Intelligent parking method and device based on UWB digital key, vehicle and medium

Abstract

The application relates to an intelligent parking method and device based on a UWB digital key, a vehicle and a medium, and belongs to the technical field of intelligent parking. The method comprises the following steps: acquiring the real-time position of the UWB digital key; in response to the real-time position meeting preset position conditions, controlling the vehicle to perform corresponding parking operations; and the preset position conditions are used to limit the corresponding positions that the UWB digital key meets when the vehicle performs parking-in operations and / or parking-out operations. By positioning the real-time position of the UWB digital key carried by the user, when the real-time position of the positioned UWB digital key meets the preset position conditions, the vehicle is automatically controlled to perform corresponding parking-in and / or parking-out operations. In the case of providing high-precision positioning capability by using the UWB digital key, the vehicle automatic parking-in and parking-out functions in parking assistance are realized, the user does not need to perform multi-party interaction, the automatic parking operation of the user is simplified, and the user is provided with a simplified and convenient intelligent parking use experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent parking, in particular to an intelligent parking method based on a UWB digital key, an intelligent parking device based on a UWB digital key, a corresponding vehicle and a corresponding computer readable storage medium. BACKGROUND

[0002] For the iterative automobile product of new energy vehicles, various driving assistance configuration functions have become the implementation approach for vehicle manufacturers and manufacturers to attract consumers and lead the industry trend. The driving assistance configuration functions include, for example, intelligent parking assistance functions, which liberate novice drivers from parking scenarios and realize intelligent parking of vehicles.

[0003] In related technologies for realizing intelligent parking, intelligent parking assistance products are usually realized based on multi-party interaction between drivers and vehicles. However, as users become more familiar with vehicles and driving techniques continue to improve, the human-machine interaction of the scheme for realizing intelligent parking based on multi-party interaction between drivers and vehicles is relatively cumbersome. SUMMARY

[0004] In view of the above problems, the present application provides an intelligent parking method, device, vehicle and medium based on a UWB (Ultra Wide Band) digital key to overcome the above problems or at least partially solve the above problems.

[0005] Specifically, the present application provides an intelligent parking method based on a UWB digital key, relating to a vehicle, the method comprising:

[0006] obtaining a real-time position of the UWB digital key;

[0007] in response to the real-time position satisfying a preset position condition, controlling the vehicle to perform a corresponding parking operation; the preset position condition is used to limit the corresponding position of the UWB digital key when the vehicle performs a parking-in operation and / or a parking-out operation.

[0008] Further, the vehicle is deployed with a plurality of UWB receiving antennas, and the obtaining of the real-time position of the UWB digital key comprises:

[0009] positioning the real-time position of the UWB digital key using the plurality of UWB receiving antennas to obtain the real-time position of the UWB digital key;

[0010] Further comprising:

[0011] generating a positioning signal based on the real-time position of the UWB digital key.

[0012] Further, the response to the real-time position satisfying the preset position condition controls the vehicle to perform a corresponding parking operation, including:

[0013] In response to the real-time position satisfying a preset first position condition, the vehicle is controlled to perform a parking-out operation.

[0014] And / or, in response to the real-time position satisfying a preset second position condition, the vehicle is controlled to perform a parking-in operation.

[0015] Further, the response to the real-time position satisfying the preset first position condition controls the vehicle to perform a parking-out operation, including:

[0016] In response to the real-time position satisfying a preset first position condition, identity verification information of the UWB digital key is obtained.

[0017] When the identity verification information passes, the vehicle is awakened in response to the positioning signal, and an automatic parking system of the vehicle is started.

[0018] The awakened vehicle is controlled by the automatic parking system of the vehicle to perform a parking-out operation.

[0019] Further, the awakened vehicle is controlled by the automatic parking system of the vehicle to perform a parking-out operation, including:

[0020] Obstacle information is detected by the automatic parking system of the vehicle.

[0021] In response to the obstacle information satisfying a preset parking-out environment condition, the awakened vehicle is controlled to perform a parking-out operation; the preset parking-out environment condition is used to limit the environment information suitable for vehicle parking-out.

[0022] Further, the response to the real-time position satisfying the preset second position condition controls the vehicle to perform a parking-in operation, including:

[0023] In response to the real-time position satisfying a preset second position condition and real-time detection of a user door opening signal, a parking-in signal is generated.

[0024] The vehicle is controlled by the automatic parking system of the vehicle to perform a parking-in operation in response to the parking-in signal.

[0025] Further, before the parking-in signal is generated, including:

[0026] In response to user interaction with any available parking space provided by the automatic parking system in the vehicle parking interface, a target parking space is determined, and target parking space trajectory planning information for the target parking space is generated.

[0027] The parking space parking signal includes a target parking space and target parking space trajectory planning information; the automatic parking system of the vehicle responds to the parking space parking signal to control the vehicle to perform a parking operation, including:

[0028] The automatic parking system of the vehicle responds to the parking space parking signal to control the vehicle to automatically park in the target parking space based on the target parking space trajectory planning information.

[0029] The application also provides an intelligent parking device based on a UWB digital key, which includes:

[0030] A real-time position acquisition module is configured to acquire a real-time position of the UWB digital key.

[0031] A parking control module is configured to control the vehicle to perform a corresponding parking operation in response to the real-time position meeting a preset position condition; the preset position condition is used to limit a corresponding position of the UWB digital key when the vehicle performs a parking-in operation and / or a parking-out operation.

[0032] The vehicle is provided with a plurality of UWB receiving antennas, and the real-time position acquisition module 901 can include the following sub-modules:

[0033] A real-time position positioning sub-module is configured to position the real-time position of the UWB digital key by using the plurality of UWB receiving antennas to obtain the real-time position of the UWB digital key.

[0034] Further, the real-time position acquisition module includes:

[0035] A positioning signal generation sub-module is configured to generate a positioning signal based on the real-time position of the UWB digital key.

[0036] Further, the parking control module includes:

[0037] An automatic parking-out sub-module is configured to control the vehicle to perform a parking-out operation in response to the real-time position meeting a preset first position condition.

[0038] An automatic parking-in sub-module is configured to control the vehicle to perform a parking-in operation in response to the real-time position meeting a preset second position condition.

[0039] Further, the automatic parking-out sub-module includes:

[0040] An identity verification information acquisition unit is configured to acquire identity verification information of the UWB digital key in response to the real-time position meeting a preset first position condition.

