Control method, device and equipment of parking process, and storage medium

Abstract

This application discloses a control method, apparatus, device, and storage medium for a parking process, belonging to the field of vehicle control technology. The method includes: acquiring a first detection result indicating whether the vehicle has detected a vacant parking space; based on the first detection result, instructing the vehicle to detect a vacant parking space and acquiring a second detection result indicating whether the vehicle has entered a parking state; based on the second detection result, instructing the vehicle to enter a parking state and acquiring images from an onboard forward-view camera, onboard surround-view cameras, and onboard ultrasonic signals; determining the distance between the vehicle and an obstacle based on the onboard forward-view camera images, onboard surround-view camera images, and onboard ultrasonic signals, wherein the obstacle is within the vehicle's reference range; and determining at least one of a first moment when the vehicle begins to decelerate or a second moment when it brakes based on the distance between the vehicle and the obstacle. This method controls the vehicle to decelerate and brake in advance before encountering an obstacle during the parking process, ensuring the safety of intelligent parking.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a control method, apparatus, device, and storage medium for a parking process. Background Technology

[0002] With the development of intelligent parking technology, the permissible speed range during intelligent parking has also been expanded. Ensuring timely deceleration and braking in advance when there are obstacles, especially when the vehicle speed is increasing, is crucial for ensuring the safety of intelligent parking. Summary of the Invention

[0003] This application provides a method, apparatus, device, and storage medium for controlling the parking process, which can be used to ensure the safety of intelligent parking. The technical solution is as follows:

[0004] On one hand, embodiments of this application provide a control method for a parking process, the method comprising:

[0005] Obtain the first detection result, which is used to indicate whether the vehicle has identified an available parking space;

[0006] Based on the first detection result, the vehicle is instructed to identify the available parking space, and a second detection result is obtained. The second detection result is used to indicate whether the vehicle has entered the parking state.

[0007] Based on the second detection result, the vehicle is instructed to enter the parking state, and the images from the vehicle's front-view camera, the vehicle's surround-view camera, and the vehicle's ultrasonic signals are acquired.

[0008] The distance information between the vehicle and the obstacle is determined based on the image from the vehicle's forward-facing camera, the image from the vehicle's surround-view camera, and the ultrasonic signal from the vehicle, wherein the obstacle is located within the reference range of the vehicle;

[0009] Based on the distance information between the vehicle and the obstacle, determine at least one of the first moment when the vehicle begins to decelerate or the second moment when it brakes.

[0010] On the other hand, a parking process control device is provided, the device comprising:

[0011] The first acquisition module is used to acquire a first detection result, which is used to indicate whether the vehicle has identified an available parking space.

[0012] The second acquisition module is used to instruct the vehicle to identify the available parking space based on the first detection result and acquire a second detection result, the second detection result being used to indicate whether the vehicle has entered the parking state;

[0013] The third acquisition module is used to instruct the vehicle to enter the parking state based on the second detection result, and to acquire the on-board front-view camera image, the on-board surround-view camera image and the on-board ultrasonic signal;

[0014] The first determining module is used to determine the distance information between the vehicle and the obstacle based on the image from the vehicle's forward-view camera, the image from the vehicle's surround-view camera, and the ultrasonic signal from the vehicle, wherein the obstacle is located within the reference range of the vehicle.

[0015] The second determining module is used to determine at least one of the first moment when the vehicle begins to decelerate or the second moment when it brakes, based on the distance information between the vehicle and the obstacle.

[0016] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement the parking process control method described above.

[0017] On the other hand, a computer-readable storage medium is also provided, wherein at least one computer program is stored in the computer-readable storage medium, the at least one computer program being loaded and executed by a processor to enable a computer to implement the control method for the parking process described above.

[0018] On the other hand, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the control method for the parking process described above.

