Parking control method, device, vehicle and storage medium

Abstract

The present application discloses a parking control method, device, vehicle and storage medium, which relates to the field of vehicle control technology and aims to solve the problem of difficulty in parking caused by reduced parking space. The method comprises: in response to a parking instruction, based on the relative position relationship between the vehicle and the target parking position, determining a target parking strategy from multiple parking strategies; wherein different parking strategies in the multiple parking strategies correspond to different rotation configurations, and controlling the vehicle to drive to the target parking position along the driving trajectory corresponding to the target parking strategy.

Description

Technical Field

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

[0002] With the popularization of vehicles in daily life, the substantial increase in the number of vehicles has resulted in a reduction in parking space at parking locations, for example, parking spaces have become narrower, and a driving passage between opposite parking spaces has become narrower.

[0003] At present, in the face of the above-mentioned reduction in parking space, for example, in the face of a side parking space with a narrowed driving lane, the traditional parking method requires multiple forward and backward maneuvers to adjust the angle of the vehicle so that the vehicle can be parked smoothly in the parking space. However, this method of multiple forward and backward maneuvers will increase the risk of collision between the vehicle and the wall or other vehicles, making parking more difficult. In addition, when the vehicle is too large or the axle is too long, the parking difficulty will be further increased. Summary of the invention

[0004] The purpose of the present application is to provide a parking control method, device, vehicle and storage medium, aiming to solve the problem of greater parking difficulty caused by reduced parking space.

[0005] In order to achieve the above purpose, this application adopts the following technical solutions:

[0006] The present application provides a parking control method, the method comprising: in response to a parking instruction, determining a target parking strategy from a plurality of parking strategies based on a relative position relationship between a vehicle and a target parking position; wherein different parking strategies among the plurality of parking strategies correspond to different rotation configurations, and controlling the vehicle to drive toward the target parking position along a driving trajectory corresponding to the target parking strategy.

[0007] The parking control method provided in the embodiment of the present application, since the vehicle cannot park in place in one go in a normal parking manner when the parking space is small, the present application plans a variety of parking strategies for the vehicle to successfully park in different positions by combining the vehicle rotation method, so that the vehicle can determine the most suitable parking strategy from a variety of parking strategies according to the relative position between itself and the target parking position, and drive to the target parking position along the driving trajectory corresponding to the parking strategy without adjusting the angle of the vehicle by moving the vehicle forward and backward multiple times, thereby reducing the space required for parking, avoiding collisions between the vehicle and walls or other vehicles, and reducing the difficulty of parking when the parking space is small.

[0008] In some embodiments, the rotation configuration includes the number of gear shifts, the number of rotations, and the rotation object during each rotation.

[0009] Based on this, the present application sets different parking strategies for different vehicle positions, and sets different shift times, rotation times, and rotation objects for the rotation configuration corresponding to each parking strategy to ensure that the vehicle can successfully park at the designated position in each position.

[0010] In some embodiments, the above-mentioned rotating object may include any one of the following: a wheel, a corner point, an axle center point, and a center of mass point.

[0011] In some embodiments, when the target parking position is a target parking space, each of the plurality of parking strategies includes at least one rotation within the target parking space.

[0012] Based on this, the present application ensures that the body contour of the vehicle is located within the edge of the parking space after the vehicle stops by rotating the vehicle within the parking space.

[0013] In some embodiments, when the target parking position is a target parking space, the multiple parking strategies include at least one of the following: a first parking strategy, a second parking strategy, and a third parking strategy; wherein the first parking strategy is used to control the vehicle to make at least one rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space; the second parking strategy is used to control the vehicle to make at least one rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and making at least one rotation outside the target parking space; the third parking strategy is used to control the vehicle to make at least one rotation in the target parking space to enter the target parking space when shifting gears outside the target parking space.

[0014] Based on this, the present application distinguishes different parking strategies by configuring rotation outside the parking space and rotation inside the parking space, as well as configuring the number of rotations, vehicle gear shifting and no gear shifting, so that the vehicle can try to park in the parking space through the parking strategy of no gear shifting and one rotation, avoiding the complexity of the parking process caused by multiple rotations and gear shifting.

[0015] In some embodiments, the above-mentioned first parking strategy includes a first sub-strategy and a second sub-strategy; the first sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space; the second sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space.

[0016] Based on this, the present application ensures that the vehicle can be successfully parked in the parking space at all positions by setting the front of the vehicle to park first and the rear of the vehicle to park first respectively when rotating in the parking space.

[0017] In some embodiments, the second parking strategy includes a third sub-strategy and a fourth sub-strategy; the third sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and performing at least one rear rotation outside the target parking space; the fourth sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and performing at least one front rotation outside the target parking space.

[0018] Based on this, the present application ensures that the vehicle can be successfully parked in the parking space at all positions by setting the front of the vehicle to park first and the rear of the vehicle to park first respectively when performing external rotation and internal rotation of the parking space.

[0019] In some embodiments, the third parking strategy includes a fifth sub-strategy and a sixth sub-strategy; the fifth sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space when shifting gears outside the target parking space; the sixth sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to enter the target parking space when shifting gears outside the target parking space.

[0020] Based on this, the present application ensures that the vehicle can be successfully parked in the parking space at all positions by setting the front of the vehicle to park first and the rear of the vehicle to park first respectively when shifting gears or rotating in the parking space.

[0021] In some embodiments, the driving trajectory corresponding to the above-mentioned first parking strategy includes a first sub-trajectory and a rotation trajectory within the target parking space. The rotation trajectory within the target parking space is a trajectory for controlling the vehicle to rotate within the target parking space, and the first sub-trajectory is a trajectory for controlling the vehicle to drive between the vehicle's initial position and the target parking space rotation starting point of the rotation trajectory within the target parking space.

[0022] Based on this, the present application first controls the front / rear end of the vehicle to drive into the parking space, and then controls the front / rear end of the vehicle to rotate to adjust the vehicle body to be parallel to the length direction of the parking space. Through one rotation, the wear of the tires caused by the rotation of the vehicle can be minimized.

[0023] In some embodiments, the above-mentioned rotation trajectory in the target parking space includes a starting point of rotation in the target parking space and an ending point of rotation in the target parking space, and the starting point of rotation in the target parking space and the ending point of rotation in the target parking space are determined based on the current position of the vehicle, the position of the target parking space, the posture information of the vehicle, and the first obstacle information; the first obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle in the target parking space and during the driving process between the initial position of the vehicle and the starting point of rotation in the target parking space.

[0024] Based on this, the present application can consider whether a collision will occur during the vehicle's driving when determining the rotation starting point and the rotation ending point, thereby improving parking safety.

[0025] In some embodiments, the driving trajectory corresponding to the above-mentioned second parking strategy includes a target parking space outer rotation trajectory, a second sub-trajectory and a target parking space inner rotation trajectory. The target parking space outer rotation trajectory is a trajectory for controlling the vehicle to rotate outside the target parking space, the target parking space inner rotation trajectory is a trajectory for controlling the vehicle to rotate inside the target parking space, and the second sub-trajectory is a trajectory for controlling the vehicle to travel between the target parking space outer rotation end point of the target parking space outer rotation trajectory and the target parking space inner rotation start point of the target parking space inner rotation trajectory.

[0026] Based on this, the present application first controls the front / rear end of the vehicle to rotate outside the parking space to adjust the vehicle angle, then controls the rear / rear end of the vehicle to drive into the parking space, and then controls the front / rear end of the vehicle to rotate to adjust the body of the vehicle to be parallel to the length direction of the parking space. Through two rotations, the space required for parking is further reduced.

[0027] In some embodiments, the above-mentioned target parking space outer rotation trajectory includes a target parking space outer rotation starting point and a target parking space outer rotation ending point, and the target parking space inner rotation trajectory includes a target parking space inner rotation starting point and a target parking space inner rotation ending point. The target parking space outer rotation starting point, the target parking space outer rotation ending point, the target parking space inner rotation starting point, and the target parking space inner rotation ending point are determined based on the current position of the vehicle, the position of the target parking space, the vehicle's posture information, and the second obstacle information; the second obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation process within the target parking space, the vehicle driving between the target parking space outer rotation ending point and the target parking space inner rotation starting point, and the vehicle rotating outside the target parking space.

[0028] Based on this, the present application can consider whether a collision will occur during the vehicle's driving when determining the rotation starting point and the rotation ending point, thereby improving parking safety.

