144] In one embodiment of the present invention, determining whether the door of the vehicle can be opened to a door opening threshold based on the parking space information of the vehicle may include: detecting whether there are obstacles around the vehicle based on the parking space information of the vehicle; if there are no obstacles in front, on the left and on the right of the vehicle, determining that the door of the vehicle can be opened to the door opening threshold.

[0145] In an embodiment of the present invention, the automatic parking assistance system can detect whether there are obstacles around the parking space where the vehicle is located. If there are no obstacles in front of, on the left side, and on the right side of the vehicle, it means that the vehicle is in a relatively open position. At this time, it can be determined that the vehicle's door can be opened to the door opening threshold, and the vehicle can be controlled to park directly to the driver's position.

[0146] In one embodiment of the present invention, judging whether the door of the vehicle can be opened to a door opening threshold based on the parking space information of the vehicle may also include: if there is an obstacle directly in front of the vehicle, issuing a prompt message, wherein the prompt message is used to remind the driver that the vehicle cannot be parked.

[0147] In an embodiment of the present invention, if there is an obstacle directly in front of the vehicle, in one example, there is a car parked directly in front of the vehicle, and the vehicle does not meet the parking conditions, the automatic parking assistance system will send an indication signal, and the driver will know that there is an obstacle directly in front of the vehicle after hearing the indication signal.

[0148] In one embodiment of the present invention, the determining whether the door of the vehicle can be opened to the door opening threshold based on the parking space information of the vehicle may also include: if there is no obstacle directly in front of the vehicle and there are obstacles on both the left and right sides, obtaining the lateral distance between the left obstacle and the right obstacle of the vehicle, the lateral distance between the left obstacle and the right obstacle of the vehicle being the sum of the distance from the left obstacle to the left side of the vehicle and the distance from the right obstacle to the right side of the vehicle; if the lateral distance between the left obstacle and the right obstacle of the vehicle is greater than a preset distance, determining that the door of the vehicle can be opened to the door opening threshold.

[0149] In an embodiment of the present invention, if there is no obstacle directly in front of the vehicle, but there are obstacles on the left and right sides, the lateral distance between the left obstacle and the right obstacle of the vehicle can be obtained by using a laser radar. The lateral distance between the left obstacle and the right obstacle of the vehicle is obtained by measuring the distance from the left obstacle to the left side of the vehicle and the distance from the right obstacle to the right side of the vehicle by using a laser radar, and then adding the distance from the left obstacle to the left side of the vehicle and the distance from the right obstacle to the right side of the vehicle to obtain the lateral distance d5 between the left obstacle and the right obstacle of the vehicle.

[0150] The preset distance refers to the distance that can ensure the safe exit of the vehicle from the parking space. It can be set according to user needs. In one example, the preset distance is twice the width of the doors on both sides. The width of a single door is 0.5m, and the preset distance is 1m. At this time, if d5>1, it is determined that the vehicle door can be opened to the door opening threshold.

[0151] In one embodiment of the present invention, if there is no obstacle directly in front of the vehicle, but there are obstacles on the left and right sides, and the vehicle's doors can be opened to a door opening threshold, a perpendicular parking exit trajectory can be generated based on the distances to the left and right obstacles. The vehicle is then controlled to park out according to the perpendicular parking exit trajectory, wherein the final position of the vehicle is perpendicular to the initial parking position of the vehicle.

[0152] In an embodiment of the present invention, determining whether the vehicle door can be opened to the door opening threshold according to the parking space information of the parking space where the vehicle is located may further include: if the lateral distance between the left obstacle and the right obstacle of the vehicle is greater than the minimum safety distance and less than the preset distance, it is determined that the vehicle door cannot be opened to the door opening threshold.

[0153] In an embodiment of the present invention, the minimum safety distance refers to the minimum width that can ensure the vehicle can drive out of the site with obstacles on both sides. In one example, the minimum safety distance is 0.6m. If 0.6 < d5 < 1, it is determined that the vehicle door cannot be opened to the door opening threshold.

