Automatic parking method, device, vehicle, storage medium and program product

Abstract

The application discloses an automatic parking method and device, a vehicle, a storage medium and a program product. The method comprises the following steps: in the process of controlling the automatic parking of the vehicle, if an interruption of the automatic parking is detected, a corresponding interruption scenario is determined; if the interruption scenario is a first target scenario, the automatic parking of the vehicle is continued, the first target scenario comprises a first scenario for representing that a target parking space changes from a parkable state to an unparkable state and there is a parkable parking space adjacent to the target parking space, or a second scenario for representing a user misoperation, and the target parking space is a current parking space to be parked. Thus, when the parking interruption scenario is a scenario that can continue parking, the automatic parking of the vehicle can be continued, the automatic parking function does not need to be restarted, the efficiency of the automatic parking is improved, the user operation required in the automatic parking process is reduced, and the whole automatic parking process is more humanized.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and in particular to an automatic parking method, device, vehicle, storage medium, and program product. Background Technology

[0002] With the development of intelligent driving technology, automatic parking functions have been widely used in vehicles. However, parking may be interrupted due to external environmental factors or vehicle-related issues. In related technologies, the vehicle usually automatically exits the automatic parking process when parking is interrupted, but users need to restart the automatic parking function to continue, resulting in low efficiency. Summary of the Invention

[0003] This application discloses an automatic parking method, apparatus, vehicle, storage medium, and program product.

[0004] In a first aspect, embodiments of this application provide an automatic parking method, the method comprising: during the process of controlling the vehicle to automatically park in a parking space, if an interruption is detected in the process of automatically parking in the parking space, determining the interruption scenario corresponding to the interruption in the process of automatically parking in the parking space; if the interruption scenario is a first target scenario, controlling the vehicle to continue the automatic parking in the parking space, the first target scenario including a first scenario for characterizing a target parking space changing from a parkable state to an unparkable state and the existence of a parkable space adjacent to the target parking space, or a second scenario for characterizing a user misoperation, the target parking space being the parking space currently to be parked in.

[0005] Secondly, this application provides an automatic parking device, which includes: an interruption scenario determination module, used to determine the interruption scenario corresponding to the interruption of the automatic parking process if an interruption is detected during the process of controlling the vehicle to automatically park in a parking space; and a parking control module, used to control the vehicle to continue the automatic parking process if the interruption scenario is a first target scenario, wherein the first target scenario includes a first scenario indicating that the target parking space changes from a parking-available state to a parking-unavailable state and there is a parking-available space adjacent to the target parking space, or a second scenario indicating user misoperation, wherein the target parking space is the parking space currently to be parked.

[0006] Thirdly, embodiments of this application provide a vehicle, including: one or more processors; a memory; one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to perform the methods described above.

[0007] Fourthly, embodiments of this application provide a computer-readable storage medium storing program code that can be invoked by a processor to execute the methods described above.

[0008] Fifthly, embodiments of this application provide a computer program product, the computer program product including instructions that, when executed on a computer device, cause the computer device to perform the above-described method.

[0009] In the solution provided in this application, if the process of controlling the vehicle to automatically park in a parking space is interrupted, the interruption scenario corresponding to the parking interruption is determined, and when the interruption scenario is detected as the first target scenario where parking can continue, the vehicle can be controlled to continue automatically parking in the parking space without restarting the automatic parking function. This improves the efficiency of automatic parking and reduces the user operations required during the automatic parking process, making the entire automatic parking process more human-like and improving the user experience. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 A flowchart illustrating an embodiment of the automatic parking method provided in this application is shown.

[0012] Figure 2 A flowchart illustrating an automatic parking method provided in another embodiment of this application is shown.

[0013] Figure 3 It shows Figure 2 A flowchart illustrating a sub-step of step S210 in one embodiment.

[0014] Figure 4 It shows Figure 2 A flowchart illustrating a sub-step of step S210 in another embodiment.

[0015] Figure 5 This illustration shows a scenario of continued parking provided by an embodiment of this application.

[0016] Figure 6 This illustration shows another scenario of continued parking provided by an embodiment of this application.

[0017] Figure 7 A structural block diagram of an automatic parking device provided in one embodiment of this application is shown.

[0018] Figure 8 A structural block diagram of a vehicle provided in an embodiment of this application is shown.

[0019] Figure 9 A structural block diagram of a computer-readable storage medium provided in an embodiment of this application is shown.

[0020] Figure 10 A structural block diagram of a computer program product provided in an embodiment of this application is shown. Detailed Implementation

[0021] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present application without creative effort are within the scope of protection of the present application.

