Parking method and device of vehicle, vehicle and storage medium

Abstract

The application relates to a parking method and device for a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: identifying an actual parking space type of a target parking space, judging whether the vehicle meets a preset adaptive posture adjustment condition; if the vehicle meets the preset adaptive posture adjustment condition, generating a first parking trajectory plan of the vehicle based on the actual parking space type, current position information of the vehicle, target parking space coordinate information and sensing information, and outputting a first adjustment position; controlling the vehicle to move to the first adjustment position, and controlling the vehicle to perform a corresponding posture adjustment action based on the actual parking space type, the first adjustment position, the target parking space coordinate information and the sensing information until the vehicle is parked in the target parking space. The embodiment of the application can generate an adjustment position when a parking trajectory plan is generated, so that posture adjustment is performed at the adjustment position, adaptive posture adjustment is realized, and therefore, the coherence of vehicle parking is ensured, and the parking efficiency is improved.

Description

Technical Field

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

[0002] With the iterative development of intelligent driving technology, consumers are becoming increasingly accepting and using intelligent driving features. They are also more inclined to choose vehicles equipped with intelligent driving products that offer superior performance and a more user-friendly experience. Intelligent parking assistance functions have evolved from basic parking functions to mid- to high-end parking options such as memory parking, valet parking, and integrated parking. These mid- to high-end parking products offer users a more diverse and enjoyable user experience, and users are also raising higher and more user-friendly expectations for current intelligent parking products.

[0003] In related technologies, smart parking products all emphasize functional diversity and intelligent interactive experience, such as more human-computer interaction, richer parking sub-functions, etc. Product diversity is certainly important, but users' initial demands for parking functions should also be iterated with product progress. For example, the parking function, which is the most used by users, still receives a lot of user feedback that the smart parking function is not smooth during the vehicle parking process, which does not conform to the driving habits of "experienced drivers" when parking. This is especially reflected in the case that the target parking space selected by the user is narrow or the vehicle next to the parking space is parked irregularly. The related technology requires multiple gear changes and adjustments to the vehicle posture to successfully complete the parking action, resulting in a long parking time and affecting the comfort of the parking process, which needs to be improved. Summary of the Invention

[0004] The present application provides a method, device, vehicle and storage medium for parking a vehicle to solve the technical problem in related technologies that the vehicle parking process is not smooth, and multiple gear changes and adjustments to the vehicle posture are required to successfully complete the parking action, resulting in a long parking time and affecting the comfort of the parking process.

[0005] A first aspect of the present application provides a method for parking a vehicle, comprising the following steps: identifying the actual parking space type of a target parking space, and determining whether the vehicle meets preset adaptive posture adjustment conditions; if the vehicle meets the preset adaptive posture adjustment conditions, generating a first parking trajectory plan for the vehicle based on the actual parking space type, the current position information of the vehicle, the target parking space coordinate information, and the perception information, and outputting a first adjustment position; and controlling the vehicle to move to the first adjustment position, and based on the actual parking space type, the first adjustment position, the target parking space coordinate information, and the perception information, controlling the vehicle to perform corresponding posture adjustment actions until the vehicle is parked in the target parking space.

[0006] According to the above technical means, the embodiment of the present application can plan the parking trajectory based on the actual parking space type of the target parking space, the current position information of the vehicle, the coordinate information of the target parking space and the perception information, generate an adjustment position during planning, and perform posture adjustment at the adjustment position to achieve adaptive posture adjustment, thereby ensuring the continuity of vehicle parking.

[0007] Optionally, in one embodiment of the present application, the identification of the actual parking space type of the target parking space and the determination of whether the vehicle meets the preset adaptive posture adjustment conditions include: if the actual parking space type is a vertical parking space type; in the automatic parking mode, if the vehicle is in a stationary condition, the target parking space is detected around the vehicle, and the current position of the vehicle is not in a position where it can be directly parked, then it is determined that the vehicle meets the preset adaptive posture adjustment conditions; if the vehicle does not meet the preset adaptive posture adjustment conditions, then it is determined whether the vehicle meets the preset vertical parking conditions; if the vehicle meets the preset vertical parking conditions, then the vehicle is controlled to enter the target parking space; if the vehicle does not meet the preset vertical parking conditions, then a parking reminder is sent to the user, and the automatic parking mode is exited.

[0008] According to the above technical means, the embodiment of the present application can control the vehicle to directly enter the target parking space when the preset vertical parking conditions are met, and exit the automatic parking mode and remind the user to take over the vehicle when the vehicle does not meet the preset adaptive posture adjustment conditions and the preset parking conditions.

[0009] Optionally, in one embodiment of the present application, the identifying the target parking space type and determining whether the vehicle satisfies a preset adaptive posture adjustment condition further includes: if the target parking space type is an oblique parking space type; in the automatic parking mode, if the vehicle is stationary, the target parking space is detected around the vehicle, and the angle between the vehicle's heading angle and the line connecting the target parking space corner points is less than a first preset angle, then determining that the vehicle satisfies the preset adaptive posture adjustment condition; in the automatic parking mode, if the vehicle is stationary, the target parking space is detected around the vehicle, the angle between the vehicle's heading angle and the line connecting the target parking space corner points is greater than a second preset angle, and the current position of the vehicle is not in a position where direct parking can be performed, then determining that the vehicle satisfies the preset adaptive posture adjustment condition; if the vehicle does not satisfy the preset adaptive posture adjustment condition, determining whether the vehicle satisfies the preset oblique parking condition; if the vehicle satisfies the preset oblique parking condition, controlling the vehicle to enter the target parking space; if the vehicle does not satisfy the preset oblique parking condition, sending a parking reminder to the user and exiting the automatic parking mode.

[0010] According to the above technical means, the embodiment of the present application can control the vehicle to directly enter the target parking space when the preset oblique parking conditions are met, and exit the automatic parking mode and remind the user to take over the vehicle when the vehicle does not meet the preset adaptive posture adjustment conditions and the preset parking conditions.

