Memory parking method, device, vehicle and storage medium

Abstract

The present invention relates to a memory parking method, device, vehicle, and storage medium. The memory parking method includes: recording a parking action area and a parking identification area of ​​a first parking space; when a user controls a vehicle to travel from the parking identification area of ​​the first parking space to a target location, memorizing first path information of the vehicle traveling from the parking identification area of ​​the first parking space to the target location; controlling the vehicle to automatically drive from the target location to the parking identification area of ​​the first parking space based on the first path information; identifying the parking action area of ​​the first parking space and controlling the vehicle to park in the first parking space. Since the memory parking method can control the vehicle to return to the parking identification area of ​​the first parking space, after returning, the vehicle recognizes the pre-stored parking area information of the first parking space and controls the vehicle to park in the first parking space, this avoids the problem in existing methods where the memory parking system cannot recognize the unfamiliar area when the user travels to the unfamiliar area, thereby failing to perform the memory parking function.

Description

Technical Field

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

[0002] With the development of society and the continuous improvement of living standards, the number of private cars has been rising year by year. To facilitate user experience, mass-produced vehicles now offer automatic parking functions. However, existing automatic parking systems require a vehicle to slowly drive alongside the vehicle to identify a parking space and then slowly reverse the vehicle into the parking space. This method has a complex parking space identification process, low accuracy, slow speed, and limited practicality.

[0003] To address the above issues, existing technologies also provide a memory parking method. This system uses an onboard processor to autonomously learn the driver's designated parking route. When the vehicle re-enters the parking lot, the system recognizes the surrounding environment and controls the vehicle to follow the stored parking route and ultimately park in the parking space. However, current memory parking methods follow a pre-stored route and control the vehicle to a predetermined location. If the user drives the vehicle to another location, the existing memory parking system cannot control the vehicle to follow the stored route, and therefore the memory parking function cannot be activated, affecting the user experience. Summary of the Invention

[0004] One of the objectives of the present invention is to provide a memory parking method to solve the problem in the prior art that upon arriving at a new parking lot, the parking route must be memorized again before memory parking can be performed, which is cumbersome and time-consuming. A second objective is to provide a memory parking device. A third objective is to provide a vehicle capable of implementing the memory parking method provided by the present application. A fourth objective is to provide a storage medium capable of implementing the memory parking method provided by the present application.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] The present invention provides a memory parking method, comprising:

[0007] Recording the parking action area of ​​the first parking space and the parking recognition area of ​​the first parking space;

[0008] When the user controls the vehicle to travel from the parking recognition area of ​​the first parking space to the target location, first path information of traveling from the parking recognition area of ​​the first parking space to the target location is memorized;

[0009] Controlling the vehicle to automatically drive from the target location to the parking recognition area of ​​the first parking space according to the first path information;

[0010] A parking action area of ​​a first parking space is identified and the vehicle is controlled to park in the first parking space.

[0011] According to the above technical means, the technical solution provided by the present invention memorizes the first path information of the vehicle controlled by the user to travel from the parking identification area of ​​the first parking space to the target location, and controls the vehicle to return from the target location to the parking identification area of ​​the first parking space based on the first path information. Because the memory parking method provided by the present invention can control the vehicle to return to the parking identification area of ​​the first parking space, the parking identification area where the vehicle is located after returning can normally activate the memory parking function, thereby recognizing the pre-stored parking area information of the first parking space and controlling the vehicle to park in the first parking space. This avoids the problem in existing memory parking methods where, when the user drives into an unfamiliar area outside the pre-stored route, the memory parking system cannot recognize the unfamiliar area and thus cannot activate the memory parking function.

[0012] Furthermore, the memory parking method provided by this application also includes:

[0013] Obtaining parking action areas of multiple candidate parking spaces and multiple corresponding parking recognition areas;

[0014] User demand information is obtained, and a parking action area of ​​a first parking space and a parking recognition area of ​​the first parking space are obtained according to the parking action areas of the plurality of candidate parking spaces and the user demand information.

[0015] According to the above technical means, in the memory parking method provided by the present invention, the parking action area and the parking recognition area of ​​the first parking space are selected from multiple candidate parking spaces according to user needs. On the basis of meeting the vehicle parking conditions, the user's personal preferences and habits are respected, thereby meeting the user's personalized needs.

