Memory parking method, device, vehicle and storage medium

Abstract

The present invention relates to a memory parking method, device, vehicle, and storage medium. The method includes: when a user drives a vehicle to perform a parking path memory action, recording multiple position information of the vehicle relative to the parking starting point through a wheel speed sensor; constructing a parking path based on the multiple position information, the parking starting point, and the parking end point; optimizing the parking path through a pre-set interpolation calculation logic; and controlling the vehicle to automatically drive from the parking starting point to the parking end point according to the optimized parking path. Since the memory parking method provided in the present application can obtain the position information of the vehicle relative to the parking starting point through the wheel speed sensor during the path memory stage, and optimize the path after constructing the parking path through the position information, the parking starting point, and the parking end point through the interpolation calculation logic, it avoids the problem that the existing GPS cannot accurately recognize indoor coordinates and must rely on other high-order sensors for path memory.

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 technological advancements, vehicle manufacturers are iterating their intelligent driving technologies and products at an increasingly rapid pace, providing users with a wide range of intelligent driving configuration options. Among these, intelligent parking assistance products can assist or even replace users in parking their vehicles, providing travel convenience. Memory parking, a representative product in intelligent parking assistance, is popular with users. However, existing memory parking products suffer from large GPS errors in poor signal environments, such as indoors. Visual acquisition and radar detection require advanced hardware sensors, and the high hardware cost of memory parking hinders product promotion. Summary of the Invention

[0003] One of the objectives of the present invention is to provide a memory parking method to solve the problem in the prior art that indoor environments require a large number of high-order sensors to replace GPS; a second objective is to provide a memory parking device; a third objective is to provide a vehicle that can implement the memory parking method provided by this application; and a fourth objective is to provide a storage medium that can implement the memory parking method provided by this application.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0005] The present invention provides a memory parking method, comprising:

[0006] When the user drives the vehicle to perform a parking path memory action, the wheel speed sensor records multiple position information of the vehicle relative to the parking starting point;

[0007] Constructing a parking path based on the plurality of position information, the parking starting point and the parking end point;

[0008] Optimizing the parking path using pre-set interpolation calculation logic;

[0009] The vehicle is controlled to automatically drive from the parking starting point to the parking end point according to the optimized parking path.

[0010] According to the above technical means, the memory parking method provided in this application uses wheel speed sensors to obtain the vehicle's position relative to the parking starting point during the path memorization phase. This method constructs a parking path based on this position information, the parking starting point, and the parking end point, and then optimizes the path using interpolation calculation logic. This method avoids the problems of existing GPS systems, such as inaccurate indoor coordinate recognition and the errors inherent in coordinate systems constructed solely by GPS, which necessitates the use of other high-level sensors for path memorization. This reduces the hardware cost of memory parking products and facilitates their market promotion.

[0011] Furthermore, the memory parking method provided by this application also includes:

[0012] When the user drives the vehicle from the starting point of the path, the wheel speed sensor is used to detect the travel distance of the vehicle in real time;

[0013] When it is detected that the vehicle has traveled to a preset distance, current movement information of the vehicle is recorded;

[0014] A plurality of the position information is generated according to the plurality of the current motion information.

[0015] According to the above technical means, since the coordinate position in the memory parking method provided by this application is detected by the wheel speed sensor and converted into corresponding coordinate information in the local coordinate system, it does not rely on GPS, thereby avoiding the problem of incorrect coordinate judgment caused by GPS signal problems indoors.

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

[0017] Constructing a local coordinate system according to the parking starting point and the forward direction of the vehicle when the vehicle is located at the parking starting point;

[0018] Converting the position information into coordinate information relative to the starting point of the path and marking the coordinate information in the local coordinate system;

[0019] The end point of the path is marked in the local coordinate system to obtain a parking path.

[0020] According to the above technical means, since the coordinate system of this application is a local coordinate system constructed based on the parking starting point and the direction of travel rather than the GPS coordinates determined based on GPS longitude and latitude, the problem of inaccurate parking path caused by low sensor performance is avoided.

[0021] Furthermore, the memory parking method provided by this application also includes:

[0022] Determining a forward direction difference between the plurality of coordinate information according to a preset first forward direction threshold, wherein the forward direction difference is obtained based on two adjacent coordinate information;

[0023] When the forward direction difference is greater than the first forward direction threshold, a coordinate point is added to the two coordinate information corresponding to the forward direction difference by an interpolation adding method.