[0011] Optionally, in one embodiment of the present application, after controlling the vehicle to perform corresponding posture adjustment actions based on the target parking space type, the first adjustment position, the target parking space coordinate information and the perception information, it also includes: judging whether the vehicle meets the preset vertical parking condition or the diagonal parking condition based on the target parking space type; if the vehicle does not meet the preset vertical parking condition or the diagonal parking condition, generating a second parking trajectory plan for the vehicle based on the first adjustment position, the target parking space coordinate information and the perception information, and outputting a second adjustment position; controlling the vehicle to move to the second adjustment position, and based on the second adjustment position, the target parking space coordinate information and the perception information, controlling the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space.

[0012] According to the above technical means, the embodiment of the present application can perform a second adaptive posture adjustment when it is determined that the vehicle cannot be parked into the garage after the first adjustment, so as to ensure the continuity of the vehicle parking into the garage.

[0013] Optionally, in one embodiment of the present application, after controlling the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space, it also includes: detecting the relative position of the vehicle and the boundary line of the target parking space and / or the distance between the vehicle and the obstacle; if the relative position and / or the distance do not meet the preset parking conditions, generating a third adjustment position based on the relative position and / or the distance; controlling the vehicle to move to the third adjustment position, and based on the third adjustment position, the target parking space coordinate information and the perception information, controlling the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space.

[0014] According to the above technical means, the embodiment of the present application can determine whether the current parking position of the vehicle meets the preset conditions after the vehicle enters the garage, and if the preset conditions are not met, control the vehicle to exit the target parking space, and after readjusting the posture, control the vehicle to park into the garage, so that the user still has ample space to open the car door after parking, avoiding vehicle scratches, thereby improving the user experience.

[0015] A second aspect of the present application provides a vehicle parking device, including: a first judgment module, used to identify the actual parking space type of a target parking space and determine whether the vehicle meets a preset adaptive posture adjustment condition; a first generation module, used to generate a first parking trajectory plan for the vehicle based on the actual parking space type, the vehicle's current position information, the target parking space coordinate information and the perception information, and output a first adjustment position when the vehicle meets the preset adaptive posture adjustment condition; and a first parking module, used to control the vehicle to move to the first adjustment position, and based on the actual parking space type, the first adjustment position, the target parking space coordinate information and the perception information, control the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space.

[0016] Optionally, in one embodiment of the present application, the first judgment module includes: a first judgment unit, used to judge that the actual parking space type is a vertical parking space type; a second judgment unit, used to judge that the vehicle meets the preset adaptive posture adjustment condition when the vehicle is in a stationary condition and the target parking space is detected around the vehicle, and the current position of the vehicle is not in a position where it can be parked directly; a third judgment unit, used to judge whether the vehicle meets the preset vertical parking condition when the vehicle does not meet the preset adaptive posture adjustment condition; a fourth judgment unit, used to control the vehicle to enter the target parking space when the vehicle meets the preset vertical parking condition; a fifth judgment unit, used to send a parking reminder to the user and exit the automatic parking mode when the vehicle does not meet the preset vertical parking condition.

[0017] Optionally, in one embodiment of the present application, the first judgment module further includes: a sixth judgment unit for judging that the target parking space type is an inclined parking space type; a seventh judgment unit for judging that, in the automatic parking mode, if the vehicle is stationary, the target parking space is detected around the vehicle, and the angle between the heading angle of the vehicle and the line connecting the corner points of the target parking space is less than a first preset angle, the vehicle satisfies a preset adaptive posture adjustment condition; an eighth judgment unit for judging that, in the automatic parking mode, if the vehicle is stationary, the target parking space is detected around the vehicle, and the vehicle When the angle between the heading angle and the line connecting the corner points of the target parking space is greater than a second preset angle, and the current position of the vehicle is not in a position where it can be parked directly, it is judged that the vehicle meets the preset adaptive posture adjustment condition; the ninth judgment unit is used to judge whether the vehicle meets the preset oblique parking condition when the vehicle does not meet the preset adaptive posture adjustment condition; the tenth judgment unit is used to control the vehicle to enter the target parking space when the vehicle meets the preset oblique parking condition; the eleventh judgment unit is used to send a parking reminder to the user and exit the automatic parking mode when the vehicle does not meet the preset oblique parking condition.

[0018] Optionally, in one embodiment of the present application, it further includes: a second judgment module, used to judge whether the vehicle meets the preset vertical parking condition or the diagonal parking condition based on the target parking space type; a second generation module, used to generate a second parking trajectory plan for the vehicle based on the first adjustment position, the target parking space coordinate information and the perception information, and output the second adjustment position when the vehicle does not meet the preset vertical parking condition or the diagonal parking condition; a second parking module, used to control the vehicle to move to the second adjustment position, and based on the second adjustment position, the target parking space coordinate information and the perception information, control the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space.

[0019] Optionally, in one embodiment of the present application, it further includes: a detection module for detecting the relative position of the vehicle and the boundary line of the target parking space and / or the distance between the vehicle and the obstacle; a third generation module for generating a third adjustment position based on the relative position and / or the distance when the relative position and / or the distance do not meet the preset parking conditions; a third parking module for controlling the vehicle to move to the third adjustment position, and based on the third adjustment position, the target parking space coordinate information and the perception information, controlling the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space.

[0020] A third aspect of the present application provides a vehicle, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle parking method as described in the above embodiment.

[0021] A fourth aspect of the present application provides a computer-readable storage medium, which stores a computer program that, when executed by a processor, implements the above-mentioned vehicle parking method.

[0022] Beneficial effects of the embodiments of the present application:

[0023] (1) The embodiment of the present application can plan the parking trajectory based on the actual parking space type of the target parking space, the current position information of the vehicle, the coordinate information of the target parking space, and the perception information, and generate an adjustment position during planning to adjust the posture at the adjustment position to achieve adaptive posture adjustment, thereby ensuring the continuity of vehicle parking and improving parking efficiency.