[0154] If d5 < 0.6, it means that the width between the obstacles on both sides is too narrow, which will cause the risk of parking collision. At this time, a prompt message can be sent to indicate that the user is prohibited from driving out the vehicle.

[0155] The present invention determines whether the vehicle door can be opened to the door opening threshold after the vehicle is parked in the target parking space through the target parking space information, and then determines whether the user can get off the vehicle comfortably after the vehicle is parked. On this basis, the vehicle is controlled to park in the target parking space in different ways, achieving the goal of comfortable getting on and off the vehicle for the vehicle driver and passengers. At the same time, it also better meets the user's requirements for more anthropomorphic, realizes multiple improvements in parking function humanization, parking utilization rate and user comfort experience, effectively avoids the risk of limited space for getting off the vehicle by the driver and passengers and the risk of collision and rubbing of the vehicle door, and provides convenience for the user.

[0156] It should be noted that for the method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the embodiments of the present invention are not limited by the described action sequence, because according to the embodiments of the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0157] Refer to Figure 9 , which shows a structural block diagram of a parking device provided by an embodiment of the present invention, applied to an automatic parking assistance system. The device may include:

[0158] A first receiving module 401, configured to receive a parking instruction, where the parking instruction includes target parking space information;

[0159] A first judging module 402, configured to judge whether the vehicle door can be opened to the door opening threshold after the vehicle is parked in the target parking space according to the target parking space information;

[0160] A first control module 403 is configured to control the vehicle to park in the target parking space if the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space;

[0161] The determining module 404 is configured to determine a target position if the vehicle door cannot be opened to a door opening threshold after parking in the target parking space, control the vehicle to travel to the target position, pause, and issue a prompt signal to prompt the driver to get out of the vehicle; the target position is a position where the vehicle door can be opened to the door opening threshold;

[0162] The second control module 405 is configured to control the vehicle to park in the target parking space after receiving a parking resumption instruction sent by the driver via the vehicle key.

[0163] In an embodiment of the present invention, the first determining module 402 may include:

[0164] A first detection submodule is configured to detect whether the target parking space has a parking space line according to the target parking space information;

[0165] A first acquisition submodule is configured to acquire, when the target parking space has a parking space line, a single-side width of the parking space line and a vehicle width, wherein the single-side width of the parking space line is the distance from the left parking space line or the right parking space line of the target parking space to the center line of the target parking space;

[0166] a calculation submodule, configured to obtain a door opening threshold value and calculate an average value of the vehicle width and the door opening threshold value;

[0167] The first determining submodule is configured to determine that a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space if the single side width of the parking space line is greater than the average value.

[0168] In an embodiment of the present invention, the first determining module 402 may further include:

[0169] The second determining submodule is configured to determine that a door of the vehicle cannot be opened to a door opening threshold after the vehicle is parked in the target parking space if the single-side width of the parking space line is greater than a single-side width threshold and less than or equal to the average value.

[0170] In an embodiment of the present invention, the first determining module 402 may further include:

[0171] The second detection submodule is configured to detect whether there are obstacles on both sides of the target parking space when the target parking space has no parking space line;

[0172] The second acquisition submodule is configured to acquire the single-side width between the left obstacle and the right obstacle if there are obstacles on both sides of the target parking space; the single-side width between the left obstacle and the right obstacle is the distance from the left obstacle or the right obstacle to the center line of the obstacles on both sides;

[0173] The third determining submodule is configured to determine that the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space if the width of a single side between the left obstacle and the right obstacle is greater than the average value.

[0174] In an embodiment of the present invention, the first determining module 402 may further include:

[0175] The fourth determining submodule is configured to determine whether a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space if there is an obstacle on one side of the target parking space or if there is no obstacle in the target parking space.

[0176] The present invention discloses a parking device, which determines whether the door of a vehicle can be opened to a door opening threshold after the vehicle is parked in the parking space through target parking space information, and further determines whether the user can comfortably get off the vehicle after the vehicle is parked. On this basis, the vehicle is controlled to be parked in the target parking space in different ways, thereby achieving the goal of comfortable getting on and off the vehicle for the driver and passengers. At the same time, it is also more in line with the user's requirements for more humanization, and realizes multiple improvements such as humanization of parking functions, parking utilization rate and user comfort experience, effectively avoiding limited space for getting off the vehicle for the driver and passengers and the risk of collision and scratching of vehicle doors, and providing convenience for users.