[0024] According to the above technical means, since the memory parking method provided in this application can perform difference calculation based on coordinate information, when the distance between two coordinate information is greater than the first forward direction threshold, it can simulate the position that the vehicle may pass by inserting new coordinates, reduce the interval between coordinate points, and improve the accuracy of the parking path.

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

[0026] When the forward direction difference is greater than a second forward direction threshold, coordinate information relatively far away from the coordinate origin in the two coordinate information corresponding to the forward direction difference is eliminated, wherein the second forward direction threshold is greater than the first forward direction threshold.

[0027] According to the above technical means, since the memory parking method provided in this application can also exclude the latter when detecting that the distance between two coordinates is greater than the second forward direction threshold, remove the discrete coordinate information and refit the coordinate information that is relatively consistent with the vehicle's driving conditions, it is convenient for the system to control the vehicle to automatically drive to a pre-stored parking space according to the parking path of memory parking.

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

[0029] The parking path is obtained by performing curve fitting processing on the path end point, the parking starting point and the coordinate information.

[0030] According to the above technical means, since the memory parking method provided in this application can also perform curve fitting based on coordinate information, the system can control the vehicle movement according to the fitted parking path, thereby improving the accuracy of memory parking.

[0031] Furthermore, the memory parking method provided by this application also includes:

[0032] When the user drives the vehicle back from the end point of the route, the parking starting point is detected by the GPS;

[0033] When the GPS detects the parking starting point, the vehicle is controlled to automatically drive from the parking starting point to the parking end point according to the parking path.

[0034] According to the above technical means, since the present application can also judge the parking starting point through GPS, the accuracy of the parking starting point judgment is improved, the parking starting point judgment error is avoided, and the performance requirements of the judgment sensor are reduced.

[0035] The present invention also provides a memory parking device, comprising:

[0036] A position recording module, configured to record the position information of the vehicle relative to the parking starting point via a wheel speed sensor when the user drives the vehicle to perform a parking path memory action;

[0037] a path construction module, configured to construct a parking path according to the plurality of position information, the parking starting point and the parking end point;

[0038] An optimization processing module, configured to optimize the parking path using a preset interpolation calculation logic;

[0039] An automatic parking module is used to control the vehicle to automatically drive from the parking starting point to the parking end point according to the optimized parking path.

[0040] The present invention also provides a vehicle, comprising:

[0041] at least one processor; and,

[0042] a memory communicatively connected to at least one processor; wherein,

[0043] 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.

[0044] 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.

[0045] Beneficial effects of the present invention:

[0046] Because the memory parking method provided in this application uses wheel speed sensors to obtain the vehicle's position relative to the parking starting point during the path memorization phase, constructing a parking path based on this position information, the parking starting point, and the parking end point, and then optimizing the path through interpolation calculation logic, it avoids the problems of existing GPS inaccurate indoor coordinate recognition, the errors inherent in coordinate systems constructed solely based on GPS, and the reliance on other high-level sensors for path memorization. This reduces the hardware cost of memory parking products and facilitates their market promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] 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.

[0048] Figure 1 This is one of the schematic diagrams of the memory parking method provided in the embodiment of the present application;

[0049] Figure 2 This is the second schematic diagram of the memory parking method provided in the embodiment of the present application;

[0050] Figure 3 This is the third schematic diagram of the memory parking method provided in the embodiment of the present application;

[0051] Figure 4 This is the fourth schematic diagram of the memory parking method provided in an embodiment of the present application;

[0052] Figure 5 This is the fifth schematic diagram of the memory parking method provided in the embodiment of the present application;

[0053] Figure 6 This is the sixth schematic diagram of the memory parking method provided in the embodiment of the present application;

[0054] Figure 7 This is the seventh schematic diagram of the memory parking method provided in the embodiment of the present application;

[0055] Figure 8 This is a schematic diagram of the memory parking process provided by an embodiment of the present application;

[0056] Figure 9 This is one of the working diagrams of the memory parking system provided in the embodiment of the present application;

[0057] Figure 10 This is the second working diagram of the memory parking system provided in the embodiment of the present application;

[0058] Figure 11 This is a schematic diagram of the optimization of memory parking coordinates provided by an embodiment of the present application;

[0059] Figure 12 is a schematic diagram of a memory parking device provided in an embodiment of the present application;

[0060] Figure 13 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0061] 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.