[0022] It should be noted that some processes described in the specification, claims, and accompanying drawings of this application include multiple operations that appear in a specific order. These operations may not be performed in the order they appear herein, or they may be performed in parallel. Operation numbers such as S110, S120, etc., are merely used to distinguish different operations and do not represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be performed sequentially or in parallel. Also, the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or server that includes a series of steps or sub-modules is not necessarily limited to those steps or sub-modules that are explicitly listed, but may include other steps or sub-modules that are not explicitly listed or that are inherent to such process, method, product, or device.

[0023] Please refer to Figure 1 , Figure 1 A schematic flowchart of an automatic parking method according to an embodiment of this application is shown. The following will be combined with... Figure 1 The automatic parking method provided in this application embodiment will be described in detail. The automatic parking method may include the following steps:

[0024] Step S110: If an interruption is detected in the automatic parking process during the process of controlling the vehicle to automatically park in the parking space, the interruption scenario corresponding to the interruption in the automatic parking process is determined.

[0025] In this embodiment, during the process of the vehicle's automatic parking system controlling the vehicle to automatically park into a parking space that is in a parking state, there may be factors such as a change in the parking state of the parking space to be parked, a malfunction of the vehicle, or an abnormality in the vehicle's parking function that may cause the parking process to be interrupted. Therefore, if an interruption is detected in the automatic parking process, the interruption scenario corresponding to the interruption in the automatic parking process is determined.

[0026] Step S120: If the interruption scenario is the first target scenario, then control the vehicle to continue automatically parking in the parking space. The first target scenario includes a first scenario that represents the target parking space changing from a parking-available state to a parking-unavailable state and the existence of a parking-available space adjacent to the target parking space, or a second scenario that represents a user's erroneous operation. The target parking space is the parking space currently to be parked in.

[0027] Optionally, if the interruption scenario is a first scenario where the target parking space changes from a parkable state to an unparkable state and there is an adjacent parkable parking space, or a second scenario where the user misoperates, then the interruption scenario corresponding to the interruption of the automatic parking process can be determined as the first target scenario. Under the first target scenario, the automatic parking system can still control the vehicle to continue automatically parking. The first target scenario includes, but is not limited to, the aforementioned first and second scenarios. When the interruption scenario is the first target scenario, the system can still control the vehicle to continue automatically parking after the parking interruption.

[0028] In this embodiment, if an unexpected interruption occurs during the automatic parking process, and if the interruption scenario is determined to be the first target scenario, the vehicle can be controlled to continue automatically parking. Thus, the automatic parking system does not need to exit automatic parking and re-enter an available parking space selected by the user, thereby improving the efficiency of automatic parking.

[0029] In this embodiment, if the process of controlling the vehicle to automatically park in a parking space is interrupted, the interruption scenario corresponding to the parking interruption is determined, and when the interruption scenario is detected as the first target scenario where parking can continue, the vehicle can be controlled to continue automatically parking in the parking space without restarting the automatic parking function. This improves the efficiency of automatic parking and reduces the user operations required during the automatic parking process, making the entire automatic parking process more human-like and improving the user experience.

[0030] Please refer to Figure 2 , Figure 2 A flowchart illustrating an automatic parking method according to another embodiment of this application is shown. The following will be combined with... Figure 2 The automatic parking method provided in this application embodiment will be described in detail. The automatic parking method may include the following steps:

[0031] Step S210: If an interruption is detected in the automatic parking process during the process of controlling the vehicle to automatically park in the parking space, the interruption scenario corresponding to the interruption in the automatic parking process is determined.

[0032] In this embodiment, during the process of controlling the vehicle to automatically park in a parking space, the automatic parking system generates a selection command based on the parking space selected by the user from multiple available parking spaces provided by the system. In response to the selection command, the automatic parking system determines the selected available parking space as the target parking space, i.e., the parking space where the vehicle is currently to be parked. Furthermore, after selecting the target parking space, the automatic parking system can also obtain the corresponding parking path. That is, when parking from the vehicle's current position to the target parking space, the automatic parking system controls the path for the vehicle to automatically park in the target parking space, controlling the vehicle to automatically park in the target parking space based on the path corresponding to the target parking space. Specifically, when determining the parking path corresponding to the target parking space, the automatic parking system needs to determine the path for the vehicle to enter the target parking space from its current position without colliding with surrounding objects, based on the environmental data around the vehicle, the position of the target parking space, and the length and width of the target parking space.