[0177] Reference Figure 10 , shows a structural block diagram of a parking device provided by an embodiment of the present invention, which is applied to an automatic parking assistance system. The device may include:

[0178] The second receiving module 501 is configured to receive a parking exit instruction, wherein the parking exit instruction includes parking space information of the vehicle;

[0179] A second judgment module 502 is configured to judge whether the door of the vehicle can be opened to a door opening threshold according to the parking space information of the vehicle;

[0180] A third control module 503 is configured to control the vehicle to park out of the parking space if the door of the vehicle can be opened to a door opening threshold;

[0181] The notification module 504 is used to determine a target position if the vehicle door cannot be opened to the door opening threshold, control the vehicle to go straight to the target position and then pause, and notify the driver to get on the vehicle and take over the vehicle; the target position is the position where the door can be opened to the door opening threshold.

[0182] In an embodiment of the present invention, the second determining module 502 may include:

[0183] A third detection submodule is configured to detect whether there are obstacles around the vehicle based on the parking space information of the vehicle;

[0184] The fifth determining submodule is configured to determine that the vehicle door can be opened to a door opening threshold if no obstacles exist in front of, on the left side of, or on the right side of the vehicle.

[0185] In an embodiment of the present invention, the second determining module 502 may further include:

[0186] The issuing submodule is used to issue a prompt message if there is an obstacle in front of the vehicle, and the prompt message is used to remind the driver that the vehicle cannot be parked.

[0187] In an embodiment of the present invention, the second determining module 502 may further include:

[0188] a third acquisition submodule, configured to, if there is no obstacle directly in front of the vehicle and there are obstacles on both the left and right sides of the vehicle, acquire a lateral distance between the left obstacle and the right obstacle of the vehicle, where the lateral distance between the left obstacle and the right obstacle of the vehicle is the sum of the distance from the left obstacle to the left side of the vehicle and the distance from the right obstacle to the right side of the vehicle;

[0189] The sixth determining submodule is configured to determine that the door of the vehicle can be opened to a door opening threshold if the lateral distance between the left obstacle and the right obstacle of the vehicle is greater than a preset distance.

[0190] In an embodiment of the present invention, the second determining module 502 may further include:

[0191] The seventh determination submodule is configured to determine that the door of the vehicle cannot be opened to a door opening threshold if the lateral distance between the left obstacle and the right obstacle of the vehicle is greater than a minimum safety distance and less than the preset distance.

[0192] The present invention discloses a parking device, which determines whether the door of a vehicle can be opened to a door opening threshold after the vehicle is parked in the parking space through target parking space information, and further determines whether the user can comfortably get off the vehicle after the vehicle is parked. On this basis, the vehicle is controlled to be parked in the target parking space in different ways, thereby achieving the goal of comfortable getting on and off the vehicle for the driver and passengers. At the same time, it is also more in line with the user's requirements for more humanization, and realizes multiple improvements such as humanization of parking functions, parking utilization rate and user comfort experience, effectively avoiding limited space for getting off the vehicle for the driver and passengers and the risk of collision and scratching of vehicle doors, and providing convenience for users.

[0193] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0194] An embodiment of the present invention further provides an electronic device, including:

[0195] The present invention includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, each process of the above-mentioned lane line detection method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0196] An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned lane line detection method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, they will not be described here.

[0197] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0198] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, embodiments of the present invention may take the form of a fully hardware embodiment, a fully software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0199] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the process in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0200] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0201] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0202] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they become aware of the basic creative concepts. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0203] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or terminal device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or terminal device that includes the element.