[0041] A parking system starting unit is configured to wake up the vehicle in response to the positioning signal when the identity verification information is verified, and start an automatic parking system of the vehicle.

[0042] A vehicle parking-out unit is configured to control the vehicle after being woken up to perform a parking-out operation by the automatic parking system of the vehicle.

[0043] Further, the vehicle parking-out unit comprises:

[0044] An obstacle detection sub-unit is configured to detect obstacle information by the automatic parking system of the vehicle.

[0045] A vehicle parking-out sub-unit is configured to control the vehicle after being woken up to perform a parking-out operation in response to the obstacle information meeting a preset parking-out environment condition; the preset parking-out environment condition is configured to limit environment information suitable for vehicle parking-out.

[0046] Further, the automatic parking-in sub-module comprises:

[0047] A parking-in signal generation unit is configured to generate a parking space parking-in signal in response to the real-time position meeting a preset second position condition and detecting a user door opening signal in real time.

[0048] A vehicle parking-in unit is configured to control the vehicle to perform a parking-in operation by the automatic parking system of the vehicle in response to the parking space parking-in signal.

[0049] Further, before the parking space parking-in signal is generated, the automatic parking-in sub-module further comprises:

[0050] A target parking space generation unit is configured to determine a target parking space and generate target parking space trajectory planning information for the target parking space in response to a user interacting with any available parking space provided by the automatic parking system in a vehicle parking interface.

[0051] The parking space parking-in signal comprises the target parking space and the target parking space trajectory planning information; and the vehicle parking-in unit comprises:

[0052] A vehicle parking-in sub-unit is configured to control the vehicle to automatically park in the target parking space based on the target parking space trajectory planning information by the automatic parking system of the vehicle in response to the parking space parking-in signal.

[0053] The application also provides a vehicle comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program is executed by the processor to implement the above-mentioned UWB digital key-based intelligent parking method.

[0054] The application further provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is executed by a processor to implement the UWB digital key-based intelligent parking method.

[0055] Advantages of the application:

[0056] In the embodiment of the application, the vehicle is automatically controlled to perform corresponding parking-in and / or parking-out operations based on the real-time position of the UWB digital key carried by the user being positioned and the real-time position of the positioned UWB digital key satisfying the preset position condition. In the case of providing high-precision positioning capability by using the UWB digital key, the vehicle automatic parking-in and parking-out functions in parking assistance are realized, the user is not required to perform multi-party interaction, the automatic parking operation of the user is simplified, the user is provided with a simplified and convenient intelligent parking use experience, and the parking function achieves the purpose of becoming a long-term and continuous use function of the user in the whole life cycle of the vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0057] Figure 1 FIG. 1 is a step flowchart of a UWB digital key-based intelligent parking method according to an embodiment of the application;

[0058] Figure 2 FIG. 2 is a framework schematic diagram of an intelligent parking system according to an embodiment of the application;

[0059] Figure 3 FIG. 3 is a communication process schematic diagram of an intelligent parking system according to an embodiment of the application;

[0060] Figure 4 FIG. 4 is a step flowchart of another UWB digital key-based intelligent parking method according to an embodiment of the application;

[0061] Figure 5 FIG. 5 is an implementation process diagram of a UWB digital key-based parking-out function according to an embodiment of the application;

[0062] Figure 6 FIG. 6 is a step flowchart of still another UWB digital key-based intelligent parking method according to an embodiment of the application;

[0063] Figure 7 FIG. 7 is an implementation process diagram of a UWB digital key-based parking-in function according to an embodiment of the application;

[0064] Figure 8 FIG. 8 is an application scenario diagram of a UWB digital key-based intelligent parking according to an embodiment of the application;

[0065] Figure 9 FIG. 9 is a structural schematic diagram of a UWB digital key-based intelligent parking device according to an embodiment of the application. DETAILED DESCRIPTION

[0066] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0067] The intelligent parking assistance function is a common driving assistance configuration function for new energy vehicles, which aims to help drivers with parking problems such as difficult parking, lazy parking, and non-standard parking near other vehicles, liberate novice drivers from parking scenarios, and realize intelligent parking of vehicles.

[0068] In the related technology for realizing intelligent parking, the intelligent parking assistance product usually focuses on the multi-party interaction between the driver and the vehicle, such as vehicle machine image prompt, mobile phone information prompt, and other interaction processes. For the use of the aforementioned multi-party interaction intelligent parking product, the user may be skilled at the beginning of use, but as the user becomes familiar with the vehicle and the driving technology improves, the human-machine interaction based on the multi-party interaction between the driver and the vehicle to realize intelligent parking is relatively cumbersome.

[0069] The core idea of the embodiments of the present application is to optimize the intelligent parking function that depends on multi-party interaction, to simplify the process of user and vehicle multiple confirmation interaction in the parking assistance function by automatically starting vehicle parking in or parking out based on UWB technology, to enhance the diversity and adaptability of the parking function, to realize the automatic parking in and parking out function in the parking assistance under the condition of providing high-precision positioning capability by UWB digital key, to simplify the user's automatic parking operation without multi-party interaction, to provide the user with a simplified and convenient intelligent parking use experience, and to make the parking function achieve the purpose of becoming a long-term and continuous use function of the user in the whole life cycle of the vehicle.

[0070] Reference Figure 1 , a step flowchart of an intelligent parking method based on a UWB digital key is shown, which relates to a vehicle and can include the following steps:

[0071] Step 101, acquiring the real-time position of the UWB digital key;

[0072] The UWB digital key refers to a digital key capable of positioning based on a UWB antenna. The digital key is the same as a common digital key. After authentication of a user identity of a vehicle user and a permission of a vehicle corresponding to the user and completion of registration, the digital key can provide the user with a virtual key capable of controlling the vehicle, such as controlling related functions of the vehicle, such as locking, unlocking, and opening a trunk. The virtual key can be implemented via a terminal device or other devices, which is not limited in the embodiments of the present application.

[0073] The UWB digital key is usually carried by a vehicle user. In a normal case, a real-time position of a user positioned can be equivalent to a real-time position of the UWB digital key. Specifically, the vehicle can be deployed with a plurality of UWB receiving antennas. When the real-time position of the UWB digital key is determined, the real-time position of the UWB digital key can be positioned by using the plurality of UWB receiving antennas. The specific positioning method of the UWB antenna can be implemented according to a conventional UWB induction principle, which is not described in detail in the embodiments of the present application.