[0033] In some implementations, please refer to Figure 3 Step S210 may include the following steps:

[0034] Step S211A: During the process of controlling the vehicle to automatically park in a parking space, if it is detected that the target parking space changes from a parking-available state to a parking-unavailable state, and there is at least one parking space adjacent to the target parking space that is in a parking-available state, then a first parking path is obtained from the current position of the vehicle to the target adjacent parking space. The first parking path is the path for controlling the vehicle to park in the target adjacent parking space, and the target adjacent parking space is any one of at least one parking space adjacent to the target parking space that is in a parking-available state.

[0035] Optionally, during the process of controlling the vehicle to automatically park in a parking space, the parking availability of the currently selected target parking space may change, meaning that the target parking space may change from a parking available state to an unparkable state. During the automatic parking system's control of the vehicle to automatically park in the target parking space, sensors installed on the vehicle collect environmental data around the vehicle. The automatic parking system periodically acquires the environmental data collected by the sensors to determine whether there are environmental factors affecting the parking availability of the target parking space, such as: the length and width of the target parking space, whether there are obstacles in the target parking space, the position of the obstacles in the target parking space if they exist, and whether there are no-parking signs in the target parking space. During the process of controlling the vehicle to automatically park in the target parking space, there may be situations where the distance between the vehicle and the target parking space is too far, causing deviations in the environmental data collected by the sensors and leading to errors in the automatic parking system's judgment; there may also be situations where dynamic changes in the position of obstacles in the target parking space cause changes in the parking availability of the target parking space.

[0036] In this embodiment, during the process of controlling the vehicle to automatically park in the target parking space selected by the user, the automatic parking system needs to detect in real time whether the parking availability status of the target parking space has changed based on the acquired environmental data. If the automatic parking system detects that the target parking space has changed from a parking available state to an unparkable state, and there is at least one adjacent parking space that is in a parking available state, then it obtains the current position of the vehicle and the parking path corresponding to the target adjacent parking space, wherein the target adjacent parking space is any one of at least one adjacent parking space that is in a parking available state.

[0037] In some implementations, after selecting a target parking space, if at least one adjacent parking space that is available for parking is detected, while obtaining the parking path corresponding to the target parking space, the automatic parking system can simultaneously obtain the path for the vehicle to automatically park in the adjacent target parking space, starting from the current position of the vehicle.

[0038] If there is at least one parking space adjacent to the target parking space that is in a parking state, the automatic parking system needs to detect whether the parking state of the target parking space has changed in real time based on the acquired environmental data. At the same time, it also needs to detect whether the parking state of the adjacent parking spaces that are in a parking state has changed in real time. During the process of automatically parking into the parking space, there may also be a situation where the adjacent parking spaces change from a parking state to an unparkable state.

[0039] In this embodiment, a first parking path from the vehicle's current position to the target adjacent parking space is used as the path for controlling the vehicle to park in the target adjacent parking space, and the first parking path includes two segments. Specifically, based on the vehicle's current position when the automatic parking process is interrupted, and the first original parking path for controlling the vehicle to automatically park in the target adjacent parking space, the automatic parking system plans a first target driving path for the vehicle, starting from the current position and entering the first original parking path from the first target position, where the first target position is any position within the first parking path. Thus, based on the first target driving path and the first original parking path starting from the first target position, the first parking path for controlling the vehicle to park in the target adjacent parking space is obtained.

[0040] Optionally, based on the vehicle's current position at the time of the interruption, the surrounding environmental data, the position of the target adjacent parking space, and the length and width of the target adjacent parking space, a complete path is planned for the vehicle to enter the target adjacent parking space from its current position without colliding with surrounding objects. Since the complete path for the vehicle to enter the target adjacent parking space partially overlaps with the pre-planned first original parking path corresponding to the target adjacent parking space, the computational difficulty during path planning increases, leading to a waste of computational power in the automatic parking system. Therefore, by directly planning and controlling the vehicle to enter the pre-planned first original parking path corresponding to the target adjacent parking space from its current position at the time of the interruption, and using this as the first target entry path, the first parking path is determined based on the first target entry path and the first original parking path. This reduces the computational difficulty during path planning, saves computational power in the automatic parking system, and thus improves the speed of path planning in the automatic parking system.

[0041] Step S212A: If there is a first parking path corresponding to the adjacent parking space of the target, then the interruption scenario is determined to be the first scenario.

[0042] In this embodiment, if a first parking path corresponding to the target adjacent parking space is detected, that is, the automatic parking system can plan the path from the position of the vehicle when the process is interrupted to the target adjacent parking space, it can be determined that when the automatic parking process is interrupted, the interruption scenario is the first scenario used to characterize the target parking space changing from a parking available state to a parking unavailable state and the existence of a parking available space adjacent to the target parking space. At this time, the vehicle can continue to execute the automatic parking process and park in the adjacent parking available space selected by the user.