[0016] Furthermore, the memory parking method provided by this application also includes:

[0017] Whether the first parking space can be parked is determined based on the preset judgment conditions.

[0018] According to the above technical means, the memory parking method provided by the present invention can make a judgment before controlling the vehicle to park in the first parking space, thereby avoiding property losses caused by controlling the vehicle to park when the first parking space is temporarily unavailable.

[0019] Furthermore, the memory parking method provided by this application also includes:

[0020] When it is determined that the first parking space cannot be parked in, obtaining a parking action area and a parking identification area of ​​the second parking space from the parking action area of ​​the candidate parking space and the parking identification area of ​​the candidate parking space based on the first path information, wherein the parking action area of ​​the second parking space is different from the parking action area of ​​the first parking space;

[0021] generating second path information based on the first path information according to the parking recognition area of ​​the second parking space and the parking recognition area of ​​the first parking space;

[0022] controlling the vehicle to automatically drive from the parking recognition area of ​​the first parking space to the parking recognition area of ​​the second parking space based on the second path information;

[0023] A parking action area of ​​a second parking space is identified and the vehicle is controlled to park in the second parking space.

[0024] According to the above technical means, the memory parking method provided by the present invention can provide a parking recognition area and a parking action area for a second parking space selected from candidate parking spaces when the first parking space cannot be parked. The second path information is generated based on the parking recognition area of ​​the first parking space and the parking recognition area of ​​the second parking space, and the vehicle is controlled to automatically drive from the first parking space to the second parking space, thereby avoiding the problem of the vehicle being unable to park normally when the first parking space is unavailable.

[0025] Furthermore, the memory parking method provided by this application also includes:

[0026] When the parking action area and the parking recognition area of ​​the second parking space cannot be obtained, the vehicle is controlled to park on the side of the road and the parking result is output.

[0027] According to the above technical means, the memory parking method provided by the present invention can control the vehicle to automatically drive to the roadside and park when all candidate parking spaces located on the first path information are unable to be parked. This avoids the problem of the vehicle occupying the road when there is nowhere to park, causing other vehicles to be unable to pass normally. Since the memory parking method provided by the present invention can also output and display the results of memory parking failures, the user can return to the parking lot and park the vehicle in a timely manner based on this information, avoiding property losses such as illegal parking fines and vehicle damage caused by vehicle parking failures.

[0028] Furthermore, the memory parking method provided by this application also includes:

[0029] Determine whether the car key is removed based on pre-set key judgment conditions;

[0030] The vehicle output display is controlled according to the judgment result of whether the vehicle key is removed.

[0031] According to the above technical means, since the memory parking method provided by the present invention can determine whether the car key is left in the car before automatic driving, and output the result for the user to view, it avoids the problem that the user forgets the car key in the car and cannot find it in time, affecting the subsequent memory parking action.

[0032] Furthermore, the memory parking method provided by this application also includes:

[0033] Real-time judgment of surrounding obstacles of the vehicle based on pre-set obstacle judgment conditions;

[0034] When it is determined that there are surrounding obstacles, the vehicle is controlled to stop.

[0035] According to the above-mentioned technical means, since the memory parking method provided by the present invention can perform real-time judgment of surrounding obstacles when automatically driving a vehicle and completing memory parking, and promptly control the vehicle to stop after detecting the presence of an obstacle on the route, personal injury and property loss to others when controlling the vehicle for memory parking is avoided, and the safety and reliability of the memory parking method are improved.

[0036] The present invention also provides a memory parking device, comprising:

[0037] a recording module, configured to record a parking action area of ​​the first parking space and a parking identification area of ​​the first parking space;

[0038] a first path acquisition module, configured to memorize first path information from the parking recognition area of ​​the first parking space to the target location when the user controls the vehicle to travel from the parking recognition area of ​​the first parking space to the target location;

[0039] a first driving module, configured to control the vehicle to automatically drive from a target position to a parking recognition area of ​​a first parking space according to the first path information;

[0040] The first parking module is configured to identify a parking action area of ​​a first parking space and control the vehicle to park in the first parking space.

[0041] The present invention also provides a vehicle, comprising:

[0042] at least one processor; and,

[0043] a memory communicatively connected to at least one processor; wherein,

[0044] The memory stores instructions that can be executed by at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to implement the above-mentioned memory parking method.

[0045] The present invention also provides a computer-readable storage medium storing a computer program, which can implement the above-mentioned memory parking method when executed by a processor.