[0074] In actual application, the UWB receiving antennas can be loaded around the vehicle and in the vehicle. For example, six UWB receiving antennas can be loaded around the vehicle and in the vehicle. The specific number and the specific deployment / loaded position and distribution of the UWB receiving antennas can be determined based on different vehicle models and actual needs, which is not limited in the embodiments of the present application.

[0075] In a preferred embodiment of the present application, the intelligent parking process based on the UWB digital key is mainly implemented based on a communication process. In the process of real-time positioning of the real-time position of the UWB digital key by the UWB receiving antenna, a corresponding positioning signal can be generated in real time based on the real-time determined real-time position of the UWB digital key. The generated positioning signal can be used to inform the vehicle related system of the real-time position of the UWB digital key positioned by the vehicle related system, so that the vehicle related system can determine whether the preset position condition is met based on the real-time generated and transmitted positioning signal, and subsequently perform the related communication process of intelligent parking in real time.

[0076] Step 102, in response to the real-time position meeting the preset position condition, controlling the vehicle to perform corresponding parking operation.

[0077] The vehicle related system can determine whether the preset position condition is met based on the real-time generated and transmitted positioning signal. When it is determined that the real-time position meets the preset position condition, the positioning signal can be fed back to the vehicle related parking system in response to the real-time position meeting the preset position condition, and the vehicle is controlled to perform corresponding parking operation.

[0078] The preset position condition for parking judgment can refer to a parking function requirement, and can involve a vehicle parking-out working condition and a vehicle parking-in working condition. In the vehicle parking-out working condition, the preset position condition can be used to define a corresponding position required to be met by the UWB digital key when the vehicle performs a parking-in operation. In the vehicle parking-in working condition, the preset position condition can be used to define a corresponding position required to be met by the UWB digital key when the vehicle performs a parking-out operation. Specifically, the real-time position of the UWB digital key can be determined based on the generated positioning signal. When the real-time position determined in response to the positioning satisfies a preset first position condition, the preset first position condition can refer to a predetermined position that meets the parking-out function requirement of the vehicle. At this time, the vehicle can be controlled to perform a parking-out operation, and a corresponding parking operation can be completed. When the real-time position determined in response to the positioning satisfies a preset second position condition, the preset second position condition can refer to a predetermined position that meets the parking-in function requirement of the vehicle. At this time, the vehicle can be controlled to perform a parking-in operation, and a corresponding parking operation can be completed.

[0079] In another case, when the real-time position of the UWB digital key does not satisfy the preset position condition in the vehicle parking-out working condition and the vehicle parking-in working condition based on the positioning signal, it is determined that the real-time position of the UWB digital key does not satisfy the parking function requirement, and the vehicle does not perform a parking-related operation.

[0080] It should be noted that the preset first position condition and the preset second position condition required to be met in different working conditions can be determined based on the distance and direction of the UWB digital key relative to the vehicle. The specific preset position condition can also be determined based on different vehicle models or different environmental conditions. The embodiments of the present application do not limit this.

[0081] In the embodiments of the present application, by positioning the real-time position of the UWB digital key carried by the user, when the real-time position of the UWB digital key determined based on the positioning satisfies the preset position condition, the vehicle is automatically controlled to perform a corresponding parking-in and / or parking-out operation. In the case of using the UWB digital key to provide high-precision positioning capability, the vehicle automatic parking-in and parking-out functions in the parking assistance are realized. The user does not need to perform multiple interactions, the automatic parking operation of the user is simplified, the user is provided with a simplified and convenient intelligent parking use experience, and the parking function can become a function that the user uses for a long time in the whole life cycle of the vehicle.

[0082] Referring to Figure 2 , a framework schematic diagram of an intelligent parking system provided by an embodiment of the present application is shown, as Figure 2The intelligent parking system 210 shown may include a UWB antenna positioning module 21, a DCK (Digital Key Control) digital key controller 22, a BCM (Body Control Module) body controller 23, a VCU (Vehicle Control Unit) vehicle controller 24, and an APA (Auto Parking Assist System) automatic parking system 25.

[0083] Among them, the UWB antenna positioning module 21 is mainly used to sense the UWB digital key, that is, to locate the real-time position of the UWB digital key. The UWB digital key can carry identity verification information, timestamp, and location information of the real-time position of the UWB digital key; the DCK digital key controller 22 is mainly used to perform verification and positioning operations on the UWB digital key; the BCM body controller 23 is mainly used to realize most of the functions of the vehicle's electrical system, and in this embodiment of the invention, it can specifically involve the door locking or unlocking function related to parking; the VCU vehicle controller 24 can mainly be represented as the vehicle controller of new energy vehicles, which is the core electronic control unit for realizing vehicle control decisions, and in this embodiment of the invention, it can specifically involve the door locking or unlocking function related to parking; the APA automatic parking system 25 is mainly used to realize automatic parking of the vehicle, including the control of vehicle parking out and parking in.

[0084] Based on such Figure 2 The communication process of the intelligent parking system shown can be specifically described as follows: Figure 3 As shown, after the UWB antenna positioning module 21 locates the real-time position of the UWB digital key, the DCK digital key controller 22 can obtain the identity verification information, timestamp, and positioning information of the real-time position of the UWB digital key carried by the UWB digital key based on its positioning signal. It can then verify and locate the UWB digital key. After completion, it can receive the precise position of the UWB digital key after identity verification and send the real-time position of the BCM digital key, i.e., the positioning information, to the BCM body controller 23 via the LIN line (Local Interconnect Network, a low-cost serial communication network for distributed applications in automotive locations). When the BCM body controller 23 receives the positioning information of the UWB digital key, it can combine the identity verification information to make a conditional judgment, which is to determine whether the real-time position of the UWB digital key meets the preset position conditions.

