Parking method, device and vehicle

Abstract

The embodiments of the present application disclose a parking method, device, and vehicle. The method includes: determining a target parking space and a parking path; during parking based on the parking path, if it is detected that the user has a need to unload and there are obstacles within the preset range of the target parking space, the vehicle is controlled to reach the unloading position; if it is detected that the preset switch of the vehicle is touched, the vehicle is controlled to move from the unloading position to the target parking space to complete parking. Through the above-mentioned method, the vehicle is controlled to reach the unloading position, and after the user completes unloading, the vehicle is controlled to automatically reach the target parking space to increase the continuity of unloading and parking. In addition, the vehicle will continue to park only after the preset switch is touched, and touching the preset switch is the user's own operation on the vehicle to ensure that the cargo in the vehicle is completely unloaded before continuing to park, thereby improving the timing accuracy of the vehicle from unloading completion to parking again, thereby improving the unloading parking experience.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more particularly, to a parking method, device, and vehicle. Background Art

[0002] With the continuous development of vehicle technology, new functions such as automatic parking are also being gradually updated and iterated. Vehicles can accurately complete parking actions based on the automatic parking function. In related methods, during the parking process, if the user needs to unload the goods in the trunk, the user is generally required to get off the vehicle to unload the goods in the trunk, and then get back in the vehicle to adjust the vehicle position to complete parking. However, in related methods, there is still the problem of poor unloading parking experience. Summary of the Invention

[0003] In view of the above problems, the present application proposes a parking method, device and vehicle to improve the above problems.

[0004] In a first aspect, the present application provides a parking method, comprising: determining a target parking space and a parking path corresponding to the target parking space; during parking based on the parking path, if it is detected that a user has an unloading requirement and there is an obstacle within a preset range of the target parking space, controlling the vehicle to reach the unloading position; if it is detected that a preset switch of the vehicle is touched, controlling the vehicle from the unloading position to the target parking space to complete parking.

[0005] In a second aspect, the present application provides a parking device, comprising: an information acquisition unit for determining a target parking space and a parking path corresponding to the target parking space; a parking control unit for controlling the vehicle to reach an unloading position if it is detected that the user has an unloading requirement and there is an obstacle within a preset range of the target parking space during parking based on the parking path; and controlling the vehicle to reach the target parking space from the unloading position if it is detected that a preset switch of the vehicle is touched to complete parking.

[0006] In a third aspect, the present application provides a vehicle comprising one or more processors and a memory; one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the above-mentioned method.

[0007] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores program code, wherein the above method is executed when the program code is run.

[0008] This application provides a parking method, apparatus, vehicle, and storage medium. After determining a target parking space and a parking path corresponding to the target parking space, and while parking based on the parking path, if it is detected that a user needs to unload cargo and there are obstacles within a preset range of the target parking space, the vehicle is controlled to reach the unloading position. If a preset switch is detected to be touched, the vehicle is controlled to move from the unloading position to the target parking space to complete parking. This method allows the vehicle to first be controlled to reach the unloading position, and then automatically move to the target parking space after the user completes unloading, thereby improving the continuity between unloading and parking. Furthermore, after the user completes unloading, the vehicle is automatically controlled to move from the unloading position to the target parking space. During this process, the vehicle will not continue parking until it detects that the preset switch has been touched. Touching the preset switch is a user-operated operation. This ensures that parking is completed only after the cargo in the vehicle is completely unloaded. This improves the timing accuracy between unloading completion and subsequent parking, thereby enhancing the unloading and parking experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0010] Figure 1 A schematic diagram of a parking system proposed in an embodiment of the present application is shown;

[0011] Figure 2 A flowchart of a parking method proposed in this application is shown;

[0012] Figure 3 A schematic diagram showing a plurality of available parking spaces proposed in the present application is shown;

[0013] Figure 4 A schematic diagram showing a preset range of a target parking space proposed in this application;

[0014] Figure 5 A schematic diagram showing a parking data processing method proposed in this application is shown;

[0015] Figure 6 A flowchart of a parking method proposed in another embodiment of the present application is shown;

[0016] Figure 7 A flowchart of a preferred parking method proposed in an embodiment of the present application is shown;

[0017] Figure 8 A structural block diagram of a parking device proposed in an embodiment of the present application is shown;

[0018] Figure 9 Shown is a structural block diagram of a vehicle proposed in this application. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0020] In an embodiment of the present application, the inventors propose a parking method, apparatus, and vehicle. After determining a target parking space and a parking path corresponding to the target parking space, and while parking based on the parking path, if the user detects a need to unload cargo and an obstacle exists within a preset range of the target parking space, the vehicle is controlled to reach the unloading position. If a preset switch is detected as being touched, the vehicle is controlled to move from the unloading position to the target parking space to complete parking. This method allows the vehicle to first be controlled to reach the unloading position, and then automatically move to the target parking space after the user completes unloading, thereby improving the continuity between unloading and parking. Furthermore, after the user completes unloading, the vehicle is automatically controlled to move from the unloading position to the target parking space. During this process, the vehicle only continues parking after detecting that the preset switch has been touched. Touching the preset switch is a user-operated operation. This ensures that the cargo in the vehicle is completely unloaded before continuing parking. This improves the timing accuracy between unloading completion and subsequent parking, thereby enhancing the unloading and parking experience.