[0046] Beneficial effects of the present invention:

[0047] The technical solution provided by the present invention memorizes first path information of a vehicle controlled by a user to travel from a parking recognition area of ​​a first parking space to a target location, and controls the vehicle to return from the target location to the parking recognition area of ​​the first parking space based on the first path information. Since the memory parking method provided by the present invention can control the vehicle to return to the parking recognition area of ​​the first parking space, the parking recognition area where the vehicle is located after returning can normally activate the memory parking function, thereby recognizing the pre-stored parking area information of the first parking space and controlling the vehicle to park in the first parking space. This avoids the problem in existing memory parking methods where, when the user drives into an unfamiliar area outside the pre-stored route, the memory parking system cannot recognize the unfamiliar area and, therefore, cannot activate the memory parking function. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0049] Figure 1 This is one of the schematic diagrams of the memory parking method provided in the embodiment of the present application;

[0050] Figure 2 This is one of the memory parking action diagrams provided in the embodiment of the present application;

[0051] Figure 3 This is a second example of a memory parking action provided by an embodiment of the present application;

[0052] Figure 4 This is the second schematic diagram of the memory parking method provided in the embodiment of the present application;

[0053] Figure 5 This is a schematic diagram of the display of memory parking vehicle information provided by an embodiment of the present application;

[0054] Figure 6 This is the third schematic diagram of the memory parking method provided in the embodiment of the present application;

[0055] Figure 7 This is the fourth schematic diagram of the memory parking method provided in an embodiment of the present application;

[0056] Figure 8 This is the fifth schematic diagram of the memory parking method provided in the embodiment of the present application;

[0057] Figure 9 This is the sixth schematic diagram of the memory parking method provided in the embodiment of the present application;

[0058] Figure 10 This is the seventh schematic diagram of the memory parking method provided in the embodiment of the present application;

[0059] Figure 11 This is a schematic diagram of the memory parking process provided by an embodiment of the present application;

[0060] Figure 12 This is one of the schematic diagrams of the memory parking device provided in the embodiment of the present application;

[0061] Figure 13 This is the second schematic diagram of the memory parking device provided in an embodiment of the present application;

[0062] Figure 14 This is the third schematic diagram of the memory parking device provided in the embodiment of the present application;

[0063] Figure 15 This is the fourth schematic diagram of the memory parking device provided in an embodiment of the present application;

[0064] Figure 16 This is the fifth schematic diagram of the memory parking device provided in the embodiment of the present application;

[0065] Figure 17 This is the sixth schematic diagram of the memory parking device provided in the embodiment of the present application;

[0066] Figure 18 This is the seventh schematic diagram of the memory parking device provided in the embodiment of the present application;

[0067] Figure 19 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0068] 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.

[0069] 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.

[0070] The first embodiment of the present application relates to a memory parking method, such as Figure 1 As shown, including:

[0071] Step 101: Recording a parking action area and a parking recognition area of ​​a first parking space;

[0072] Step 102: When the user controls the vehicle to travel from the parking recognition area of ​​the first parking space to the target location, first path information from the parking recognition area of ​​the first parking space to the target location is memorized;

[0073] Step 103: Control the vehicle to automatically drive from the target location to the parking recognition area of ​​the first parking space according to the first path information;

[0074] Step 104 : Identify the parking action area of ​​the first parking space and control the vehicle to park in the first parking space.