[0019] The technical solution provided in this application has at least the following beneficial effects:

[0020] This application first determines whether the vehicle has detected an available parking space. If an available parking space is detected, it determines whether the vehicle should enter parking mode. If the vehicle enters parking mode, it acquires images from the vehicle's front-view camera, surround-view camera, and ultrasonic signals to detect obstacles in the area the vehicle passes through while parking. By using the images from the front-view camera, surround-view camera, and ultrasonic signals, the distance information between the vehicle and obstacles is determined, thereby determining at least one of the first moment the vehicle begins to decelerate or the second moment it begins to brake. By controlling the vehicle to decelerate and brake in advance before encountering obstacles during parking, the safety of intelligent parking is ensured. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of an implementation environment provided in an embodiment of this application;

[0023] Figure 2 This is a flowchart of a parking process control method provided in an embodiment of this application;

[0024] Figure 3 This is a control strategy diagram for a parking process provided in an embodiment of this application;

[0025] Figure 4 This is a schematic diagram of the structure of a parking process control device provided in an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of the structure of a server provided in an embodiment of this application;

[0027] Figure 6 This is a schematic diagram of the structure of a parking process control device provided in an embodiment of this application. Detailed Implementation

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0029] This application provides a method for controlling the parking process. Please refer to the following embodiments. Figure 1 The diagram illustrates the implementation environment of the method provided in this application embodiment. This implementation environment may include: a vehicle 11 and a vehicle control system 12.

[0030] Optionally, the vehicle control system 12 acquires a first detection result, which indicates whether the vehicle 11 has identified an available parking space; based on the first detection result indicating that the vehicle 11 has identified an available parking space, the vehicle control system 12 acquires a second detection result, which indicates whether the vehicle 11 has entered a parking state; based on the second detection result indicating that the vehicle 11 has entered a parking state, the vehicle control system 12 acquires images from the vehicle's forward-facing camera, images from the vehicle's surround-view camera, and ultrasonic signals from the vehicle; the vehicle control system 12 determines the distance information between the vehicle and the obstacle based on the images from the vehicle's forward-facing camera, the images from the vehicle's surround-view camera, and the ultrasonic signals from the vehicle, wherein the obstacle is within the reference range of the vehicle 11; the vehicle control system 12 determines at least one of the first moment when the vehicle 11 begins to decelerate or the second moment when it brakes based on the distance information between the vehicle 11 and the obstacle.

[0031] The vehicle control system 12 can store the location information of obstacles, and the vehicle 11 can obtain the location information of obstacles from the vehicle control system 12. Alternatively, the vehicle 11 can also store the location information of obstacles. The location information of obstacles is used to calculate the distance between the vehicle 11 and the obstacles.

[0032] Optionally, the vehicle 11 and the vehicle control system 12 establish a communication connection via a wired or wireless network.

[0033] Those skilled in the art should understand that the above-described vehicle 11 and vehicle control system 12 are merely examples. Other existing or future vehicles 11 or vehicle control systems 12 that are applicable to this application should also be included within the scope of protection of this application, and are hereby incorporated by reference.

[0034] Based on the above Figure 1 As shown in the implementation environment, this application provides a parking process control method, such as... Figure 2 As shown, taking the application of this method to a vehicle control system as an example, the method includes steps 201-205.

[0035] In step 201, a first detection result is obtained, which is used to indicate whether the vehicle has identified an available parking space.

[0036] In one possible implementation, the first detection result is used to indicate whether the vehicle has identified an available parking space. Obtaining the first detection result includes: obtaining at least one of a third detection result, a fourth detection result, or a fifth detection result. The third detection result is used to indicate whether the vehicle has received information confirming the use of the parking space from the driver. The fourth detection result is used to indicate whether the vehicle has identified the complete parking space border. The fifth detection result is used to indicate whether the vehicle has identified one of the pre-recorded parking spaces. Based on the third detection result indicating that the vehicle has received information confirming the use of the parking space from the driver, the fourth detection result indicating that the vehicle has identified the complete parking space border, or the fifth detection result indicating that the vehicle has identified one of the pre-recorded parking spaces, the first detection result indicates that the vehicle has identified an available parking space.

[0037] Next, examples will be given to illustrate the methods for obtaining various test results.

[0038] (1) Obtain a third detection result to indicate whether the vehicle has received confirmation from the driver that the vehicle is using the parking space.

[0039] For example, after the driver finds a parking space and presses the button to confirm the use of the parking space, a third detection result is obtained to indicate whether the vehicle has received the information that the driver has confirmed the use of the parking space. This includes: based on the information that the vehicle control system has received the information that the driver has confirmed the use of the parking space, the third detection result indicates that the vehicle has received the information that the driver has confirmed the use of the parking space.

[0040] Optionally, the button to confirm the use of the parking space is located on the vehicle's main HMI (Human-Machine Interface) screen. After the driver presses the button to confirm the use of the parking space, the vehicle control system obtains the information from the main HMI screen confirming the use of the parking space.