[0021] In order to better understand the solution of the embodiment of the present application, the hardware environment of a parking system 10 of the present application is introduced below.

[0022] See also Figure 1 The parking system 10 of the present application may include an intelligent driving controller 101, a data acquisition device 103, an intelligent body control module (iBCM) 105, a trunk door controller 107, an interactive module (Human Machine Interface, HMI) 109, an electronic steering system (Electronic Power Steering, EPS) 111, an electronic stability program (Electronic Stability Program, ESP) 113, and a vehicle control unit (VCU, VCU) 115.

[0023] The intelligent driving controller 101 can be configured to process the surrounding environment data collected by the data acquisition device 103 to obtain vehicle position information, target parking space information (i.e., target parking space location information), and obstacle information (i.e., obstacle location information). Path planning can be performed based on the vehicle position information, target parking space information, and obstacle information to obtain a parking path, thereby controlling the vehicle to move along the parking path. The data acquisition device 103 can include multiple cameras (multiple surround-view cameras and multiple forward-view cameras) and multiple ultrasonic radars. The multiple cameras and multiple ultrasonic radars can be used to collect the vehicle's surrounding environment data and transmit this surrounding environment data to the intelligent driving controller 101, which processes this surrounding environment data to obtain target parking space information, vehicle position information, and obstacle information. The multiple cameras are connected to the intelligent driving controller 101 via a GMSL (Gigabit Multimedia Serial Link), and the multiple ultrasonic radars are connected to the intelligent driving controller 101 via a LIN (Local Interconnect Network).

[0024] The body controller 105 can be used to detect whether the vehicle's preset switch has been touched. It can also be used to send a preset switch status signal to the intelligent driving controller 101 after detecting the vehicle's preset switch has been touched, thereby controlling the vehicle to reach the target parking space from the unloading position. The body controller 105 is connected to the intelligent driving controller 101 via CAN (Controller Area Network). The trunk door controller 107 can be used to detect whether the vehicle's trunk door is closed. It can also send the trunk door status (i.e., trunk door open or trunk door closed) to the intelligent driving controller 101 in real time through signal transmission or other means. The trunk door controller 107 is connected to the intelligent driving controller 101 via CAN.

[0025] The interactive module 109 may include a central control display screen, which can be used to display various information, interact with users, and receive feedback information generated by user operations to ensure two-way flow of information and immediate response; wherein, the interactive module 109 is connected to the intelligent driving controller 101 via CAN. The electronic steering system 111 can be used to achieve lateral control of the vehicle when parking, wherein the electronic steering system 111 is connected to the intelligent driving controller 101 via CAN. The body electronic stability system 113 can be used to achieve braking control when parking the vehicle, wherein the body electronic stability system 113 is connected to the intelligent driving controller 101 via CAN. The vehicle controller 115 can be used to achieve longitudinal acceleration control of the vehicle when parking, wherein the vehicle controller 115 is connected to the intelligent driving controller 101 via CAN.

[0026] The embodiments of this application will be described below with reference to the accompanying drawings.

[0027] See also Figure 2 , an embodiment of the present application provides a parking method, the method comprising:

[0028] S110: Determine a target parking space and a parking path corresponding to the target parking space.

[0029] The target parking space may be a parking space selected by the user and the vehicle needs to be parked in. The parking path may be a driving path for the vehicle to move to the target parking space.

[0030] As a method, after receiving a reference instruction to put the vehicle into parking mode, the vehicle can be searched based on APA (AutoParking Assist, parking assistance function), and after the search is completed, multiple parking spaces are displayed on the central control display screen for the user to select, and the parking space selected by the user is used as the target parking space. For example, Figure 3 As shown, after APA searches for parking spaces, the central control display screen can display parking space 1, parking space 2, parking space 3, parking space 4 and multiple unavailable parking spaces for users to choose from.