[0085] In one case, after the vehicle parking-out condition is determined, the BCM body controller 23 can send a signal to the VCU vehicle controller 24 to request it to power on and unlock the vehicle to wake up and start the vehicle, and send the condition determination conclusion, which can be expressed as controlling the vehicle to park out in the vehicle parking-out condition. At this time, the relevant signals for controlling the vehicle to park out can be transmitted to the APA automatic parking system 25, i.e., the parking assistance system, through the CAN line (Controller Area Network, ISO international standardized serial communication protocol), so that the parking assistance system can prompt the user to get in the vehicle and control the vehicle to perform the parking action of parking out when the intelligent parking condition is met. In another case, after the vehicle parking-in condition is determined, the BCM body controller 23 can send the condition determination conclusion to the VCU vehicle controller 24, which can be expressed as controlling the vehicle to park in in the vehicle parking-in condition. At this time, the relevant signals for controlling the vehicle to park in can be transmitted to the APA automatic parking system 25, i.e., the parking assistance system, through the CAN line, so that the parking assistance system can prompt the user to get out of the vehicle and control the vehicle to perform the parking action of parking in. After the vehicle performs the parking action of parking in, the BCM body controller 23 can also send a signal to the VCU vehicle controller 24 to request it to power off and lock the vehicle, and complete the parking-in of the vehicle.

[0086] Specifically, referring to Figure 4 , another step flow chart of the intelligent parking method based on the UWB digital key is shown, which mainly focuses on the automatic parking-out process of the vehicle based on the UWB digital key, and can include the following steps:

[0087] Step 401, the real-time position of the UWB digital key is positioned by using a plurality of UWB receiving antennas to obtain the real-time position of the UWB digital key;

[0088] The UWB digital key is usually carried by the user of the vehicle, and the real-time position of the user determined in the usual case can be equivalent to the real-time position of the UWB digital key. Specifically, the vehicle can be deployed with a plurality of UWB receiving antennas, which can be used to position the real-time position of the UWB digital key when the real-time position of the UWB digital key is determined. The specific positioning method of the UWB antenna can be implemented according to the conventional UWB induction principle, which will not be described herein.

[0089] In actual application, the four sides of the vehicle and the inside of the vehicle can be loaded with UWB receiving antennas. For example, the four sides of the vehicle and the inside of the vehicle can be loaded with 6 UWB receiving antennas. The specific deployment / loading number and the specific deployment / loading position and distribution of the UWB receiving antennas can be determined based on different vehicle models and actual requirements, and the embodiments of the present application are not limited in this regard.

[0090] In a preferred embodiment of the present application, the intelligent parking process based on the UWB digital key is mainly realized based on a communication process. In the process of real-time positioning of the real-time position of the UWB digital key by the UWB receiving antenna, a corresponding positioning signal can also be generated in real time based on the real-time position of the UWB digital key determined in real time. The generated positioning signal can be used to inform the vehicle-related system of the real-time position of the UWB digital key currently positioned by the vehicle-related system, so that the vehicle-related system can determine whether the preset position condition is met based on the positioning signal generated and transmitted in real time, and subsequently perform the related communication process of intelligent parking in real time.

[0091] Step 402, in response to the real-time position meeting the preset first position condition, controlling the vehicle to perform the parking-out operation.

[0092] The vehicle-related system can determine whether the preset position condition is met based on the positioning signal generated and transmitted in real time. When it is determined that the real-time position meets the preset position condition, the positioning signal can be fed back to the vehicle-related parking system in response to the real-time position meeting the preset position condition, and the vehicle can be controlled to perform the corresponding parking operation. The preset position condition for parking determination can refer to the parking function requirement, which can involve the vehicle parking-out working condition and the vehicle parking-in working condition. Specifically, in the vehicle parking-out working condition, it can be used to limit the corresponding position of the UWB digital key required when the vehicle performs the parking-in operation, that is, it can be determined based on the generated positioning signal. When the real-time position positioned meets the preset first position condition, the preset first position condition can refer to the predetermined position meeting the vehicle parking-out function requirement. At this time, the vehicle can be controlled to perform the parking-out operation to complete the corresponding parking operation.

[0093] In the specific implementation process, the identity verification information of the UWB digital key can be obtained, and when the identity verification information is passed, the vehicle power-on unlocking request and the parking system start signal can be generated in response to the positioning signal to wake up the vehicle, and the automatic parking system of the vehicle can be started to control the vehicle after waking up to perform the parking-out operation by the automatic parking system of the vehicle.

[0094] In addition to the above-mentioned functions, the vehicle can also have other functions, such as Figure 2In addition to the architecture deployment of the intelligent parking system shown, it can also be equipped with a surround view panoramic camera, front and rear ultrasonic radar, rear angle radar and other sensing hardware to provide real-time prompts and timely warnings of the state of obstacles around the vehicle to ensure that the vehicle is stopped when necessary to ensure parking safety.

[0095] During the parking-out operation of the awakened vehicle controlled by the automatic parking system, the vehicle can detect obstacle information based on vehicle surround view and ultrasonic sensor sensing through the automatic parking system of the vehicle, and then control the awakened vehicle to perform the parking-out operation based on the obstacle information. Specifically, the awakened vehicle can be controlled to perform the parking-out operation in response to the obstacle information meeting the preset parking-out environmental conditions. The preset parking-out environmental conditions can be used to limit the environmental information suitable for vehicle parking-out, such as the environmental information around the vehicle meeting the straight-ahead driving requirement of the vehicle, the vehicle not encountering obstacles during straight-ahead driving, etc.

[0096] In a preferred embodiment of the present application, after the preset parking-out environmental conditions are met, a voice prompt to start parking can be issued by an external speaker, and after the vehicle is controlled to park out of the current parking space, the parking-out completion can be prompted by the external speaker to inform the main and assistant drivers to easily get in the vehicle.

[0097] In actual application, as shown in Figure 5 When the vehicle user carries the UWB digital key to a predetermined position, it is assumed that the predetermined position meets the preset first position condition, i.e., the predetermined position meets the requirement of the vehicle parking-out function, and the waiting time of the vehicle user at the predetermined position reaches the preset time, e.g., 2 seconds (the preset time can be set by the system or customized by the user), at which time the BCM body controller can sense the real-time position of the UWB digital key and perform key identity verification. Referring to the communication process shown in Figure 3 First, the DCK digital key controller can verify and locate the UWB digital key, and after completion, the real-time position of the UWB digital key can be sent to the BCM body controller as positioning information. During the communication process, the positioning information can be represented as a positioning signal, which can carry not only the real-time position of the UWB digital key, but also the identity verification information, timestamp, etc. of the UWB digital key; then, the BCM body controller can receive the positioning information sent by the DCK digital key controller, at which time the BCM body controller can combine the positioning information of the UWB digital key with the key identity verification information to make a condition judgment, i.e., when the identity verification information is passed, it can be judged whether the positioning signal meets the preset position condition.