[0075] Specifically, the memory parking method provided by the present application is that when the user drives the vehicle in the parking lot and finds the first parking space, the parking recognition area for identifying the first parking space according to the surrounding environment and the parking action area for limiting the parking range of the vehicle are recorded. For example, the image and environmental data can be generated by sensors, cameras and other equipment installed on the vehicle; then when the user drives the vehicle to the target location such as the elevator entrance or the stairwell, the path trajectory starting from the selected first parking space is recorded; then the vehicle is controlled to reverse according to the previously recorded first path information to the parking recognition area corresponding to the first parking space selected by the user; finally, the vehicle is controlled to identify the parking action area where the first parking space can be parked, the vehicle is controlled to park in the first parking space, the vehicle is controlled to shut down and the overall process of memory parking is completed. For example, if Figure 2 As shown in FIG, when the user controls the vehicle to drive from the parking recognition area of ​​the first parking space to the elevator entrance, the distance the user drives the vehicle straight forward from the parking recognition area of ​​the selected first parking space as the starting point, the right turn action, and the distance straight after the right turn are recorded as the first path information. Figure 3 As shown, after the user exits the vehicle and activates the vehicle's memory parking function, the vehicle is controlled to lock and raise the windows. Based on the first path information, the vehicle is controlled to automatically reverse from the elevator entrance, turn right, and then drive straight ahead. The vehicle is controlled to turn left and continue reversing back to the parking recognition area of ​​the first parking space, and then the vehicle is controlled to park in the first parking space. To ensure the accuracy of the reverse action based on the first path information, the distance from the first parking space to the target location can be limited. For example, if the first path information recorded when the user drives the vehicle from the first parking space to the target location exceeds 50 meters, the user will be reminded through methods such as screen display and voice playback to avoid the problem that if the first path information is too long, the vehicle will be controlled to automatically reverse from the target location and cannot return to the parking recognition area of ​​the first parking space, unable to recognize the first parking space, and thus unable to continue the memory parking action.

[0076] It should be emphasized that the target locations in the memory parking method provided in this application can be one or more. When a user needs to travel to multiple target locations, they manually control the vehicle from the parking recognition area of ​​a first parking space to the first target location. The memory parking system records this path information. Subsequently, when the user manually controls the vehicle from the first target location to a second target location, the memory parking system records another path information. The memory parking system then combines these two path information to generate the first path information. After the user gets off at the second target location, the memory parking system controls the vehicle to automatically drive from the second target location to the first target location, and then from the first target location to the parking recognition area of ​​the first parking space. The system then identifies the parking action area of ​​the first parking space and controls the vehicle to park in the first parking space. To ensure the accuracy of the first path information, the total distance from the first parking space to the first target and then to the second target must be controlled within 50 meters. If the total path information recorded by the user exceeds 50 meters, the user will be notified through methods such as screen display and voice playback.

[0077] The technical solution provided in the present application memorizes first path information of a vehicle controlled by a user to travel from a parking recognition area of ​​a first parking space to a target location, and controls the vehicle to return from the target location to the parking recognition area of ​​the first parking space based on the first path information. Since the memory parking method provided by the present invention can control the vehicle to return to the parking recognition area of ​​the first parking space, the parking recognition area where the vehicle is located after returning can normally activate the memory parking function, thereby recognizing the pre-stored parking area information of the first parking space and controlling the vehicle to park in the first parking space. This avoids the problem in existing memory parking methods where, when the user drives to an unfamiliar area outside the pre-stored route, the memory parking system cannot recognize the unfamiliar area and thus cannot activate the memory parking function.

[0078] In addition, according to the existing memory parking method, when arriving at an unfamiliar parking lot, there is no pre-stored memory map. The user needs to control the vehicle to manually drive to the target location such as the elevator entrance, activate the memory parking function and manually drive to the desired first parking space, complete the mapping of the memory parking action, and then manually drive the vehicle to the elevator entrance. Only then can the user get off the vehicle and let the system control the vehicle to automatically return to the first parking space. The memory parking method provided by the present application, when facing this scenario, only requires the user to control the vehicle to manually drive from the first parking space to the target location, memorize this path information, and the system controls the vehicle to automatically return from the target location to the first parking space, shortening the action process of memory parking in an unfamiliar parking lot and saving user time.

[0079] Based on the above implementation, Figure 4 As shown, the memory parking method further includes:

[0080] Step 105: Obtain parking action areas of multiple candidate parking spaces and multiple corresponding parking recognition areas;

[0081] Step 106 : Obtain user demand information, and obtain a parking action area and a parking identification area of ​​the first parking space based on the parking action areas of the plurality of candidate parking spaces and the user demand information.

[0082] Specifically, when a user drives a vehicle close to a parking space in a parking lot, the sensors, cameras and other equipment on the vehicle are controlled to collect images and environmental data around the parking lot in real time, and record all empty parking spaces on the driving path that meet the parking conditions as candidate parking spaces. Figure 5 As shown, after recording this information, the parking space and environment are reconstructed on the car screen, showing in real time whether there are obstacles around the vehicle, and images of the surrounding environment when the vehicle is driving in the parking lot. Subsequently, the user can select the parking space they want to park in the car scene reconstruction area on the car screen. When the user finds the parking space they like, user demand information is generated. For example, when the user clicks on the desired parking space on the screen, the car screen receives the touch information and generates the corresponding user demand information, and uses the corresponding parking space as the first parking space. To facilitate the user experience, when the user touches the car screen, the parking space is highlighted to remind the user that the first parking space has been selected, and the user is reminded to go to the target location. The vehicle will automatically enhance the human-computer interaction effect after the user gets off the car.