[0031] The reference command can be used to control the vehicle to enter parking mode. The reference command can be status information of a parking button, touch information of a parking function-related area on the central control display, or voice information. For example, when a user presses the parking button on the vehicle, the vehicle can respond to this status information and enter parking mode; when a user touches a parking function-related area on the central control display, the vehicle can respond to the touch information of the parking function-related area and enter parking mode; when a user speaks a parking instruction, the vehicle can respond to the voice information and enter parking mode.

[0032] Optionally, multiple available parking spaces may be displayed on the central control display screen for the user to select, and the available parking space selected by the user may be used as the target parking space. Figure 4 As shown, if the user clicks on the relevant area of ​​the parking space 4, then when the vehicle detects that the relevant area of ​​the parking space 4 on the central control display screen is touched by the user, the vehicle can respond to the touch information of the relevant area of ​​the parking space 4 and use the parking space 4 as the target parking space.

[0033] Optionally, if the user does not receive a touch signal confirming the target parking space within a predetermined time, the nearest available parking space to the vehicle may be used as the target parking space. Figure 3 As shown, parking space 3 or parking space 4 can be selected as the target parking space.

[0034] As one approach, after determining a target parking space, a data acquisition device can be used to collect data about the vehicle's surrounding environment. The intelligent driving controller can then process the collected data to obtain target parking space information, vehicle position information, and obstacle information. The vehicle position information can be the vehicle's real-time position information, the target parking space information can be the location information of the target parking space, and the obstacle information can be the location information of obstacles.

[0035] Alternatively, after determining the target parking space, the vehicle's data acquisition module can be used to collect information about the target parking space, vehicle position, and obstacle information. The data acquisition module can include wheel speed sensors, acceleration sensors, angular velocity sensors, multiple cameras, and multiple ultrasonic radars.

[0036] In an embodiment of the present application, the intelligent driving controller can perform path planning based on the acquired target parking space information, vehicle position information and obstacle information to generate a parking path.

[0037] S120: During the parking process based on the parking path, if it is detected that the user has an unloading requirement and there is an obstacle within a preset range of the target parking space, the vehicle is controlled to reach an unloading position.

[0038] Among them, the unloading position can be a position on the parking path and at a preset safety distance from the obstacle. The preset safety distance can be the minimum distance allowed between the vehicle and the obstacle when the user is unloading. Exemplarily, the preset safety distance can be 30cm, and in the embodiment of the present application, the preset safety distance can be adjusted based on multiple experimental results. In the embodiment of the present application, the distance between the unloading position and the obstacle is set to the preset safety distance, leaving enough space for the user to unload, which can avoid the problem of not being able to open the trunk door to take out objects due to insufficient space, or the problem of the trunk door being easily scratched by obstacles such as walls due to insufficient space. In addition, setting the distance between the unloading position and the obstacle to the preset safety distance can leave the user with enough reaction time to deal with possible emergencies (cargo collapse, vehicle failure, etc.) to ensure the safety and smoothness of the unloading process.

[0039] The target parking space can be represented by a rectangular frame, which can be composed of four parking space lines (the front parking space line, the side parking space lines, and the rear parking space line). The preset range of the target parking space can include an area within a first preset distance from the rear parking space line of the target parking space, an area within a second preset distance from the side parking space lines of the target parking space, and an area located at the top of the space where the target parking space is located and within a third preset distance from the ground surface where the target parking space is located. In this embodiment of the present application, the first preset distance can be 30 cm. The second preset distance can be 40 cm. The third preset distance can be 50 cm. In this embodiment of the present application, the first preset distance, the second preset distance, and the third preset distance can be adjusted based on multiple experimental results.

[0040] As one approach, whether there is an obstacle within a preset range of the target parking space can be determined based on the location information of the target parking space and the location information of the obstacle. Furthermore, there may be multiple obstacles that need to be detected within the preset range of the target parking space.

[0041] Optionally, if the obstacle is less than a first preset distance from the rear parking space line of the target parking space, it can be determined that there is an obstacle within the preset range of the target parking space; or, if the obstacle is less than a second preset distance from the parking space lines on both sides of the target parking space, it can be determined that there is an obstacle within the preset range of the target parking space; or, if the obstacle is located at the top of the space where the target parking space is located and is less than a third preset distance from the ground level of the target parking space, it can be determined that there is an obstacle within the preset range of the target parking space.

[0042] For example, Figure 4 As shown, you can Figure 4The range within the dotted box at the target parking space in the figure is used as the preset range of the target parking space. In this embodiment of the present application, the preset range can be adjusted based on the results of multiple experiments. Moreover, obstacles within the preset range can be walls, pillars, or ventilation ducts hanging from the top of the target parking space, which may hinder the user from unloading behind the vehicle.