[0024] (2) The embodiment of the present application can determine the distance between the vehicle and surrounding obstacles or parking boundary lines after the vehicle enters the parking space, and when the distance is small, control the vehicle to exit the target parking space, and control the vehicle to park into the parking space after readjusting the posture, so that the user still has ample space to open the car door after parking, avoiding vehicle scratches, thereby improving the user experience.

[0025] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0027] Figure 1 A flowchart of a vehicle parking method provided according to an embodiment of the present application;

[0028] Figure 2 Schematic diagram of the principle of a vehicle parking method according to one embodiment of the present application;

[0029] Figure 3 A schematic diagram of a parking position for a vehicle according to an embodiment of the present application;

[0030] Figure 4 This is a flowchart of a method for parking a vehicle according to one embodiment of the present application;

[0031] Figure 5A schematic structural diagram of a vehicle parking device provided according to an embodiment of the present application;

[0032] Figure 6 A schematic structural diagram of a vehicle provided according to an embodiment of the present application.

[0033] Among them, 10 is a vehicle parking device; 100 is a first judgment module, 200 is a first generation module, and 300 is a first parking module. DETAILED DESCRIPTION

[0034] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0035] The following describes a method, apparatus, vehicle, and storage medium for parking a vehicle according to an embodiment of the present application with reference to the accompanying drawings. In response to the technical problems mentioned in the above-mentioned background technology center, the vehicle's parking process is not smooth, requiring multiple gear shifts and adjustments to the vehicle's posture to successfully complete the parking action, resulting in a long parking time and affecting the comfort of the parking process. The present application provides a method for parking a vehicle. In this method, when a preset adaptive posture adjustment condition is met, a parking trajectory is planned based on the actual parking space type of the target parking space, the vehicle's current position information, the target parking space coordinate information, and the perception information. During the planning, an adjustment position is generated, and the posture adjustment is performed at the adjustment position to achieve adaptive posture adjustment, thereby ensuring the continuity of the vehicle's parking process, improving parking efficiency, making the parking path more humane, increasing the comfort of the parking process, and improving the user's parking experience. Thus, the method solves the technical problems in the related art that the vehicle's parking process is not smooth, requiring multiple gear shifts and adjustments to the vehicle's posture to successfully complete the parking action, resulting in a long parking time and affecting the comfort of the parking process.

[0036] Specifically, Figure 1 A schematic flow chart of a vehicle parking method provided in an embodiment of the present application.

[0037] like Figure 1 As shown, the vehicle parking method includes the following steps:

[0038] In step S101, the actual parking space type of the target parking space is identified to determine whether the vehicle meets the preset adaptive posture adjustment conditions.

[0039] During the actual implementation process, the embodiment of the present application can pre-identify the actual parking space type of the target parking space, and thus determine whether the vehicle meets the preset adaptive posture adjustment conditions based on the actual parking space type, thereby avoiding triggering adaptive posture adjustment when parking is not required or can be parked directly, thereby affecting the normal driving of the vehicle.

[0040] Among them, the preset adaptive posture adjustment conditions will be explained below.

[0041] As a possible implementation method, the embodiment of the present application can detect the current state of the vehicle before determining whether the vehicle meets the preset adaptive posture adjustment conditions, and when it is detected that the vehicle is in automatic parking mode, it can search for the target parking space through devices or methods such as high-precision maps, cameras, parking lot navigation, sensors, etc., and obtain the vehicle's current position information, target parking space information and perception information.

[0042] The current location information of the vehicle may be obtained through methods such as GPS positioning; the perception information may include obstacle information around the current location of the vehicle, obstacle information around the target parking space, etc.

[0043] Optionally, in one embodiment of the present application, the actual parking space type of the target parking space is identified, and it is determined whether the vehicle meets the preset adaptive posture adjustment conditions, including: if the actual parking space type is a vertical parking space type; in automatic parking mode, if the vehicle is in a stationary condition, the target parking space is detected around the vehicle, and the current position of the vehicle is not in a position where it can be parked directly into the garage, then it is determined that the vehicle meets the preset adaptive posture adjustment conditions; if the vehicle does not meet the preset adaptive posture adjustment conditions, then it is determined whether the vehicle meets the preset vertical parking conditions; if the vehicle meets the preset vertical parking conditions, then the vehicle is controlled to enter the target parking space; if the vehicle does not meet the preset vertical parking conditions, then a parking reminder is sent to the user, and the automatic parking mode is exited.

[0044] Here, the preset adaptive posture adjustment conditions are explained.

[0045] If the actual parking space type is a vertical parking space type, the preset adaptive posture adjustment conditions may include whether the vehicle is in automatic parking mode, whether the vehicle is currently stationary, whether there is a target parking space around the vehicle, that is, whether there is an available parking space around the vehicle, and the current position of the vehicle is not in a position where it can be parked directly.

[0046] When the vehicle does not meet the preset adaptive posture adjustment conditions, the embodiment of the present application can further determine whether the vehicle meets the preset vertical parking conditions, that is, whether the vehicle is in a position where it can be parked directly into the garage. When the vehicle meets the preset vertical parking conditions, based on the principle of limited efficiency, the embodiment of the present application can directly control the vehicle to shift into R gear and park into the garage, so as to reduce the number of gear changes and parking distance.

[0047] When the vehicle does not meet the preset adaptive posture adjustment conditions and does not meet the preset storage conditions, the embodiment of the present application can send a parking reminder to the user, reminding the user that automatic parking is currently not possible and exiting the automatic parking mode.

[0048] Optionally, in one embodiment of the present application, identifying the target parking space type and determining whether the vehicle meets the preset adaptive posture adjustment conditions also includes: if the target parking space type is an oblique parking space type; in automatic parking mode, if the vehicle is in a stationary condition, the target parking space is detected around the vehicle, and the angle between the vehicle's heading angle and the line connecting the corner points of the target parking space is less than a first preset angle, then the vehicle is determined to meet the preset adaptive posture adjustment conditions; in automatic parking mode, if the vehicle is in a stationary condition, the target parking space is detected around the vehicle, and the angle between the vehicle's heading angle and the line connecting the corner points of the target parking space is greater than a second preset angle, and the current position of the vehicle is not in a position where it can be directly parked into the garage, then the vehicle is determined to meet the preset adaptive posture adjustment conditions; if the vehicle does not meet the preset adaptive posture adjustment conditions, then whether the vehicle meets the preset oblique parking conditions is determined; if the vehicle meets the preset oblique parking conditions, then the vehicle is controlled to enter the target parking space; if the vehicle does not meet the preset oblique parking conditions, then a parking reminder is sent to the user, and the automatic parking mode is exited.

