Vehicle parking-out method, device, and computer-readable storage medium

Abstract

The application discloses a vehicle parking-out method, device and computer readable storage medium, and relates to the technical field of vehicle control. The vehicle parking-out method comprises the following steps: acquiring position information of a vehicle owner terminal relative to a target vehicle; identifying a relative position area in which the vehicle owner terminal is located according to the position information; determining a target parking-out direction of the target vehicle according to the relative position area, and controlling the target vehicle to park out based on the target parking-out direction. The application solves the technical problem that the existing remote parking function is poor in convenience for vehicle parking-out control.

Description

Technical Field

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

[0002] With the rapid development of intelligent driving technology, vehicles are becoming increasingly convenient to use. Since parking can be quite challenging for novice drivers or those with poor spatial awareness, existing intelligent driving technologies include those optimized for parking.

[0003] Regarding parking, some vehicles currently have remote parking functionality, allowing owners to control the vehicle from outside using a mobile app or physical key after powering it on, and then select the parking direction and control the vehicle to park. However, existing remote parking functions all require the owner to manually select the parking direction, resulting in poor convenience in controlling the vehicle's parking. Summary of the Invention

[0004] The main purpose of this application is to provide a vehicle parking method that aims to solve the technical problem that existing remote parking functions have poor convenience in controlling vehicle parking.

[0005] To achieve the above objectives, in a first aspect, this application provides a vehicle parking method applied to a vehicle parking device, the vehicle parking method comprising the following steps:

[0006] Obtain the location information of the vehicle owner's terminal relative to the target vehicle;

[0007] Based on the location information, the relative location area of ​​the vehicle owner's terminal is identified;

[0008] Based on the relative position area, the target parking direction of the target vehicle is determined, and the target vehicle is controlled to park based on the target parking direction.

[0009] According to the first aspect, the step of identifying the relative location area of ​​the vehicle owner terminal based on the location information includes:

[0010] The location information is matched with each preset location area of ​​the target vehicle to obtain the target location area that matches the location information.

[0011] The target location area is taken as the relative location area of ​​the vehicle owner's terminal.

[0012] According to the first aspect, or any implementation of the first aspect above, the step of determining the target parking direction of the target vehicle based on the relative position area includes:

[0013] After the relative position area is the left front area of ​​the target vehicle, the left forward direction is taken as the target parking direction of the target vehicle.

[0014] After the relative position area is the right front area of ​​the target vehicle, the right-side forward direction is taken as the target parking direction of the target vehicle.

[0015] After the relative position area is the left rear area of ​​the target vehicle, the left reversing direction is taken as the target parking direction of the target vehicle;

[0016] After the relative position area is the right rear area of ​​the target vehicle, the right reversing direction is taken as the target parking direction of the target vehicle.

[0017] According to the first aspect, or any implementation of the first aspect above, the step of determining the target parking direction of the target vehicle based on the relative position area further includes:

[0018] After the relative position area is the left side area of ​​the target vehicle, the left direction is taken as the target parking direction of the target vehicle;

[0019] After the relative position area is the right side area of ​​the target vehicle, the right direction is taken as the target parking direction of the target vehicle.

[0020] According to the first aspect, or any implementation of the first aspect above, the step of controlling the target vehicle to park based on the target parking direction includes:

[0021] Obtain the current parking space type of the target vehicle;

[0022] After determining that the current parking space type is a horizontal parking space, determine whether the target parking direction is the driver's side of the target vehicle;

[0023] If the target parking direction is the driver's side of the target vehicle, then control the target vehicle to park horizontally in accordance with the target parking direction.

[0024] According to the first aspect, or any implementation of the first aspect above, the step of determining the target parking direction of the target vehicle based on the relative position area further includes:

[0025] After determining that the relative position area is the center position area or the interior area of ​​the target vehicle, it is determined whether the previous parking operation of the target vehicle was automatic parking.

[0026] If the previous parking operation was automatic parking, then the parking direction of the previous parking operation will be used as the target parking direction.

[0027] According to the first aspect, or any implementation of the first aspect above, after the step of determining whether the target vehicle's previous parking was automatic parking, the method further includes...