[0043] In this embodiment of the present application, if the obstacle is less than a first preset distance from the rear parking space line of the target parking space, the vehicle's trunk door may not open properly, preventing the user from unloading. If the obstacle is less than a second preset distance from the parking space lines on both sides of the target parking space, the user may be unable to exit the vehicle or, after exiting, move to the rear of the vehicle to unload. If the obstacle is located at the top of the space where the target parking space is located and is less than a third preset distance from the ground level of the target parking space, the vehicle's trunk door may not fully open, preventing the user from completing the unloading operation. Therefore, if an obstacle is detected within the preset range of the target parking space and the user needs to unload, the vehicle needs to be controlled to reach the unloading location first to allow the user to exit and unload. This can avoid the above-mentioned problems and protect the vehicle from damage.

[0044] As a method, if it is determined that there is an obstacle within the preset range of the target parking space, an inquiry message can be displayed to the user; if feedback information is received to cause the vehicle to enter the unloading parking mode, the vehicle can be controlled to reach the unloading position.

[0045] The inquiry information may be used to inquire the user whether to put the vehicle into unloading parking mode. Unloading parking mode may be a mode in which the vehicle stops at an unloading position and waits for the user to complete unloading before moving to a target parking space.

[0046] Optionally, if it is determined that there is an obstacle in the target parking space and the relative distance between the vehicle and the obstacle is less than a preset distance, inquiry information can be displayed to the user through the vehicle's central control display screen.

[0047] The relative distance may be the distance between the vehicle and the obstacle, and the relative distance may be determined based on the vehicle's position information and the obstacle information. The preset distance may be the maximum distance allowed by the relative distance when displaying query information to the user. The preset safety distance may be less than or equal to the preset safety distance. In embodiments of the present application, the preset distance may be adjusted based on multiple experimental results.

[0048] Optionally, the relative distance between the vehicle and the obstacle can be obtained based on the vehicle position information and the obstacle position information, and it can be determined whether the relative distance between the vehicle and the obstacle is less than a preset distance. If the relative distance between the vehicle and the obstacle is less than the preset distance, the vehicle can display inquiry information to the user through the central control display screen, and the user can choose whether to enter the unloading parking mode. If feedback information is received to cause the vehicle to enter the unloading parking mode, it can be determined that the user has a need to unload.

[0049] Alternatively, if no feedback is received to cause the vehicle to enter unloading parking mode, it can be determined that the user does not need to unload the cargo. In this case, the vehicle will automatically exit the interface corresponding to the inquiry information after waiting for 1-2 seconds and enter the normal parking process. In this embodiment of the present application, the waiting time of the vehicle can be adjusted based on multiple experimental results.

[0050] As a method, after receiving feedback indicating that the vehicle has entered unloading parking mode, the unloading location can be determined based on the parking path and the location of obstacles, so that the vehicle can be controlled to move to the unloading location based on the parking path. Furthermore, after reaching the unloading location, the vehicle can automatically shift to P gear (park) and prompt the user to exit the vehicle to unload. After the user completes unloading, the vehicle can then move to the target parking space.

[0051] As a method, after the vehicle is controlled to arrive at the unloading position, and if it is detected that the tailgate is not closed, the user may be prompted to close the tailgate.

[0052] Optionally, after the vehicle arrives at the unloading location, a sensor in the vehicle trunk (gravity sensor or infrared sensor) can be used to detect whether the user has completed unloading. If the user has completed unloading, the trunk door can be continuously checked for closure within a reference time period after the user has completed unloading. If the trunk door is not closed, a first notification message (which can be a text message, voice message, or vibration message) can be sent to the user terminal to prompt the user to close the trunk door. The reference time period can be a preset time period that the vehicle waits for the trunk door to close after detecting that the unloading is complete.

[0053] Optionally, in response to the user clicking a preset button, the vehicle can immediately detect whether the trunk door is closed. If the trunk door is not closed, a first notification message (which can be a text message, voice message, or vibration message) can be sent to the user terminal to prompt the user to close the trunk door.

[0054] In an embodiment of the present application, if it is detected that the trunk door is not closed, the trunk door can be automatically closed in response to the user clicking a preset trunk door closing button.

[0055] As a method, if it is detected that the vehicle has not moved to the target parking space within a preset time period when the trunk door is closed, the user can be prompted that the vehicle has not reached the target parking space.

[0056] The preset time period may be a preset time period for the vehicle to wait for the vehicle to park after detecting that the trunk door is closed. In the embodiment of the present application, the preset time period may be adjusted based on multiple experimental results.