[0098] The BCM body controller can respond to the positioning signal to unlock the vehicle and feed back the positioning signal to the APA automatic parking system to control the vehicle to perform the parking-out action in the case that the real-time position of the UWB digital key carried by the positioning signal meets the preset first position condition. Specifically, the BCM body controller can generate a vehicle power-on unlocking request and a parking system start signal, send the related request to the VCU vehicle controller to wake up the vehicle, and send the parking system start signal to the APA automatic parking system to request to start the APA automatic parking system.

[0099] The APA automatic parking system can start the parking function after receiving the parking system start signal. At this time, the system can detect obstacle information according to the vehicle surround view and ultrasonic sensor. The sensed obstacle information can refer to the distance of the vehicle on both sides and other obstacles. When the obstacle information meets the preset parking-out environment condition, for example, meets the requirement of the vehicle straight driving out, the vehicle after waking up can be controlled to perform the parking-out operation. In actual application, the vehicle can be controlled to start parking by the voice prompt of the external loudspeaker. At this time, the parking system can control the vehicle to drive straight for a preset parking-out distance, for example, 3 meters (the preset parking-out distance can be calibrated according to different vehicle models, or determined in the case of calibration in combination with the current environment condition of the vehicle straight driving). The current parking space can be parked out. When the straight driving is completed, the automatic parking system can control the vehicle to stop and prompt the parking-out completion through the external loudspeaker, so that the main and vice drivers can easily get on the vehicle.

[0100] In the embodiment of the present application, the real-time position of the UWB digital key carried by the user is positioned, and the vehicle is automatically controlled to perform the corresponding parking-in and / or parking-out operation when the real-time position of the positioned UWB digital key meets the preset position condition. In the case of using the UWB digital key to provide high-precision positioning capability, the vehicle automatic parking-in and parking-out functions in the parking assistance are realized, the user does not need to perform multi-party interaction, the automatic parking operation of the user is simplified, the user is provided with a simplified and convenient intelligent parking use experience, and the parking function can become a long-term and continuous use function of the user in the whole life cycle of the vehicle.

[0101] Reference Figure 6 , a step flowchart of another kind of intelligent parking method based on the UWB digital key is shown, which mainly focuses on the vehicle automatic parking-in process based on the UWB digital key, and can include the following steps:

[0102] Step 601, the real-time position of the UWB digital key is positioned by using a plurality of UWB receiving antennas to obtain the real-time position of the UWB digital key;

[0103] The UWB digital key is usually carried by the user of the vehicle, and the real-time position of the user located in a normal case can be equivalent to the real-time position of the UWB digital key. Specifically, the vehicle can be deployed with a plurality of UWB receiving antennas, and the real-time position of the UWB digital key can be located by using the plurality of UWB receiving antennas deployed to determine the real-time position of the UWB digital key. The specific positioning method of the UWB antenna can be realized according to the conventional UWB induction principle, and the embodiments of the present application will not be described here.

[0104] In actual application, the UWB receiving antennas can be loaded around the vehicle and in the vehicle. For example, 6 UWB receiving antennas can be loaded around the vehicle and in the vehicle. The specific number and position and distribution of the UWB receiving antennas can be determined based on different vehicle models and actual needs, and the embodiments of the present application are not limited.

[0105] In a preferred embodiment of the present application, the intelligent parking process based on the UWB digital key is mainly realized based on the communication process. In the process of locating the real-time position of the UWB digital key by the UWB receiving antenna, the corresponding positioning signal can also be generated in real time based on the real-time position of the UWB digital key determined in real time. The generated positioning signal can be used to inform the vehicle related system of the real-time position of the UWB digital key located by the vehicle related system, so that the vehicle related system can judge whether the preset position condition is met based on the positioning signal generated and transmitted in real time, and then perform the intelligent parking related communication process in real time.

[0106] Step 602, in response to the real-time position meeting the preset second position condition, controlling the vehicle to perform parking operation.

[0107] The vehicle related system can judge whether the preset position condition is met based on the positioning signal generated and transmitted in real time. When it is determined that the real-time position meets the preset position condition, the positioning signal can be fed back to the vehicle related parking system in response to the real-time position meeting the preset position condition, and the vehicle is controlled to perform corresponding parking operation. The preset position condition for parking judgment can refer to the parking function requirement, which can involve vehicle parking out working condition and vehicle parking in working condition. Specifically, in the vehicle parking in working condition, it can be used to limit the corresponding position of the UWB digital key required when the vehicle performs parking out operation, that is, the generated positioning signal can be used for judgment. When the located real-time position meets the preset second position condition, the preset second position condition can refer to the predetermined position meeting the vehicle parking in function requirement. At this time, the vehicle can be controlled to perform parking in operation to complete the corresponding parking operation.

[0108] In an embodiment of the present application, in order to determine the target parking space for subsequent control of the vehicle to perform the parking-in operation, the target parking space can be determined when the user finds the target parking space using the parking assistance function before the vehicle parking-in signal is generated, which can be generally manifested as entering the intelligent remote parking-in sub-function by selecting and clicking the remote parking button on the vehicle terminal, and responding to the user's interactive operation on any stopable parking space provided by the automatic parking system in the vehicle parking interface, in addition, target parking space trajectory planning information for the target parking space can also be generated.

[0109] In a preferred embodiment of the present application, after entering the intelligent remote parking-in sub-function by selecting and clicking the remote parking button on the vehicle terminal, the automatic parking system can control the vehicle to stop slowly and prompt the user to get off with the key.

[0110] When the real-time position meets the preset second position condition and the user's door opening signal is detected in real time, i.e., the vehicle senses the user's getting-off action, the automatic parking system can control the vehicle to perform the parking-in operation in response to the positioning signal, which can be specifically manifested as generating a parking space parking-in signal and sending a request to the automatic parking control system to request control of the vehicle to perform the parking-in operation in the target parking space, and completing the corresponding parking operation.

[0111] In a specific implementation, the vehicle can be controlled to perform the parking-in operation by the automatic parking system of the vehicle in response to the parking space parking-in signal, i.e., when the parking system receives the request signal, the speaker outside the vehicle issues a voice prompt for parking to start, and the parking system controls the vehicle to start parking-in. The parking space parking-in signal can include the target parking space and target parking space trajectory planning information, and in the process of controlling the vehicle to perform the parking-in operation, the vehicle can be automatically parked in the target parking space by the automatic parking system of the vehicle in response to the parking space parking-in signal based on the target parking space trajectory planning information.