[0028] If the previous parking operation was not automatic parking, then determine whether there are obstacles in each of the pre-selected parking exit directions of the target vehicle;

[0029] If there are obstacles in each of the pre-selected berthing directions, then the pre-selected berthing direction without obstacles is selected as the target berthing direction;

[0030] If there are no obstacles in any of the pre-selected berthing directions, the preset default direction will be used as the target berthing direction.

[0031] According to the first aspect, or any implementation of the first aspect above, after the step of identifying the relative location area of ​​the vehicle owner terminal based on the location information, the vehicle parking method further includes...

[0032] Determine whether the relative position area is an invalid position area of ​​the target vehicle, wherein the invalid position area is the boundary area between each adjacent preset position area of ​​the target vehicle;

[0033] If the relative position area is the invalid position area, a preset prompt message is output to prompt the vehicle owner terminal to move.

[0034] Secondly, this application provides a vehicle parking device, the vehicle parking device comprising: a memory and a processor, wherein the memory stores a computer program executable on the processor, the computer program being configured to implement the steps of the vehicle parking method as described above.

[0035] Thirdly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to perform the vehicle parking method as described in any one of the first aspects or possible implementations of the first aspect above.

[0036] Fourthly, embodiments of this application provide a computer program including instructions for executing the vehicle parking method in the first aspect and any possible implementation thereof.

[0037] This application proposes a vehicle parking method, device, and computer-readable storage medium. By acquiring the position information of the vehicle owner's terminal relative to the target vehicle, the relative positional relationship between the vehicle owner's terminal and the target vehicle can be obtained. Then, based on the position information, the relative position area of ​​the vehicle owner's terminal is identified. Furthermore, based on the relative position area, the corresponding parking direction is determined as the target parking direction for the target vehicle, and the target vehicle is controlled to park based on the target parking direction. This application, by selecting the corresponding target parking direction based on the relative positional relationship between the vehicle owner's terminal and the target vehicle to control the target vehicle's parking, solves the drawback of existing remote parking functions that require manual selection of the parking direction, improves the convenience of vehicle parking control, and effectively improves the efficiency of vehicle parking. Attached Figure Description

[0038] Figure 1 This is a flowchart illustrating the first embodiment of the vehicle parking method of this application;

[0039] Figure 2 This is a first scene example diagram of the preset location area involved in the embodiment of this application;

[0040] Figure 3 This is a second scene example diagram of the preset location area involved in the embodiment of this application;

[0041] Figure 4 This is a third scenario example diagram of the preset location area involved in the embodiments of this application;

[0042] Figure 5 This is a fourth scenario example diagram of the preset location area involved in the embodiments of this application;

[0043] Figure 6 This is a flowchart illustrating the second embodiment of the vehicle parking method of this application;

[0044] Figure 7 This is a flowchart illustrating the third embodiment of the vehicle parking method of this application;

[0045] Figure 8 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of this application.

[0046] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0047] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0049] The terms "first" and "second," etc., used in the specification and claims of this application are used to distinguish different objects, not to describe a specific order of objects. For example, "first target object" and "second target object," etc., are used to distinguish different target objects, not to describe a specific order of target objects.

[0050] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0051] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0052] The method for parking the vehicle according to this application is described below with reference to some existing technologies:

[0053] Regarding parking, some vehicles currently have remote parking functionality, allowing owners to control the vehicle from outside using a mobile app or physical key after powering it on, and then select the parking direction and control the vehicle to park. However, existing remote parking functions all require the owner to manually select the parking direction, resulting in poor convenience in controlling the vehicle's parking.

[0054] This application selects the corresponding target parking direction based on the relative positional relationship between the vehicle owner's terminal and the target vehicle to control the target vehicle to park. This solves the problem of having to manually select the parking direction in existing remote parking functions, improves the convenience of vehicle parking control, and effectively improves the efficiency of vehicle parking.

[0055] Please refer to Figure 1 , Figure 1This is a flowchart illustrating the first embodiment of the vehicle parking method of this application. It should be noted that although the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0056] The first embodiment of this application provides a vehicle parking method, which includes the following steps:

[0057] Step S100: Obtain the location information of the vehicle owner's terminal relative to the target vehicle;

[0058] In this embodiment, it should be noted that the vehicle owner terminal can be a car key, mobile phone, tablet or other terminal device with a positioning module. The positioning module can be a UWB (Ultra Wide Band) positioning module, or other positioning modules (such as satellite positioning modules).