[0041] (2) Obtain the fourth detection result to indicate whether the vehicle has been detected within the complete parking space border.

[0042] In one possible implementation, obtaining a fourth detection result to indicate whether the vehicle has recognized the complete parking space border includes: the vehicle control system controlling the onboard surround-view camera to detect the lane lines of the road where the vehicle is located; based on the detection of the complete parking space border by the surround-view camera, the fourth detection result indicates that the vehicle has recognized the complete parking space border.

[0043] For example, controlling the vehicle's surround-view camera to detect lane lines on the road where the vehicle is located includes: capturing images of the ground around the road where the vehicle is located using the vehicle's surround-view camera, and identifying the lane lines in the images. If the identified lane lines are complete parking space borders, a fourth detection result indicates that the vehicle has identified complete parking space borders, wherein a complete parking space border is a border containing four lane lines with a resolution greater than a reference resolution.

[0044] This application does not limit the reference sharpness; it can be set based on experience or adjusted according to actual conditions.

[0045] (3) Obtain the fifth detection result to indicate whether the vehicle has recognized one of the pre-recorded parking spaces.

[0046] For example, the vehicle control system pre-enters the location information of parking spaces on the city roads and the route information to reach the parking spaces, and obtains a fifth detection result to indicate whether the vehicle has identified one of the pre-entered parking spaces. This includes: the vehicle control system obtaining the location information of the vehicle, searching for the location information of the nearest parking space to the vehicle in the pre-entered parking space location information, and the vehicle control system controlling the vehicle to find the parking space based on the pre-entered route information to reach the nearest parking space.

[0047] In step 202, based on the first detection result, the vehicle is instructed to identify an available parking space and obtain a second detection result, which is used to indicate whether the vehicle has entered the parking state.

[0048] After determining that the first detection result indicates that the vehicle has identified an available parking space, in one possible implementation, the second detection result is used to indicate whether the vehicle has entered the parking state. Obtaining the second detection result includes: based on the parking button being pressed, the second detection result indicates that the vehicle has entered the parking state; based on the parking button not being pressed, the second detection result indicates that the vehicle has not entered the parking state.

[0049] For example, the parking button is located on the host HMI screen and is used to control the vehicle to enter the parking state.

[0050] Optionally, the method for detecting whether the parking button has been pressed includes: the vehicle control system obtaining the status of the parking button from the host HMI screen via the CAN (Controller Area Network) bus.

[0051] After confirming that the parking button has been pressed, a sixth detection result is obtained. This sixth detection result indicates whether the vehicle's status allows automatic parking to be activated. For example, obtaining the sixth detection result includes obtaining a seventh, eighth, ninth, tenth, and eleventh detection result. The seventh detection result indicates whether the vehicle doors are closed; the eighth detection result indicates whether the hood is closed; the ninth detection result indicates whether the trunk is closed; the tenth detection result indicates whether the vehicle is in park; and the eleventh detection result indicates whether the vehicle's EPB (Electrical Park Brake) is engaged.

[0052] The seventh test result indicates that the vehicle doors are closed, the eighth test result indicates that the hood is closed, the ninth test result indicates that the trunk is closed, the tenth test result indicates that the vehicle is in park, the eleventh test result indicates that the vehicle's EPB is on, and the sixth test result indicates that the vehicle's status allows automatic parking to be activated.

[0053] Optionally, the instrument control system can acquire and display the closing status of the doors, the hood, the trunk, the vehicle's gear position, and the EPB status via CAN. The vehicle control system can acquire the closing status of the doors, the hood, the trunk, the vehicle's gear position, and the EPB status from the instrument control system via CAN.

[0054] In step 203, based on the second detection result, the vehicle is instructed to enter the parking state, and the images from the vehicle's front-view camera, the images from the vehicle's surround-view camera, and the ultrasonic signals from the vehicle are acquired.

[0055] In one possible implementation, when the second detection result indicates that the vehicle has entered a parking state, the vehicle acquires the onboard forward-view camera image, the onboard surround-view camera image, and the onboard ultrasonic signal. This includes: the vehicle control system controlling the parking domain controller to acquire the onboard forward-view camera image, the onboard surround-view camera image, and the onboard ultrasonic signal. The parking domain controller is directly connected to the onboard forward-view camera image, the onboard surround-view camera image, and the onboard ultrasonic radar via CAN communication. The method by which the parking domain controller acquires the onboard forward-view camera image, the onboard surround-view camera image, and the onboard ultrasonic signal includes, but is not limited to, acquisition via CAN.