[0062] 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.

[0063] The first embodiment of the present application relates to a memory parking method, such as Figure 1 Shown, including:

[0064] Step 101: When a user drives a vehicle to perform a parking path memory action, a plurality of position information of the vehicle relative to the parking starting point is recorded by a wheel speed sensor;

[0065] Step 102: constructing a parking route based on the plurality of position information, the parking starting point, and the parking end point;

[0066] Step 103: Optimizing the parking path using pre-set interpolation calculation logic;

[0067] Step 104: Control the vehicle to automatically drive from the parking starting point to the parking end point according to the optimized parking path.

[0068] Specifically, the first stage is route learning. When the vehicle reaches a parking area without a pre-stored parking path, the user needs to activate the vehicle's smart parking memory function. At this point, the user needs to select a parking starting point and drive the vehicle to execute the parking path memory action, that is, manually control the vehicle from the parking starting point to the parking end point. The vehicle's memory parking system records multiple positions of the user during driving through wheel speed sensors.

[0069] Then, based on the position information collected by the wheel speed sensor, the parking start and end points set by the user are used to construct a parking path for the system to control the vehicle to complete the memorized parking action according to the parking path.

[0070] Afterwards, to address the problem that the preview control in the existing parking control cannot accurately calculate the vehicle's movement direction angle in real time, the parking path is optimized through interpolation calculation logic. New position information is inserted or existing position information is eliminated based on the existing position information to obtain a parking path that better meets the needs of memory parking.

[0071] Finally, when the path learning is completed, when the user drives the vehicle to the parking starting point, the user leaves the vehicle and activates the vehicle's memory parking function. The system controls the vehicle to start from the parking starting point and automatically drives from the parking starting point to the parking end point according to the parking path to complete the vehicle's parking action.

[0072] The technical solution provided by this application utilizes wheel speed sensors to obtain the vehicle's position relative to the parking starting point during the path memorization phase. This position information, along with the parking starting point and end point, is used to construct a parking path, which is then optimized using interpolation logic. This avoids the inaccurate indoor coordinate recognition issues associated with existing GPS systems, which rely solely on GPS-constructed coordinate systems and require the assistance of other high-level sensors for path memorization. This reduces the hardware cost of memory parking products and facilitates their market adoption.

[0073] On the basis of the above implementation mode, Figure 2 As shown, in the memory parking method, step 101 includes:

[0074] Step 111: When the user drives the vehicle from the starting point of the route, the wheel speed sensor is used to detect the travel distance of the vehicle in real time;

[0075] Step 112: When it is detected that the vehicle has traveled to a preset distance, the current movement information of the vehicle is recorded;

[0076] Step 113: Generate multiple pieces of position information based on the multiple pieces of current motion information.

[0077] Specifically, when the user manually controls the vehicle, the wheel speed sensor detects the vehicle's travel distance in real time. Whenever the vehicle reaches a preset distance, such as 0.2m, the wheel speed sensor records the movement information at this time and then generates corresponding position information based on the distance between the movement information at this time and the parking starting point set by the user.

[0078] Based on the above implementation, since the coordinate position in the memory parking method provided by this application is detected by the wheel speed sensor and converted into corresponding coordinate information in the local coordinate system, it does not rely on GPS, thus avoiding the problem of incorrect coordinate judgment caused by GPS signal problems indoors.

[0079] On the basis of the above implementation mode, Figure 3 As shown, in the memory parking method, step 102 includes:

[0080] Step 121: construct a local coordinate system based on the parking starting point and the forward direction of the vehicle when it is located at the parking starting point;

[0081] Step 122: convert the position information into coordinate information relative to the starting point of the path and mark it in the local coordinate system;

[0082] Step 123: Mark the end point of the path in the local coordinate system to obtain a parking path.

[0083] Specifically, in the memory parking method provided herein, after the user sets a parking starting point, a local coordinate system is constructed with the starting position (e.g., the center of the vehicle's rear axle when the vehicle is at the parking starting point) as the origin, the vehicle's current forward direction as the positive X-axis direction, and the direction 90 degrees counterclockwise from the forward direction as the positive Y-axis direction. Once the local coordinate system is constructed, the multiple position information acquired by the wheel speed sensors is converted into coordinate information within the local coordinate system. This creates a local coordinate system independent of GPS and carries the multiple coordinate information from the user's manual driving, thereby generating a parking path.