[0049] Here, the preset adaptive posture adjustment conditions are explained.

[0050] If the actual parking space type is a slanted parking space type, the preset adaptive posture adjustment conditions may include whether the vehicle is in automatic parking mode, whether the vehicle is currently stationary, whether there is a target parking space around the vehicle, that is, whether there is an available parking space around the vehicle, and the current position of the vehicle is not in a position where it can be parked directly.

[0051] When the vehicle does not meet the preset adaptive posture adjustment conditions, the embodiment of the present application can further determine whether the vehicle meets the preset oblique parking conditions, that is, whether the vehicle is in a position where it can be parked directly into the garage. When the vehicle meets the preset parking conditions, based on the principle of limited efficiency, the embodiment of the present application can directly control the vehicle to shift into R gear for parking, so as to reduce the number of gear changes and parking distance.

[0052] For example, if the angle between the current vehicle heading angle and the line connecting the target oblique train angle point P1P2 is greater than a second preset angle, such as 100°, and the vehicle is in a non-direct parking position, the vehicle is determined to meet the preset adaptive posture adjustment conditions. The vehicle is controlled to adjust its posture forward to an angle of 180°±10° with P1P2 based on the vehicle's forward drivable area. The control system updates the direct parking position in real time based on the vehicle's motion trajectory. When the vehicle reaches the latest direct parking position, the vehicle is controlled to shift to R gear to execute the rear-end parking action.

[0053] If the angle between the current vehicle heading angle and the line connecting the target oblique train angle point P1P2 is greater than a second preset angle, such as 100 degrees, and the vehicle is in a position where it can be parked directly, the embodiment of the present application can directly control the vehicle to park in R gear;

[0054] If the angle between the current vehicle heading angle and the line connecting the target oblique train angle point P1P2 is less than a first preset angle, such as 80°, regardless of whether the vehicle is in a position where it can be parked directly, the vehicle is judged to meet the preset adaptive posture adjustment conditions. At the same time, the vehicle is controlled to adjust its posture backward to an angle of 180°±10° with P1P2 with reference to the vehicle's rearward drivable area. The regulation and control updates the position where it can be parked directly in real time according to the vehicle's motion trajectory. When the latest position where it can be parked directly is reached, the vehicle is controlled to be in D gear to execute the vehicle's head-on parking action.

[0055] When the vehicle does not meet the preset adaptive posture adjustment conditions and does not meet the preset oblique parking conditions, the embodiment of the present application can send a parking reminder to the user, reminding the user that automatic parking is currently not possible and exiting the automatic parking mode.

[0056] In step S102 , if the vehicle meets the preset adaptive posture adjustment conditions, a first parking trajectory plan for the vehicle is generated based on the actual parking space type, the current position information of the vehicle, the target parking space coordinate information, and the perception information, and a first adjusted position is output.

[0057] During the actual implementation process, the embodiment of the present application can perform a first parking trajectory planning based on the acquired vehicle's current position information, target parking space coordinate information and perception information, and in combination with the actual parking space type when the vehicle meets the preset adaptive posture adjustment conditions, so as to plan the vehicle's parking trajectory and output a first adjustment position, so that the vehicle can adjust its posture at the first adjustment position, thereby ensuring the continuity of the vehicle's parking.

[0058] In step S103, the vehicle is controlled to move to the first adjustment position, and based on the actual parking space type, the first adjustment position, the target parking space coordinate information and the perception information, the vehicle is controlled to perform corresponding posture adjustment actions until it parks in the target parking space.

[0059] As a possible implementation method, the embodiment of the present application can control the vehicle to move to the first adjustment position, and adjust the vehicle's posture accordingly based on the actual parking space type, the first adjustment position, the target parking space coordinate information and the perception information. Under the premise of maintaining a safe distance between the vehicle and surrounding obstacles, the adjusted vehicle can be parked directly into the garage. Therefore, when the vehicle cannot be parked directly into the garage, after adjusting the posture at the first adjustment position, the vehicle can be parked more smoothly into the garage, thereby ensuring the continuity of the vehicle parking into the garage, improving parking efficiency, making the parking path more humane, increasing the comfort of the parking process, and improving the user's parking experience.

[0060] Optionally, in one embodiment of the present application, after controlling the vehicle to perform corresponding posture adjustment actions based on the target parking space type, the first adjustment position, the target parking space coordinate information and the perception information, it also includes: judging whether the vehicle meets the preset vertical parking conditions or the diagonal parking conditions based on the target parking space type; if the vehicle does not meet the preset vertical parking conditions or the diagonal parking conditions, generating a second parking trajectory plan for the vehicle based on the first adjustment position, the target parking space coordinate information and the perception information, and outputting the second adjustment position; controlling the vehicle to move to the second adjustment position, and based on the second adjustment position, the target parking space coordinate information and the perception information, controlling the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space.

[0061] Furthermore, the embodiment of the present application can determine whether the vehicle meets the preset parking conditions after the vehicle moves to the first adjustment position and adjusts its posture, that is, whether the vehicle can directly enter the parking space in the current posture and current position under the premise of the current target parking space type. If the vehicle does not meet the preset vertical parking conditions or oblique parking conditions, the embodiment of the present application can generate a second parking trajectory plan for the vehicle based on the target parking space type, the first adjustment position, the target parking space coordinate information and the perception information, while maintaining a safe distance between the vehicle and surrounding obstacles, and output the second adjustment position to control the vehicle to adjust its posture at the second adjustment position, so that the vehicle can be directly parked after adjusting its posture at the second adjustment position, thereby increasing the success rate of parking.