[0056] In step 204, the distance information between the vehicle and the obstacle is determined based on the image from the vehicle's front-view camera, the image from the vehicle's surround-view camera, and the vehicle's ultrasonic signal. The obstacle is located within the vehicle's reference range.

[0057] For example, determining the distance information between the vehicle and an obstacle based on images from the vehicle's forward-facing camera, surround-view camera, and ultrasonic signals ensures the identification of obstacles within a reference range. The obstacle is located within the vehicle's reference range. After acquiring the images from the vehicle's forward-facing camera, surround-view camera, and ultrasonic signals, determining the distance information between the vehicle and the obstacle based on these images includes: determining first distance information based on the forward-facing camera image, where the first distance information is the distance between the obstacle and the vehicle detected by the forward-facing camera; determining second distance information based on the surround-view camera image and ultrasonic signals, where the second distance information is the distance between the obstacle and the vehicle detected by the surround-view camera and ultrasonic signals; and finally, determining the distance information between the vehicle and the obstacle based on the first and second distance information.

[0058] For example, determining the first distance information based on the image from the vehicle's forward-facing camera includes: extracting features of the obstacle using an image recognition algorithm to determine the obstacle's position; then establishing a baseline between the vehicle and the obstacle, and setting two observation points at each end of the baseline; and calculating the first distance information between the vehicle and the obstacle by measuring the distances from these two observation points to the vehicle and the obstacle, as well as the distance between these two observation points, using trigonometric functions.

[0059] Optionally, determining the second distance information based on the vehicle-mounted surround-view camera images and the vehicle-mounted ultrasonic signals includes: controlling the vehicle-mounted surround-view camera to determine the third distance information using the same method as the vehicle-mounted front-view camera; controlling the vehicle-mounted ultrasonic radar to emit ultrasonic waves and receive ultrasonic waves returning from encountering obstacles, and multiplying the time from emitting the ultrasonic wave to receiving the returning ultrasonic wave by the propagation speed of the ultrasonic wave as the fourth distance information measured by the ultrasonic radar. The smaller of the third and fourth distance information is used as the second distance information.

[0060] In one possible implementation, this application embodiment does not limit the obstacles. For example, obstacles can be cones, parking signs, vehicles, or pedestrians. The distance information between the vehicle and the obstacle is determined based on the first distance information and the second distance information, and can be categorized into the following three cases.

[0061] (1) The vehicle's surround view camera image does not contain any obstacles, the vehicle's ultrasonic signal does not identify any obstacles, and the vehicle's forward view camera image does not contain any obstacles.

[0062] For example, if neither the vehicle's surround-view camera image nor the vehicle's forward-view camera image contains any obstacles, and the vehicle's ultrasonic sensors do not detect any obstacles, it means that there are no obstacles within the vehicle's reference range. The vehicle control system does not need to control the parking domain controller to slow down or brake the vehicle. In this case, both the first distance information and the second distance information are the first reference distance, which is greater than the distance from any point in the reference range to the vehicle.

[0063] This application does not limit the reference range. For example, the reference range is the size of the area that the vehicle has driven through to complete parking. It can be set based on experience or adjusted according to the actual situation.

[0064] (2) The vehicle's surround view camera image contains obstacles, the vehicle's ultrasonic signal identifies obstacles, and the vehicle's front view camera image contains obstacles.

[0065] For example, a first distance information is determined based on the image from the vehicle's forward-facing camera; a second distance information is determined based on the image from the vehicle's surround-view camera and the vehicle's ultrasonic signals. If the second distance information is less than the first distance information, the second distance information is used as the distance between the vehicle and the obstacle.

[0066] (3) The vehicle's surround view camera image does not contain obstacles, the vehicle's ultrasonic signal does not identify obstacles, and the vehicle's front view camera image contains obstacles.

[0067] For example, if the vehicle's surround-view camera image does not contain an obstacle, the vehicle's ultrasonic signal does not identify an obstacle, and the vehicle's forward-view camera image contains an obstacle, then the second distance information is the first reference distance, and the first distance information is used as the distance between the vehicle and the obstacle.

[0068] In step 205, at least one of the first moment when the vehicle begins to decelerate or the second moment when it brakes is determined based on the distance information between the vehicle and the obstacle.