[0057] In an embodiment of the present application, after the vehicle trunk door is closed, it will be detected whether the vehicle has moved to the target parking space. If it is detected that the vehicle has not moved to the target parking space within a preset time after the vehicle trunk door is detected to be closed (that is, the vehicle is still in the unloading position), a second notification message (which can be a text message, a voice message, or a vibration message) can be sent to the user terminal to remind the user that the vehicle has not reached the target parking space and needs to continue the parking operation, thereby improving the stability of the unloading parking plan and parking safety.

[0058] S130: If it is detected that the preset switch of the vehicle is touched, the vehicle is controlled to move from the unloading position to the target parking space to complete parking.

[0059] The preset switch may be a door handle capacitance switch (for the main driver's seat) or a resistance switch, etc. For example, upon detecting that the door handle capacitance switch is touched, the vehicle may be controlled to move from the unloading position to the target parking space; upon detecting that the resistance switch is touched, the vehicle may be controlled to move from the unloading position to the target parking space.

[0060] As one approach, the vehicle can be controlled to move from the unloading location to the target parking space in response to a user confirmation operation after unloading is completed. The confirmation operation after unloading completion can include touching a preset switch (door handle capacitive switch or resistive switch), pressing a parking button on the car key, or touching the relevant area of ​​the preset parking button on the user terminal. For example, the vehicle can be controlled to move from the unloading location to the target parking space after detecting that the parking button on the car key has been pressed; or the vehicle can be controlled to move from the unloading location to the target parking space after detecting that the relevant area of ​​the preset parking button on the user terminal has been touched.

[0061] As one approach, if it is detected that a preset switch of the vehicle is touched, and the duration for which the preset switch of the vehicle is touched is greater than a duration threshold, the vehicle is controlled to move from the unloading position to the target parking space.

[0062] The duration threshold may be the minimum duration that a preset switch of the vehicle is touched while the vehicle continues to park. For example, the duration threshold may be 1 second, and in the embodiment of the present application, the duration threshold may be adjusted based on multiple experimental results.

[0063] Optionally, if the vehicle's door handle capacitance switch is touched for a duration greater than a time threshold, the vehicle can be controlled to move from the unloading position to the target parking space; if the vehicle's resistance switch is touched for a duration greater than a time threshold, the vehicle can be controlled to move from the unloading position to the target parking space.

[0064] In an embodiment of the present application, after detecting that a preset switch of the vehicle has been touched for a duration greater than a time threshold, the vehicle can be controlled to move from the unloading position to the target parking space, thereby reducing the false trigger rate and improving the reliability of the vehicle's unloading and parking.

[0065] Optionally, when the vehicle successfully reaches the target parking space, the vehicle will automatically exit the parking mode, and the vehicle will automatically lock and enter the vehicle shutdown mode (that is, the user does not need to get in the vehicle again after unloading, and the vehicle can complete parking).

[0066] In an embodiment of the present application, the solution of the present application can be applicable to situations where there is only one driver in the vehicle and the driver needs to get off the vehicle to unload. That is, after the vehicle moves to the unloading position, the driver gets off the vehicle to unload the cargo, and after unloading is completed, the driver touches a preset switch outside the vehicle to automatically move the vehicle from the unloading position to the target parking space. At this time, there is no driver in the vehicle and there will be no other passengers in the vehicle, thereby improving the user's unloading parking experience and parking safety.

[0067] In the embodiments of this application, Figure 5 As shown, during the process of unloading and parking, the intelligent driving controller can receive the surrounding environment data collected by the data acquisition device, and perform in-depth processing on the surrounding environment data, extract key information through perception and recognition technology, and efficiently integrate data from different sources through fusion technology, and then improve the positioning accuracy through fusion positioning technology to obtain the target parking space information, vehicle position information and obstacle information, so as to perform path planning based on the target parking space information, vehicle position information and obstacle information to obtain the parking path, and thus obtain the vehicle control information (steering angle, vehicle speed adjustment, etc.), and finally limit the vehicle control information based on state management to output the final vehicle motion control, so as to perform vehicle motion control based on the EPS system, ESP system and VCU collaboration, thereby improving the safety and convenience of vehicle unloading and parking, and enhancing the user's unloading and parking experience.

[0068] This embodiment provides a parking method. After determining a target parking space and a parking path corresponding to the target parking space, and while parking based on the parking path, if it is detected that the user needs to unload cargo and there are obstacles within a preset range of the target parking space, the vehicle is controlled to reach the unloading position. If it is detected that a preset switch on the vehicle has been touched, the vehicle is controlled to move from the unloading position to the target parking space to complete parking. This method allows the vehicle to first be controlled to reach the unloading position and then automatically move to the target parking space after the user has completed unloading, thereby improving the continuity between unloading and parking. Furthermore, after the user has completed unloading, the vehicle is automatically controlled to move from the unloading position to the target parking space. During this process, the vehicle will not continue parking until the preset switch is touched. Touching the preset switch is a user-operated operation. This ensures that parking is completed only after the cargo in the vehicle is completely unloaded. This improves the timing accuracy between unloading completion and subsequent parking, thereby enhancing the unloading parking experience.