[0084] Based on the above implementation, since the coordinate system of this application is a local coordinate system constructed based on the parking starting point and the direction of travel rather than the GPS coordinates determined based on GPS longitude and latitude, the problem of inaccurate parking path caused by low sensor performance is avoided.

[0085] On the basis of the above implementation mode, Figure 4 As shown, in the memory parking method, step 103 includes:

[0086] Step 131: judging a forward direction difference between the plurality of coordinate information according to a preset first forward direction threshold, wherein the forward direction difference is obtained based on two adjacent coordinate information;

[0087] Step 132: When the forward direction difference is greater than the first forward direction threshold, add a coordinate point to the two coordinate information corresponding to the forward direction difference by using an interpolation method.

[0088] Specifically, the system uses the vehicle's initial position as a base point and memorizes the coordinates of the vehicle's trajectory in real time, such as the X-axis and Y-axis coordinates in the local coordinate system, as well as the current direction of motion. Once the parking path is constructed, the system compares two adjacent coordinates. If the distance between two adjacent coordinates exceeds a first forward direction threshold, such as 0.6m, a coordinate point is added between them. Furthermore, if two adjacent coordinates are too close, duplicate coordinates are removed, simplifying the parking path. Ultimately, the optimized parking path is obtained by deriving a set of vehicle coordinates whose deviation from the vehicle's forward and X-axis coordinates is less than 0.2m.

[0089] Based on the above-mentioned implementation, since the memory parking method provided in this application can perform difference calculation based on coordinate information, when the distance between two coordinate information is greater than the first forward direction threshold, it is possible to simulate the position that the vehicle may pass by by inserting new coordinates, thereby reducing the interval between coordinate points and improving the accuracy of the parking path.

[0090] On the basis of the above implementation mode, Figure 5As shown, in the memory parking method, after step 131, the method further includes:

[0091] Step 133: When the forward direction difference is greater than a second forward direction threshold, coordinate information relatively far away from the coordinate origin is removed from the two coordinate information corresponding to the forward direction difference, wherein the second forward direction threshold is greater than the first forward direction threshold.

[0092] Specifically, when it is detected that the distance between two adjacent coordinates is greater than the second forward direction threshold, the latter coordinate information is a coordinate point outside the parking path. These discrete coordinate points caused by right-angle turns or road conditions are eliminated to obtain a parking path that is convenient for the system to control the vehicle's automatic driving.

[0093] On the basis of the above-mentioned embodiment, the memory parking method provided in the present application can also exclude the latter when detecting that the distance between two coordinates is greater than the second forward direction threshold, remove the discrete coordinate information and refit the coordinate information that is relatively consistent with the vehicle's driving conditions, thereby facilitating the system to control the vehicle to automatically drive to a pre-stored parking space according to the parking path of memory parking.

[0094] On the basis of the above implementation mode, Figure 6 As shown, in the memory parking method, step 123 includes:

[0095] Step 124: Perform curve fitting on the path end point, parking starting point, and coordinate information to obtain the parking path.

[0096] Specifically, after all the coordinate information of the parking path is recorded, these coordinate points may be fitted using quadratic curve fitting or cubic curve fitting, such as cubic Hermite interpolation and cubic spline interpolation, to obtain a smooth curve parking path.

[0097] On the basis of the above-mentioned embodiments, since the memory parking method provided in this application can also perform curve fitting according to coordinate information, the system can control the vehicle movement according to the fitted parking path, thereby improving the accuracy of memory parking.

[0098] On the basis of the above implementation mode, Figure 7 As shown, the starting point of the path obtains GPS coordinate information in advance through GPS. In the memory parking method, step 104 includes:

[0099] Step 141: When the user drives the vehicle back from the end point of the route, the parking starting point is detected by the GPS;

[0100] Step 142: When the GPS detects the parking starting point, the vehicle is controlled to automatically drive from the parking starting point to the parking end point according to the parking path.

[0101] Specifically, after the parking path is memorized, when the vehicle needs to perform memory parking, the system can execute the memory parking action after determining the parking starting point through GPS. Based on the above embodiment, since the present application can also determine the parking starting point through GPS, the accuracy of the parking starting point determination is improved, avoiding errors in the parking starting point determination while reducing the performance requirements of the determination sensor.