[0043] In some implementations, please refer to Figure 4 Step S210 may also include the following steps:

[0044] Step S211B: During the process of controlling the vehicle to automatically park in a parking space, if it is detected that the target parking space is in a parking-available state and there is a user's parking interruption operation, then the current position of the vehicle is obtained as the first position.

[0045] In this embodiment, during the process of controlling the vehicle to automatically park in a parking space, if it is detected that the parking availability of the currently selected target parking space has not changed, that is, the target parking space is still in a parking availability state, and a user's parking interruption operation is detected, since the detected parking interruption operation may be due to user error, the current position of the vehicle at the time of the parking interruption can be obtained as the first position.

[0046] Optionally, the user's parking interruption operation includes at least user intervention operations and user-initiated exit operations. User intervention operations include, but are not limited to: user activation of intelligent driving functions such as adaptive cruise control; user intervention during automatic parking involving the steering wheel, accelerator pedal, gear shift, engaging the handbrake, unfastening the seatbelt, and opening the door; user-initiated exit operations include, but are not limited to: user exiting parking via the vehicle's dashboard or automatic parking control interface, and user-controlled parking exit via voice commands.

[0047] Step S212B: If a target parking space selection instruction is received within a preset time interval, the current position of the vehicle is obtained as the second position.

[0048] In this embodiment, if within a preset time interval after detecting a user's parking interruption operation, the automatic parking system generates a selection command based on the parking space selected by the user from multiple available parking spaces provided by the system. In response to the selection command received within the preset time interval, the automatic parking system determines that the selection command selects a parking space that is available. For example, the preset time interval can be 3 seconds, meaning the automatic parking system receives the selection command within 3 seconds after the parking interruption.

[0049] Optionally, if it is determined that the parking space selected by the selection command is in a parking available state and matches the target parking space selected by the user before the parking interruption, that is, the parking space selected by the user again after the parking interruption is the same parking space selected by the user before the parking interruption, then the current position of the vehicle when the selection command is received is obtained as the second position.

[0050] Step S213B: If the positional error between the second position and the first position is within the preset error range, then the interruption scenario is determined to be the second scenario.

[0051] In this embodiment, if the positional error between the vehicle's first position at the time of the detected user's parking interruption operation and the vehicle's second position at the time of receiving the selection command is within a preset error range, then it can be determined that when the automatic parking process is interrupted, the detected user's parking interruption operation is a user error, and the interruption scenario is the second scenario in the first target scenario used to characterize user error. At this time, the vehicle can continue to park in the target parking space. The positional error can include the horizontal error (lateral error) and the vertical error (error in the vehicle's forward direction) between the first and second positions in the vehicle coordinate system. For example, if both the horizontal and vertical errors are less than 0.3m, then the positional error between the first and second positions is determined to be within the preset error range.

[0052] Furthermore, if no selection command is received within the preset time interval, the parking space selected by the selection command that is in a parking state does not match the target parking space, or the positional error between the second position and the first position exceeds the preset error range, then it is determined that the user's parking interruption operation is not a user error. At this time, the automatic parking system controls the vehicle to stop the process of automatically parking into the parking space and outputs a prompt message.

[0053] Step S220: If the interruption scenario is the first target scenario, then control the vehicle to continue automatically parking in the parking space. The first target scenario includes a first scenario that represents the target parking space changing from a parking-available state to a parking-unavailable state and the existence of a parking-available space adjacent to the target parking space, or a second scenario that represents a user's erroneous operation. The target parking space is the parking space currently to be parked in.

[0054] In this embodiment, if the interruption scenario is the first scenario, the vehicle is controlled to automatically park in the target adjacent parking space based on the first parking path.

[0055] In this embodiment, if the automatic parking system determines that the interruption scenario corresponding to the interruption of the automatic parking process is the first scenario in the first target scenario, then the system obtains the first parking path corresponding to the target adjacent parking space. Based on the first parking path, the automatic parking system can control the vehicle to automatically park in the target adjacent parking space from the position where the vehicle was at the time of the interruption.

[0056] Optionally, if there are multiple adjacent parking spaces that are available for parking, the automatic parking system can select these multiple adjacent available parking spaces as available parking spaces for the user, and use the adjacent available parking spaces selected by the user as the target adjacent parking spaces to which the vehicle is currently to be parked.