[0059] In this embodiment, after receiving a start command from the vehicle owner's terminal, the target vehicle can be started based on the start command. Then, a location request can be sent to the vehicle owner's terminal to allow the terminal to provide its position information relative to the target vehicle. For example, the position information can be detailed relative coordinates or a rough relative orientation (i.e., left, right, front, rear, or inside the vehicle).

[0060] Step S200: Based on the location information, identify the relative location area where the vehicle owner terminal is located;

[0061] In this embodiment, it should be noted that the relative position area is the target position area that matches the position information in each preset position area of ​​the target vehicle.

[0062] As an example, the location information may include relative position coordinates that accurately describe the location of the vehicle owner's terminal. In this case, the preset location areas of the target vehicle include at least a front left area, a front right area, a rear left area, a rear right area, and an interior area of ​​the vehicle body. When the relative position coordinates are within the front left area, the front left area is taken as the target location area matching the relative position coordinates; when the relative position coordinates are within the front right area, the front right area is taken as the target location area matching the relative position coordinates; when the relative position coordinates are within the rear left area, the rear left area is taken as the target location area matching the relative position coordinates; when the relative position coordinates are within the rear right area, the rear right area is taken as the target location area matching the relative position coordinates; when the relative position coordinates are within the interior area of ​​the vehicle body, the interior area of ​​the vehicle body is taken as the target location area matching the relative position coordinates. This target location area is then taken as the relative location area where the vehicle owner's terminal is located.

[0063] As another example, to reduce energy consumption and cost, the location information may include a rough description of the relative position of the vehicle owner's terminal. In this case, the preset position areas of the target vehicle include at least a left-side area, a right-side area, a front area, a rear area, and an interior area of ​​the vehicle body. When the relative position is to the left, the left-side area is used as the target position area matching the relative position; when the relative position is to the right, the right-side area is used as the target position area matching the relative position; when the relative position is forward, the front area is used as the target position area matching the relative position; when the relative position is backward, the rear area is used as the target position area matching the relative position; and when the relative position is inside the vehicle, the interior area of ​​the vehicle body is used as the target position area matching the relative position. This target position area is then used as the relative position area where the vehicle owner's terminal is located.

[0064] The step S200, which involves identifying the relative location area of ​​the vehicle owner's terminal based on the location information, includes:

[0065] Step S210: Match the location information with each preset location area of ​​the target vehicle to obtain the target location area that matches the location information;

[0066] Step S220: The target location area is taken as the relative location area of ​​the vehicle owner terminal.

[0067] In this embodiment, it should be noted that each preset position area is a position area divided around the target vehicle and its surrounding area. It is understood that each preset position area can be set differently depending on the category of the position information (relative position coordinates or relative position orientation) and the current parking space type of the target vehicle (perpendicular or horizontal). For example, in this embodiment, a vehicle coordinate system can be established with the rear axle center of the target vehicle as the origin, the extended line of the rear axle center as the x-axis, and the vehicle centerline as the y-axis to divide the target vehicle into preset position areas. Of course, other coordinate systems can also be used for division.

[0068] See Figure 2 , Figure 2 This is a first scenario example diagram of the preset position areas involved in the embodiments of this application. Taking the position information as relative position coordinates and the current parking space type as a perpendicular parking space as an example, each preset position area includes a left front area ②, a right front area ③, a left rear area ④, a right rear area ⑤ divided according to the vehicle coordinate system, and an internal area ⑧ within the vehicle body range, and an invalid position area ① at the boundary with the left front area ②, right front area ③, left rear area ④, and right rear area ⑤. In the figure, a represents the positioning error of the vehicle owner terminal, S represents the effective connection distance between the vehicle owner terminal and the target vehicle, D represents the width of the target vehicle, L1 represents the distance from the front end of the target vehicle to the center of the rear axle, and L2 represents the distance from the center of the rear axle of the target vehicle to the rear end. By setting the invalid position area ① at the boundary of the left front area ②, right front area ③, left rear area ④, and right rear area ⑤ based on the positioning error of the vehicle owner terminal, the error rate of selecting the parking direction caused by the positioning error of the vehicle owner terminal is effectively reduced.