[0083] Based on the above-mentioned implementation manner, since the parking action area and parking recognition area of ​​the first parking space in the memory parking method provided in this application are selected from multiple candidate parking spaces according to user needs, the user's personal preferences and habits are respected on the basis of meeting the vehicle parking conditions, thereby meeting the user's personalized needs.

[0084] On the basis of the above implementation mode, Figure 6 As shown, the memory parking method further includes:

[0085] Step 107: Determine whether the first parking space is available based on preset judgment conditions.

[0086] Specifically, before controlling the vehicle to park in the first parking space, ultrasonic sensors, high-definition cameras and other equipment are used to determine whether there are any obstacles in the parking action area of ​​the first parking space, such as other vehicles already parked in the first parking space. The vehicle is controlled to park in the first parking space only after it is determined that there are no obstacles in the parking action area of ​​the first parking space and that controlling the vehicle to park in the first parking space will not cause a collision or other accidents.

[0087] Based on the above embodiment, by making a judgment before controlling the vehicle to park in the first parking space, property losses caused by the memory parking system controlling the vehicle to forcibly park in the first parking space when the first parking space is temporarily unavailable are avoided.

[0088] Based on the above implementation, Figure 7 As shown, the memory parking method further includes:

[0089] Step 108: When it is determined that the first parking space cannot be parked in, obtaining a parking action area and a parking identification area of ​​the second parking space from the parking action area and the parking identification area of ​​the candidate parking space based on the first path information, wherein the parking action area of ​​the second parking space is different from the parking action area of ​​the first parking space;

[0090] Step 109: Generate second path information based on the first path information according to the parking recognition area of ​​the second parking space and the parking recognition area of ​​the first parking space;

[0091] Step 110: Control the vehicle to automatically drive from the parking recognition area of ​​the first parking space to the parking recognition area of ​​the second parking space based on the second path information;

[0092] Step 111: Identify the parking action area of ​​the second parking space and control the vehicle to park in the second parking space.

[0093] Specifically, when the memory parking system corresponding to the memory parking method provided in the present application controls the vehicle to automatically return to the first parking space selected by the user, it is found that other vehicles have been parked in the first parking space. A second available parking space is selected from the candidate parking spaces located on the first path information, and the parking action area and parking recognition area of ​​the second parking space are obtained. The vehicle is controlled to automatically drive from the parking recognition area of ​​the first parking space to the parking recognition area of ​​the first parking space, and then the vehicle is controlled to park in the vacant second parking space, completing the parking action and controlling the vehicle to shut down.

[0094] Based on the above-mentioned embodiments, the memory parking method provided in the present application can provide a parking recognition area and a parking action area for a second parking space selected from candidate parking spaces when the first parking space cannot be parked, and generate second path information based on the parking recognition area of ​​the first parking space and the parking recognition area of ​​the second parking space, thereby controlling the vehicle to automatically drive from the first parking space to the second parking space, thereby avoiding the problem of the vehicle being unable to park normally when the first parking space is unavailable.

[0095] Based on the above implementation, Figure 8 The memory parking method also includes:

[0096] Step 112: When the parking action area and the parking recognition area of ​​the second parking space cannot be obtained, the vehicle is controlled to park sideways and the parking result is output.

[0097] Specifically, if the first parking space is already occupied and cannot be used, and no available second space can be found on the first path, the vehicle will be automatically controlled to swerve to the side of the road and park temporarily. The parking result will be displayed to the user, for example, by sending a signal such as "Memory parking failed, please go and take over as soon as possible" to the app installed on the user's phone, prompting the user to return to the parking lot and park again. To ensure vehicle safety, when the memory parking process ends, the vehicle will also be controlled to enter sentry mode, monitoring its own condition and surrounding environment in real time. If any abnormality is detected, an alert will be sent to the app installed on the user's phone.