[0062] It is understandable that during the process of parking, the vehicle may need to adjust its posture multiple times. When the second adjustment still fails to park the vehicle, the embodiment of the present application can perform a third parking trajectory planning until the vehicle is parked in the target parking space.

[0063] Optionally, in one embodiment of the present application, after controlling the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space, it also includes: detecting the relative position of the vehicle and the boundary line of the target parking space and / or the distance between the vehicle and the obstacle; if the relative position and / or distance does not meet the preset parking conditions, generating a third adjustment position based on the relative position and / or distance; controlling the vehicle to move to the third adjustment position, and based on the third adjustment position, the target parking space coordinate information and the perception information, controlling the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space.

[0064] During the actual implementation process, after the vehicle is parked, the embodiment of the present application can also detect the relative position of the vehicle and the boundary line of the target parking space and / or the distance between the vehicle and the obstacles around the target parking space through sensors such as cameras, ultrasonic radars, etc., to ensure that after the vehicle is parked, there is sufficient space for the user to open the door. At the same time, it can also ensure that the posture of the vehicle after parking will not affect the normal entry or exit of vehicles in adjacent parking spaces, and ensure that the vehicle can subsequently smoothly exit the target parking space, reduce wear on related vehicle components, and increase the safety of the vehicle after parking.

[0065] When it is detected that the relative position and / or distance does not meet the preset parking conditions, the embodiment of the present application can generate a third adjustment position based on the relative position and / or distance, control the vehicle to exit the target parking space or adjust its posture within the target parking space, and at the third adjustment position, and based on the third adjustment position, the target parking space coordinate information and perception information, control the vehicle to perform corresponding posture adjustment actions, and then park in the target parking space to ensure the safety of the vehicle after parking.

[0066] Among them, the preset parking conditions may include the vehicle remaining parallel to the boundary line of the target parking space and maintaining a safe distance from the boundary line of the target parking space and / or obstacles around the target parking space. The safe distance can be set accordingly by technical personnel in this field based on actual conditions, such as the vehicle's door opening data, and no specific restrictions are made here.

[0067] Combine Figures 2 to 4 As shown, the working principle of the vehicle parking method of the embodiment of the present application is described in detail using an embodiment.

[0068] like Figure 2 As shown, the embodiment of the present application may include three aspects during execution: system perception, path planning and vehicle control.

[0069] Among them, the system perception part can use surround-view camera groups, periscopic camera groups, front and rear ultrasonic radar groups and other equipment to perceive lane lines, parking space lines, obstacles and other information in the current parking area to push available parking spaces to users, and build maps through the fusion of perceived information.

[0070] In the path planning part, the StatMachine functional state machine can be used to perform parking space fusion, tracking, parking coordinate system conversion and other target processing, and then perform path planning.

[0071] The vehicle control part can control the vehicle's horizontal and vertical directions based on the parking space fusion information, parking space tracking information, obstacle fusion information and parking coordinate system information of path planning to achieve vehicle parking.

[0072] Specifically, during the application of the embodiment of the present application, if the actual parking space type of the target parking space is a vertical parking space, the determination logic for the embodiment of the present application to perform adaptive posture adjustment can be as follows:

[0073] If the vehicle's current position is at a position where it can be parked directly (PosOK position), adhering to the principle of efficiency first (reducing the number of gear changes and parking distance), it is judged that the vehicle meets the preset parking conditions and the vehicle is directly controlled to shift into R gear for parking.

[0074] If the current position of the vehicle is not a position where it can be directly parked (PosNotOK), it is determined that the vehicle meets the preset adaptive posture adjustment conditions. Based on the current position of the vehicle, the target parking space coordinate information and the perception information, trajectory planning is performed and the adjustment position is output, thereby controlling the vehicle to move to the planned adjustment position and then perform parking. Among them, the two vehicle positions can be as follows Figure 3 shown.

[0075] It is understandable that during the application process, there may be a situation where parking cannot be achieved after only one adjustment. In this case, the embodiment of the present application can achieve smooth parking of the vehicle through multiple planning and posture adjustments. In addition, after the vehicle enters the parking space, the embodiment of the present application can also determine whether the vehicle needs to exit the target parking space based on the relative position of the vehicle and the boundary line of the target parking space and / or the distance between the vehicle and the obstacle, and adjust the parking posture again to ensure that there is still sufficient space for opening the door or passing after the vehicle is parked.

[0076] Among them, the process of adaptive posture adjustment of the vehicle can be summarized into five adjustment modes:

[0077] Posture adjustment outside parking space A: The first adjustment position can be output based on the target parking space coordinates, the current vehicle position, and perception information such as the size and position of obstacles, and the vehicle is controlled to move to the first adjustment position;

[0078] B. Advance outside the parking space: If the previous path, such as the first parking trajectory plan, fails to enable the vehicle to enter the parking space (the vehicle's geometric center does not enter the parking area), then advance outside the parking space is triggered. In this embodiment of the application, based on the perception information, such as surrounding obstacle information, a new parking trajectory plan, such as the second parking trajectory plan, is generated while maintaining a safe distance. The second adjusted position is output, and the vehicle is controlled to advance and adjust its parking posture.

[0079] C Backing up outside the parking space: During the forward movement outside the parking space, the trajectory planning triggers the backing up outside the parking space and generates a backing up trajectory for the vehicle (if a single reverse parking maneuver is currently required, the backing up outside the parking space can be combined with the backing up inside the parking space into one trajectory planning);

[0080] D. Advance within parking space: If the vehicle has entered the parking space in the previous path and the current parking posture does not meet the performance requirements, the advance within parking space is triggered to adjust the vehicle posture;

[0081] E Backing up within a parking space: During the forward movement within a parking space, the trajectory planning triggers the backing up within the parking space and outputs the vehicle's backing trajectory into the parking space.