[0029] In some embodiments, the driving trajectory corresponding to the third parking strategy includes a third sub-trajectory, a fourth sub-trajectory and a rotation trajectory within the target parking space. The rotation trajectory within the target parking space is a trajectory for controlling the vehicle to rotate within the target parking space. The third sub-trajectory is a trajectory for controlling the vehicle to travel between the vehicle initial position and the vehicle shift position. The fourth sub-trajectory is a trajectory for controlling the vehicle to travel between the vehicle shift position and the target parking space rotation starting point of the rotation trajectory within the target parking space.

[0030] Based on this, the present application controls the gear shifting to adjust the vehicle's driving direction, and then combines the vehicle rotation to ensure that the vehicle can successfully stop at the designated position.

[0031] In some embodiments, the above-mentioned rotation trajectory in the target parking space includes a starting point of rotation in the target parking space and an ending point of rotation in the target parking space, and the starting point of rotation in the target parking space and the ending point of rotation in the target parking space are determined based on the current position of the vehicle, the position of the target parking space, the posture information of the vehicle, and the third obstacle information; the third obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle in the target parking space, the driving of the vehicle between the initial position of the vehicle and the gear shift position of the vehicle, and the driving of the vehicle between the gear shift position and the starting point of rotation in the target parking space.

[0032] Based on this, the present application can consider whether a collision will occur during the vehicle's driving when determining the rotation starting point and the rotation ending point, thereby improving parking safety.

[0033] In some embodiments, when the target parking position is a target parking space, the above-mentioned determining the target parking strategy from multiple parking strategies based on the relative position relationship between the vehicle and the target parking position includes: determining the priority of each parking strategy in the multiple parking strategies based on the relative position relationship between the vehicle and the target parking space, and based on the priority of each parking strategy in the multiple parking strategies, taking the parking strategy with the highest priority among the multiple parking strategies as the target parking strategy.

[0034] Based on this, the present application sets the calling priority of each parking strategy for different vehicle positions, so that the vehicle can flexibly rotate the most suitable parking strategy at each position, thereby improving parking efficiency and parking success rate.

[0035] In some embodiments, the multiple parking strategies include a first parking strategy, a second parking strategy, and a third parking strategy. The priority of each parking strategy in the multiple parking strategies is determined based on the relative position relationship between the vehicle and the target parking space, including: when the front edge of the vehicle is located outside a first short side of the target parking space, or the rear edge of the vehicle is located outside a second short side of the target parking space, setting the priority of the first parking strategy higher than that of the second parking strategy; or, when the front edge of the vehicle is located inside the first short side of the target parking space, and the rear edge of the vehicle is located inside the second short side of the target parking space, setting the third parking strategy to have the highest priority; the first short side is the short side of the target parking space facing one side, and the second short side is the short side of the target parking space facing the opposite side.

[0036] Based on this, the present application sets the priorities of different parking strategies according to the relative position relationship between the vehicle and the target parking space to ensure that parking can be performed with the most suitable parking strategy, reduce the complexity of the parking process, and improve parking efficiency.

[0037] In some embodiments, the above-mentioned multiple parking strategies include a first parking strategy, a second parking strategy, and a third parking strategy. The parking control method provided in the embodiment of the present application may also include: when there is no feasible trajectory for the first parking strategy, setting the second parking strategy to have the highest priority; or, when there is no feasible trajectory for the second parking strategy, or the number of rotations included in the rotation configuration corresponding to the second parking strategy is greater than the first preset number, or the number of rotations outside the target parking space corresponding to the second parking strategy is greater than the second preset number, setting the third parking strategy to have the highest priority.

[0038] Based on this, the present application can select a parking strategy with the second highest priority when the parking strategy with the highest priority cannot be adopted to ensure that the vehicle can be successfully parked in the parking space.

[0039] The present application provides a parking control device, which includes: a determination unit and a control unit, wherein: the above-mentioned determination unit is used to respond to a parking instruction and determine a target parking strategy from multiple parking strategies based on the relative position relationship between a vehicle and a target parking position, and different parking strategies in the multiple parking strategies correspond to different rotation configurations; the above-mentioned control unit is used to control the vehicle to drive to the target parking position along a driving trajectory corresponding to the target parking strategy.

[0040] In some embodiments, the rotation configuration includes the number of gear shifts, the number of rotations, and the rotation object during each rotation.

[0041] In some embodiments, the above-mentioned rotating object may include any one of the following: a wheel, a corner point, an axle center point, and a center of mass point.

[0042] In some embodiments, when the target parking position is a target parking space, each of the plurality of parking strategies includes at least one rotation within the target parking space.

[0043] In some embodiments, when the target parking position is a target parking space, the multiple parking strategies include at least one of the following: a first parking strategy, a second parking strategy, and a third parking strategy; wherein the first parking strategy is used to control the vehicle to make at least one rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space; the second parking strategy is used to control the vehicle to make at least one rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and making at least one rotation outside the target parking space; the third parking strategy is used to control the vehicle to make at least one rotation in the target parking space to enter the target parking space when shifting gears outside the target parking space.

[0044] In some embodiments, the above-mentioned first parking strategy includes a first sub-strategy and a second sub-strategy; the first sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space; the second sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space.

[0045] In some embodiments, the second parking strategy includes a third sub-strategy and a fourth sub-strategy; the third sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and performing at least one rear rotation outside the target parking space; the fourth sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and performing at least one front rotation outside the target parking space.

[0046] In some embodiments, the third parking strategy includes a fifth sub-strategy and a sixth sub-strategy; the fifth sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space when shifting gears outside the target parking space; the sixth sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to enter the target parking space when shifting gears outside the target parking space.

[0047] In some embodiments, the driving trajectory corresponding to the above-mentioned first parking strategy includes a first sub-trajectory and a rotation trajectory within the target parking space. The rotation trajectory within the target parking space is a trajectory for controlling the vehicle to rotate within the target parking space, and the first sub-trajectory is a trajectory for controlling the vehicle to drive between the vehicle's initial position and the target parking space rotation starting point of the rotation trajectory within the target parking space.

[0048] In some embodiments, the above-mentioned rotation trajectory in the target parking space includes a starting point of rotation in the target parking space and an ending point of rotation in the target parking space, and the starting point of rotation in the target parking space and the ending point of rotation in the target parking space are determined based on the current position of the vehicle, the position of the target parking space, the posture information of the vehicle, and the first obstacle information; the first obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle in the target parking space and during the driving process between the initial position of the vehicle and the starting point of rotation in the target parking space.

[0049] In some embodiments, the driving trajectory corresponding to the above-mentioned second parking strategy includes a target parking space outer rotation trajectory, a second sub-trajectory and a target parking space inner rotation trajectory. The target parking space outer rotation trajectory is a trajectory for controlling the vehicle to rotate outside the target parking space, the target parking space inner rotation trajectory is a trajectory for controlling the vehicle to rotate inside the target parking space, and the second sub-trajectory is a trajectory for controlling the vehicle to travel between the target parking space outer rotation end point of the target parking space outer rotation trajectory and the target parking space inner rotation start point of the target parking space inner rotation trajectory.

[0050] In some embodiments, the above-mentioned target parking space outer rotation trajectory includes a target parking space outer rotation starting point and a target parking space outer rotation ending point, and the target parking space inner rotation trajectory includes a target parking space inner rotation starting point and a target parking space inner rotation ending point. The target parking space outer rotation starting point, the target parking space outer rotation ending point, the target parking space inner rotation starting point, and the target parking space inner rotation ending point are determined based on the current position of the vehicle, the position of the target parking space, the vehicle's posture information, and the second obstacle information; the second obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation process within the target parking space, the vehicle driving between the target parking space outer rotation ending point and the target parking space inner rotation starting point, and the vehicle rotating outside the target parking space.

[0051] In some embodiments, the driving trajectory corresponding to the third parking strategy includes a third sub-trajectory, a fourth sub-trajectory and a rotation trajectory within the target parking space. The rotation trajectory within the target parking space is a trajectory for controlling the vehicle to rotate within the target parking space. The third sub-trajectory is a trajectory for controlling the vehicle to travel between the vehicle initial position and the vehicle shift position. The fourth sub-trajectory is a trajectory for controlling the vehicle to travel between the vehicle shift position and the target parking space rotation starting point of the rotation trajectory within the target parking space.

[0052] In some embodiments, the above-mentioned rotation trajectory in the target parking space includes a starting point of rotation in the target parking space and an ending point of rotation in the target parking space, and the starting point of rotation in the target parking space and the ending point of rotation in the target parking space are determined based on the current position of the vehicle, the position of the target parking space, the posture information of the vehicle, and the third obstacle information; the third obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle in the target parking space, the driving of the vehicle between the initial position of the vehicle and the gear shift position of the vehicle, and the driving of the vehicle between the gear shift position and the starting point of rotation in the target parking space.