[0204] The above describes in detail the parking method, apparatus, electronic device, and computer-readable storage medium provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is intended only to facilitate understanding of the method and core concepts of the present invention. Furthermore, those skilled in the art will appreciate that variations in the specific implementation methods and scope of application may occur based on the concepts of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A parking method, characterized in that: Applied to an automatic parking assistance system, the method includes: receiving a parking instruction, wherein the parking instruction includes target parking space information; Based on the target parking space information, it is determined whether the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space; the door opening threshold refers to the width between the door edge and the door frame corresponding to the maximum level of door opening; the door opening refers to different degrees of door opening, and has different levels, with higher levels corresponding to greater door opening; If the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space, controlling the vehicle to park in the target parking space; If the door of the vehicle cannot be opened to the door opening threshold after parking in the target parking space, a target position is determined, the vehicle is controlled to travel to the target position, stops traveling, and issues a prompt signal to prompt the driver to get out of the vehicle; the target position is a position where the door can be opened to the door opening threshold; After receiving a parking resumption instruction sent by the driver via the vehicle key, controlling the vehicle to park in the target parking space; The determining, based on the target parking space information, whether a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space includes: Detecting whether the target parking space has a parking space line according to the target parking space information; When the target parking space has a parking space line, obtain the single-side width of the parking space line and the vehicle width, where the single-side width of the parking space line is the distance from the left parking space line or the right parking space line of the target parking space to the center line of the target parking space; Obtaining a door opening threshold, and calculating an average value of the vehicle width and the door opening threshold; If the single-side width of the parking space line is greater than the average value, it is determined that the door of the vehicle can be opened to the door opening threshold after the vehicle is parked in the target parking space.

2. The method according to claim 1, characterized in that The determining, based on the target parking space information, whether a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space further includes: If the single-side width of the parking space line is greater than the door opening threshold and less than or equal to the average value, it is determined that the door of the vehicle cannot be opened to the door opening threshold after the vehicle is parked in the target parking space.

3. The method according to claim 1, characterized in that The determining, based on the target parking space information, whether a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space further includes: When the target parking space has no parking space line, detecting whether there are obstacles on both sides of the target parking space; If there are obstacles on both sides of the target parking space, obtain the single-side width between the left obstacle and the right obstacle; the single-side width between the left obstacle and the right obstacle is the distance from the left obstacle or the right obstacle to the center line of the obstacles on both sides; If the width of a single side between the left obstacle and the right obstacle is greater than the average value, it is determined that the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space.

4. The method according to claim 3, characterized in that The determining, based on the target parking space information, whether a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space further includes: If there is an obstacle on one side of the target parking space or there is no obstacle in the target parking space, it is determined that the door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space.

5. A parking device, characterized in that: Applied to an automatic parking assistance system, the device comprises: a first receiving module, configured to receive a parking instruction, wherein the parking instruction includes target parking space information; a first determination module for determining, based on the target parking space information, whether a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space; the door opening threshold being the width between the door edge and the door frame corresponding to the maximum door opening level; and the door opening being different degrees of door opening, with a higher level corresponding to a greater door opening. a first control module, configured to control the vehicle to park in the target parking space if a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space; a determination module configured to determine a target position if the door of the vehicle cannot be opened to a door opening threshold after parking in the target parking space, control the vehicle to travel to the target position, pause, and issue a prompt signal for prompting the driver to get out of the vehicle; the target position is a position where the door can be opened to the door opening threshold; a second control module, configured to control the vehicle to park in the target parking space after receiving a resume parking instruction sent by the driver via the vehicle key; The first judgment module includes: A first detection submodule is configured to detect whether the target parking space has a parking space line according to the target parking space information; A first acquisition submodule is configured to acquire, when the target parking space has a parking space line, a single-side width of the parking space line and a vehicle width, wherein the single-side width of the parking space line is the distance from the left parking space line or the right parking space line of the target parking space to the center line of the target parking space; a calculation submodule, configured to obtain a door opening threshold value and calculate an average value of the vehicle width and the door opening threshold value; The first determining submodule is configured to determine that a door of the vehicle can be opened to a door opening threshold after the vehicle is parked in the target parking space if the single side width of the parking space line is greater than the average value.

6. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the parking method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the parking method according to any one of claims 1 to 4.

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