[0082] Further, if Figure 4 As shown, the embodiment of the present application may include the following steps:

[0083] S11: Determine whether the vehicle meets the preconditions and, if the vehicle meets the preconditions, execute trajectory decision. The preconditions may include: the parking function is activated, the system has found a parking space, and the vehicle is stationary.

[0084] S12: Based on the vehicle's current position, determine whether the vehicle meets the parking conditions. If the vehicle's current position is the PosOK position, the embodiment of the present application can directly trigger the reverse outside the parking space, forward inside the parking space, and reverse inside the parking space in sequence (the mode triggering sequence can be determined according to the specific trajectory planning. For example, if the current parking space does not meet the three parking conditions, the triggering sequence is adjusted to C → B → C → D → E).

[0085] S13: If the current position of the vehicle is not a position where it can be directly parked (PosNotOk), the embodiment of the present application can directly trigger posture adjustment outside the parking space, backing up outside the parking space, forward movement inside the parking space, and backing up inside the parking space in sequence (if the current parking space does not meet the conditions for parking three times (posture adjustment is not counted in the path planning steps), the sequence adjustment A→C→B→C→D→E is triggered).

[0086] Specifically, during the application of the embodiment of the present application, if the actual parking space type of the target parking space is a slanted parking space, the decision logic for the embodiment of the present application to perform adaptive posture adjustment may be as follows:

[0087] If the angle between the current vehicle heading angle and the line connecting the target oblique train angle point P1P2 is greater than a second preset angle, such as 100°, and the vehicle is in a non-direct parking position, it is determined that the vehicle meets the preset adaptive posture adjustment conditions. Referring to the vehicle's forward drivable area, the vehicle is controlled to adjust its posture forward to an angle of 180°±10° with P1P2. The control system updates the direct parking position in real time based on the vehicle's motion trajectory. When the latest direct parking position is reached, the vehicle is controlled to shift to R gear to execute the rear-end parking action.

[0088] If the angle between the current vehicle heading angle and the line connecting the target oblique train angle point P1P2 is greater than a second preset angle, such as 100 degrees, and the vehicle is in a position where it can be parked directly, the embodiment of the present application can directly control the vehicle to park in R gear;

[0089] If the angle between the current vehicle heading angle and the line connecting the target oblique train angle point P1P2 is less than a first preset angle, such as 80°, regardless of whether the vehicle is in a position where it can be parked directly, the vehicle is judged to meet the preset adaptive posture adjustment conditions. At the same time, the vehicle is controlled to adjust its posture backward to an angle of 180°±10° with P1P2 with reference to the vehicle's rearward drivable area. The regulation and control updates the position where it can be parked directly in real time according to the vehicle's motion trajectory. When the latest position where it can be parked directly is reached, the vehicle is controlled to be in D gear to execute the vehicle's head-on parking action.

[0090] Furthermore, the embodiment of the present application may include the following steps:

[0091] S21: Determine whether the vehicle meets the preconditions, and execute trajectory decision if the vehicle meets the preconditions. The preconditions may include: the parking function is activated, the system has found a parking space, and the vehicle is stationary.

[0092] S22: The angle between the vehicle heading angle and the line connecting the target oblique train position angle points P1P2 is greater than 100° and the vehicle is in a position where it cannot be directly parked (PosNotOK). The triggering sequence of the embodiment of the present application can be determined according to the specific trajectory planning (for example, if the current parking space does not meet the conditions for 3 parking entries, the calling sequence is adjusted to A→C→B→C→D→E).

[0093] S23: If the angle between the current vehicle heading angle and the line connecting the target oblique train angle points P1P2 is greater than 100° and the vehicle is in a position where it can be directly parked (PosOK), the embodiment of the present application can sequentially perform backing out of the parking space, forward movement within the parking space, and backing out within the parking space (if the current parking space does not meet the conditions for three parking steps (posture adjustment is not counted in the path planning steps), the calling sequence is adjusted to C→B→D→E).

[0094] S24: If the included angle between the current vehicle heading angle and the line P1P2 connecting the target oblique parking space angle points is less than 80°, regardless of whether the vehicle is in the PosOK position, the embodiments of the present application can first perform the off-space attitude adjustment and off-space forward movement (wherein the calling sequence can be determined according to the specific trajectory planning, for example, if the current parking space does not meet the 3-time warehouse entry condition, the calling sequence is adjusted to sub-module A→B→C→B→D).

[0095] According to the vehicle parking and warehouse entry method provided in the embodiments of the present application, when the preset adaptive attitude adjustment condition is met, the actual parking space type of the target parking space, the current position information of the vehicle, the target parking space coordinate information and the perception information are used to plan a parking entry trajectory, and an adjustment position is generated during the planning, so that the attitude adjustment is performed at the adjustment position, the adaptive attitude adjustment is realized, the coherence of the vehicle parking and warehouse entry is ensured, the parking efficiency is improved, the parking entry path is more humanized, the comfort of the parking process is increased, and the user's parking experience is improved. Therefore, the technical problem in the related art that the vehicle cannot be smoothly connected in the parking and warehouse entry process, needs to be shifted and the vehicle attitude needs to be adjusted to successfully complete the parking entry action, resulting in a long parking time of the vehicle and affecting the comfort of the parking process is solved.

[0096] Secondly, the vehicle parking and warehouse entry device provided in the embodiments of the present application is described with reference to the accompanying drawings.

[0097] Figure 5 is a block schematic diagram of the vehicle parking and warehouse entry device in the embodiments of the present application.

[0098] As shown in Figure 5 , the vehicle parking and warehouse entry device 10 includes a first judgment module 100, a first generation module 200 and a first parking module 300.

[0099] Specifically, the first judgment module 100 is configured to identify the actual parking space type of the target parking space, and determine whether the vehicle meets the preset adaptive attitude adjustment condition.

[0100] The first generation module 200 is configured to, when the vehicle meets the preset adaptive attitude adjustment condition, generate a first parking entry trajectory planning of the vehicle based on the actual parking space type, the current position information of the vehicle, the target parking space coordinate information and the perception information, and output a first adjustment position.