[0053] In some embodiments, when the target parking position is a target parking space, the above-mentioned determination unit is specifically used to: determine the priority of each parking strategy among multiple parking strategies based on the relative position relationship between the vehicle and the target parking position, and based on the priority of each parking strategy among the multiple parking strategies, use the parking strategy with the highest priority among the multiple parking strategies as the target parking strategy.

[0054] In some embodiments, the multiple parking strategies include a first parking strategy, a second parking strategy, and a third parking strategy. The determination unit is specifically configured to: when a front edge of the vehicle is located outside a first short side of a target parking space, or a rear edge of the vehicle is located outside a second short side of the target parking space, set the priority of the first parking strategy to be higher than that of the second parking strategy; or, when a front edge of the vehicle is located inside the first short side of the target parking space, and a rear edge of the vehicle is located inside the second short side of the target parking space, set the third parking strategy to have the highest priority; the first short side is a short side facing one side of the target parking space, and the second short side is a short side facing the opposite side of the target parking space.

[0055] In some embodiments, the multiple parking strategies include a first parking strategy, a second parking strategy, and a third parking strategy, and the determination unit is further used to: when there is no feasible trajectory for the first parking strategy, set the second parking strategy to have the highest priority; or when there is no feasible trajectory for the second parking strategy, or the number of rotations included in the rotation configuration corresponding to the second parking strategy is greater than a first preset number, or the number of rotations outside the target parking space corresponding to the second parking strategy is greater than a second preset number, set the third parking strategy to have the highest priority.

[0056] The present application provides an electronic device, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the parking control method described above.

[0057] The present application provides a vehicle, comprising: at least one motor, and the electronic device as described above; wherein each of the at least one motor is used to drive at least one wheel.

[0058] In one example, the at least one motor includes a first motor, a second motor, and a third motor. The first motor is used to drive a first wheel of a first axle, the second motor is used to drive a second wheel of the first axle, and the third motor is used to drive two wheels of the second axle.

[0059] In another example, the at least one motor includes a first motor, a second motor, a third motor, and a fourth motor. The first motor is used to drive a first wheel of a first axle, the second motor is used to drive a second wheel of the first axle, the third motor is used to drive a third wheel of the second axle, and the fourth motor is used to drive a fourth wheel of the second axle.

[0060] Among them, when the first axle is the front axle of the vehicle, the second axle is the rear axle of the vehicle; when the second axle is the front axle of the vehicle, the first axle is the rear axle of the vehicle.

[0061] The present application provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal, the terminal executes the parking control method described above.

[0062] The present application provides a computer program product including instructions. When a computer executes the instructions, the computer executes the parking control method described above.

[0063] The present application provides a chip, which includes a processor and a communication interface. The communication interface and the processor are coupled, and the processor is used to run a computer program or instruction to implement the parking control method described above.

[0064] Specifically, the chip provided in the embodiment of the present application also includes a memory for storing computer programs or instructions. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0066] Figure 1 A schematic diagram of a wheel of a vehicle provided in an embodiment of the present application;

[0067] Figure 2 A method flow chart of a parking control method provided by an embodiment of the present application;

[0068] Figure 3 A schematic diagram of a parking trajectory provided in an embodiment of the present application;

[0069] Figure 4 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0070] Figure 5 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0071] Figure 6 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0072] Figure 7 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0073] Figure 8 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0074] Fig. 9 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0075] Fig.10 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0076] Fig.11 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0077] Fig.12 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0078] Fig.13 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0079] Fig.14 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0080] Fig.15 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0081] Fig.16 Another parking trajectory schematic diagram provided in an embodiment of the present application;

[0082] Fig.17 A structural diagram of a parking control device provided in an embodiment of the present application;

[0083] Fig.18 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0084] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0085] In the description of this application, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", "inside", "outside", etc. indicate directions or positional relationships based on the directions or relative positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on this application. Unless otherwise specified, the above-mentioned directional description can be flexibly set in the process of actual application under the condition that the relative positional relationship shown in the accompanying drawings is met.

[0086] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0087] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. It can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0088] In some embodiments, the term "comprises," "comprising," or any other variation thereof is intended to encompass non-exclusive inclusion, such that a process, article, or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, article, or device that includes the element.

[0089] In some embodiments, the words "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0090] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.

[0091] Conventional vehicles usually park in parallel parking spaces by backing up, but in narrow channel scenarios, if the front-wheel steering parking method is used under the constraints of the Ackerman model, there may be a risk of collision between the front of the vehicle and obstacles in the parking channel (such as other vehicles).

[0092] A vehicle four-wheel independent drive technology is proposed in the related art, and the four-wheel independent drive technology can control the vehicle to rotate around any wheel as the center. However, there is currently no design for a parking solution that applies the four-wheel power drive technology to parking scenarios.

[0093] In this context, in order to solve the problem in the related art that parking is difficult due to reduced parking space, the present application provides a parking control method, device, vehicle and storage medium. The implementation method of the embodiment of the present application is described in detail below in conjunction with the drawings in the specification.

[0094] Refer to the following Figures 1 to 8 The parking control method provided in the embodiment of the present application is described.

[0095] In some embodiments, the vehicle provided by the embodiments of the present application may include a first motor, a second motor, and a third motor, the first motor being used to drive a first wheel of a first axle, the second motor being used to drive a second wheel of the first axle, and the third motor being used to drive two wheels of the second axle.

[0096] Among them, when the first axle is the front axle of the vehicle, the second axle is the rear axle of the vehicle; when the first axle is the rear axle of the vehicle, the second axle is the front axle of the vehicle.

[0097] In some embodiments, the vehicle provided by the embodiments of the present application may include a first motor, a second motor, a third motor, and a fourth motor, the first motor being used to drive a first wheel on the front axle of the vehicle, the second motor being used to drive a second wheel on the front axle of the vehicle, the third motor being used to drive a third wheel on the rear axle of the vehicle, and the fourth motor being used to drive a fourth wheel on the rear axle of the vehicle.

[0098] The parking control method provided in the embodiment of the present application is described below by taking a vehicle including four motors as an example.

[0099] For example, Figure 1 As shown, taking a vehicle including four wheels (left front wheel, right front wheel, left rear wheel, right rear wheel) as an example, the first motor can be controlled to drive the left front wheel, the second motor can be controlled to drive the right front wheel, the third motor can drive the left rear wheel, and the fourth motor can drive the right rear wheel.

[0100] In this way, by providing an independent drive motor for each wheel to control the different steering and driving forces of each wheel, the steering of the four-wheel drive vehicle is more flexible and the steering occupies less space.

[0101] Figure 2 The method flow chart of the parking control method provided in the embodiment of the present application, the subject executing the method may be a vehicle, or various devices / modules in the vehicle, such as an integrated circuit or a chip, and the embodiment of the present application does not make any specific limitation on this.

[0102] For example, Figure 2 As shown, the parking control method provided in the embodiment of the present application may include the following S201 and S202:

[0103] S201 . In response to a parking instruction, determine a target parking strategy from a plurality of parking strategies based on a relative position relationship between a vehicle and a target parking position.

[0104] S202: Control the vehicle to drive toward the target parking position along the driving trajectory corresponding to the target parking strategy.

[0105] Among them, the parking instruction is used to instruct the vehicle to start the automatic parking function. The parking instruction can be a parking instruction generated by the parking controller in response to the user's click operation after the user clicks the parking control displayed on the vehicle display.

[0106] Optionally, after the user clicks the parking control, the vehicle controller can also detect whether the doors and front and rear hoods are closed, and whether the sensors and systems are normal. When the doors and front and rear hoods are closed and the sensors and systems are normal, subsequent parking operations are performed.

[0107] In some embodiments, different parking strategies among the plurality of parking strategies correspond to different rotation configurations, wherein the rotation configuration includes the number of gear shifts, the number of rotations, and the rotation object during each rotation.

[0108] The rotating object may include any of the following: a wheel, a corner point, an axle center point, and a center of mass point. The vehicle rotates with the rotating object as a reference point.

[0109] Exemplarily, the rotating object may be a wheel on a front axle of the vehicle, or a wheel on a rear axle of the vehicle corresponding to the rear of the vehicle.

[0110] For example, the rotation object may be a corner point of the vehicle body contour.

[0111] Exemplarily, the rotation object may be the center point of the front axle of the vehicle, or the center point of the rear axle of the vehicle.

[0112] Exemplarily, the rotating object may be the center of mass of the vehicle.

[0113] In some embodiments, when the target parking position is a target parking space, each of the plurality of parking strategies includes at least one rotation within the target parking space.

[0114] Optionally, when the target parking position is the target parking space, the multiple parking strategies include at least one of the following: a first parking strategy, a second parking strategy, and a third parking strategy.