[0069] See Figure 3 , Figure 3 This is a second scenario example diagram of the preset location areas involved in the embodiments of this application. Taking the location information as relative position coordinates and the current parking space type as a parallel parking space as an example, each preset location area includes a left area ⑥, a right area ⑦, and an internal area of ​​the vehicle body within the vehicle body range ⑧, divided according to the vehicle coordinate system, and an invalid location area ① at the boundary with the left area ⑥ and the right area ⑦. Since parallel parking spaces allow drivers to conveniently get into their vehicles whether parking forward or backward, they can be simply divided into a left area ⑥ and a right area ⑦ according to the vehicle coordinate system.

[0070] See Figure 4 and Figure 5 , Figure 4 This is a third scenario example diagram of the preset location area involved in the embodiments of this application. Figure 5This is a fourth scenario example diagram of the preset location area involved in the embodiments of this application.

[0071] Figure 4 The current parking space type is a perpendicular parking space. Figure 5 The current parking space type is a parallel parking space. Taking the location information as a relative position as an example, each of the preset position areas includes a left area A, a right area B, and an internal area ⑧ within the vehicle body range, divided according to the vehicle coordinate system, and a middle area C (i.e., the area in front of and behind the target vehicle). In the figure, S is the effective connection distance between the vehicle owner terminal and the target vehicle, D is the width of the target vehicle, and L is the length of the target vehicle, L = L1 + L2. The area size of the left area A and the right area B is S*(L+2S), and the area size of each middle area C is S*D. The area size of the internal area ⑧ is S*L.

[0072] As an example, the location information may include relative position coordinates that accurately describe the location of the vehicle owner's terminal. In this case, the preset location areas of the target vehicle include at least a front left area, a front right area, a rear left area, a rear right area, and an interior area of ​​the vehicle body. When the relative position coordinates are within the front left area, the front left area is taken as the target location area matching the relative position coordinates; when the relative position coordinates are within the front right area, the front right area is taken as the target location area matching the relative position coordinates; when the relative position coordinates are within the rear left area, the rear left area is taken as the target location area matching the relative position coordinates; when the relative position coordinates are within the rear right area, the rear right area is taken as the target location area matching the relative position coordinates; when the relative position coordinates are within the interior area of ​​the vehicle body, the interior area of ​​the vehicle body is taken as the target location area matching the relative position coordinates. This target location area is then taken as the relative location area where the vehicle owner's terminal is located.

[0073] As another example, to reduce energy consumption and cost, the location information may include a rough description of the relative position of the vehicle owner's terminal. In this case, the preset position areas of the target vehicle include at least a left-side area, a right-side area, a front area, a rear area, and an interior area of ​​the vehicle body. When the relative position is to the left, the left-side area is used as the target position area matching the relative position; when the relative position is to the right, the right-side area is used as the target position area matching the relative position; when the relative position is forward, the front area is used as the target position area matching the relative position; when the relative position is backward, the rear area is used as the target position area matching the relative position; and when the relative position is inside the vehicle, the interior area of ​​the vehicle body is used as the target position area matching the relative position. This target position area is then used as the relative position area where the vehicle owner's terminal is located.

[0074] Step S300: Determine the target parking direction of the target vehicle based on the relative position area, and control the target vehicle to park based on the target parking direction.

[0075] In this embodiment, it should be noted that the target berthing direction is the direction corresponding to the relative position area. For example, the target berthing direction is the direction pointing towards the relative position area.

[0076] In this embodiment, the parking direction corresponding to the relative position area can be determined as the target parking direction of the target vehicle based on the correspondence between the relative position area and the parking direction. Then, the target vehicle can be controlled to park in the target parking direction, so that the target vehicle leaves the current parking space and stops at a designated position for the owner to get in.

[0077] The step S300, which involves determining the target parking direction of the target vehicle based on the relative position area, includes:

[0078] Step S310: After the relative position area is the left front area of ​​the target vehicle, the left forward direction is taken as the target parking direction of the target vehicle.