[0069] See also Figure 6 , an embodiment of the present application provides a parking method, the method comprising:

[0070] S210: Determine a target parking space and a parking path corresponding to the target parking space.

[0071] S220: If a control instruction is received, control the vehicle to arrive at the unloading position, wherein the control instruction is used to control the vehicle to enter an unloading parking mode.

[0072] The control instruction may be used to control the vehicle to enter a loading and unloading parking mode.

[0073] As a method, after entering the parking mode, the vehicle can enter the unloading parking mode in response to receiving a control instruction from the user, so that the parking path can be obtained based on the vehicle position information and the position information of the target parking space. After obtaining the parking path, the unloading position can be obtained based on the parking path and the position information of the obstacle, so that the vehicle can be controlled to reach the unloading position based on the parking path, and after the vehicle reaches the unloading position, the user can be prompted to get off the vehicle to unload the cargo.

[0074] In the embodiment of the present application, the user actively chooses to enter the unloading parking mode, which can give the user more initiative and control, and can allow the user to flexibly choose whether to enter the unloading parking mode according to their actual needs and parking scenarios, thereby further improving the user's unloading parking experience.

[0075] S230: If it is detected that the preset switch of the vehicle is touched, the vehicle is controlled to move from the unloading position to the target parking space to complete parking.

[0076] As one approach, if it is detected that a preset switch of the vehicle is touched, and the duration for which the preset switch of the vehicle is touched is greater than a duration threshold, the vehicle is controlled to move from the unloading position to the target parking space.

[0077] Optionally, if the vehicle's door handle capacitance switch is touched for a duration greater than a duration threshold, the vehicle is controlled to move from the unloading position to the target parking space; if the vehicle's resistance switch is touched for a duration greater than a duration threshold, the vehicle is controlled to move from the unloading position to the target parking space.

[0078] In an embodiment of the present application, after detecting that a preset switch of the vehicle has been touched for a duration greater than a time threshold, the vehicle can be controlled to move from the unloading position to the target parking space, thereby reducing the false trigger rate and improving the reliability of the vehicle's unloading and parking.

[0079] Optionally, when the vehicle successfully reaches the target parking space, the vehicle will automatically exit the parking mode, and the vehicle will automatically lock and enter the vehicle shutdown mode (that is, the user does not need to get in the vehicle again after unloading, and the vehicle can complete parking).

[0080] In the embodiments of this application, in vehicle parking or unloading parking scenarios, parking efficiency and convenience can be improved through software development within the parking system and the interaction between various controllers. This eliminates the need for additional hardware to address current user needs in unloading scenarios, thereby reducing costs. Furthermore, software development allows for continuous optimization of control algorithms and interaction logic to adapt to different parking scenarios and user needs. For example, different parking strategies and control modes can be developed based on factors such as parking space size and shape, vehicle size, and load capacity, to meet diverse user needs.

[0081] This embodiment provides a parking method that, through the aforementioned approach, allows a vehicle to be controlled to first arrive at a loading location and then automatically arrive at a target parking space after the user completes unloading. This improves the continuity of unloading and parking. Furthermore, after the user completes unloading, the vehicle is automatically controlled to arrive at the target parking space from the loading location. During this process, the vehicle will not continue parking until it detects that a preset switch has been touched. Touching the preset switch is a user-operated operation. This ensures that the vehicle's cargo is completely unloaded before continuing parking. This improves the timing accuracy between unloading completion and the next parking attempt, thereby enhancing the unloading parking experience. Furthermore, in this embodiment, the user can actively select to enter unloading parking mode, giving the user greater initiative and control. This allows the user to flexibly choose whether to enter unloading parking mode based on their actual needs and parking scenarios, further enhancing the user's unloading parking experience.

[0082] In order to better understand the solutions of all embodiments of the present application, the basic business process of the parking method of the present application is introduced below.

[0083] See also Figure 7 After receiving the operation information for entering the parking mode in step S1, multiple available parking spaces may be displayed on the central control display screen for user selection. The available parking space selected by the user may be selected as the target parking space in step S2. Thereafter, a determination may be made in step S3 whether there is an obstacle within a preset range of the target parking space. If it is determined that there is an obstacle within the preset range of the target parking space and the relative distance between the vehicle and the obstacle is less than a preset distance, a query message may be displayed to the user in step S5, inquiring whether the user wishes to enter the unloading parking mode. If the user chooses to enter the unloading parking mode, the vehicle may be controlled to move to the unloading position in step S6, and the user may be prompted to get out of the vehicle and unload the cargo in the trunk. If there is no obstacle within the preset range of the target parking space, or if the user chooses not to enter the unloading parking mode after the query message is displayed to the user, or if the user does not perform any operation in response to the query message (i.e., does not enter the unloading parking mode), the normal parking process may be entered in step S4, and the vehicle may be directly parked in the target parking space based on the parking path.