[0098] Based on the above embodiment, by controlling the vehicle to automatically park at the roadside when all candidate parking spaces on the first path information are unavailable, the problem of the vehicle occupying the road and preventing other vehicles from passing normally when there is nowhere to park is avoided. Since the present invention provides a memory parking method that can also output and display the results of memory parking failures, users can return to the parking lot and park the vehicle in a timely manner based on this information, avoiding property losses such as illegal parking fines and vehicle damage caused by parking failures.

[0099] On the basis of the above implementation mode, Figure 9 As shown, the memory parking method further includes:

[0100] Step 113: Determine whether the vehicle key has been removed based on a preset key determination condition.

[0101] Step 114: Control the vehicle output display according to the result of the key removal judgment.

[0102] Specifically, when the user drives the vehicle to the target location, he can get off the vehicle with the key and send a signal to the memory parking system in the vehicle by long pressing the automatic parking button on the car key. After receiving the signal, the memory parking system controls the vehicle to reverse according to the previously remembered first path information. At the same time, the memory parking method provided in this application will also output the result. For example, when the user gets off the vehicle with the car key and long presses the automatic parking button, the headlights of the controlled vehicle flash twice to indicate that the signal has been received and the automatic driving function is turned on. For example, when the user forgets to bring the car key when getting off the vehicle, the horn of the controlled vehicle sounds twice to remind the user that the car key was not taken with him when getting off the vehicle and is still left in the vehicle.

[0103] Based on the above implementation, by determining whether the car key is left in the car before automatic driving and outputting the result for the user to view, the problem of the user forgetting the car key in the car and failing to find it in time, which affects the subsequent memory of the parking action, is avoided.

[0104] On the basis of the above implementation mode, Figure 10As shown, the memory parking method further includes:

[0105] Step 115: Determine the surrounding obstacles of the vehicle in real time according to the preset obstacle determination conditions;

[0106] Step 116: When it is determined that there are surrounding obstacles, the vehicle is controlled to stop.

[0107] Specifically, when the memory parking system corresponding to the memory parking method provided in the present application controls the vehicle to automatically return to the parking recognition area of ​​the first parking space according to the first path information, it controls the ultrasonic sensor, high-definition camera and other acquisition equipment to collect the vehicle's surrounding environment information in real time. When a dynamic or static obstacle is found around the vehicle, the vehicle is controlled to stop moving, and the vehicle is controlled to automatically return to the parking recognition area of ​​the first parking space after the obstacle is removed.

[0108] Based on the above implementation, by performing real-time judgment of surrounding obstacles when the automatic driving vehicle completes memory parking, and promptly controlling the vehicle to stop after detecting an obstacle on the route, personal injury and property loss to others when controlling the vehicle for memory parking is avoided, and the safety and reliability of the memory parking method are improved.

[0109] Based on the above implementation, this application also provides a memory parking process diagram, such as Figure 11 As shown, when a user drives a vehicle near a parking space in a parking lot, the vehicle's high-definition cameras, ultrasonic sensors, and other devices collect image information and environmental data within the parking lot. Empty parking spaces that meet the vehicle's parking requirements are recorded and displayed on the vehicle's screen. The user then activates the memory parking function corresponding to the memory parking method provided herein, selects the desired parking space on the vehicle's screen, manually drives the vehicle to the destination, and exits the vehicle with the key. The user presses and holds the memory parking button on the key to activate memory parking. The memory parking system, using the memory parking method provided herein, automatically controls the vehicle to return to the first parking space. The system then determines whether the first parking space is occupied. If the first space is unoccupied, the vehicle is directed to park in the first space and shut down. If the first space is occupied, the vehicle searches for a second available space along the first path, parks in the second space, and shuts down. If there are no available spaces along the first path, the parking attempt fails, and the vehicle is pulled over, engaging sentry mode. A notification of parking failure is pushed to the user.

[0110] The second embodiment of the present application relates to a memory parking device, such as Figure 12 As shown, including:

[0111] a recording module 117 for recording a parking action area of ​​the first parking space and a parking identification area of ​​the first parking space;

[0112] A first path acquisition module 118 is configured to memorize first path information from the parking recognition area of ​​the first parking space to the target location when the user controls the vehicle to travel from the parking recognition area of ​​the first parking space to the target location;

[0113] a first driving module 119 for controlling the vehicle to automatically drive from the target position to the parking recognition area of ​​the first parking space according to the first path information;

[0114] The first parking module 120 is configured to identify a parking action area of ​​a first parking space and control the vehicle to park in the first parking space.