[0079] Step S311: After the relative position area is the right front area of ​​the target vehicle, the right forward direction is taken as the target parking direction of the target vehicle.

[0080] Step S312: After the relative position area is the left rear area of ​​the target vehicle, the left reversing direction is taken as the target parking direction of the target vehicle.

[0081] Step S313: After the relative position area is the right rear area of ​​the target vehicle, the right reversing direction is taken as the target parking direction of the target vehicle.

[0082] When the location information is relative coordinates and the target vehicle's current parking space type is a perpendicular parking space, the location information has high accuracy, and there is a need to determine whether to park forward or backward to facilitate the driver's entry after parking. Therefore, the target vehicle's preset position areas can be divided into a left front area, a right front area, a left rear area, and a right rear area. Thus, in this embodiment, after the relative position area is the left front area of ​​the target vehicle, the left forward direction can be used as the target parking direction; after the relative position area is the right front area of ​​the target vehicle, the right forward direction can be used as the target parking direction; after the relative position area is the left rear area of ​​the target vehicle, the left backward direction can be used as the target parking direction; and after the relative position area is the right rear area of ​​the target vehicle, the right backward direction can be used as the target parking direction.

[0083] The step of determining the target parking direction of the target vehicle based on the relative position area in step S300 further includes:

[0084] Step S320: After the relative position area is the left side area of ​​the target vehicle, the left direction is taken as the target parking direction of the target vehicle;

[0085] Step S321: After determining that the relative position area is the right side area of ​​the target vehicle, the right direction is taken as the target parking direction of the target vehicle.

[0086] When the location information is a relative position, the accuracy of the location information is low; or when the location information is a relative position coordinate, but the current parking space type of the target vehicle is a parallel parking space, the driver can conveniently get into the car regardless of whether it is parking forward or backward, and there is no need to determine whether to park forward or backward. In this case, the preset position areas of the target vehicle can be simply divided into left and right areas. Therefore, in this embodiment, after the relative position area is the left area of ​​the target vehicle, the left direction can be used as the target parking direction of the target vehicle (i.e., it can park forward to the left or backward to the left); after the relative position area is the right area of ​​the target vehicle, the right direction can be used as the target parking direction of the target vehicle (i.e., it can park forward to the right or backward to the right).

[0087] In the first embodiment of this application, by acquiring the position information of the vehicle owner's terminal relative to the target vehicle, the relative positional relationship between the vehicle owner's terminal and the target vehicle can be obtained. Then, based on the position information, the relative position area of ​​the vehicle owner's terminal is identified. Furthermore, based on the relative position area, the corresponding parking direction is determined as the target parking direction for the target vehicle, and the target vehicle is controlled to park based on the target parking direction. This embodiment, by selecting the corresponding target parking direction based on the relative positional relationship between the vehicle owner's terminal and the target vehicle to control the target vehicle's parking, solves the drawback of requiring manual selection of the parking direction in existing remote parking functions, improves the convenience of vehicle parking control, and effectively improves the efficiency of vehicle parking.

[0088] Reference Figure 6 , Figure 6 This is a flowchart illustrating the second embodiment of the vehicle parking method of this application.

[0089] In another embodiment of this application, content that is the same as or similar to the above embodiments can be referred to the above description, and will not be repeated hereafter. A second embodiment of this application provides a vehicle parking method, wherein the step of controlling the parking of the target vehicle based on the target parking direction includes:

[0090] Step A10: Obtain the current parking space type of the target vehicle;

[0091] Step A20: After the current parking space type is a horizontal parking space, determine whether the target parking direction is the driver's side of the target vehicle;

[0092] Step A30: If the target parking direction is the driver's side of the target vehicle, then control the target vehicle to park horizontally in accordance with the target parking direction.

[0093] In this embodiment, it should be noted that the vertical parking space is a parking space that is perpendicular to the direction of travel on the road; the horizontal parking space is a parking space that is parallel to the direction of travel on the road.