[0057] Optionally, based on the first target entry path and the first original entry path in the first parking path corresponding to the target adjacent parking space, the automatic parking system controls the vehicle to start from the current position, drive to the first target position according to the first target entry path in the first parking path, and automatically park in the target adjacent parking space according to the first original entry path corresponding to the target adjacent parking space, thereby completing the process of controlling the vehicle to automatically park in the target adjacent parking space.

[0058] For example, such as Figure 5 As shown, Figure 5 This illustration shows a scenario of continued parking provided by an embodiment of this application.

[0059] In this embodiment, if an interruption is detected in the automatic parking process of the vehicle as it automatically parks into the target parking space 31 based on the selected parking path, the interruption scenario corresponding to the interruption in the automatic parking process is determined.

[0060] Optionally, if the interruption scenario is the first scenario in the first target scenario, when controlling the vehicle to continue automatic parking, the first original parking path 321 and the first target driving path 322 corresponding to the target adjacent parking space 32 are obtained, the first parking path 323 corresponding to the target adjacent parking space 32 is determined, and based on the first parking path 323, the vehicle is controlled to automatically park into the target adjacent parking space 32.

[0061] In this embodiment, in the first scenario where the parking interruption occurs when the target parking space changes from a parkable state to an unparkable state and there is an adjacent parkable parking space, if the system continues to park the vehicle in the selected adjacent target parking space after the parking interruption, it is not necessary to plan the entire path of the vehicle from its current position to the adjacent target parking space. The system only needs to obtain the first original parking path corresponding to the adjacent target parking space and directly plan the first target entry path for the vehicle to enter the adjacent target parking space from its current position at the time of the interruption. Based on the first original parking path and the first target entry path, the system determines the first parking path corresponding to the adjacent target parking space and controls the vehicle to automatically park in the adjacent target parking space based on the first parking path. This reduces the computational difficulty in the path planning process, saves the computing power of the automatic parking system, and thus improves the path planning speed during the continued parking process.

[0062] In this embodiment, if the interruption scenario is the second scenario, the vehicle will continue to automatically park in the target parking space based on its current position and the second parking path. The second parking path is the path used to control the vehicle to park in the target parking space.

[0063] In this embodiment, if the automatic parking system determines that the interruption scenario corresponding to the interruption in the automatic parking process is the second scenario in the first target scenario, then it obtains the current position of the vehicle and the second original parking path for controlling the vehicle to automatically park in the target parking space. Furthermore, the second parking path includes two segments: based on the vehicle's current position and the second original parking path corresponding to the target parking space, the automatic parking system plans a second target driving path for the vehicle, starting from the current position and entering the second original parking path from the second target position. The second target position can be any position within the second original parking path. Thus, based on the second target driving path and the second original parking path starting from the second target position, the second parking path for controlling the vehicle to park in the target parking space is obtained.

[0064] In this embodiment, based on the second target entry path and the second original entry path in the second parking path corresponding to the target parking space, the automatic parking system controls the vehicle to start from the current position, drive to the second target position according to the second target entry path in the second parking path, and then automatically park in the target parking space according to the second original entry path corresponding to the target parking space, thereby completing the process of controlling the vehicle to continue to automatically park in the target parking space.

[0065] Optionally, based on the vehicle's current position after the interruption, the surrounding environmental data, the position of the target parking space, and the length and width of the target parking space, a complete path is planned for the vehicle to enter the target parking space from its current position without colliding with surrounding objects. Since the complete path for the vehicle to enter the target parking space from its current position partially overlaps with the pre-planned second original parking path corresponding to the target parking space, by directly planning and controlling the vehicle to enter the pre-planned second original parking path corresponding to the target parking space from its current position after the interruption, this path is used as the second target parking path. Therefore, the second parking path is determined based on the second target parking path and the second original parking path. This reduces the computational difficulty in the path planning process, saves the computing power of the automatic parking system, and thus improves the speed of path planning in the automatic parking system.

[0066] For example, such as Figure 6 As shown, Figure 6 This illustration shows another scenario of continued parking provided by an embodiment of this application.

[0067] In this embodiment, during the process of controlling the vehicle to automatically park in the target parking space 31 based on the second original parking path 311 corresponding to the selected target parking space 31, if an interruption is detected in the automatic parking process, the interruption scenario corresponding to the interruption in the automatic parking process is determined.

[0068] Optionally, if the interruption scenario is the second scenario in the first target scenario, when controlling the vehicle to continue automatic parking, the second original parking path 311 and the second target driving path 312 corresponding to the target parking space 31 are obtained. Based on the second original parking path 311 and the second target driving path 312, the second parking path 313 corresponding to the target parking space 31 is determined. Based on the second parking path 313, the vehicle is controlled to continue the process of automatically parking into the target parking space 31.