[0101] The first parking module 300 is configured to control the vehicle to move to the first adjustment position, and control the vehicle to perform a corresponding attitude adjustment action based on the actual parking space type, the first adjustment position, the target parking space coordinate information and the perception information, until the vehicle is parked in the target parking space.

[0102] Optionally, in one embodiment of the present application, the first judgment module 100 includes: a first judgment unit, a second judgment unit, a third judgment unit, a fourth judgment unit and a fifth judgment unit.

[0103] The first judgment unit is configured to judge whether the actual parking space type is a vertical parking space type.

[0104] The second judgment unit is used to determine whether the vehicle meets the preset adaptive posture adjustment conditions when, in the automatic parking mode, the vehicle is in a stationary condition, a target parking space is detected around the vehicle, and the current position of the vehicle is not in a position where it can be parked directly.

[0105] The third judgment unit is used to judge whether the vehicle meets the preset vertical parking condition when the vehicle does not meet the preset adaptive posture adjustment condition.

[0106] The fourth judgment unit is used to control the vehicle to enter the target parking space when the vehicle meets the preset vertical parking conditions.

[0107] The fifth judgment unit is used to send a parking reminder to the user and exit the automatic parking mode when the vehicle does not meet the preset vertical parking conditions.

[0108] Optionally, in one embodiment of the present application, the first judgment module 100 further includes: a sixth judgment unit, a seventh judgment unit, an eighth judgment unit, a ninth judgment unit, a tenth judgment unit and an eleventh judgment unit.

[0109] The sixth judgment unit is configured to judge whether the target parking space type is an oblique parking space type.

[0110] The seventh judgment unit is used to determine that the vehicle meets the preset adaptive posture adjustment conditions when, in the automatic parking mode, if the vehicle is stationary, a target parking space is detected around the vehicle, and the angle between the vehicle's heading angle and the line connecting the corner points of the target parking space is less than a first preset angle.

[0111] The eighth judgment unit is used to determine whether the vehicle meets the preset adaptive posture adjustment conditions if, in the automatic parking mode, the vehicle is stationary, a target parking space is detected around the vehicle, the angle between the vehicle's heading angle and the line connecting the corner points of the target parking space is greater than a second preset angle, and the vehicle's current position is not in a position where it can be parked directly.

[0112] The ninth judgment unit is used to judge whether the vehicle meets the preset oblique parking condition when the vehicle does not meet the preset adaptive posture adjustment condition.

[0113] The tenth judgment unit is used to control the vehicle to enter the target parking space when the vehicle meets the preset oblique parking conditions.

[0114] The eleventh judgment unit is used to send a parking reminder to the user and exit the automatic parking mode when the vehicle does not meet the preset oblique parking conditions.

[0115] Optionally, in one embodiment of the present application, the vehicle parking device 10 further includes: a second judgment module, a second generation module and a second parking module.

[0116] The second judgment module is used to judge whether the vehicle meets the preset vertical parking condition or the diagonal parking condition based on the target parking space type.

[0117] The second generation module is used to generate a second parking trajectory plan for the vehicle based on the first adjustment position, the target parking space coordinate information and the perception information, and output the second adjustment position when the vehicle does not meet the preset vertical parking condition or the diagonal parking condition.

[0118] The second parking module is used to control the vehicle to move to the second adjustment position, and based on the second adjustment position, the target parking space coordinate information and the perception information, control the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space.

[0119] Optionally, in one embodiment of the present application, the vehicle parking device 10 further includes: a detection module, a third generation module and a third parking module.

[0120] The detection module is used to detect the relative position of the vehicle and the boundary line of the target parking space and / or the distance between the vehicle and the obstacle.

[0121] The third generating module is configured to generate a third adjustment position based on the relative position and / or distance when the relative position and / or distance do not satisfy the preset parking condition.

[0122] The third parking module is used to control the vehicle to move to a third adjustment position, and based on the third adjustment position, the target parking space coordinate information and the perception information, control the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space.

[0123] It should be noted that the above explanation of the embodiment of the vehicle parking method is also applicable to the vehicle parking device of this embodiment, and will not be repeated here.

[0124] According to the vehicle parking device proposed in the embodiment of the present application, when the preset adaptive posture adjustment conditions are met, the parking trajectory can be planned based on the actual parking space type of the target parking space, the current position information of the vehicle, the target parking space coordinate information, and the perception information. During the planning, an adjustment position is generated to adjust the posture at the adjustment position to achieve adaptive posture adjustment, thereby ensuring the continuity of the vehicle parking, improving parking efficiency, making the parking path more humane, increasing the comfort of the parking process, and improving the user's parking experience. This solves the technical problem in the related art that the vehicle's parking process is not smooth, and multiple gear changes and vehicle posture adjustments are required to successfully complete the parking action, resulting in a long parking time and affecting the comfort of the parking process.

[0125] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle may include:

[0126] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0127] When the processor 602 executes the program, the vehicle parking method provided in the above embodiment is implemented.

[0128] Furthermore, the vehicle further comprises:

[0129] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0130] The memory 601 is used to store computer programs that can be run on the processor 602 .

[0131] The memory 601 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0132] If the memory 601, processor 602, and communication interface 603 are implemented independently, the communication interface 603, memory 601, and processor 602 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0133] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0134] The processor 602 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0135] This embodiment also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the above-mentioned vehicle parking method is implemented.