[0102] On the basis of the above-mentioned implementation manner, this application combines Figure 8-11 Provides an example of memory parking.

[0103] The memory parking method provided in this application is applied to Figure 8 In the scenario shown, when a user enters a parking lot from a location such as an elevator, they need to activate the memory parking function and manually control the vehicle to the target parking space. The system then records the parking path from the elevator entrance to the target location and uses it to execute the memory parking action.

[0104] The memory parking system provided by this application is as follows Figure 9 As shown, the vehicle's onboard GPS, 12 ultrasonic radars, four surround-view cameras, and one forward-facing millimeter-wave radar capture environmental information, including lane markings, parking space markings, lane width, GPS location information, and the vehicle's parking starting point coordinates. This information is then fed into the memory parking system's state machine. During the path memorization phase, multiple coordinates acquired by the wheel speed sensors are also fed into the memory parking system's state machine. Based on this information, the memory parking system's state machine performs actions such as coordinate conversion calculations, path planning, and path storage management. During memory parking, the state machine performs lateral and longitudinal planning control of the vehicle, transmitting information such as the target speed, target gear position, distance traveled, and direction angle to the vehicle's integrated control system, enabling the vehicle to autonomously drive to the target parking space according to the memorized parking path.

[0105] like Figure 10As shown, first, the vehicle arrives at a parking area where a path has not been memorized. The user activates Smart Parking and selects the memorized parking feature. A pop-up window appears, suggesting that the user park the vehicle and select a custom memorized parking starting point. Once the user parks the vehicle and clicks to define the memorized parking starting point, the system prompts the user to drive to the target parking space and complete the parking process. The parking system triggers the coordinate memory module based on the vehicle's current speed, gear position, GPS location, and the user-defined memorized parking starting point. The initial vehicle coordinates at the starting point are set to 0, with the coordinate origin being the center of the vehicle's rear axle. The vehicle's forward direction is the positive X-axis, and 90 degrees counterclockwise from the positive X-axis is the positive Y-axis. As the user drives to the target parking space, the system automatically memorizes the vehicle's rear axle coordinates in increments of at least 0.2 meters, based on signals from the four-wheel speed sensors. When the user arrives near the target parking space and changes gear to prepare to park, the system triggers the vehicle's parking process memory based on the gear change information, simultaneously memorizing the lane markings, parking space markings, and surrounding obstacle information in the current area. When the user completes parking and shifts the car into P gear, the system prompts the user to set the parking destination as a memory destination based on the vehicle speed and gear status. After the user confirms the destination, the route learning phase is complete.

[0106] When the user comes to a parking area where the path has been memorized before, the user activates smart parking and selects the memory parking function. The system retrieves the memorized parking path information based on the current vehicle GPS positioning. When the current GPS positioning has memorized information, the system pops up a window to push the memorized route for the user to choose.

[0107] When the user selects a memorized route, the system calls up the previously memorized starting point and, based on GPS information, converts the vehicle's GPS coordinate system to its local coordinate system. It then calculates the distance between the current vehicle position and the previously memorized starting point. If the distance is too far, for example, more than 5 meters, or if there are more than 25 memorized points between the vehicle's position and the pre-memorized parking starting point, the system recommends a memorized coordinate point for the user to manually drive to. Upon reaching the memorized point, the system controls the vehicle to proceed to the memorized route starting point at a speed not exceeding 3 km / h. When the vehicle's coordinate origin coincides with the first 10 memorized coordinate points, the system determines that the vehicle has reached the memorized route area and controls the vehicle to continue driving along the memorized coordinate points. While cruising along the memorized route, the system can still identify parking spaces and obstacles along the way and push this information to the vehicle's computer for scene rendering. When the vehicle reaches a shift point on the memorized route, the system determines that the vehicle has reached the parking area and controls the vehicle to brake and park into the desired space.

[0108] If the system fails to retrieve a valid parking space or a memorized parking space is occupied, the system will indicate that the memorized parking space is unavailable and remind the user to take over the vehicle. If the system retrieves an available memorized parking space, the vehicle will park without referring to the memorized parking path. When the vehicle arrives at the parking area, the system will establish a parking coordinate system using the corner of the target parking space that the vehicle is closest to as the origin, with the vehicle's direction of travel as the positive X-axis and 90 degrees clockwise as the positive Y-axis. The system will then convert the vehicle's own coordinate system to the parking coordinate system, re-output the parking path plan, and then autonomously control the vehicle to park in the space based on sensor perception information.