[0069] For example, before controlling the vehicle to start automatic parking, the parking type of the vehicle is obtained, which includes automatic parking or remote parking; based on the parking type being remote parking, the driver's remote control information is obtained, which is used to control the speed and braking status of the vehicle when parking.

[0070] In one possible implementation, the host HIM screen prompts the driver to select automatic parking or remote parking. After receiving the user's selection, the host HIM screen transmits the vehicle's parking type to the vehicle control system via CAN. If the parking type is remote parking, the vehicle control system obtains the driver's remote control information, which is used to control the vehicle's speed and braking status during parking. If the parking type is automatic parking, the system controls the vehicle to complete parking according to a pre-set program.

[0071] For example, the vehicle control system obtains the driver's remote control information by remotely acquiring the remote control information from the driver's mobile phone, wherein the remote acquisition method includes Bluetooth or WiFi, etc.

[0072] In one possible implementation, during parking, based on the fact that the distance between the vehicle and the obstacle is less than or equal to a second reference distance, this is the first moment when the vehicle begins to decelerate. The vehicle control system decelerates the vehicle by controlling VLC (Vehicle Longitudinal Control).

[0073] For example, VLC controls vehicle deceleration by controlling vehicle acceleration. In this embodiment, the magnitude of vehicle acceleration is not limited, but is determined based on vehicle speed and distance from obstacle.

[0074] In one possible implementation, based on the fact that the distance between the vehicle and the obstacle is less than or equal to a third reference distance, which is the second moment of vehicle braking, the vehicle control system brakes the vehicle by controlling the VLC.

[0075] Optionally, after determining at least one of the first moment when the vehicle begins to decelerate or the second moment when it brakes, the vehicle is controlled to continue parking based on the fact that the obstacle is outside the vehicle's reference range within the reference time; if the obstacle is not outside the vehicle's reference range within the reference time, a prompt is made indicating that the obstacle needs to be handled.

[0076] In one possible implementation, controlling the vehicle to continue parking includes: based on the vehicle's parking type being remote-controlled parking, controlling the vehicle to continue parking according to the driver's remote control information; or based on the vehicle's parking type being automatic parking, controlling the vehicle to complete parking according to a pre-set program.

[0077] This application does not limit the reference duration. For example, it can be set based on experience or adjusted according to the actual situation.

[0078] For example, prompting the driver to remove an obstacle may include, but is not limited to, the vehicle control system sending a prompt message to the driver's mobile phone indicating that the obstacle needs to be removed.

[0079] Combining the above methods and processes, with Figure 3 The control strategy diagram for a parking process provided in this application embodiment is illustrated below. First, the driver turns on the vehicle's main unit HMI 301. The vehicle identifies an available parking space 302. Then, the driver presses the parking button 303. If the vehicle's status allows automatic parking 304, the parking domain controller takes over the vehicle 305. The vehicle control system controls the parking domain controller to acquire images from the forward-looking camera 306, ultrasonic signals, and surround-view camera 307, thereby determining the distance information between the vehicle and obstacles 308. The vehicle control system controls the VLC to decelerate or brake the vehicle 309, and finally, parking is completed 310.

[0080] This application first determines whether the vehicle has detected an available parking space. If an available parking space is detected, it determines whether the vehicle should enter parking mode. If the vehicle enters parking mode, it acquires images from the vehicle's front-view camera, surround-view camera, and ultrasonic signals to detect obstacles in the area the vehicle passes through while parking. The distance information between the vehicle and obstacles is determined using the images from the front-view camera, surround-view camera, and ultrasonic signals, thereby determining at least one of the first moment the vehicle begins to decelerate or the second moment it begins to brake. By controlling the vehicle to decelerate and brake in advance before encountering obstacles during parking, the safety of intelligent parking is ensured.

[0081] See Figure 4 This application provides a device for controlling the parking process, the device comprising:

[0082] The first acquisition module 401 is used to acquire a first detection result, which is used to indicate whether the vehicle has identified an available parking space.

[0083] The second acquisition module 402 is used to instruct the vehicle to identify an available parking space based on the first detection result and acquire the second detection result, which is used to indicate whether the vehicle has entered the parking state.

[0084] The third acquisition module 403 is used to instruct the vehicle to enter the parking state based on the second detection result, and to acquire the on-board front-view camera image, the on-board surround-view camera image and the on-board ultrasonic signal.