[0115] In some embodiments, the first parking strategy is used to control the vehicle to perform at least one rotation in the target parking space to drive into the target parking space without shifting gears outside the target parking space. Further, the first parking strategy includes a first sub-strategy and a second sub-strategy, the first sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to drive into the target parking space without shifting gears outside the target parking space; the second sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to drive into the target parking space without shifting gears outside the target parking space.

[0116] In some embodiments, the second parking strategy is used to control the vehicle to perform at least one rotation in the target parking space to enter the target parking space without shifting gears and performing at least one rotation outside the target parking space. Further, the second parking strategy includes a third sub-strategy and a fourth sub-strategy, the third sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to enter the target parking space without shifting gears and performing at least one rear rotation outside the target parking space; the fourth sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space without shifting gears and performing at least one front rotation outside the target parking space.

[0117] In some embodiments, the third parking strategy is used to control the vehicle to perform at least one rotation in the target parking space to drive into the target parking space when the gear is shifted outside the target parking space. Further, the third parking strategy includes a fifth sub-strategy and a sixth sub-strategy, wherein the fifth sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to drive into the target parking space when the gear is shifted outside the target parking space; and the sixth sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to drive into the target parking space when the gear is shifted outside the target parking space.

[0118] Optionally, the target parking strategy is any one of the first sub-strategy, the second sub-strategy, the third sub-strategy, the fourth sub-strategy, the fifth sub-strategy and the sixth sub-strategy.

[0119] The following describes the parking control method provided in an embodiment of the present application by taking a scenario in which a target parking position is located in a target parking space and a vehicle is parked in the target parking space as an example.

[0120] Optionally, the priority of each parking strategy among the multiple parking strategies may be determined based on the relative position relationship between the vehicle and the target parking space.

[0121] Among them, priority refers to the scheduling priority of each parking strategy when the vehicle is parking.

[0122] In an optional implementation, when the front edge of the vehicle is located outside the first short side of the target parking space, the priority of the first parking strategy is set higher than that of the second parking strategy; when there is no feasible trajectory for the first parking strategy, the priority of the second parking strategy is set to be the highest; when there is no feasible trajectory for the second parking strategy, or the number of rotations included in the rotation configuration corresponding to the second parking strategy is greater than a preset number, the priority of the third parking strategy is set to be the highest.

[0123] The preset number of times may be a number set manually, which may be flexibly adjusted according to actual scenarios. For example, the preset number of times may be 2 times.

[0124] For example, Figure 3 As shown, when the front edge of the vehicle is located on the right side of side A (ie, the first short side) of the target parking space, the priority of the first parking strategy may be higher than the priority of the second parking strategy.

[0125] In another optional implementation, when the rear edge of the vehicle is located outside the second short side of the target parking space, the priority of the first parking strategy is set higher than that of the second parking strategy; when there is no feasible trajectory for the first parking strategy, the priority of the second parking strategy is set to be the highest; when there is no feasible trajectory for the second parking strategy, or the number of rotations included in the rotation configuration corresponding to the second parking strategy is greater than the first preset number, or the number of rotations outside the target parking space corresponding to the second parking strategy is greater than the second preset number, the priority of the third parking strategy is set to be the highest.

[0126] For example, Figure 4 As shown, in the case where the rear edge of the vehicle is located on the left side of side B (ie, the second short side) of the target parking space, the priority of the first parking strategy may be higher than the priority of the second parking strategy.

[0127] In yet another optional implementation, when the front edge of the vehicle is located inside the first short side of the target parking space and the rear edge of the vehicle is located inside the second short side of the target parking space, the third parking strategy is set to have the highest priority.

[0128] For example, Figure 5 As shown, when the front edge of the vehicle is located on the left side of side A of the target parking space and the rear edge of the vehicle is located on the right side of side B of the target parking space, the third parking strategy may be set to have the highest priority.

[0129] It should be noted that the first short side is the short side of the target parking space facing one side, and the second short side is the short side of the opposite side of the target parking space facing one side.

[0130] Further optionally, after the priority of each parking strategy is determined, based on the priority of each parking strategy among the multiple parking strategies, the parking strategy with the highest priority among the multiple parking strategies may be used as the target parking strategy.

[0131] In one example, when the front edge of the vehicle is located outside the first short side of the target parking space, the first sub-strategy with the highest priority can be determined as the target parking strategy, and when there is no feasible trajectory for the first sub-strategy, the third sub-strategy is determined as the target parking strategy; when there is no feasible trajectory for the third sub-strategy, or the number of rotations included in the rotation configuration corresponding to the third sub-strategy is greater than 2, the fifth sub-strategy is determined as the target parking strategy.

[0132] In another example, when the rear edge of the vehicle is outside the second short side of the target parking space, the second sub-strategy with the highest priority can be determined as the target parking strategy, and when there is no feasible trajectory for the second sub-strategy, the fourth sub-strategy is determined as the target parking strategy; when there is no feasible trajectory for the fourth sub-strategy, or the number of rotations included in the rotation configuration corresponding to the fourth sub-strategy is greater than 2, the sixth sub-strategy is determined as the target parking strategy.

[0133] In another example, when the front edge of the vehicle is located inside the first short side of the target parking space and the rear edge of the vehicle is located inside the second short side of the target parking space, the fifth sub-strategy or the sixth sub-strategy is determined as the target parking strategy.

[0134] The following describes the driving trajectory corresponding to each parking side in the above-mentioned multiple parking strategies by taking a rotating object as a wheel of a vehicle as an example.

[0135] 1) The driving trajectory corresponding to the first parking strategy includes a first sub-trajectory and a rotation trajectory within a target parking space. The rotation trajectory within the target parking space is a trajectory for controlling the vehicle to rotate within the target parking space. The first sub-trajectory is a trajectory for controlling the vehicle to travel between the initial position of the vehicle and the rotation starting point within the target parking space of the rotation trajectory within the target parking space.

[0136] In some embodiments, the rotation trajectory in the target parking space includes a rotation starting point in the target parking space and a rotation ending point in the target parking space, and the rotation starting point in the target parking space and the rotation ending point in the target parking space are determined based on the current position of the vehicle, the position of the target parking space, the vehicle's posture information, and the first obstacle information.

[0137] The first obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle in the target parking space and during the driving of the vehicle between the initial position of the vehicle and the rotation starting point in the target parking space.

[0138] In an optional implementation, when the front edge of the vehicle is located outside the first short side of the target parking space, the first parking strategy may be a first sub-strategy, and the driving trajectory corresponding to the first sub-strategy includes the first sub-trajectory and the rear rotation trajectory in the target parking space.

[0139] For example, in combination Figure 3 , when the front edge of the vehicle is outside the first short side of the target parking space, Figure 6 As shown, the end point A of the vehicle tail rotation in the vehicle tail rotation trajectory in the target parking space and the start point B of the vehicle tail rotation can be determined.

[0140] In some embodiments, when the vehicle rotates clockwise around the left rear wheel from the rear rotation starting point B to the rear rotation ending point A, there is no risk of collision between the vehicle and obstacles around the target parking space, and when the vehicle is located at the rear rotation ending point A, the body contour is inside the boundary contour of the target parking space, and the relative position between the vehicle and the target parking space meets the preset posture accuracy.

[0141] The preset position and posture accuracy may be a manually set value. For example, the preset position and posture accuracy may be a deviation of 5% from the vehicle being located at the exact center of the target parking space.

[0142] The process of determining the end point A and the start point B of the rear end rotation in the target parking space is described below.

[0143] In some embodiments, the maximum rotation angle of a single wheel of the vehicle can be set based on historical experience, and then based on the boundary contour of the target parking space, the center point of the rear axle of the vehicle when the vehicle is located in the center of the target parking space is used as the parking standard point, and then all points within a preset range around the parking standard point are used as the end points of the rear rotation of the vehicle.

[0144] In one example, the maximum rotation angle θ of a single wheel of the vehicle is set to max ,like Figure 7 As shown, after determining the parking standard point A, the P set can be obtained by scattering points at equal intervals, and all points in the P set are used as the end point A of the rear end rotation.

[0145] In another example, the maximum rotation angle θ of a single wheel of the vehicle is set to max After determining the parking standard point A, we can get the P set by randomly scattering points, and use all the points in the P set as the tail rotation termination point A.

[0146] Furthermore, when the vehicle is located at the rear rotation termination point A, the vehicle will not collide with an obstacle during the process of rotating the left rear wheel to the maximum rotation angle.

[0147] For example, in combination Figure 7, we can traverse the P set and calculate the maximum rotation angle θ of the vehicle from each rear rotation end point A around the left rear wheel counterclockwise max Afterwards, the range swept by the vehicle body contour is determined, and whether there is an obstacle in the range is determined, and the rear end rotation termination point A where there is no obstacle is determined as the final rear end rotation termination point.