[0109] The system also controls the vehicle's planned route while autonomously sensing real-time road conditions along the route, outputting information such as lane markings, parking space markings, lane widths, and obstacles. If an obstacle exists within the route, the system determines whether to conditionally avoid it based on the perceived conditions and lane width. If the avoidance conditions are not met, the system safely stops the vehicle and prompts the user to take control.

[0110] It should be emphasized that if Figure 11 As shown, the memory parking method provided by this application smoothes the parking path during the path memorization phase. The memory parking system sets the local coordinate system to the initial vehicle position, for example, the parking starting point is set at the coordinate system origin. It then continuously memorizes the vehicle's motion coordinate system and evaluates two adjacent coordinates. If the difference between the two coordinate points' headings does not meet the system threshold (e.g., if it is too high or too low), an interpolation method is invoked to add additional difference coordinate points or remove discrete points. When the user manually controls the vehicle to the parking destination, another evaluation is performed. If the difference between the two coordinate points' headings still does not meet the system threshold, the interpolation method is further invoked to add additional difference coordinate points or remove discrete points. Finally, the optimized parking path is memorized.

[0111] The second embodiment of the present application relates to a memory parking device, such as Figure 12 Shown, including:

[0112] The position recording module 201 is configured to record multiple position information of the vehicle relative to the parking starting point through wheel speed sensors when the user drives the vehicle to perform a parking path memory action;

[0113] A path construction module 202, configured to construct a parking path based on the plurality of position information, the parking start point, and the parking end point;

[0114] An optimization processing module 203 is used to optimize the parking path using a preset interpolation calculation logic;

[0115] The automatic parking module 204 is configured to control the vehicle to automatically drive from the parking starting point to the parking end point according to the optimized parking path.

[0116] Based on the above implementation, the location recording module 201 includes:

[0117] The wheel speed detection unit 211 is configured to detect the distance traveled by the vehicle in real time through the wheel speed sensor when the user drives the vehicle from the starting point of the route;

[0118] A motion recording unit 212 is configured to record current motion information of the vehicle when detecting that the vehicle has traveled a preset distance;

[0119] The position generating unit 213 is configured to generate a plurality of the position information according to the plurality of the current motion information.

[0120] Based on the above implementation, the path construction module 202 includes:

[0121] A local coordinate system construction unit 221 is configured to construct a local coordinate system according to the parking starting point and the moving direction of the vehicle when the vehicle is located at the parking starting point;

[0122] A first coordinate marking unit 222 is used to convert the position information into coordinate information relative to the starting point of the path and mark it in the local coordinate system;

[0123] The second coordinate marking unit 223 is used to mark the end point of the path in the local coordinate system to obtain a parking path.

[0124] Based on the above implementation, the optimization processing module 203 includes:

[0125] The difference judgment unit 231 is configured to judge a forward direction difference of the plurality of coordinate information according to a preset first forward direction threshold, wherein the forward direction difference is obtained based on two adjacent coordinate information;

[0126] The coordinate adding unit 232 is configured to add a coordinate point to the two coordinate information corresponding to the forward direction difference by using an interpolation adding method when the forward direction difference is greater than the first forward direction threshold.

[0127] Based on the above implementation, the optimization processing module 203 further includes:

[0128] The coordinate elimination unit 233 is used to perform coordinate elimination on the real-time coordinate information relatively far away from the coordinate origin in the two real-time coordinate information corresponding to the forward direction difference when the forward direction difference is greater than a second forward direction threshold, wherein the second forward direction threshold is greater than the first forward direction threshold.

[0129] Based on the above embodiment, the second coordinate marking unit 223 includes:

[0130] The curve fitting subunit 224 is configured to perform curve fitting on the path end point, parking starting point, and coordinate information to obtain the parking path.

[0131] Based on the above embodiment, the starting point of the route obtains GPS coordinate information in advance through GPS, and the automatic parking module 204 includes:

[0132] The GPS detection unit 241 is configured to detect the parking starting point via the GPS when the user drives the vehicle back from the end point of the route;

[0133] The parking action unit 242 is configured to control the vehicle to automatically drive from the parking starting point to the parking end point according to the parking path when the GPS detects the parking starting point.