[0094] In this embodiment, by obtaining the current parking space type of the target vehicle, it can be determined whether the parking space where the target vehicle is parked is perpendicular or parallel to the road's driving direction. If the current parking space type is a horizontal parking space, it is determined whether the target parking direction is the driver's side of the target vehicle. If the target parking direction is the driver's side, the target vehicle is controlled to park horizontally according to the target parking direction. For example, if the driver's side is the left side, and the target parking direction is to the left, the vehicle can be controlled to move horizontally to the left or back to park. If the target parking direction is not the driver's side, the target vehicle is controlled to park perpendicularly according to the target parking direction. For example, if the driver's side is the left side, and the target parking direction is to the right, the vehicle can be controlled to move vertically to the right or back to park. Therefore, this embodiment makes it easier for the driver to directly enter the vehicle from the driver's side.

[0095] Furthermore, once the current parking space type is a horizontal parking space, the target vehicle can be directly controlled to park perpendicularly in the target parking direction. That is, if the target parking direction is left-front, the vehicle is controlled to move forward perpendicularly to the left; if the target parking direction is right-front, the vehicle is controlled to move forward perpendicularly to the right; if the target parking direction is left-rear, the vehicle is controlled to reverse perpendicularly to the left; and if the target parking direction is right-rear, the vehicle is controlled to reverse perpendicularly to the right.

[0096] In the second embodiment of this application, the current parking space type of the target vehicle is obtained; after determining that the current parking space type is a horizontal parking space, it is determined whether the target parking direction is the driver's side of the target vehicle; if the target parking direction is the driver's side of the target vehicle, the target vehicle is controlled to park horizontally according to the target parking direction. Therefore, this embodiment makes it easier for the driver to get into the vehicle directly from the driver's side, improving the convenience for the driver after the vehicle is parked.

[0097] Reference Figure 7 , Figure 7 This is a flowchart illustrating the third embodiment of the vehicle parking method of this application.

[0098] In another embodiment of this application, content that is the same as or similar to that in the above embodiments can be referred to the above description, and will not be repeated hereafter. A third embodiment of this application provides a vehicle parking method, wherein the step S300 of determining the target parking direction of the target vehicle based on the relative position area further includes:

[0099] Step B10: After the relative position area is the middle position area or the interior area of ​​the target vehicle, determine whether the last parking operation of the target vehicle was automatic parking.

[0100] Step B20: If the previous parking operation was automatic parking, then the parking direction of the previous parking operation is taken as the target parking direction.

[0101] In this embodiment, it should be noted that the intermediate directional area refers to the front and rear areas bounded by the width of the target vehicle. The interior area of ​​the vehicle body refers to the area within the vehicle body of the target vehicle. The previous parking operation refers to the parking operation when the target vehicle was parked in the current parking space.

[0102] This embodiment determines whether the driver's terminal is inside the vehicle, or standing directly in front of or behind the vehicle, by judging whether the relative position area is the center area or the interior area of ​​the target vehicle. If the relative position area is the center area or the interior area of ​​the target vehicle, it indicates that the driver's terminal is inside the vehicle, or standing directly in front of or behind the vehicle. In this case, it is difficult to determine the driver's preference for the parking direction. Therefore, it can further determine whether the target vehicle's last parking operation was automatic parking. If the last parking operation was automatic parking, the parking direction of the last parking operation is taken as the target parking exit direction. That is, if the last parking operation was from the right, the right direction is taken as the target parking exit direction; if the last parking operation was from the left, the left direction is taken as the target parking exit direction. In this embodiment, when it is difficult to determine the driver's preference for the parking direction, the parking direction of the target vehicle's last parking operation (i.e., when the target vehicle was parked in the current parking space) is used as the target parking exit direction. This allows the system to select a parking direction that matches the driver's preference, even when it is difficult to determine the driver's preferred parking direction.

[0103] The step B10, after determining whether the target vehicle's previous parking was an automatic parking maneuver, further includes:

[0104] Step C10: If the previous parking operation was not automatic parking, then determine whether there are obstacles in each of the pre-selected parking exit directions of the target vehicle.

[0105] Step C20: If there are obstacles in each of the pre-selected berthing directions, then select the pre-selected berthing direction without obstacles as the target berthing direction;

[0106] Step C30: If there are no obstacles in any of the pre-selected berthing directions, then the preset default direction is taken as the target berthing direction.