[0148] Furthermore, in order to reduce the wear of the tire caused by single wheel rotation, the minimum rotation angle of the vehicle in the target parking space can be determined based on the trajectory of the vehicle driving out of the target parking space in a straight line after the vehicle rotates its rear end in the target parking space, and then the starting point of the rear rotation can be determined.

[0149] In some embodiments, the minimum rotation angle θ of the vehicle in the target parking space can be set min and the maximum rotation angle θ max , at the minimum rotation angle θ min With the maximum rotation angle θ max The rotation angle at which the vehicle can drive into the target parking space along a straight trajectory close to the target vertex in the target parking space is taken as the minimum rotation angle.

[0150] The target vertex is a vertex of the four vertices of the target parking space, which faces one side and is close to the parking passage.

[0151] For example, Figure 8 As shown, take the center coordinate value y=1.5 of a certain point B2 outside the target parking space as an example. The range swept by the body contour can be calculated when the vehicle rotates counterclockwise from the rear rotation end point A around the left rear wheel by θ1 to point B1, and the vehicle runs in a straight line from point B1 to point B2 with the center coordinate value y = 1.5 of the rear axle of the vehicle. If there is no obstacle within the range, θ1 is used as the minimum rotation angle; if there is an obstacle within the range, θ is increased by the preset step size, and the range swept by the body contour from point B1 to point B2 corresponding to the new angle θ2 is recalculated until there is no obstacle within the range, at which time the corresponding rotation angle is used as the minimum rotation angle θ min And point B1 is used as the starting point B for the rear end rotation.

[0152] The center coordinate value is the coordinate value after the coordinate system is established with the target vertex as the coordinate center.

[0153] For example, Fig. 9 As shown, in the first sub-strategy, the vehicle backs up and drives from the initial position C of the vehicle to the rear rotation starting point B in the target parking space to drive the rear of the vehicle into the target parking space, and then rotates clockwise around the left rear wheel of the vehicle from the rear rotation starting point B to the rear rotation ending point A to complete parking.

[0154] In some embodiments, the driving trajectory of the vehicle from the vehicle's initial position C to the rear rotation starting point B in the target parking space can be used as the first sub-trajectory, and the rotation trajectory of the vehicle from the rear rotation starting point B to the rear rotation ending point A can be used as the rear rotation trajectory in the target parking space. Finally, the first sub-trajectory and the rear rotation trajectory in the target parking space can be used as the driving trajectories corresponding to the first sub-strategy.

[0155] For example, a trajectory planning algorithm may be used to calculate the driving trajectory of the vehicle parking in the target parking space from C, B, and A in sequence. The trajectory planning algorithm may include a geometric algorithm, a Reeds-Shepp (RS) curve algorithm, a hybrid A* algorithm, and the like.

[0156] In another optional implementation, when the rear edge of the vehicle is located outside the second short side of the target parking space, the first parking strategy may be a second sub-strategy, and the driving trajectory corresponding to the second sub-strategy includes the first sub-trajectory and the vehicle head rotation trajectory in the target parking space.

[0157] It should be noted that, for the first sub-trajectory and the rotation trajectory of the vehicle head in the target parking space, reference may be made to the relevant description in an optional implementation manner in 1) above, which will not be repeated here.

[0158] For example, Fig.10 As shown, in the second sub-strategy, the vehicle moves forward from the initial position A to the vehicle front rotation starting point B in the target parking space to drive the vehicle front into the target parking space, and then rotates counterclockwise around the left front wheel of the vehicle from the vehicle front rotation starting point B to the vehicle front rotation ending point C to complete parking.

[0159] In some embodiments, the driving trajectory of the vehicle from the vehicle's initial position A to the vehicle head rotation starting point B in the target parking space can be used as the first sub-trajectory, and the rotation trajectory of the vehicle from the vehicle head rotation starting point B to the vehicle head rotation ending point C can be used as the vehicle head rotation trajectory in the target parking space. Finally, the first sub-trajectory and the vehicle head rotation trajectory in the target parking space can be used as the driving trajectory corresponding to the second sub-strategy.

[0160] Based on this, on the one hand, when the vehicle is rotated once, the present application ensures that the vehicle can be successfully parked in the parking space at all positions by setting the front of the vehicle to park first and the rear of the vehicle to park first respectively; on the other hand, the present application first controls the front / rear of the vehicle to drive into the parking space, and then controls the front / rear of the vehicle to rotate to adjust the body of the vehicle to be parallel to the length direction of the parking space. Through one rotation, the wear of the tire caused by the rotation of the vehicle is minimized.

[0161] 2) The driving trajectory corresponding to the second parking strategy includes a target parking space outer rotation trajectory, a second sub-trajectory and a target parking space inner rotation trajectory. The target parking space outer rotation trajectory is a trajectory for controlling the vehicle to rotate outside the target parking space. The target parking space inner rotation trajectory is a trajectory for controlling the vehicle to rotate inside the target parking space. The second sub-trajectory is a trajectory for controlling the vehicle to travel between the target parking space outer rotation end point of the target parking space outer rotation trajectory and the target parking space inner rotation start point of the target parking space inner rotation trajectory.

[0162] In some embodiments, the outer rotation trajectory of the target parking space includes a starting point and an ending point of the outer rotation of the target parking space, and the inner rotation trajectory of the target parking space includes a starting point and an ending point of the inner rotation of the target parking space. The outer rotation starting point of the target parking space, the outer rotation ending point of the target parking space, the inner rotation starting point of the target parking space, and the inner rotation ending point of the target parking space are determined based on the current position of the vehicle, the position of the target parking space, the vehicle's posture information, and the second obstacle information.

[0163] The second obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle within the target parking space, during the driving of the vehicle between the rotation end point outside the target parking space and the rotation start point inside the target parking space, and during the rotation of the vehicle outside the target parking space.

[0164] In an optional implementation, when the front edge of the vehicle is outside the first short side of the target parking space, if there is no feasible trajectory for the first sub-strategy, the second parking strategy can be determined to be the third sub-strategy, and the driving trajectory corresponding to the third sub-strategy includes the front rotation trajectory outside the target parking space, the second sub-trajectory, and the rear rotation trajectory inside the target parking space.

[0165] It should be noted that, for the detailed description of the second sub-trajectory, the vehicle tail rotation end point and the vehicle tail rotation start point in the vehicle tail rotation trajectory in the target parking space, reference can be made to the relevant description in 1) above, which will not be repeated here.

[0166] In some embodiments, when the front edge of the vehicle is located outside the first short side of the target parking space, it is also necessary to determine the front rotation end point C and the front rotation start point D outside the target parking space.

[0167] In some embodiments, when the vehicle rotates counterclockwise around the right front wheel from the starting point D of the front rotation to the starting point D of the front rotation, there is no risk of collision between the vehicle and obstacles around the target parking space.

[0168] The process of determining the vehicle head rotation end point C and the vehicle head rotation start point D outside the target parking space is described below.

[0169] In some embodiments, the current position of the vehicle can be used as the starting point D of the vehicle head rotation outside the target parking space, and then the ending point of the vehicle head rotation outside the target parking space is determined based on the starting point D and the minimum rotation angle and maximum rotation angle of the vehicle outside the target parking space.

[0170] For example, Fig.11 As shown, the vehicle can be controlled outside the target parking space at the minimum rotation angle θ min With the maximum rotation angle θ max The vehicle head is rotated multiple times at any rotation angle and direction, starting from the rotation starting point D, to obtain multiple rotation end points, and the rotation end points that will not collide with obstacles among the multiple rotation end points are taken as the Q set.

[0171] Among them, all points in the Q set are the end points C of the vehicle head rotation outside the target parking space.

[0172] For example, take the case where the vehicle is outside the target parking space and rotates counterclockwise from the rotation starting point D to the rotation ending point C. Fig.12 As shown, after determining the starting point D of the vehicle head rotation, the maximum rotation angle θ max and the minimum rotation angle θ of a single wheel of the vehicle min Multiple samplings are performed between the two samplings, and the rotation angle difference of each sampling is greater than the set minimum rotation angle value, and multiple rotation end points of the vehicle rotating counterclockwise around the right front wheel from the front rotation starting point D according to each sampling angle are calculated, and the rotation end point among the multiple rotation end points where there is no obstacle within the range swept by the body contour during the process of the vehicle rotating from the front rotation starting point D to the rotation end point is taken as the front rotation end point C.