[0112] In actual application, for example, Figure 7As shown, in the case that the user has searched for a target parking space using the parking function and selects remote parking, the BCM body controller can continuously monitor the user door opening and closing signal and the digital key positioning information, which can mainly manifest as the BCM body controller receiving the positioning information sent by the DCK digital key controller, etc. At this time, the BCM body controller can combine the positioning information of the UWB digital key with the key identity verification information to make a conditional judgment, i.e., the positioning signal can be judged whether it meets the preset position condition when the identity verification information passes. When the user reaches the predetermined position, assuming that the predetermined position meets the preset second position condition, i.e., the predetermined position that meets the requirements of the vehicle parking function, the BCM body controller generates a parking signal when it detects the user door opening and closing signal and the real-time position of the positioned UWB digital key meets the predetermined position, e.g., the user is 6 meters away from the vehicle (the distance can be customized according to the vehicle model, user preference, etc.), sends a request parking start signal to the APA automatic parking control system, and the APA parking control system can issue a voice prompt parking start through the external speaker when receiving the request signal. Then the automatic parking system can control the vehicle to start parking. When the vehicle is controlled to automatically park into the target parking space based on the target parking space trajectory planning information, i.e., the parking is completed, the vehicle can be controlled by the VCU vehicle controller to perform closing, window lifting, power-off, etc. At this time, the user can easily leave after the parking function is completed. It should be noted that when the width or length of the target parking space where the user expects to park is narrow (the width of the parking space is judged by the system according to the length and width of the vehicle), the automatic parking system can recommend the user to use the intelligent remote parking sub-function.

[0113] In the embodiments of the present application, by positioning the real-time position of the UWB digital key carried by the user, when the real-time position of the positioned UWB digital key meets the preset position condition, the vehicle is automatically controlled to perform corresponding parking and / or parking-out operation. In the case of using UWB digital key to provide high-precision positioning capability, the vehicle automatic parking-in and parking-out functions in parking assistance are realized, without the need for the user to interact with multiple parties, simplifying the user's automatic parking operation, providing a simple and convenient intelligent parking experience for the user, and making the parking function become a long-term and continuous use function for the user in the whole life cycle of the vehicle.

[0114] Reference Figure 8This illustration shows an application scenario diagram of intelligent parking based on a UWB digital key, provided by an embodiment of the present invention. This application scenario can involve both vehicle parking exit and vehicle parking entry. In this UWB digital key-based intelligent parking application scenario, the vehicle can be equipped with several UWB receiving antennas. Specifically, UWB receiving antennas can be installed around the vehicle and inside the vehicle. For example, six UWB receiving antennas can be installed around the vehicle and inside the vehicle. The specific deployment / installation number, location, and distribution of the UWB receiving antennas can be determined based on different vehicle models and actual needs; therefore, this embodiment of the present invention does not impose any limitations on this.

[0115] like Figure 8 As shown in the diagram on the left, its vehicle parking operation mode can mainly solve the problem of parking vehicles in vertical and angled parking spaces. Specifically, when there are parked vehicles on both sides of the user's vehicle (i.e., the vehicle itself) or obstacles such as obstacle 1 and obstacle 2 make it inconvenient to get into the vehicle, the vehicle user can stand in a predetermined position in front of the vehicle with the UWB digital key. For example, the waiting time of predetermined position 1 and predetermined position 2 reaches a preset time, such as 2 seconds (the preset time can be set by the system or by the user). Predetermined position 1 and predetermined position 2 refer to the positions that meet the preset first position conditions, that is, the predetermined positions that meet the requirements of the vehicle parking function, and predetermined position 1 and predetermined position 2 can be within the UWB sensing circle of the UWB receiving antenna deployed on the vehicle.

[0116] When the vehicle is parked out, the DCK digital key controller can verify and locate the UWB digital key. After completion, it can send the real-time location of the UWB digital key as positioning information to the BCM body controller. During the communication process, the positioning information can be represented as a positioning signal, which can carry not only the real-time location of the UWB digital key, but also the identity verification information of the UWB digital key, timestamp, and other information. Then, the BCM body controller can receive the positioning information sent by the DCK digital key controller. At this time, the BCM body controller can combine the positioning information of the UWB digital key with the key identity verification information to make conditional judgments. That is, when the identity verification information passes, it can determine whether the positioning signal meets the preset position conditions.

[0117] When the BCM (Body Control Controller) determines that the real-time location of the UWB digital key carried by the positioning signal meets a preset first position condition, it can respond to the positioning signal to unlock and wake up the vehicle. Simultaneously, it sends the positioning signal back to the APA (Automatic Parking Assist) system, enabling the APA system to control the vehicle to perform the parking maneuver. Specifically, the BCM generates a vehicle power-on unlock request and a parking system start signal, sends relevant requests to the VCU (Vehicle Control Unit) to wake up the vehicle, and sends a parking system start signal to the APA system to request its activation.

[0118] After receiving a parking system activation signal, the APA (Automatic Parking App) system can activate its parking function. At this time, the system can detect obstacle information based on the vehicle's surround view and ultrasonic sensors. This obstacle information can refer to the distances to vehicles on both sides and other obstacles. When the obstacle information meets the preset parking environment conditions, such as meeting the requirements for the vehicle to drive straight out, the system can control the activated vehicle to perform a parking operation. In practical applications, this can be manifested by an external speaker issuing a voice prompt indicating that parking has begun. The parking system can then control the vehicle to drive straight out of the preset parking distance, such as 3 meters (the preset parking distance can be calibrated according to different vehicle models, or determined based on the current environmental conditions when driving straight out). Once straight-out driving is complete, the automatic parking system can control the vehicle to stop and announce the completion of parking through the external speaker, informing the driver and front passenger that they can easily get into the car.