[0107] In this embodiment, it should be noted that the pre-selected parking direction refers to the parking direction that the target vehicle can use in advance, such as the left-hand direction and the right-hand direction. Of course, it can be further subdivided into left front, right front, left rear, right rear, etc. The preset default direction is the default parking direction preset by the vehicle owner or manufacturer, such as the right-hand direction.

[0108] In this embodiment, after determining whether the previous parking operation of the target vehicle was automatic parking, if the previous parking operation was not automatic parking, the system can obtain the surrounding obstacle information of the target vehicle and determine whether there are obstacles in each of the pre-selected parking exit directions based on the surrounding obstacle information. If there are obstacles in each of the pre-selected parking exit directions, an obstacle-free pre-selected parking exit direction can be selected as the target parking exit direction based on the surrounding obstacle information. If there are no obstacles in any of the pre-selected parking exit directions, the preset default direction is used as the target parking exit direction.

[0109] Wherein, after step S200, which identifies the relative location area of ​​the vehicle owner's terminal based on the location information, the vehicle parking method further includes:

[0110] Step D10: Determine whether the relative position area is an invalid position area of ​​the target vehicle, wherein the invalid position area is the boundary area between each adjacent preset position area of ​​the target vehicle.

[0111] Step D20: If the relative position area is the invalid position area, a preset prompt message is output to prompt the vehicle owner terminal to move.

[0112] In this embodiment, it should be noted that the invalid location area is the boundary area between each adjacent preset location area of ​​the target vehicle. The area of ​​the invalid location area is determined according to the positioning error of the vehicle owner terminal. The positioning error is positively correlated with the area of ​​the invalid location area, that is, the larger the positioning error, the larger the area of ​​the invalid location area.

[0113] This embodiment can determine whether the relative position area is an invalid position area of ​​the target vehicle, wherein the invalid position area is the boundary area between each adjacent preset position area of ​​the target vehicle. If the relative position area is the invalid position area, it means that the vehicle owner terminal is located near the boundary between adjacent preset position areas. To avoid the incorrect selection of the target parking direction due to the positioning error of the vehicle owner terminal, a preset prompt message can be output to prompt the vehicle owner terminal to move. The preset prompt message can be sent to the vehicle owner terminal or output by the target vehicle. The preset prompt message can be one or more of the following forms: text, image, voice, vibration, etc., used to prompt the vehicle owner terminal to move. Then, after a preset interval (such as 3s, 5s, etc.), step S100 is executed: obtain the position information of the vehicle owner terminal relative to the target vehicle. If the relative position area is not an invalid position area of ​​the target vehicle, step S300 is executed: determine the corresponding parking direction as the target parking direction of the target vehicle based on the relative position area, and control the target vehicle to park based on the target parking direction.

[0114] In the third embodiment of this application, after determining that the relative position area is the center position area or the interior area of ​​the target vehicle, it is determined whether the previous parking operation of the target vehicle was automatic parking; if the previous parking operation was automatic parking, the parking direction of the previous parking operation is taken as the target parking exit direction. This embodiment uses the parking direction of the target vehicle's previous parking operation (i.e., when the target vehicle was parked in the current parking space) as the target parking exit direction when it is difficult to determine the driver's preference for parking direction. This ensures that even when it is difficult to determine the driver's preference for parking direction, a target parking exit direction that matches the driver's preference can still be selected.

[0115] like Figure 8 As shown, Figure 8 This is a schematic diagram of the device structure of the hardware operating environment involved in the embodiments of this application.

[0116] For example, the vehicle parking device may be a VCU (Vehicle Control Unit), ECU (Electronic Control Unit), PC (Personal Computer), tablet computer, portable computer, or server, etc.

[0117] like Figure 8As shown, the vehicle parking device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0118] Those skilled in the art will understand that Figure 8 The device structure shown does not constitute a limitation on the vehicle parking device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0119] like Figure 8 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a vehicle parking application.

[0120] exist Figure 8 In the device shown, the network interface 1004 is mainly used to connect to the backend server and communicate data with the backend server; the user interface 1003 is mainly used to connect to the client and communicate data with the client; and the processor 1001 can be used to call the vehicle parking program stored in the memory 1005 to implement the operations in the vehicle parking method provided in the above embodiment.