[0069] Step S230: If the interruption scenario is the second target scenario, control the vehicle to stop automatically parking in the parking space and output a prompt message. The second target scenario includes a third scenario that indicates the target parking space has changed from a parking space that can be parked to a parking space that cannot be parked and there is no parking space adjacent to the target parking space, a fourth scenario that indicates a malfunction of the vehicle, or a fifth scenario that indicates an abnormal parking function of the vehicle.

[0070] In this embodiment, if the interruption scenario is the third scenario where the target parking space changes from a parkable state to an unparkable state and there is no adjacent parkable parking space, the fourth scenario where the vehicle malfunctions, or the fifth scenario where the vehicle's parking function is abnormal, then the interruption scenario corresponding to the interruption of the automatic parking process can be determined as the second target scenario. Under the second target scenario, the vehicle cannot continue to park in the selected target parking space, and the automatic parking system controls the vehicle to stop the automatic parking process and outputs a prompt message.

[0071] The scenarios for vehicle malfunctions include, but are not limited to: malfunctions in the vehicle's associated systems, handshake interruption, activation of vehicle stability control function, gear response timeout, current vehicle speed exceeding the parking speed limit, abnormal wheel rotation, parking system malfunction, hood being open, abnormal tire pressure, system malfunction, and associated system response timeout. Scenarios for abnormal parking functions include, but are not limited to: limited space for automatic parking (including inability to plan a parking path, path planning timeout), exceeding the limit for recoverable interruption counts, exceeding the limit for recoverable interruption duration, exceeding the limit for automatic parking duration, exceeding the limit for parking maneuver counts, and the vehicle remaining stationary for an extended period.

[0072] Optionally, the prompts output by the automatic parking system can be used to alert the user on the vehicle's control panel to factors that may cause parking interruption, enabling the user to quickly identify the cause of the parking interruption. This allows the user to control the vehicle to promptly re-enter the automatic parking process, or to complete the parking by manual operation, thereby improving parking efficiency and ensuring that the vehicle can complete the parking process in a timely manner.

[0073] In this embodiment, if the process of controlling the vehicle to automatically park in a parking space is interrupted, in the first target scenario where parking can continue, the vehicle can be controlled to continue automatically parking in the parking space without restarting the automatic parking function. This improves the efficiency of automatic parking and reduces the user operations required during the automatic parking process, making the entire automatic parking process more human-like. Furthermore, in the second target scenario where parking cannot continue, the vehicle is controlled to stop the automatic parking process and a prompt message is output to prompt the user to troubleshoot the fault, ensuring that the vehicle can complete the parking process in a timely manner.

[0074] Please refer to Figure 7 , Figure 7 A structural block diagram of an automatic parking device 400 according to an embodiment of this application is shown. The automatic parking device 400 includes at least an interruption scenario determination module 410 and a parking control module 420.

[0075] The interruption scenario determination module 410 is used to determine the interruption scenario corresponding to the interruption of the automatic parking process if an interruption is detected during the process of controlling the vehicle to automatically park in a parking space.

[0076] The parking control module 420 is used to control the vehicle to continue automatically parking in the parking space if the interruption scenario is the first target scenario. The first target scenario includes a first scenario that indicates that the target parking space changes from a parking available state to a parking unavailable state and there is a parking available space adjacent to the target parking space, or a second scenario that indicates user misoperation. The target parking space is the parking space currently to be parked.

[0077] In some implementations, the interruption scenario determination module 410 can be specifically used to: during the process of controlling the vehicle to automatically park in a parking space, if it is detected that the target parking space changes from a parkable state to an unparkable state, and there is at least one adjacent parking space that is in a parkable state, then a first parking path is obtained from the current position of the vehicle to the target adjacent parking space. The first parking path is the path for controlling the vehicle to park in the target adjacent parking space, and the target adjacent parking space is any one of at least one adjacent parking space that is in a parkable state. If the first parking path exists, then the interruption scenario is determined to be the first scenario.

[0078] In this mode, the parking control module 420 can be specifically used to: if the interruption scenario is the first scenario, then control the vehicle to automatically park in the target adjacent parking space based on the first parking path.

[0079] In other embodiments, the interruption scenario determination module 410 may be specifically used to: during the process of controlling the vehicle to automatically park in a parking space, if it is detected that the target parking space is in a parking-available state and there is a user's parking interruption operation, then obtain the current position of the vehicle as the first position; if a target parking space selection instruction is received within a preset time interval, then obtain the current position of the vehicle as the second position; if the position error between the second position and the first position is within a preset error range, then determine the interruption scenario as the second scenario.