[0119] like Figure 8 As shown in the diagram on the right, its vehicle parking mode is applicable to a wide range of intelligent parking functions. When a user uses the parking assistance function to find a target parking space, the BCM (Body Control Module) continuously monitors the user's door opening / closing signals and digital key positioning information. This is primarily manifested in the BCM receiving positioning information sent by the DCK (Digital Key Control) controller. At this time, the BCM can combine the positioning information from the UWB digital key with the key identity verification information to make conditional judgments. Specifically, it can determine whether the positioning signal meets preset location conditions when the identity verification information passes. When the BCM detects the user's door opening / closing signal and the user reaches a predetermined position (not shown in the diagram, e.g., the user is 6 meters away from the vehicle), it generates a parking space entry signal and sends a parking start request signal to the APA (Automatic Parking Assist) control system. Upon receiving the request signal, the APA parking control system emits a voice prompt from the external speaker indicating parking has begun, and then the automatic parking system controls the vehicle to begin parking. Once the vehicle is automatically parked into the target parking space based on the target parking space trajectory planning information, i.e., after parking is completed, the VCU vehicle controller can control the vehicle to perform operations such as closing windows, raising windows, and turning off power.

[0120] In a preferred embodiment, in addition to the architecture deployment of the intelligent parking system as shown Figure 2 The vehicle can be equipped with a surround view panoramic camera, front and rear ultrasonic radar, rear angle radar and other sensing hardware for real-time prompting and timely warning of the surrounding obstacle state of the vehicle to ensure that the vehicle stops when necessary to ensure parking safety. In the process of vehicle parking based on target parking space trajectory planning information for the target parking space, the target parking space trajectory planning information can be updated and planned in real time based on the UWB sensing ring to enable the vehicle to complete the parking operation of the vehicle to the target parking space while avoiding collision with the obstacle 1 and the obstacle 2.

[0121] In the embodiment of the present application, the intelligent parking function depending on multi-party interaction is optimized, the process of user and vehicle multiple confirmation interaction in the parking assistance function is simplified by automatically starting the vehicle parking or parking out based on the UWB technology, the diversity and adaptability of the parking function are enhanced, the vehicle automatic parking in and parking out function in the parking assistance is realized under the condition of providing high-precision positioning capability by the UWB digital key, the user does not need to perform multi-party interaction, the automatic parking operation of the user is simplified, the user is provided with a simple and convenient intelligent parking use experience, and the parking function achieves the purpose of becoming a long-term and continuous use function of the user in the whole life cycle of the vehicle.

[0122] It should be noted that for the method embodiment, in order to simply describe, it is expressed as a series of action combinations, but those skilled in the art should know that the embodiment of the present application is not limited by the described action sequence, because according to the embodiment of the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions involved are not necessarily necessary for the embodiment of the present application.

[0123] Referring to Figure 9 , a structure schematic diagram of an intelligent parking device based on a UWB digital key is shown, which can include the following modules:

[0124] The real-time position acquisition module 901 is configured to acquire the real-time position of the UWB digital key.

[0125] The parking control module 902 is configured to control the vehicle to perform a corresponding parking operation in response to the real-time position satisfying a preset position condition. The preset position condition is used to limit the corresponding position of the UWB digital key when the vehicle performs a parking in operation and / or a parking out operation.

[0126] In an embodiment of the present application, the vehicle is deployed with a plurality of UWB receiving antennas, and the real-time position acquisition module 901 can include the following sub-modules:

[0127] a real-time position positioning sub-module, configured to position a real-time position of the UWB digital key by using the plurality of UWB receiving antennas, to obtain the real-time position of the UWB digital key;

[0128] The real-time position obtaining module 901 can further include the following sub-modules:

[0129] a positioning signal generating sub-module, configured to generate a positioning signal based on the real-time position of the UWB digital key.

[0130] In an embodiment of the present application, the parking control module 902 can include the following sub-modules:

[0131] an automatic parking-out sub-module, configured to control the vehicle to perform a parking-out operation in response to the real-time position satisfying a preset first position condition;

[0132] an automatic parking-in sub-module, configured to control the vehicle to perform a parking-in operation in response to the real-time position satisfying a preset second position condition.

[0133] In an embodiment of the present application, the automatic parking-out sub-module can include the following units:

[0134] an identity checking information obtaining unit, configured to obtain identity checking information of the UWB digital key in response to the real-time position satisfying the preset first position condition;

[0135] a parking system starting unit, configured to wake up the vehicle in response to the positioning signal when the identity checking information passes, and start an automatic parking system of the vehicle;

[0136] a vehicle parking-out unit, configured to control the vehicle after being woken up to perform a parking-out operation by the automatic parking system of the vehicle.

[0137] In an embodiment of the present application, the vehicle parking-out unit can include the following sub-units:

[0138] an obstacle detection sub-unit, configured to detect obstacle information by the automatic parking system of the vehicle;

[0139] a vehicle parking-out sub-unit, configured to control the vehicle after being woken up to perform a parking-out operation in response to the obstacle information satisfying a preset parking-out environment condition; the preset parking-out environment condition is used to limit environment information suitable for vehicle parking-out.

[0140] In an embodiment of the present application, the automatic parking-in sub-module can include the following units:

[0141] a parking-in signal generating unit, configured to generate a parking-in signal of a parking space in response to the real-time position satisfying the preset second position condition and real-time detection of a user door opening signal;

[0142] A vehicle parking-in unit is configured to control the vehicle to perform a parking-in operation in response to the parking-in signal by an automatic parking system of the vehicle.

[0143] In an embodiment of the present application, before the parking-in signal is generated, the automatic parking-in sub-module can further include the following unit:

[0144] A target parking space generation unit is configured to determine a target parking space and generate target parking space trajectory planning information for the target parking space in response to a user interaction with any available parking space provided by the automatic parking system in a vehicle parking interface.

[0145] The parking-in signal includes the target parking space and the target parking space trajectory planning information; and the vehicle parking-in unit can include the following sub-unit:

[0146] A vehicle parking-in sub-unit is configured to control the vehicle to automatically park in the target parking space based on the target parking space trajectory planning information in response to the parking-in signal by the automatic parking system of the vehicle.

[0147] In an embodiment of the present application, the UWB digital key-based intelligent parking device provided by the present application automatically controls the vehicle to perform corresponding parking-in and / or parking-out operations when the real-time position of the UWB digital key carried by the user meets the preset position condition based on the positioning of the real-time position of the UWB digital key. In the case of providing high-precision positioning capability by using the UWB digital key, the vehicle automatic parking-in and parking-out functions in parking assistance are realized, the user does not need to perform multiple interactions, the automatic parking operation of the user is simplified, the user is provided with a simplified and convenient intelligent parking use experience, and the parking function achieves the purpose of becoming a long-term and continuous use function of the user in the whole life cycle of the vehicle.