[0173] In some embodiments, Fig.13 As shown, after determining the front rotation starting point D, the front rotation ending point C, the rear rotation starting point B, and the rear rotation ending point A, the rotation trajectory of the vehicle from the front rotation starting point D to the front rotation ending point C can be used as the front rotation trajectory outside the target parking space, the driving trajectory of the vehicle from the front rotation ending point C to the rear rotation starting point B can be used as the second sub-trajectory, and the rotation trajectory of the vehicle from the rear rotation starting point B to the rear rotation ending point A can be used as the rear rotation trajectory in the target parking space. Finally, the front rotation trajectory outside the target parking space, the second sub-trajectory, and the rear rotation trajectory in the target parking space can be used as the driving trajectories corresponding to the third sub-strategy.

[0174] In another optional implementation, when the rear edge of the vehicle is outside the second short side of the target parking space, if there is no feasible trajectory for the second sub-strategy, the second parking strategy can be determined to be the fourth sub-strategy, and the driving trajectory corresponding to the fourth sub-strategy includes the rear rotation trajectory outside the target parking space, the second sub-trajectory, and the front rotation trajectory inside the target parking space.

[0175] It should be noted that, for the rear rotation trajectory outside the target parking space, the second sub-trajectory and the front rotation trajectory within the target parking space, reference may be made to the relevant description in an optional implementation manner in 2) above, which will not be repeated here.

[0176] For example, Fig.14 As shown, in the fourth sub-strategy, the vehicle rotates from the rear rotation starting point A outside the target parking space to the rear rotation ending point B, and then drives from the rear rotation ending point B to the front rotation starting point C inside the target parking space to drive the front of the vehicle into the target parking space, and finally rotates counterclockwise around the left front wheel of the vehicle from the front rotation starting point C to the front rotation ending point D to complete parking.

[0177] In some embodiments, the rotation trajectory from the starting point A of the rear rotation of the vehicle outside the target parking space to the ending point B of the rear rotation of the vehicle can be used as the rear rotation trajectory outside the target parking space, the driving trajectory from the ending point B of the rear rotation of the vehicle to the starting point C of the front rotation of the vehicle in the target parking space can be used as the second sub-trajectory, and the rotation trajectory from the starting point C of the front rotation of the vehicle to the ending point of the front rotation of the vehicle can be used as the front rotation trajectory in the target parking space. Finally, the rear rotation trajectory outside the target parking space, the second sub-trajectory and the front rotation trajectory in the target parking space can be used as the driving trajectories corresponding to the fourth sub-strategy.

[0178] Based on this, on the one hand, the present application ensures that the vehicle can be successfully parked in the parking space at all positions by setting the front of the vehicle to park in first and the rear of the vehicle to park in first respectively when performing two vehicle rotations; on the other hand, the present application first controls the front / rear of the vehicle to rotate outside the parking space to adjust the vehicle angle, then controls the rear / rear of the vehicle to drive into the parking space, and then controls the front / rear of the vehicle to rotate to adjust the body of the vehicle to be parallel to the length direction of the parking space. Through two rotations, the space required for parking is further reduced.

[0179] 3) The driving trajectory corresponding to the third parking strategy includes a third sub-trajectory, a fourth sub-trajectory and a rotation trajectory within a target parking space. The rotation trajectory within the target parking space is a trajectory for controlling the vehicle to rotate within the target parking space. The third sub-trajectory is a trajectory for controlling the vehicle to travel between the vehicle initial position and the vehicle shift position. The fourth sub-trajectory is a trajectory for controlling the vehicle to travel between the vehicle shift position and the target parking space rotation starting point of the rotation trajectory within the target parking space.

[0180] In some embodiments, the rotation trajectory within the target parking space includes a rotation starting point within the target parking space and a rotation ending point within the target parking space, and the rotation starting point within the target parking space and the rotation ending point within the target parking space are determined based on the current position of the vehicle, the position of the target parking space, the vehicle's posture information, and the third obstacle information.

[0181] Among them, the third obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle in the target parking space, the driving of the vehicle between the vehicle initial position and the vehicle shift position, and the driving of the vehicle between the vehicle shift position and the rotation starting point in the target parking space.

[0182] In an optional implementation, when the front edge of the vehicle is located inside the first short side of the target parking space and the rear edge of the vehicle is located inside the second short side of the target parking space, the third parking strategy may be a fifth sub-strategy, and the driving trajectory corresponding to the fifth sub-strategy includes the third sub-trajectory, the fourth sub-trajectory and the rear rotation trajectory in the target parking space.

[0183] It should be noted that, for the detailed description of the fourth sub-trajectory, the vehicle tail rotation end point and the vehicle tail rotation start point in the vehicle tail rotation trajectory in the target parking space, reference can be made to the relevant description in 1) above, which will not be repeated here.

[0184] In some embodiments, after determining the end point of the vehicle head rotation outside the target parking space, the end point of the vehicle head rotation can be determined as the vehicle shift position, and then a third sub-trajectory of the vehicle traveling from the vehicle initial position to the vehicle shift position is determined.

[0185] For example, Fig.15 As shown, in the fifth sub-strategy, the vehicle first moves forward, travels from the vehicle's initial position F to the vehicle's gear shift position E, then shifts gears and starts to move backward, travels from the vehicle's gear shift position E to the vehicle's rear rotation starting point B, so as to drive the vehicle's rear end into the target parking space, and finally rotates clockwise around the left rear wheel from the vehicle's rear rotation starting point B to the vehicle's rear rotation ending point A to complete parking.

[0186] In some embodiments, the vehicle's driving trajectory from the vehicle's initial position F to the vehicle's gear shift position E can be used as the third sub-trajectory, the vehicle's driving trajectory from the vehicle's gear shift position E to the vehicle's rear rotation starting point B can be used as the fourth sub-trajectory, the vehicle's rotation trajectory from the vehicle's rear rotation starting point B to the vehicle's rear rotation ending point A can be used as the vehicle's rear rotation trajectory in the target parking space, and finally the third sub-trajectory, the fourth sub-trajectory, and the vehicle's rear rotation trajectory in the target parking space can be used as the driving trajectories corresponding to the fifth sub-strategy.

[0187] In another optional implementation, when the front edge of the vehicle is located on the inner side of the first short side of the target parking space and the rear edge of the vehicle is located on the inner side of the second short side of the target parking space, the third parking strategy can also be the sixth sub-strategy, and the driving trajectory corresponding to the sixth sub-strategy includes the third sub-trajectory, the fourth sub-trajectory and the front rotation trajectory in the target parking space.

[0188] It should be noted that, for the third sub-trajectory, the fourth sub-trajectory and the rotation trajectory of the vehicle head in the target parking space, reference may be made to the relevant description in an optional implementation manner in 3) above, which will not be repeated here.

[0189] For example, Fig.16 As shown, in the sixth sub-strategy, the vehicle first backs up, travels from the vehicle's initial position A to the vehicle's gear shift position B, then shifts gears and starts moving forward, travels from the vehicle's gear shift position B to the vehicle's front rotation starting point C, so as to drive the vehicle's front into the target parking space, and finally rotates counterclockwise around the left front wheel from the vehicle's front rotation starting point C to the vehicle's front rotation ending point D to complete parking.

[0190] In some embodiments, the vehicle's driving trajectory from the vehicle's initial position A to the vehicle's gear shift position B can be used as the third sub-trajectory, the vehicle's driving trajectory from the vehicle's gear shift position B to the vehicle's front rotation starting point C can be used as the fourth sub-trajectory, the vehicle's rotation trajectory from the vehicle's front rotation starting point C to the vehicle's front rotation ending point D can be used as the vehicle's front rotation trajectory in the target parking space, and finally the third sub-trajectory, the fourth sub-trajectory, and the vehicle's front rotation trajectory in the target parking space can be used as the driving trajectories corresponding to the sixth sub-strategy.

[0191] Based on this, on the one hand, when shifting gears and rotating the vehicle once, the present application sets the front of the vehicle to park first and the rear of the vehicle to park first respectively to ensure that the vehicle can be successfully parked in the parking space at all positions; on the other hand, the present application controls the gear shifting to adjust the vehicle's driving direction, and then combines the vehicle rotation to ensure that the vehicle can be successfully parked at the designated position.

[0192] In the parking control method provided in the embodiment of the present application, since the vehicle cannot park in place in one go in a normal parking manner when the parking space is small, the present application plans a variety of parking strategies for the vehicle to successfully park in different positions by combining the vehicle rotation method, so that the vehicle can determine the most suitable parking strategy from a variety of parking strategies according to the relative position between itself and the target parking position, and drive to the target parking position along the driving trajectory corresponding to the parking strategy without adjusting the angle of the vehicle by moving the vehicle forward and backward multiple times, thereby reducing the space required for parking, avoiding collisions between the vehicle and walls or other vehicles, and reducing the difficulty of parking when the parking space is small.