[0080] In this mode, the parking control module 420 can be specifically used to: if the interruption scenario is the second scenario, then based on the current position of the vehicle and the second parking path, control the vehicle to continue to automatically park in the target parking space, where the second parking path is the path used to control the vehicle to park in the target parking space.

[0081] Optionally, the parking control module 420 can also be specifically used to: if the interruption scenario is the second target scenario, control the vehicle to stop automatically parking in the parking space and output a prompt message. The second target scenario includes a third scenario indicating that the target parking space has changed from a parking-available state to a parking-unavailable state and there is no parking-available space adjacent to the target parking space, a fourth scenario indicating a vehicle malfunction, or a fifth scenario indicating that the vehicle's parking function is abnormal.

[0082] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0083] In the several embodiments provided in this application, the coupling between modules can be electrical, mechanical, or other forms of coupling.

[0084] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0085] In summary, in the solution provided in this application, if the process of controlling the vehicle to automatically park in a parking space is interrupted, the interruption scenario corresponding to the parking interruption can be determined. When the interruption scenario is detected as the first target scenario where parking can continue, the vehicle can be controlled to continue automatically parking in the parking space without restarting the automatic parking function. This improves the efficiency of automatic parking, reduces the user operation required during the automatic parking process, makes the entire automatic parking process more human-like, and enhances the user experience.

[0086] The following will combine Figure 8 This application describes a vehicle 500.

[0087] Reference Figure 8 , Figure 8 The diagram shows a structural block diagram of a vehicle 500 according to an embodiment of this application. The above-described method provided in this embodiment of the application can be executed by the vehicle 500.

[0088] The vehicle 500 in this application embodiment may include one or more of the following components: processor 501, memory 502, and one or more application programs, wherein the one or more application programs may be stored in memory 502 and configured to be executed by one or more processors 501, and the one or more programs are configured to perform the methods as described in the foregoing method embodiments.

[0089] Processor 501 may include one or more processing cores. Processor 501 connects to various parts within the vehicle 500 using various interfaces and lines, and performs various functions and processes data of the vehicle 500 by running or executing instructions, programs, code sets, or instruction sets stored in memory 502, and by calling data stored in memory 502. Optionally, processor 501 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). Processor 501 may integrate one or more of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the aforementioned modem can also be integrated into processor 501 and implemented using a separate communication chip.

[0090] The memory 502 may include random access memory (RAM) or read-only memory (ROM). The memory 502 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 502 may include a program storage area and a data storage area. The program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as touch functionality, sound playback functionality, image playback functionality, etc.), and instructions for implementing the various method embodiments described below. The data storage area may also store data created by the vehicle 600 during use (such as the various correspondences described above).

[0091] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described device and module can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0092] In the several embodiments provided in this application, the coupling or direct coupling or communication connection between the modules shown or discussed may be an indirect coupling or communication connection through some interface, device or module, and may be electrical, mechanical or other forms.

[0093] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0094] Please refer to Figure 9 , Figure 9 A structural block diagram of a computer-readable storage medium provided in an embodiment of this application is shown. The computer-readable storage medium 600 stores program code that can be called by a processor to execute the methods described in the above method embodiments.

[0095] The computer-readable storage medium 600 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Optionally, the computer-readable storage medium 600 includes a non-transitory computer-readable storage medium. The computer-readable storage medium 600 has storage space for program code 610 that performs any of the method steps described above. This program code can be read from or written to one or more computer program products. The program code 610 may be compressed, for example, in a suitable form.

[0096] In some embodiments, a computer program product or computer program is provided, which includes computer instructions stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the electronic device to perform the steps in the above-described method embodiments.

[0097] Please refer to Figure 10 , Figure 10 This diagram illustrates a structural block diagram of a computer program product 700 provided in an embodiment of this application. The computer program product 700 includes instructions 710, which, when executed on a computer device, cause the computer device to perform the processes, methods, and functions described above.

[0098] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, they can be implemented in whole or in part in the form of a computer program product 700.

[0099] In some embodiments, the computer program product 700 includes one or more instructions 710. When the computer execution instructions 710 are loaded and executed on a computer device, all or part of the flow or function according to the embodiments of this application is generated. The computer device may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The instructions 710 may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the instructions 710 may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that can be stored in the computer device or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., SSDs), etc.