[0148] For the device embodiment, it is basically similar to the method embodiment, so the description is relatively simple, and the related parts are described in the part of the method embodiment.

[0149] The embodiment of the present application further provides a vehicle, which can include a processor, a memory, and a computer program stored on the memory and capable of running on the processor, and the computer program is executed by the processor to implement the UWB digital key-based intelligent parking method as above.

[0150] The embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by the processor to implement the UWB digital key-based intelligent parking method as above.

[0151] The various embodiments described in this specification are intended to be illustrative only. Each embodiment was chosen for illustration only, and not as a limitation of the scope of the disclosure. Numerous alternatives not specifically set forth herein will be apparent in view of the teachings herein.

[0152] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In a software embodiment, various embodiments of the present application can be implemented by computer software programs or

[0153] Embodiments of the present application are described herein with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing device or other programmable data processing terminal devices to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal devices, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the functions specified in the flowchart illustrations and / or block diagrams.

[0154] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing terminal devices to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the functions specified in the flowchart illustrations and / or block diagrams.

[0155] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal devices to cause a series of operational steps to be performed on the computer or other programmable terminal devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal devices provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the functions specified in the flowchart illustrations and / or block diagrams.

[0156] While preferred embodiments of the application have been described, additional variations and modifications of these embodiments can occur to those skilled in the art once advised of the essential inventive concepts. Therefore, the appended claims are intended to encompass within their scope all such variations and modifications as are included within the scope of the application as set forth in the claims.

[0157] Finally, it should be noted that, in the description above, relative terms such as first and second, etc. are used merely to distinguish one entity or action from another, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0158] The above provides a kind of based on UWB digital key intelligent parking method, a kind of based on UWB digital key intelligent parking device, corresponding vehicle and corresponding computer readable storage medium, detailed introduction is carried out, the principle and implementation of the present application are described in this paper with specific examples, the above example is only for helping to understand the method of the present application and its core idea;For those skilled in the art, according to the idea of the present application, there will be changes in specific implementation and application range, as described above, the content of the specification should not be understood as the limitation of the present application.

Claims

1. A smart parking method based on a UWB digital key, characterized in that, The method involves a vehicle equipped with several UWB receiving antennas, and includes: Obtain the real-time location of the UWB digital key; In response to the real-time location meeting preset location conditions, the vehicle is controlled to perform corresponding parking operations; the preset location conditions are used to limit the corresponding positions that the UWB digital key must meet when the vehicle performs parking and / or parking exit operations. The method of responding to the real-time location meeting preset location conditions and controlling the vehicle to perform corresponding parking operations includes: When the real-time location meets a preset first location condition, and the waiting time for the first location condition reaches a preset time, the vehicle is controlled to perform a parking operation. And / or, in response to the real-time position meeting the preset second position condition and the user opening / closing signal being detected in real time, control the vehicle to perform a parking operation; The process of obtaining the real-time location of the UWB digital key includes: The real-time location of the UWB digital key is obtained by using the aforementioned multiple UWB receiving antennas to locate the real-time position of the UWB digital key. A positioning signal is generated based on the real-time location of the UWB digital key.

2. The method according to claim 1, characterized in that, The response that the real-time location meets a preset first location condition, and that when the waiting time for the first location condition reaches a preset duration, controls the vehicle to perform a parking operation, includes: When the real-time location meets the preset first location condition, the identity verification information of the UWB digital key is obtained; When the identity verification information passes, the vehicle is woken up in response to the positioning signal, and the vehicle's automatic parking system is activated; The vehicle's automatic parking system controls the awakened vehicle to perform a parking maneuver.

3. The method according to claim 2, characterized in that, The step of controlling the vehicle to exit its parking position after being woken up by the vehicle's automatic parking system includes: Obstacle information is detected by the vehicle's automatic parking system; In response to the obstacle information meeting the preset parking environment conditions, the system controls the awakened vehicle to perform a parking operation; the preset parking environment conditions are used to define environmental information suitable for vehicle parking.

4. The method according to claim 1, characterized in that, The response that the real-time position meets a preset second position condition and that a user door opening / closing signal is detected in real time, controlling the vehicle to perform a parking operation, includes: When the real-time position meets the preset second position condition and the user door opening / closing signal is detected in real time, a parking space entry signal is generated. The vehicle's automatic parking system responds to the parking space entry signal and controls the vehicle to perform a parking operation.

5. The method according to claim 4, characterized in that, Before generating the parking space entry signal, the process includes: In response to the user's interactive operation on any available parking space provided by the automatic parking system in the vehicle parking interface, the system determines the target parking space and generates target parking space trajectory planning information for the target parking space. The parking space entry signal includes the target parking space and target parking space trajectory planning information; the step of controlling the vehicle to perform a parking operation in response to the parking space entry signal by the vehicle's automatic parking system includes: The vehicle's automatic parking system responds to the parking space entry signal and controls the vehicle to automatically park in the target parking space based on the target parking space trajectory planning information.

6. A smart parking device based on a UWB digital key, characterized in that, The device relates to a vehicle equipped with several UWB receiving antennas, and the vehicle includes: A real-time location acquisition module is used to acquire the real-time location of the UWB digital key; The parking control module is used to control the vehicle to perform corresponding parking operations in response to the real-time location meeting preset position conditions; the preset position conditions are used to limit the corresponding positions that the UWB digital key must meet when the vehicle performs parking and / or parking exit operations. The parking control module includes the following sub-modules: The automatic parking submodule is used to respond to the real-time position meeting a preset first position condition, and to control the vehicle to perform a parking operation when the waiting time for the first position condition reaches a preset time. The automatic parking submodule is used to control the vehicle to perform a parking operation in response to the real-time position meeting the preset second position condition and the real-time detection of the user's door opening and closing signal. The real-time location acquisition module includes the following sub-modules: The real-time location positioning submodule is used to locate the real-time position of the UWB digital key using the plurality of UWB receiving antennas, thereby obtaining the real-time position of the UWB digital key. The positioning signal generation submodule is used to generate a positioning signal based on the real-time location of the UWB digital key.

7. A vehicle, characterized in that, It includes 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 smart parking method based on a UWB digital key as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the intelligent parking method based on a UWB digital key as described in any one of claims 1 to 5.

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