[0193] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the method. In order to achieve the above functions, the parking control device or electronic device includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0194] The embodiments of the present application can exemplarily divide the functional modules of the parking control device or electronic device according to the above method. For example, the parking control device or electronic device can include various functional modules corresponding to the various functional divisions, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0195] Fig.17 The parking control device 1700 is a block diagram of a parking control device provided in an embodiment of the present application. The parking control device 1700 includes: a determination unit 1701 and a control unit 1702 .

[0196] Among them: the above-mentioned determination unit 1701 is used to respond to the parking instruction and determine the target parking strategy from multiple parking strategies based on the relative position relationship between the vehicle and the target parking position, and different parking strategies in the multiple parking strategies correspond to different rotation configurations; the above-mentioned control unit 1702 is used to control the vehicle to drive towards the target parking position along the driving trajectory corresponding to the target parking strategy.

[0197] In some embodiments, the rotation configuration includes the number of gear shifts, the number of rotations, and the rotation object during each rotation.

[0198] In some embodiments, the above-mentioned rotating object may include any one of the following: a wheel, a corner point, an axle center point, and a center of mass point.

[0199] In some embodiments, when the target parking position is a target parking space, each of the plurality of parking strategies includes at least one rotation within the target parking space.

[0200] In some embodiments, when the target parking position is a target parking space, the multiple parking strategies include at least one of the following: a first parking strategy, a second parking strategy, and a third parking strategy; wherein the first parking strategy is used to control the vehicle to make at least one rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space; the second parking strategy is used to control the vehicle to make at least one rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and making at least one rotation outside the target parking space; the third parking strategy is used to control the vehicle to make at least one rotation in the target parking space to enter the target parking space when shifting gears outside the target parking space.

[0201] In some embodiments, the above-mentioned first parking strategy includes a first sub-strategy and a second sub-strategy; the first sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space; the second sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space.

[0202] In some embodiments, the second parking strategy includes a third sub-strategy and a fourth sub-strategy; the third sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and performing at least one rear rotation outside the target parking space; the fourth sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and performing at least one front rotation outside the target parking space.

[0203] In some embodiments, the third parking strategy includes a fifth sub-strategy and a sixth sub-strategy; the fifth sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space when shifting gears outside the target parking space; the sixth sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to enter the target parking space when shifting gears outside the target parking space.

[0204] In some embodiments, the driving trajectory corresponding to the above-mentioned first parking strategy includes a first sub-trajectory and a rotation trajectory within the target parking space. The rotation trajectory within the target parking space is a trajectory for controlling the vehicle to rotate within the target parking space, and the first sub-trajectory is a trajectory for controlling the vehicle to drive between the vehicle's initial position and the target parking space rotation starting point of the rotation trajectory within the target parking space.

[0205] In some embodiments, the above-mentioned rotation trajectory in the target parking space includes a starting point of rotation in the target parking space and an ending point of rotation in the target parking space, and the starting point of rotation in the target parking space and the ending point of rotation in the target parking space are determined based on the current position of the vehicle, the position of the target parking space, the posture information of the vehicle, and the first obstacle information; the first obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle in the target parking space and during the driving process between the initial position of the vehicle and the starting point of rotation in the target parking space.

[0206] In some embodiments, the driving trajectory corresponding to the above-mentioned second parking strategy includes a target parking space outer rotation trajectory, a second sub-trajectory and a target parking space inner rotation trajectory. The target parking space outer rotation trajectory is a trajectory for controlling the vehicle to rotate outside the target parking space, the target parking space inner rotation trajectory is a trajectory for controlling the vehicle to rotate inside the target parking space, and the second sub-trajectory is a trajectory for controlling the vehicle to travel between the target parking space outer rotation end point of the target parking space outer rotation trajectory and the target parking space inner rotation start point of the target parking space inner rotation trajectory.

[0207] In some embodiments, the above-mentioned target parking space outer rotation trajectory includes a target parking space outer rotation starting point and a target parking space outer rotation ending point, and the target parking space inner rotation trajectory includes a target parking space inner rotation starting point and a target parking space inner rotation ending point. The target parking space outer rotation starting point, the target parking space outer rotation ending point, the target parking space inner rotation starting point, and the target parking space inner rotation ending point are determined based on the current position of the vehicle, the position of the target parking space, the vehicle's posture information, and the second obstacle information; the second obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation process within the target parking space, the vehicle driving between the target parking space outer rotation ending point and the target parking space inner rotation starting point, and the vehicle rotating outside the target parking space.

[0208] In some embodiments, the driving trajectory corresponding to the third parking strategy includes a third sub-trajectory, a fourth sub-trajectory and a rotation trajectory within the target parking space. The rotation trajectory within the target parking space is a trajectory for controlling the vehicle to rotate within the target parking space. The third sub-trajectory is a trajectory for controlling the vehicle to travel between the vehicle initial position and the vehicle shift position. The fourth sub-trajectory is a trajectory for controlling the vehicle to travel between the vehicle shift position and the target parking space rotation starting point of the rotation trajectory within the target parking space.

[0209] In some embodiments, the above-mentioned rotation trajectory in the target parking space includes a starting point of rotation in the target parking space and an ending point of rotation in the target parking space, and the starting point of rotation in the target parking space and the ending point of rotation in the target parking space are determined based on the current position of the vehicle, the position of the target parking space, the posture information of the vehicle, and the third obstacle information; the third obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle in the target parking space, the driving of the vehicle between the initial position of the vehicle and the gear shift position of the vehicle, and the driving of the vehicle between the gear shift position and the starting point of rotation in the target parking space.

[0210] In some embodiments, when the target parking position is a target parking space, the above-mentioned determination unit 1701 is specifically used to: determine the priority of each parking strategy among multiple parking strategies based on the relative position relationship between the vehicle and the target parking position, and based on the priority of each parking strategy among the multiple parking strategies, use the parking strategy with the highest priority among the multiple parking strategies as the target parking strategy.

[0211] In some embodiments, the multiple parking strategies include a first parking strategy, a second parking strategy, and a third parking strategy. The determination unit 1701 is specifically configured to: when the front edge of the vehicle is located outside a first short side of the target parking space, or the rear edge of the vehicle is located outside a second short side of the target parking space, set the priority of the first parking strategy to be higher than that of the second parking strategy; or, when the front edge of the vehicle is located inside the first short side of the target parking space, and the rear edge of the vehicle is located inside the second short side of the target parking space, set the third parking strategy to have the highest priority; the first short side is the short side of the target parking space facing one side, and the second short side is the short side of the target parking space facing the opposite side.

[0212] In some embodiments, the multiple parking strategies include a first parking strategy, a second parking strategy, and a third parking strategy, and the determination unit 1701 is further used to: when there is no feasible trajectory for the first parking strategy, set the second parking strategy to have the highest priority; or when there is no feasible trajectory for the second parking strategy, or the number of rotations included in the rotation configuration corresponding to the second parking strategy is greater than the first preset number, or the number of rotations outside the target parking space corresponding to the second parking strategy is greater than the second preset number, set the third parking strategy to have the highest priority.

[0213] In the parking control device provided in the embodiment of the present application, since the vehicle cannot be parked in place in one go in a normal parking manner when the parking space is small, the present application plans a variety of parking strategies for the vehicle to successfully park in different positions by combining the vehicle rotation method, so that the vehicle can determine the most suitable parking strategy from a variety of parking strategies according to the relative position between itself and the target parking position, and drive to the target parking position along the driving trajectory corresponding to the parking strategy without having to adjust the angle of the vehicle by moving the vehicle forward and backward multiple times, thereby reducing the space required for parking and avoiding collisions between the vehicle and walls or other vehicles, thereby reducing the difficulty of parking when the parking space is small.

[0214] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0215] Fig.18 This is a structural diagram of an electronic device provided in an embodiment of the present application. Fig.18 As shown, the electronic device 1800 includes but is not limited to: a processor 1801 and a memory 1802 .

[0216] The memory 1802 is used to store executable instructions of the processor 1801. It can be understood that the processor 1801 is configured to execute instructions to implement the parking control method in the above embodiment.

[0217] It should be noted that those skilled in the art can understand that Fig.18 The electronic device structure shown in the figure does not constitute a limitation on the electronic device, and the electronic device may include Fig.18 More or fewer components may be shown, or certain components may be combined, or the components may be arranged differently.

[0218] The processor 1801 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. By running or executing software programs and / or modules stored in the memory 1802, and calling data stored in the memory 1802, it performs various functions of the electronic device and processes data, thereby monitoring the electronic device as a whole. The processor 1801 may include one or more processing units. Optionally, the processor 1801 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understandable that the above-mentioned modem processor may not be integrated into the processor 1801.