[0100] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An automatic parking method, characterized in that, The method includes: If an interruption is detected during the process of controlling the vehicle to automatically park in a parking space, the interruption scenario corresponding to the interruption of the automatic parking process is determined. If the interruption scenario is the first target scenario, then the vehicle is controlled to continue the automatic parking into the parking space. The first target scenario includes a first scenario that represents the target parking space changing from a parking-available state to a parking-unavailable state and the existence of a parking-available space adjacent to the target parking space, or a second scenario that represents a user's misoperation. The target parking space is the parking space currently to be parked. Wherein, if an interruption is detected in the process of controlling the vehicle to automatically park in a parking space, the interruption scenario corresponding to the interruption of the automatic parking process is determined, including: During the process of controlling the vehicle to automatically park in the target parking space, if it is detected that the target parking space is in the parking available state and there is a user's parking interruption operation, the current position of the vehicle is obtained as the first position; If, within a preset time interval after the parking interruption operation is detected, a selection instruction is received to choose a parking space from multiple parking spaces that are in a parking state, then it is determined whether the parking space selected by the selection instruction matches the target parking space. If the parking space selected by the selection instruction is in a parking available state and matches the target parking space, then the current position of the vehicle when the selection instruction is received is obtained as the second position; If the positional error between the second position and the first position is within a preset error range, then the interruption scenario is determined to be the second scenario.

2. The method according to claim 1, characterized in that, If an interruption is detected during the process of controlling the vehicle to automatically park in a parking space, the interruption scenario corresponding to the interruption is determined, including: During the process of controlling the vehicle to automatically park in a parking space, if it is detected that the target parking space changes from the parking available state to the parking unavailable state, and there is at least one parking space adjacent to the target parking space that is in the parking available state, then a first parking path is obtained from the current position of the vehicle to the target adjacent parking space. The first parking path is the path for controlling the vehicle to park in the target adjacent parking space, and the target adjacent parking space is any one of at least one parking space adjacent to the target parking space that is in the parking available state. If the first berthing path exists, then the interruption scenario is determined to be the first scenario.

3. The method according to claim 2, characterized in that, If the interruption scenario is the first target scenario, then controlling the vehicle to continue the automatic parking maneuver includes: If the interruption scenario is the first scenario, then based on the first parking path, the vehicle is controlled to automatically park in the target adjacent parking space.

4. The method according to claim 1, characterized in that, If the interruption scenario is the first target scenario, then controlling the vehicle to continue the automatic parking maneuver includes: If the interruption scenario is the second scenario, then based on the current position of the vehicle and the second parking path, the vehicle is controlled to continue automatically parking in the target parking space. The second parking path is the path used to control the vehicle to park in the target parking space.

5. The method according to any one of claims 1 to 4, characterized in that, In the process of controlling the vehicle to automatically park in a parking space, if an interruption is detected in the automatic parking process, after determining the interruption scenario corresponding to the interruption, the method further includes: If the interruption scenario is the second target scenario, then the vehicle is controlled to stop automatically parking in the parking space and a prompt message is output. The second target scenario includes a third scenario indicating that the target parking space changes from the parking available state to the parking unavailable state and there is no parking available space adjacent to the target parking space, a fourth scenario indicating that the vehicle is malfunctioning, or a fifth scenario indicating that the vehicle's parking function is abnormal.

6. An automatic parking device, characterized in that, The automatic parking device includes: The interruption scenario determination module is used to determine the interruption scenario corresponding to the interruption of the automatic parking process if an interruption is detected during the process of controlling the vehicle to automatically park in a parking space. The parking control module is used to control the vehicle to continue automatically parking in the parking space if the interruption scenario is a first target scenario. The first target scenario includes a first scenario that indicates that the target parking space changes from a parking-available state to a parking-unavailable state and there is a parking-available space adjacent to the target parking space, or a second scenario that indicates user misoperation. The target parking space is the parking space currently to be parked. Specifically, the interruption scenario determination module is used to, during the process of controlling the vehicle to automatically park in the target parking space, if it detects that the target parking space is in a parking-available state and there is a user's parking interruption operation, obtain the current position of the vehicle as a first position; if, within a preset time interval after detecting the parking interruption operation, a selection instruction to choose a parking space from multiple parking spaces in a parking-available state is received, determine whether the parking space in a parking-available state selected by the selection instruction matches the target parking space; if the parking space in a parking-available state selected by the selection instruction matches the target parking space, obtain the current position of the vehicle when the selection instruction was received as a second position; if the position error between the second position and the first position is within a preset error range, determine that the interruption scenario is the second scenario.

7. A vehicle, characterized in that, The vehicles include: One or more processors; Memory; One or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs being configured to perform the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores program code that can be invoked by a processor to execute the method as described in any one of claims 1 to 5.

9. A computer program product, characterized in that, The computer program product includes instructions that, when executed on a computer device, cause the computer device to perform the method as described in any one of claims 1 to 5.

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