[0085] The first determining module 404 is used to determine the distance information between the vehicle and the obstacle based on the vehicle-mounted forward-view camera image, the vehicle-mounted surround-view camera image and the vehicle-mounted ultrasonic signal, wherein the obstacle is located within the reference range of the vehicle.

[0086] The second determining module 405 is used to determine at least one of the first moment when the vehicle begins to decelerate or the second moment when it brakes, based on the distance information between the vehicle and the obstacle.

[0087] In one possible implementation, the first acquisition module 401 is used to acquire at least one of a third detection result, a fourth detection result, or a fifth detection result. The third detection result is used to indicate whether the vehicle has received information confirming the use of the parking space from the driver. The fourth detection result is used to indicate whether the vehicle has identified the complete parking space border. The fifth detection result is used to indicate whether the vehicle has identified one of the pre-recorded parking spaces. Based on the third detection result indicating that the vehicle has received information confirming the use of the parking space from the driver, the fourth detection result indicating that the vehicle has identified the complete parking space border, or the fifth detection result indicating that the vehicle has identified one of the pre-recorded parking spaces, the first detection result indicates that the vehicle has identified an available parking space.

[0088] In one possible implementation, the third acquisition module 403 is further configured to acquire the parking type of the vehicle, which includes automatic parking or remote control parking; based on the parking type being remote control parking, the driver's remote control information is acquired, which is used to control the speed and braking status of the vehicle when parking.

[0089] In one possible implementation, the first determining module 404 is used to determine first distance information based on the image from the vehicle's forward-looking camera, the first distance information being the distance between the obstacle and the vehicle detected by the vehicle's forward-looking camera; determine second distance information based on the image from the vehicle's surround-view camera and the vehicle's ultrasonic signal, the second distance information being the distance between the obstacle and the vehicle detected by the vehicle's surround-view camera and the vehicle's ultrasonic signal; and determine the distance information between the vehicle and the obstacle based on the first distance information and the second distance information.

[0090] In one possible implementation, the second determining module 405 is further configured to control the vehicle to continue parking based on the obstacle exceeding the vehicle's reference range within the reference time period; and to prompt that the obstacle needs to be handled based on the obstacle not exceeding the vehicle's reference range within the reference time period.

[0091] This device first determines whether the vehicle has detected an available parking space. If an available space is detected, it determines whether the vehicle should enter parking mode. If the vehicle enters parking mode, it acquires images from the onboard front-view camera, the onboard surround-view camera, and ultrasonic signals to detect obstacles in the area the vehicle will pass through while parking. By using these images, the device determines the distance between the vehicle and obstacles, thus determining at least one of the first moments of deceleration or braking. By controlling the vehicle to decelerate and brake in advance before encountering obstacles during parking, the safety of intelligent parking is ensured.

[0092] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0093] Figure 5 This is a schematic diagram of a server structure provided in an embodiment of this application. The server can vary significantly due to differences in configuration or performance. It may include one or more processors 901 and one or more memories 902. The one or more memories 902 store at least one computer program, which is loaded and executed by the one or more processors 901 to enable the server to implement the parking process control method provided in the various method embodiments described above. Of course, the server may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The server may also include other components for implementing device functions, which will not be elaborated upon here.

[0094] Figure 6 This is a schematic diagram of a control device structure for a parking process according to an embodiment of this application. The device can be a terminal, such as an in-vehicle system, smartphone, tablet, media player, laptop, or desktop computer. The terminal may also be referred to as user equipment, portable terminal, laptop terminal, desktop terminal, or other names.

[0095] Typically, a terminal includes a processor 1501 and a memory 1502.

[0096] Processor 1501 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 1501 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 1501 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 1501 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, processor 1501 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0097] The memory 1502 may include one or more computer-readable storage media, which may be non-transitory. The memory 1502 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 1502 is used to store at least one instruction, which is executed by the processor 1501 to cause the terminal to implement the parking process control method provided in the method embodiments of this application.

[0098] In some embodiments, the terminal may also optionally include: a peripheral device interface 1503 and at least one peripheral device. The processor 1501, memory 1502, and peripheral device interface 1503 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 1503 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of: a radio frequency circuit 1504, a display screen 1505, a camera assembly 1506, an audio circuit 1507, and a power supply 1508.