[0084] Based on step S7, it can be determined whether the trunk door is closed after the vehicle detects that the user has completed unloading. If it is detected that the trunk door is not closed, the user can be prompted to close the trunk door based on step S8; and after closing the trunk door, it can be detected based on step S9 that the vehicle has not moved to the target parking space within the preset time of the trunk door being closed, and the user can be prompted that the vehicle has not reached the target parking space. Therefore, based on step S10, it can be detected that the preset switch of the vehicle is touched, and the vehicle can be controlled to reach the target parking space from the unloading position to complete parking. Finally, parking can be completed based on step S11.

[0085] See also Figure 8 The present application provides a parking device 800, which includes:

[0086] The information acquisition unit 810 is configured to determine a target parking space and a parking path corresponding to the target parking space.

[0087] The parking control unit 820 is used to control the vehicle to reach the unloading position if it is detected that the user has an unloading requirement and there is an obstacle within the preset range of the target parking space during parking based on the parking path; and to control the vehicle from the unloading position to the target parking space if it is detected that the preset switch of the vehicle is touched to complete parking.

[0088] As a method, the parking control unit 820 is specifically used to display inquiry information to the user if it is determined that there is an obstacle within the preset range of the target parking space; if feedback information is received to cause the vehicle to enter the unloading parking mode, the vehicle is controlled to reach the unloading position.

[0089] As one approach, the parking control unit 820 is specifically configured to determine that an obstacle exists within a preset range of the target parking space if the distance between the obstacle and the rear parking space line of the target parking space is less than a first preset distance; or, to determine that an obstacle exists within a preset range of the target parking space if the distance between the obstacle and the two side parking space lines of the target parking space is less than a second preset distance; or, to determine that an obstacle exists within a preset range of the target parking space if the obstacle is located at the top of the space where the target parking space is located and is less than a third preset distance from the ground level of the target parking space.

[0090] Optionally, the unloading position is a position on the parking path and at a preset safety distance from the obstacle.

[0091] As a method, the parking control unit 820 is specifically configured to prompt the user to close the trunk door if it is detected that the trunk door is not closed.

[0092] Optionally, the parking control unit 820 is specifically configured to prompt the user that the vehicle has not reached the target parking space if it is detected that the vehicle has not moved to the target parking space within a preset time period when the trunk door is closed.

[0093] As a method, the parking control unit 820 is specifically used to control the vehicle to move from the unloading position to the target parking space if it is detected that the preset switch of the vehicle is touched and the duration of the touch of the preset switch of the vehicle is greater than the duration threshold.

[0094] As a method, the parking control unit 820 is specifically used to control the vehicle to reach the unloading position if a control instruction is received, and the control instruction is used to control the vehicle to enter the unloading parking mode; if it is detected that the preset switch of the vehicle is touched, the vehicle is controlled to reach the target parking space from the unloading position to complete parking.

[0095] The following will be combined Figure 9 A vehicle provided in this application is described.

[0096] See also Figure 9Based on the aforementioned parking method and apparatus, embodiments of the present application further provide another vehicle 100 capable of executing the aforementioned parking method. Vehicle 100 includes a processor 102, a memory 104, and a communication module 106. The memory 104 stores a program capable of executing the aforementioned embodiments, and the processor 102 can execute the program stored in the memory 104.

[0097] The processor 102 may include one or more processing cores. The processor 102 utilizes various interfaces and circuits to connect various components within the vehicle 100. It executes instructions, programs, code sets, or instruction sets stored in the memory 104 and accesses data stored in the memory 104 to perform various functions and process data for the vehicle 100. Optionally, the processor 102 may be implemented in the form of at least one of a network processor (NPU), a digital signal processor (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 102 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), a network processor (NPU), and a modem. The CPU primarily processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; the NPU is responsible for processing multimedia data such as video and images; and the modem is responsible for wireless communication. It is understandable that the above-mentioned modem may not be integrated into the processor 102, but may be implemented separately through a communication chip.

[0098] The memory 104 may include random access memory (RAM), read-only memory (ROM), and double data rate synchronous dynamic random access memory (DDR). The memory 104 may be used to store instructions, programs, codes, code sets, or instruction sets. The memory 104 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the various method embodiments described below, etc. The data storage area may also store data created by the vehicle 100 during use (such as a phone book, audio and video data, chat history data, etc.).