[0134] A third embodiment of the present application relates to a vehicle, such as Figure 13 Shown, including:

[0135] at least one processor 151; and,

[0136] A memory 152 in communication with the at least one processor 151; wherein,

[0137] The memory 152 stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor 151 to enable the at least one processor 151 to implement the memory parking method described in the first embodiment of the present application.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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.

[0142] 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.

[0143] 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: When the user drives the vehicle to perform a parking path memory action, the wheel speed sensor records multiple position information of the vehicle relative to the parking starting point; Constructing a parking path based on the plurality of position information, the parking starting point and the parking end point; Optimizing the parking path using pre-set interpolation calculation logic; Controlling the vehicle to automatically drive from the parking starting point to the parking end point according to the optimized parking path; Constructing a parking path based on the plurality of position information, the parking starting point, and the parking end point includes: constructing a local coordinate system based on the parking starting point and the vehicle's forward direction when located at the parking starting point; converting the position information into coordinate information relative to the path starting point and marking the coordinate information in the local coordinate system; and marking the path end point in the local coordinate system to obtain a parking path; The optimization processing of the parking path by using a preset interpolation calculation logic includes: judging a forward direction difference of a plurality of the coordinate information according to a preset first forward direction threshold, wherein the forward direction difference is obtained based on two adjacent coordinate information; when the forward direction difference is greater than the first forward direction threshold, adding a coordinate point to the two coordinate information corresponding to the forward direction difference by using an interpolation addition method; and when the forward direction difference is greater than a second forward direction threshold, eliminating coordinate information relatively far from the coordinate origin in the two coordinate information corresponding to the forward direction difference, wherein the second forward direction threshold is greater than the first forward direction threshold.

2. The method according to claim 1, characterized in that When the user drives the vehicle to perform the parking path memory action, the wheel speed sensor records multiple position information of the vehicle relative to the parking starting point, including: When the user drives the vehicle from the starting point of the path, the wheel speed sensor is used to detect the travel distance of the vehicle in real time; When it is detected that the vehicle has traveled to a preset distance, current movement information of the vehicle is recorded; A plurality of the position information is generated according to the plurality of the current motion information.

3. The method according to claim 1, characterized in that Marking the end point of the path in the local coordinate system to obtain the memorized parking route includes: The parking path is obtained by performing curve fitting processing on the path end point, the parking starting point and the coordinate information.

4. The method according to claim 1, wherein The path starting point obtains GPS coordinate information in advance through GPS, and the controlling the vehicle to automatically drive from the parking starting point to the parking end point according to the optimized parking path includes: When the user drives the vehicle back from the end point of the route, the parking starting point is detected by the GPS; When the GPS detects the parking starting point, the vehicle is controlled to automatically drive from the parking starting point to the parking end point according to the parking path.

5. A memory parking device, characterized in that: include: A position recording module, configured to record, through wheel speed sensors, multiple position information of the vehicle relative to the parking starting point when the user drives the vehicle to perform a parking path memory action; a path construction module, configured to construct a parking path according to the plurality of position information, the parking starting point, and the parking end point; an optimization processing module, configured to optimize the parking path using a preset interpolation calculation logic; an automatic parking module, configured to control the vehicle to automatically drive from the parking starting point to the parking end point according to the optimized parking path; The constructing of the parking path based on the plurality of position information, the parking starting point, and the parking end point includes: constructing a local coordinate system based on the parking starting point and the vehicle's forward direction when located at the parking starting point; converting the position information into coordinate information relative to the path starting point and marking the coordinate information in the local coordinate system; and marking the path end point in the local coordinate system to obtain the parking path; The optimization processing of the parking path by using a preset interpolation calculation logic includes: judging a forward direction difference of a plurality of the coordinate information according to a preset first forward direction threshold, wherein the forward direction difference is obtained based on two adjacent coordinate information; when the forward direction difference is greater than the first forward direction threshold, adding a coordinate point to the two coordinate information corresponding to the forward direction difference by using an interpolation addition method; and when the forward direction difference is greater than a second forward direction threshold, eliminating coordinate information relatively far from the coordinate origin in the two coordinate information corresponding to the forward direction difference, wherein the second forward direction threshold is greater than the first forward direction threshold.

6. 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 4.

7. 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 4 is implemented.

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