[0115] Based on the above implementation, Figure 13 As shown, the memory parking device also includes:

[0116] The candidate parking space acquisition module 121 is used to acquire parking action areas of multiple candidate parking spaces and multiple corresponding parking recognition areas;

[0117] The first parking space acquisition module 122 is configured to acquire user demand information and acquire a parking action area and a parking recognition area of ​​the first parking space according to the parking action areas of the plurality of candidate parking spaces and the user demand information.

[0118] Based on the above implementation, Figure 14 As shown, the memory parking device also includes:

[0119] The first parking determination module 123 is configured to determine whether the first parking space can be parked in according to a preset determination condition.

[0120] Based on the above implementation, Figure 15 As shown, the memory parking device also includes:

[0121] a second parking space acquisition module 124 configured to, when determining that the first parking space cannot be parked in, acquire, based on the first path information, a parking action area and a parking identification area of ​​the second parking space from the parking action area of ​​the candidate parking space and the parking identification area of ​​the candidate parking space, wherein the parking action area of ​​the second parking space is different from the parking action area of ​​the first parking space;

[0122] A second path acquisition module 125 is configured to generate second path information based on the first path information according to the parking recognition area of ​​the second parking space and the parking recognition area of ​​the first parking space;

[0123] a second driving module 126 for controlling the vehicle to automatically drive from the parking recognition area of ​​the first parking space to the parking recognition area of ​​the second parking space according to the second path information;

[0124] The second parking module 127 is configured to identify a parking action area of ​​a second parking space and control the vehicle to park in the second parking space.

[0125] Based on the above implementation, Figure 16 As shown, the memory parking device also includes:

[0126] The abnormality output module 128 is configured to control the vehicle to pull over and output a parking result when the parking action area and the parking recognition area of ​​the second parking space cannot be obtained.

[0127] Based on the above implementation, Figure 17 As shown, the memory parking device also includes:

[0128] A vehicle key removal determination module 129 is configured to determine whether the vehicle key has been removed based on a preset key determination condition;

[0129] The vehicle key result output module 130 is used to control the vehicle output display according to the vehicle key removal judgment result.

[0130] Based on the above implementation, Figure 18 As shown, the memory parking device also includes:

[0131] The surrounding obstacle judgment module 131 is used to judge the surrounding obstacles of the vehicle in real time according to the preset obstacle judgment conditions;

[0132] The action stopping module 132 is used to control the vehicle to stop action when it is determined that there is a surrounding obstacle.

[0133] A third embodiment of the present application relates to a vehicle, such as Figure 19 Shown, including:

[0134] at least one processor 141; and,

[0135] A memory 142 in communication with the at least one processor 141; wherein,

[0136] The memory 142 stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor 141 to enable the at least one processor 141 to implement the memory parking method described in the first embodiment of the present application.

[0137] The memory and processor are connected using a bus, which can include any number of interconnected buses and bridges. The bus connects various circuits of one or more processors and memories. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and are therefore not described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it to the processor.

[0138] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0139] A fourth embodiment of the present application relates to a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the memory parking method described in the first embodiment of the present application.

[0140] That is, those skilled in the art will understand that all or part of the steps in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a program, which is stored in a storage medium and includes a number of instructions for causing a device (which may be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc., various media that can store program code.

[0141] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0142] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A memory parking method, characterized in that: The method comprises: Recording a parking action area of ​​a first parking space and a parking recognition area of ​​the first parking space, wherein the parking recognition area is used to identify the first parking space based on a surrounding environment, and the parking action area is used to limit a parking action range of a vehicle; When the user controls the vehicle to travel from the parking recognition area of ​​the first parking space to the target location, first path information from the parking recognition area of ​​the first parking space to the target location is memorized; controlling the vehicle to automatically drive from the target location to the parking recognition area of ​​the first parking space according to the first path information; identifying a parking action area of ​​the first parking space and controlling the vehicle to park in the first parking space; Before controlling the vehicle to park in the first parking space, the method further includes: Determining whether the first parking space can be parked in accordance with preset judgment conditions; When it is determined that the first parking space cannot be parked in, a parking action area of ​​a second parking space and a parking recognition area of ​​the second parking space located on the first path information are obtained, second path information is generated based on the parking recognition area of ​​the first parking space and the parking recognition area of ​​the second parking space, and the vehicle is controlled to automatically move from the parking recognition area of ​​the first parking space to the parking recognition area of ​​the second parking space.