[0121] Furthermore, this application also proposes a computer storage medium storing a computer program. When the computer program is executed by a processor, it implements the operations in the vehicle parking method provided in the above embodiments. The specific steps will not be described in detail here.

[0122] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity / operation / object from another, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects; the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0123] For the device embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and relevant details can be found in the description of the method embodiments. The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. Some or all of the modules can be selected according to actual needs to achieve the purpose of this application. Those skilled in the art can understand and implement this without creative effort.

[0124] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, television, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0126] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for parking a vehicle, characterized in that, The vehicle parking method includes the following steps: Obtain the location information of the vehicle owner's terminal relative to the target vehicle; Based on the location information, the relative location area of ​​the vehicle owner's terminal is identified; Based on the relative position area, the target parking direction of the target vehicle is determined, and the target vehicle is controlled to park based on the target parking direction; The vehicle parking method further includes, after the step of identifying the relative location area of ​​the vehicle owner's terminal based on the location information: Determine whether the relative position area is an invalid position area of ​​the target vehicle, wherein the invalid position area is the boundary area between each adjacent preset position area of ​​the target vehicle, and the area of ​​the invalid position area is positively correlated with the positioning error of the vehicle owner terminal; If the relative position area is the invalid position area, a preset prompt message is output to prompt the vehicle owner terminal to move.

2. The vehicle parking method as described in claim 1, characterized in that, The step of identifying the relative location area of ​​the vehicle owner's terminal based on the location information includes: The location information is matched with each preset location area of ​​the target vehicle to obtain the target location area that matches the location information; The target location area is taken as the relative location area of ​​the vehicle owner's terminal.

3. The vehicle parking method as described in claim 1, characterized in that, The step of determining the target parking direction of the target vehicle based on the relative position area includes: After the relative position area is the left front area of ​​the target vehicle, the left forward direction is taken as the target parking direction of the target vehicle. After the relative position area is the right front area of ​​the target vehicle, the right-side forward direction is taken as the target parking direction of the target vehicle. After the relative position area is the left rear area of ​​the target vehicle, the left reversing direction is taken as the target parking direction of the target vehicle; After the relative position area is the right rear area of ​​the target vehicle, the right reversing direction is taken as the target parking direction of the target vehicle.

4. The vehicle parking method as described in claim 1, characterized in that, The step of determining the target parking direction of the target vehicle based on the relative position area further includes: After the relative position area is the left side area of ​​the target vehicle, the left direction is taken as the target parking direction of the target vehicle; After the relative position area is the right side area of ​​the target vehicle, the right direction is taken as the target parking direction of the target vehicle.

5. The vehicle parking method as described in claim 1, characterized in that, The step of controlling the target vehicle to park based on the target parking direction includes: Obtain the current parking space type of the target vehicle; After determining that the current parking space type is a horizontal parking space, determine whether the target parking direction is the driver's side of the target vehicle; If the target parking direction is the driver's side of the target vehicle, then control the target vehicle to park horizontally in accordance with the target parking direction.

6. The vehicle parking method according to any one of claims 1 to 5, characterized in that, The step of determining the target parking direction of the target vehicle based on the relative position area further includes: After determining that the relative position area is the center position area or the interior area of ​​the target vehicle, it is determined whether the previous parking operation of the target vehicle was automatic parking. If the previous parking operation was automatic parking, then the parking direction of the previous parking operation will be used as the target parking direction.

7. The vehicle parking method as described in claim 6, characterized in that, After the step of determining whether the target vehicle's previous parking was an automatic parking maneuver, the method further includes... If the previous parking operation was not automatic parking, then determine whether there are obstacles in each of the pre-selected parking exit directions of the target vehicle; If there are obstacles in each of the pre-selected berthing directions, then the pre-selected berthing direction without obstacles is selected as the target berthing direction; If there are no obstacles in any of the pre-selected berthing directions, the preset default direction will be used as the target berthing direction.

8. A vehicle parking exit device, characterized in that, The vehicle parking device includes a memory and a processor. The memory stores a computer program that can run on the processor. When the computer program is executed by the processor, it implements the steps of the vehicle parking method as described in any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a vehicle parking program, which, when executed by a processor, implements the steps of the vehicle parking method as described in any one of claims 1 to 7.

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