[0099] The communication module 106 can be used to implement information exchange between the vehicle 100 and other devices, for example, transmitting device control instructions, operation request instructions, and status information acquisition instructions, etc. When the other devices are different devices, the corresponding communication modules 106 may be different.

[0100] The data acquisition module 108 can be used to collect target parking space information, vehicle position information, and obstacle information. The data acquisition module may include wheel speed sensors, acceleration sensors, angular velocity sensors, multiple cameras, and multiple ultrasonic radars.

[0101] An embodiment of the present application provides a computer-readable storage medium having program code stored therein, wherein the program code can be invoked by a processor to execute the method described in the above method embodiment.

[0102] The computer-readable storage medium can be an electronic memory such as a flash memory, an EEPROM (Electrically Erasable Programmable Read-Only Memory), an EPROM, a hard disk, or a ROM. Alternatively, the computer-readable storage medium includes a non-transitory computer-readable storage medium. The computer-readable storage medium has storage space for program codes for executing any of the method steps described above. These program codes can be read from or written to one or more computer program products. The program codes can be compressed, for example, in an appropriate form.

[0103] In summary, the present application provides a parking method, apparatus, and vehicle. After determining a target parking space and a parking path corresponding to the target parking space, and while parking based on the parking path, if it is detected that the user needs to unload cargo and there is an obstacle within a preset range of the target parking space, the vehicle is controlled to reach the unloading position. If it is detected that a preset switch on the vehicle has been touched, the vehicle is controlled to move from the unloading position to the target parking space to complete parking. This method allows the vehicle to first be controlled to reach the unloading position, and then automatically move to the target parking space after the user has completed unloading, thereby improving the continuity between unloading and parking. Furthermore, after the user has completed unloading, the vehicle is automatically controlled to move from the unloading position to the target parking space. During this process, the vehicle will not continue parking until it detects that the preset switch has been touched. Touching the preset switch is a user-operated operation. This ensures that the cargo in the vehicle is completely unloaded before continuing parking. This improves the timing accuracy between unloading completion and subsequent parking, thereby enhancing the unloading parking experience.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A parking method, characterized in that: The method comprises: determining a target parking space and a parking path corresponding to the target parking space; During parking based on the parking path, if it is determined that there is an obstacle within a preset range of the target parking space, displaying an inquiry message to the user; If feedback information or a control instruction for causing the vehicle to enter the unloading parking mode is received, the vehicle is controlled to reach the unloading position; the control instruction is used to control the vehicle to enter the unloading parking mode; If it is detected that the preset switch of the vehicle is touched, and the duration of the touch of the preset switch of the vehicle is greater than a duration threshold, the vehicle is controlled to move from the unloading position to the target parking space to complete parking.

2. The method according to claim 1, characterized in that The method further comprises: If the distance between the obstacle and the rear parking space line of the target parking space is less than a first preset distance, it is determined that there is an obstacle within the preset range of the target parking space; or If the distance between the obstacle and the parking space lines on both sides of the target parking space is less than a second preset distance, it is determined that there is an obstacle within the preset range of the target parking space; or If the obstacle is located at the top of the space where the target parking space is located and is less than a third preset distance from the horizontal plane where the target parking space is located, it is determined that there is an obstacle within the preset range of the target parking space.

3. The method according to claim 1, characterized in that The unloading position is a position on the parking path and at a preset safety distance from the obstacle.

4. The method according to claim 1, wherein After controlling the vehicle to arrive at the unloading position, the method further includes: If it detects that the tailgate is not closed, the user is prompted to close the tailgate.

5. The method according to claim 4, characterized in that The method further comprises: If the vehicle is detected not to move to the target parking space within the preset time when the trunk door is closed, the user is prompted that the vehicle has not reached the target parking space.

6. A parking device, characterized in that: The device comprises: an information acquisition unit, configured to determine a target parking space and a parking path corresponding to the target parking space; A parking control unit configured to display a query message to a user if it is determined that an obstacle exists within a preset range of the target parking space; control the vehicle to reach the unloading position if feedback information or a control instruction for causing the vehicle to enter an unloading parking mode is received; the control instruction is used to control the vehicle to enter the unloading parking mode; and control the vehicle to arrive at the target parking space from the unloading position to complete parking if it is detected that a preset switch of the vehicle is touched and the duration of the touch of the preset switch of the vehicle is greater than a duration threshold.

7. A vehicle, characterized in that: including one or more processors and memory; One or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores program code, wherein when the program code is run, the method according to any one of claims 1 to 5 is executed.

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