[0136] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0137] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0138] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0139] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0140] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0141] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0142] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0143] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A method for parking a vehicle, characterized in that: The following steps are involved: Identify the actual parking space type of the target parking space and determine whether the vehicle meets the preset adaptive posture adjustment conditions; If the vehicle satisfies the preset adaptive posture adjustment condition, generating a first parking trajectory plan for the vehicle based on the actual parking space type, the current position information of the vehicle, the target parking space coordinate information, and the perception information, and outputting a first adjusted position; as well as Controlling the vehicle to move to the first adjustment position, and controlling the vehicle to perform corresponding posture adjustment actions based on the actual parking space type, the first adjustment position, the target parking space coordinate information, and the perception information, until the vehicle parks in the target parking space; The identifying of the actual parking space type of the target parking space and determining whether the vehicle meets the preset adaptive posture adjustment conditions further includes: If the target parking space type is an inclined parking space type; In the automatic parking mode, if the vehicle is stationary, the target parking space is detected around the vehicle, and the angle between the vehicle's heading angle and the line connecting the corner points of the target parking space is less than a first preset angle, then the vehicle is determined to meet the preset adaptive posture adjustment condition; In the automatic parking mode, if the vehicle is stationary, the target parking space is detected around the vehicle, the angle between the vehicle's heading angle and the line connecting the corner points of the target parking space is greater than a second preset angle, and the vehicle's current position is not in a position where it can be directly parked, then the vehicle is determined to meet the preset adaptive posture adjustment conditions; If the vehicle does not meet the preset adaptive posture adjustment condition, determining whether the vehicle meets the preset oblique parking condition; If the vehicle meets the preset oblique parking conditions, control the vehicle to enter the target parking space; If the vehicle does not meet the preset diagonal parking conditions, a parking reminder is sent to the user and the automatic parking mode is exited.

2. The method according to claim 1, characterized in that The identifying the actual parking space type of the target parking space and determining whether the vehicle meets the preset adaptive posture adjustment conditions include: If the actual parking space type is a vertical parking space type; In the automatic parking mode, if the vehicle is stationary, the target parking space is detected around the vehicle, and the current position of the vehicle is not a position where direct parking can be made, then it is determined that the vehicle meets the preset adaptive posture adjustment conditions; If the vehicle does not meet the preset adaptive posture adjustment conditions, determining whether the vehicle meets the preset vertical parking conditions; If the vehicle meets the preset vertical parking conditions, control the vehicle to enter the target parking space; If the vehicle does not meet the preset perpendicular parking conditions, a parking reminder is sent to the user and the automatic parking mode is exited.

3. The method according to claim 2, characterized in that After controlling the vehicle to perform a corresponding posture adjustment action based on the target parking space type, the first adjustment position, the target parking space coordinate information, and the perception information, the method further includes: Based on the target parking space type, determining whether the vehicle meets the preset vertical parking condition or the diagonal parking condition; If the vehicle does not meet the preset perpendicular parking condition or the diagonal parking condition, generating a second parking trajectory plan for the vehicle based on the first adjusted position, the target parking space coordinate information, and the perception information, and outputting the second adjusted position; The vehicle is controlled to move to the second adjustment position, and based on the second adjustment position, the target parking space coordinate information and the perception information, the vehicle is controlled to perform corresponding posture adjustment actions until it parks in the target parking space.

4. The method according to claim 2, characterized in that After controlling the vehicle to perform corresponding posture adjustment actions until it parks in the target parking space, the method further includes: Detecting the relative position of the vehicle and the boundary line of the target parking space and / or the distance between the vehicle and an obstacle; If the relative position and / or the distance do not satisfy the preset parking condition, generating a third adjustment position based on the relative position and / or the distance; The vehicle is controlled to move to the third adjustment position, and based on the third adjustment position, the target parking space coordinate information and the perception information, the vehicle is controlled to perform corresponding posture adjustment actions until it parks in the target parking space.

5. A vehicle parking device, characterized in that: include: A judgment module is used to identify the actual parking space type of the target parking space and determine whether the vehicle meets the preset adaptive posture adjustment conditions; a generating module configured to generate a first parking trajectory plan for the vehicle based on the actual parking space type, the current position information of the vehicle, the coordinate information of the target parking space, and the perception information, and output a first adjusted position when the vehicle satisfies the preset adaptive posture adjustment condition; as well as a parking module, configured to control the vehicle to move to the first adjustment position, and control the vehicle to perform corresponding posture adjustment actions based on the actual parking space type, the first adjustment position, the target parking space coordinate information, and the perception information, until the vehicle is parked in the target parking space; The judgment module also includes: a sixth judging unit, configured to judge whether the target parking space type is an oblique parking space type; a seventh determination unit, configured to, in the automatic parking mode, determine that the vehicle satisfies a preset adaptive posture adjustment condition if, in the automatic parking mode, the vehicle is stationary, a target parking space is detected around the vehicle, and an angle between a heading angle of the vehicle and a line connecting a corner point of the target parking space is less than a first preset angle; an eighth determination unit configured to determine that the vehicle satisfies a preset adaptive posture adjustment condition if, in the automatic parking mode, the vehicle is stationary, a target parking space is detected around the vehicle, an angle between a heading angle of the vehicle and a line connecting a corner point of the target parking space is greater than a second preset angle, and the current position of the vehicle is not a position where direct parking is possible; a ninth judgment unit, configured to judge whether the vehicle satisfies a preset oblique parking condition when the vehicle does not satisfy the preset adaptive posture adjustment condition; a tenth judgment unit, configured to control the vehicle to enter a target parking space when the vehicle meets a preset oblique parking condition; The eleventh judgment unit is configured to send a parking reminder to the user and exit the automatic parking mode when the vehicle does not meet the preset oblique parking conditions.

6. The device according to claim 5, characterized in that The judgment module includes: a first determining unit, configured to determine that the actual parking space type is a vertical parking space type; a second determination unit configured to, in the automatic parking mode, determine that the vehicle satisfies a preset adaptive posture adjustment condition if the vehicle is stationary, the target parking space is detected around the vehicle, and the current position of the vehicle is not a position where direct parking is possible; a third judgment unit, configured to judge whether the vehicle meets a preset vertical parking condition when the vehicle does not meet a preset adaptive posture adjustment condition; a fourth judgment unit, configured to control the vehicle to enter a target parking space when the vehicle meets a preset vertical parking condition; The fifth judgment unit is used to send a parking reminder to the user and exit the automatic parking mode when the vehicle does not meet the preset vertical parking conditions.

7. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle parking method according to any one of claims 1 to 4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the vehicle parking method according to any one of claims 1 to 4.

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