[0099] Peripheral interface 1503 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 1501 and memory 1502. In some embodiments, processor 1501, memory 1502 and peripheral interface 1503 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 1501, memory 1502 and peripheral interface 1503 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0100] The radio frequency (RF) circuit 1504 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 1504 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 1504 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 1504 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 1504 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: metropolitan area networks (MANs), various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks (WLANs), and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 1504 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0101] Display screen 1505 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 1505 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 1501 for processing. In this case, display screen 1505 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, display screen 1505 can be a single screen, located on the front panel of the terminal; in other embodiments, display screen 1505 can be at least two screens, respectively located on different surfaces of the terminal or in a folded design; in other embodiments, display screen 1505 can be a flexible display screen, located on a curved or folded surface of the terminal. Furthermore, display screen 1505 can be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. Display screen 1505 can be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0102] The camera assembly 1506 is used to acquire images or videos. Optionally, the camera assembly 1506 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 1506 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0103] The audio circuit 1507 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 1501 for processing, or input to the radio frequency circuit 1504 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each positioned at a different location on the terminal. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert electrical signals from the processor 1501 or the radio frequency circuit 1504 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 1507 may also include a headphone jack.

[0104] Power supply 1508 is used to power the various components in the terminal. Power supply 1508 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 1508 includes a rechargeable battery, the rechargeable battery can support wired or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0105] In some embodiments, the terminal further includes one or more sensors 1509. The one or more sensors 1509 include, but are not limited to: an acceleration sensor 1510, a gyroscope sensor 1511, a pressure sensor 1512, an optical sensor 1513, and a proximity sensor 1514.

[0106] Accelerometer 1510 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by the terminal. For example, accelerometer 1510 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 1501 can control display screen 1505 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 1510. Accelerometer 1510 can also be used for games or for acquiring user motion data.

[0107] The gyroscope sensor 1511 can detect the terminal's orientation and rotation angle. The gyroscope sensor 1511 can work in conjunction with the accelerometer sensor 1510 to collect the user's 3D movements on the terminal. Based on the data collected by the gyroscope sensor 1511, the processor 1501 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0108] The pressure sensor 1512 can be disposed on the side bezel of the terminal and / or the lower layer of the display screen 1505. When the pressure sensor 1512 is disposed on the side bezel of the terminal, it can detect the user's grip signal on the terminal, and the processor 1501 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 1512. When the pressure sensor 1512 is disposed on the lower layer of the display screen 1505, the processor 1501 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 1505. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0109] Optical sensor 1513 is used to collect ambient light intensity. In one embodiment, processor 1501 can control the display brightness of display screen 1505 based on the ambient light intensity collected by optical sensor 1513. Specifically, when the ambient light intensity is high, the display brightness of display screen 1505 is increased; when the ambient light intensity is low, the display brightness of display screen 1505 is decreased. In another embodiment, processor 1501 can also dynamically adjust the shooting parameters of camera assembly 1506 based on the ambient light intensity collected by optical sensor 1513.

[0110] The proximity sensor 1514, also known as a distance sensor, is typically installed on the front panel of the terminal. The proximity sensor 1514 is used to detect the distance between the user and the front of the terminal. In one embodiment, when the proximity sensor 1514 detects that the distance between the user and the front of the terminal is gradually decreasing, the processor 1501 controls the display screen 1505 to switch from a screen-on state to a screen-off state; when the proximity sensor 1514 detects that the distance between the user and the front of the terminal is gradually increasing, the processor 1501 controls the display screen 1505 to switch from a screen-off state to a screen-on state.

[0111] Those skilled in the art will understand that Figure 6 The structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0112] In an exemplary embodiment, a computer device is also provided, comprising a processor and a memory storing at least one computer program. The at least one computer program is loaded and executed by one or more processors to enable the computer device to implement any of the above-described parking process control methods.

[0113] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one computer program that is loaded and executed by a processor of a computer device to enable the computer to implement any of the above-described parking process control methods.

[0114] In one possible implementation, the aforementioned computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0115] In an exemplary embodiment, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform any of the above-described parking process control methods.

[0116] It should be noted that all information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, stored data, displayed data, etc.), and signals involved in this application have been authorized by the user or fully authorized by all parties, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions. For example, the images from the vehicle's forward-facing camera, the images from the vehicle's surround-view camera, and the ultrasonic signals from the vehicle involved in this application were all obtained with full authorization.