[0219] The memory 1802 may be used to store software programs and various data. The memory 1802 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one functional module (such as a determination unit, a processing unit, etc.), etc. In addition, the memory 1802 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0220] In an exemplary embodiment, a computer-readable storage medium including instructions is also provided, such as a memory 1802 including instructions. The above instructions can be executed by the processor 1801 of the electronic device 1800 to implement the parking control method in the above embodiment.

[0221] In actual implementation, Fig.17 The steps performed by the determination unit 1701 and the control unit 1702 in Fig.18 The processor 1801 in the embodiment calls the computer program stored in the memory 1802 to implement. The specific execution process can refer to the description of the method part in the above embodiment, which will not be repeated here.

[0222] Optionally, the computer-readable storage medium may be a non-temporary computer-readable storage medium, for example, the non-temporary computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0223] In an exemplary embodiment, the present application also provides a computer program product including one or more instructions, and the one or more instructions can be executed by the processor 1801 of the electronic device to complete the parking control method in the above embodiment.

[0224] It should be noted that when the instructions in the above-mentioned computer-readable storage medium or one or more instructions in the computer program product are executed by the processor of the electronic device, the various processes of the above-mentioned method embodiment are implemented, and the same technical effect as the above-mentioned method can be achieved. To avoid repetition, they will not be repeated here.

[0225] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0226] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0227] The units described as separate components may or may not be physically separated, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0228] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0229] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the full classification part or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a device (which can be a single-chip microcomputer, chip, etc.) or a processor (processor) to execute the full classification part or part of the steps of each embodiment method of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM, RAM, disk or CD and other media that can store program code.

[0230] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A parking control method, characterized in that: The method comprises: determining a priority of each parking strategy among a plurality of parking strategies based on a relative position relationship between the vehicle and a target parking position, wherein different parking strategies among the plurality of parking strategies correspond to different rotation configurations, the target parking position is a target parking space, the plurality of parking strategies include a first parking strategy, a second parking strategy and a third parking strategy, and the priority refers to a scheduling priority of each parking strategy when the vehicle is parking; The first parking strategy is used to control the vehicle to perform at least one rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space; The second parking strategy is used to control the vehicle to make at least one rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and making at least one rotation outside the target parking space; The third parking strategy is used to control the vehicle to perform at least one rotation in the target parking space to enter the target parking space when the vehicle is shifting gears outside the target parking space; When the front edge of the vehicle is located outside the first short side of the target parking space, or the rear edge of the vehicle is located outside the second short side of the target parking space, the priority of the first parking strategy is set higher than the priority of the second parking strategy; the first short side is the short side of the target parking space facing one side, and the second short side is the short side of the target parking space facing the opposite side; When there is no feasible trajectory for the first parking strategy, setting the second parking strategy to have the highest priority; When there is no feasible trajectory for the second parking strategy, or the number of rotations included in the rotation configuration corresponding to the second parking strategy is greater than a preset number, setting the third parking strategy to have the highest priority; Based on the priority of each parking strategy among the multiple parking strategies, taking the parking strategy with the highest priority among the multiple parking strategies as the target parking strategy; The vehicle is controlled to drive toward the target parking position along a driving trajectory corresponding to the target parking strategy.

2. The method according to claim 1, characterized in that The rotation configuration includes the number of gear shifts, the number of rotations, and the rotation object during each rotation.

3. The method according to claim 2, characterized in that The rotation object includes any one of the following: a wheel, a corner point, an axle center point, and a center of mass point.

4. The method according to claim 1, characterized in that Each parking strategy of the plurality of parking strategies includes at least one rotation within the target parking space.

5. The method according to claim 1, characterized in that The first parking strategy includes a first sub-strategy and a second sub-strategy; The first sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space; The second sub-strategy is used to control the vehicle to perform at least one head rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space.

6. The method according to claim 1, characterized in that The second parking strategy includes a third sub-strategy and a fourth sub-strategy; The third sub-strategy is used to control the vehicle to perform at least one front rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and performing at least one rear rotation outside the target parking space; The fourth sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space without shifting gears outside the target parking space and performing at least one front rotation outside the target parking space.

7. The method according to claim 1, characterized in that The third parking strategy includes a fifth sub-strategy and a sixth sub-strategy; The fifth sub-strategy is used to control the vehicle to perform at least one rear rotation in the target parking space to enter the target parking space when shifting outside the target parking space; The sixth sub-strategy is used to control the vehicle to perform at least one head rotation in the target parking space to enter the target parking space when the gear is shifted outside the target parking space.

8. The method according to claim 1, characterized in that The driving trajectory corresponding to the first parking strategy includes a first sub-trajectory and a rotation trajectory within a target parking space. The rotation trajectory within the target parking space is a trajectory for controlling the vehicle to rotate within the target parking space. The first sub-trajectory is a trajectory for controlling the vehicle to travel between an initial position of the vehicle and a rotation starting point within the target parking space of the rotation trajectory within the target parking space.

9. The method according to claim 8, characterized in that The rotation trajectory in the target parking space includes a rotation starting point in the target parking space and a rotation ending point in the target parking space, wherein the rotation starting point in the target parking space and the rotation ending point in the target parking space are determined according to the current position of the vehicle, the position of the target parking space, the position information of the vehicle, and the first obstacle information; The first obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle in the target parking space and during the driving of the vehicle between the initial position of the vehicle and the rotation starting point in the target parking space.

10. The method according to claim 1, characterized in that The driving trajectory corresponding to the second parking strategy includes a target parking space outer rotation trajectory, a second sub-trajectory and a target parking space inner rotation trajectory. The target parking space outer rotation trajectory is a trajectory for controlling the vehicle to rotate outside the target parking space, the target parking space inner rotation trajectory is a trajectory for controlling the vehicle to rotate inside the target parking space, and the second sub-trajectory is a trajectory for controlling the vehicle to travel between a target parking space outer rotation ending point of the target parking space outer rotation trajectory and a target parking space inner rotation starting point of the target parking space inner rotation trajectory.

11. The method according to claim 10, characterized in that The target parking space outer rotation trajectory includes a target parking space outer rotation starting point and a target parking space outer rotation ending point, and the target parking space inner rotation trajectory includes a target parking space inner rotation starting point and a target parking space inner rotation ending point, and the target parking space outer rotation starting point, the target parking space outer rotation ending point, the target parking space inner rotation starting point, and the target parking space inner rotation ending point are determined according to the current position of the vehicle, the position of the target parking space, the posture information of the vehicle, and the second obstacle information; The second obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle within the target parking space, during the driving of the vehicle between the end point of the rotation outside the target parking space and the start point of the rotation within the target parking space, and during the rotation of the vehicle outside the target parking space.

12. The method according to claim 1, characterized in that The driving trajectory corresponding to the third parking strategy includes a third sub-trajectory, a fourth sub-trajectory and a rotation trajectory within a target parking space. The rotation trajectory within the target parking space is a trajectory for controlling the vehicle to rotate within the target parking space. The third sub-trajectory is a trajectory for controlling the vehicle to travel between an initial position of the vehicle and a shift position of the vehicle. The fourth sub-trajectory is a trajectory for controlling the vehicle to travel between the shift position of the vehicle and a rotation starting point within the target parking space of the rotation trajectory within the target parking space.

13. The method according to claim 12, characterized in that The rotation trajectory in the target parking space includes a rotation starting point in the target parking space and a rotation ending point in the target parking space, wherein the rotation starting point in the target parking space and the rotation ending point in the target parking space are determined according to the current position of the vehicle, the position of the target parking space, the position information of the vehicle, and the third obstacle information; The third obstacle information is used to constrain the vehicle from colliding with obstacles during the rotation of the vehicle in the target parking space, the driving of the vehicle between the vehicle initial position and the vehicle shift position, and the driving of the vehicle between the vehicle shift position and the rotation starting point in the target parking space.

14. The method according to claim 1, characterized in that The step of determining the priority of each parking strategy among the plurality of parking strategies based on the relative position relationship between the vehicle and the target parking position includes: When the front edge of the vehicle is located inside the first short side of the target parking space and the rear edge of the vehicle is located inside the second short side of the target parking space, the third parking strategy is set to have the highest priority.

15. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method according to any one of claims 1 to 14.

16. A vehicle, characterized in that: include: at least one motor, and the electronic device according to claim 15; Each of the at least one motor is used to drive at least one wheel.

17. A computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, characterized in that: When a computer executes the instruction, the computer performs the method according to any one of claims 1 to 14.

18. A computer program product, comprising instructions, characterized in that: When the instructions are executed on a computer, the computer performs the method according to any one of claims 1 to 14.

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