2. The method according to claim 1, characterized in that Before recording the parking action area of ​​the first parking space and the parking recognition area of ​​the first parking space, the method further includes: Obtaining parking action areas of multiple candidate parking spaces and multiple corresponding parking recognition areas; User demand information is obtained, and a parking action area of ​​the first parking space and a parking recognition area of ​​the first parking space are obtained according to the parking action areas of the plurality of candidate parking spaces and the user demand information.

3. The method according to claim 2, characterized in that When it is determined that the first parking space cannot be parked in, obtaining a parking action area of ​​a second parking space and a parking recognition area of ​​the second parking space located on the first path information, generating second path information based on the parking recognition area of ​​the first parking space and the parking recognition area of ​​the second parking space, and controlling the vehicle to automatically drive from the parking recognition area of ​​the first parking space to the parking recognition area of ​​the second parking space, including: When it is determined that the first parking space cannot be parked in, obtaining a parking action area and a parking identification area of ​​a second parking space from the parking action area of ​​the candidate parking space and the parking identification area of ​​the candidate parking space based on the first path information, wherein the parking action area of ​​the second parking space is different from the parking action area of ​​the first parking space; generating second path information based on the first path information according to the parking recognition area of ​​the second parking space and the parking recognition area of ​​the first parking space; controlling the vehicle to automatically drive from the parking recognition area of ​​the first parking space to the parking recognition area of ​​the second parking space according to the second path information; The parking action area of ​​the second parking space is identified and the vehicle is controlled to park in the second parking space.

4. The method according to claim 3, characterized in that When it is determined that the first parking space cannot be parked in, obtaining, based on the first path information, a parking action area of ​​a second parking space and a parking identification area of ​​the second parking space from the parking action area of ​​the candidate parking space and the parking identification area of ​​the candidate parking space, wherein the parking action area of ​​the second parking space is different from the parking action area of ​​the first parking space, further comprising: When the parking action area and the parking recognition area of ​​the second parking space cannot be obtained, the vehicle is controlled to park sideways and a parking result is output.

5. The method according to claim 1, wherein When the user controls the vehicle to travel from the parking recognition area of ​​the first parking space to the target location, after memorizing first path information from the parking recognition area of ​​the first parking space to the target location, and before controlling the vehicle to automatically drive from the target location to the parking recognition area of ​​the first parking space based on the first path information, the method further includes: Determine whether the car key is removed based on pre-set key judgment conditions; The vehicle output display is controlled according to the determination result of the vehicle key being removed.

6. The method according to claim 1, characterized in that After controlling the vehicle to automatically drive from the target position to the parking recognition area of ​​the first parking space according to the first path information, the method further includes: Performing real-time obstacle judgment on the surrounding areas of the vehicle according to pre-set obstacle judgment conditions; When it is determined that the surrounding obstacle exists, the vehicle is controlled to stop.

7. A memory parking device, characterized in that: include: a recording module, configured to record a parking action area of ​​the first parking space and a parking identification area of ​​the first parking space, wherein the parking identification area is used to identify the first parking space based on a surrounding environment, and the parking action area is used to limit a parking action range of the vehicle; a first path acquisition module, configured to memorize first path information from the parking recognition area of ​​the first parking space to the target location when the user controls the vehicle to travel from the parking recognition area of ​​the first parking space to the target location; a first driving module, configured to control the vehicle to automatically drive from the target position to the parking recognition area of ​​the first parking space according to the first path information; a first parking module, configured to identify a parking action area of ​​the first parking space and control the vehicle to park in the first parking space; Also includes: a first parking determination module, configured to determine whether the first parking space can be parked in accordance with a preset determination condition; a second parking space acquisition module, configured to acquire a parking action area of ​​a second parking space and a parking recognition area of ​​the second parking space located on the first path information when it is determined that the first parking space cannot be parked in; A second path acquisition module is configured to generate second path information according to the parking recognition area of ​​the first parking space and the parking recognition area of ​​the second parking space. The second driving module is used to control the vehicle to automatically drive from the parking recognition area of ​​the first parking space to the parking recognition area of ​​the second parking space.

8. A vehicle, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to implement the memory parking method according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the memory parking method according to any one of claims 1 to 6 is implemented.

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