[0117] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0118] It should be noted that the terms "first," "second," etc. (if applicable) in the specification and claims of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0119] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a parking process, characterized in that, The method includes: Obtain at least one of the third, fourth, or fifth test results; Based on the third detection result indicating that the vehicle has received information from the driver confirming the use of the parking space, the fourth detection result indicating that the vehicle has identified the complete parking space frame or the fifth detection result indicating that the vehicle has identified one of the pre-recorded parking spaces, thus obtaining a first detection result indicating that the vehicle has identified an available parking space. Based on the first detection result, the vehicle is instructed to identify the available parking space, and a second detection result is obtained indicating whether the vehicle has entered the parking state; Based on the second detection result, the vehicle is instructed to enter the parking state, and the vehicle-mounted front-view camera image, the vehicle-mounted surround-view camera image, and the vehicle-mounted ultrasonic signal are acquired. The distance information between the vehicle and the obstacle is determined based on the image from the vehicle's forward-facing camera, the image from the vehicle's surround-view camera, and the ultrasonic signal from the vehicle, wherein the obstacle is located within the reference range of the vehicle; Based on the distance information between the vehicle and the obstacle, determine at least one of the first moment when the vehicle begins to decelerate or the second moment when it brakes.

2. The method according to claim 1, characterized in that, Before instructing the vehicle to enter the parking state based on the second detection result, and before acquiring the onboard forward-view camera image, the onboard surround-view camera image, and the onboard ultrasonic signal, the method further includes: Obtain the parking type of the vehicle, which includes automatic parking or remote parking; Based on the parking type being remote parking, the driver's remote control information is obtained, which is used to control the speed and braking status of the vehicle when parking.

3. The method according to claim 1, characterized in that, The method of determining the distance information between the vehicle and the obstacle based on the image from the vehicle's forward-facing camera, the image from the vehicle's surround-view camera, and the vehicle's ultrasonic signals includes: Based on the image from the vehicle's forward-facing camera, a first distance information is determined, wherein the first distance information is the distance between the obstacle and the vehicle detected by the vehicle's forward-facing camera; A second distance information is determined based on the images from the vehicle's surround-view camera and the ultrasonic signals from the vehicle. The second distance information is the distance between the obstacle and the vehicle detected by the vehicle's surround-view camera and the ultrasonic signals from the vehicle. The distance information between the vehicle and the obstacle is determined based on the first distance information and the second distance information.

4. The method according to claim 1, characterized in that, After determining at least one of the first moment when the vehicle begins to decelerate or the second moment when it brakes based on the distance information between the vehicle and the obstacle, the method further includes: Based on the fact that the obstacle exceeds the reference range of the vehicle within the reference time period, the vehicle is controlled to continue parking; Based on the fact that the obstacle did not exceed the reference range of the vehicle within the reference time period, a prompt is made indicating that the obstacle needs to be addressed.

5. A control device for a parking process, characterized in that, The device includes: The first acquisition module is used to acquire at least one of the third detection result, the fourth detection result, or the fifth detection result; based on the third detection result indicating that the vehicle receives information confirming the use of the parking space from the driver, the fourth detection result indicating that the vehicle recognizes the complete parking space frame, or the fifth detection result indicating that the vehicle recognizes one of the pre-recorded parking spaces, a first detection result indicating that the vehicle recognizes an available parking space is obtained. The second acquisition module is used to acquire a second detection result indicating whether the vehicle has entered a parking state, based on the first detection result indicating that the vehicle has identified the available parking space. The third acquisition module is used to instruct the vehicle to enter the parking state based on the second detection result, and to acquire the on-board front-view camera image, the on-board surround-view camera image and the on-board ultrasonic signal; The first determining module is used to determine the distance information between the vehicle and the obstacle based on the image from the vehicle's forward-view camera, the image from the vehicle's surround-view camera, and the ultrasonic signal from the vehicle, wherein the obstacle is located within the reference range of the vehicle. The second determining module is used to determine at least one of the first moment when the vehicle begins to decelerate or the second moment when it brakes, based on the distance information between the vehicle and the obstacle.

6. The apparatus according to claim 5, characterized in that, The third acquisition module is further configured to acquire the parking type of the vehicle, which includes automatic parking or remote parking; based on the parking type being remote parking, the module acquires the driver's remote control information, which is used to control the speed and braking status of the vehicle when parking.

7. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one computer program, which is loaded and executed by the processor to enable the computer device to implement the parking process control method as described in any one of claims 1 to 4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to implement the parking process control method as described in any one of claims 1 to 4.

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