Parking space in-out garage control method, device and equipment and storage medium

Abstract

The invention provides a parking space in-out garage control method, device and equipment and a storage medium. The method comprises the steps of determining a parking area of a target parking space according to parking space information of the target parking space and vehicle information of a vehicle after a user starts an automatic parking in-out garage function and determines the target parking space, controlling the vehicle to run to the parking area corresponding to the target parking space according to a pre-planned path, and controlling the vehicle to run to the parking area corresponding to the target parking space based on the parking space type of the target parking space. And the target control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to enter the garage through the torque. And based on the parking space type of the current parking space of the vehicle, a target control instruction is sent to a power domain controller, so that the power domain controller controls the vehicle to go out of the garage through the torque. A lot of time is saved, the efficiency and intelligence of automatic parking are improved, the accident risk is reduced, and the convenience is enhanced.

Description

Technical Field

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

[0002] With the acceleration of urbanization, the urban population and the number of vehicles continue to grow, resulting in a shortage of urban parking space and an increasingly prominent parking problem. This not only affects the urban traffic order, but also reduces the quality of life of urban residents.

[0003] Traditional parking lot management methods mostly rely on manual charging and vehicle entry and exit management, which is inefficient and prone to errors. At the same time, due to the lack of transparency in parking lot information, car owners often find it difficult to find vacant parking spaces. Even if they find vacant parking spaces, car owners still need to adjust the vehicle entry and exit by observing the environment multiple times.

[0004] However, the above method requires high driving proficiency and skills of the car owner, which leads to long parking time and waste of time and energy. Summary of the invention

[0005] The present application provides a control method, device, equipment and storage medium for parking in and out of a parking space, so as to solve the problem that the existing technology requires high driving proficiency and skills of the owner when parking in and out of a parking space, resulting in long operation time, waste of time and energy, and complex environment.

[0006] In a first aspect, the present application provides a parking space entry control method, which is applied to a main controller of a vehicle, and the method comprises:

[0007] After the user turns on the automatic parking function and determines the target parking space, the parking area of ​​the target parking space is determined according to the parking space information of the target parking space and the vehicle information of the vehicle;

[0008] According to the pre-planned path, control the vehicle to drive to the parking area corresponding to the target parking space;

[0009] Based on the parking space type of the target parking space, a target control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to enter the parking space through torque. The parking space type includes a single-side parking space, a side parking space or a double-side parking space.

[0010] In combination with the first aspect, in some embodiments, if the parking space type of the target parking space is a single-side parking space, the target control instruction includes a first control instruction and a second control instruction;

[0011] Accordingly, based on the parking space type of the target parking space, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to enter the parking space through torque, including:

[0012] Sending the first control instruction to the power domain controller, so that the power domain controller controls the left front wheel or the right front wheel of the vehicle to brake and lock, and corrects the direction of the vehicle by swinging the tail;

[0013] Based on the direction of the target parking space, after detecting that the vehicle is straightened, the second control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to back into the garage through torque.

[0014] In combination with the first aspect, in some embodiments, if the parking space type of the target parking space is a double-sided parking space, the target control instruction includes a third control instruction and a fourth control instruction;

[0015] Accordingly, based on the parking space type of the target parking space, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to enter the parking space through torque, including:

[0016] Sending the third control instruction to the power domain controller so that the power domain controller controls the vehicle to turn around on the spot and correct the direction of the vehicle;

[0017] Based on the direction of the target parking space, after detecting that the vehicle is straightened, the fourth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to back into the garage through torque.

[0018] In combination with the first aspect, in some embodiments, if the parking space type of the target parking space is a lateral parking space, the target control instruction includes a fifth control instruction;

[0019] Accordingly, based on the parking space type of the target parking space, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to enter the parking space through torque, including:

[0020] The fifth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to sway into the garage through torque.

[0021] In a second aspect, the present application provides a method for controlling parking exit, which is applied to a main controller of a vehicle, and the method comprises:

[0022] After the user turns on the automatic parking exit function, determine the parking space type of the vehicle's current parking space, which includes a single-side parking space, a side parking space, or a double-side parking space;

[0023] Based on the parking space type of the current parking space of the vehicle, a target control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to leave the garage through torque.

[0024] In combination with the second aspect, in some embodiments, if the parking space type of the current parking space of the vehicle is a single-side parking space, the target control instruction includes a sixth control instruction and a seventh control instruction;

[0025] Accordingly, based on the parking space type of the current parking space of the vehicle, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to leave the garage through torque, includes:

[0026] Sending the sixth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to the parking area corresponding to the current parking space of the vehicle;

[0027] Based on the direction of the current parking space of the vehicle, the seventh control instruction is sent to the power domain controller, so that the power domain controller controls the left front wheel or the right front wheel of the vehicle to brake and lock, and exit the garage by swinging the tail.

[0028] In combination with the second aspect, in some embodiments, if the parking space type of the current parking space of the vehicle is a double-sided parking space, the target control instruction includes an eighth control instruction and a ninth control instruction;

[0029] Accordingly, based on the parking space type of the current parking space of the vehicle, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to leave the garage through torque, includes:

[0030] Sending the eighth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to the parking area corresponding to the current parking space of the vehicle;

[0031] Based on the direction of the current parking space of the vehicle, the ninth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to turn around and leave the warehouse on the spot.

[0032] In combination with the second aspect, in some embodiments, if the parking space type of the current parking space of the vehicle is a lateral parking space, the target control instruction includes a tenth control instruction;

[0033] Accordingly, based on the parking space type of the current parking space of the vehicle, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to leave the garage through torque, includes:

[0034] The tenth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to sway out of the garage through torque.

[0035] In a third aspect, the present application provides a parking space entry control device, comprising:

[0036] A determination module, configured to determine the parking area of ​​the target parking space according to the parking space information of the target parking space and the vehicle information of the vehicle after the user turns on the automatic parking function and determines the target parking space;

[0037] A control module, used to control the vehicle to travel to a parking area corresponding to the target parking space according to a pre-planned path;

[0038] The sending module is used to send a target control instruction to the power domain controller based on the parking space type of the target parking space, so that the power domain controller controls the vehicle to enter the garage through torque. The parking space type includes a single-side parking space, a side parking space or a double-side parking space.

[0039] In conjunction with the third aspect, in some embodiments, if the parking space type of the target parking space is a single-side parking space, the target control instruction includes a first control instruction and a second control instruction;

[0040] Accordingly, the sending module is specifically used for:

[0041] Sending the first control instruction to the power domain controller, so that the power domain controller controls the left front wheel or the right front wheel of the vehicle to brake and lock, and corrects the direction of the vehicle by swinging the tail;

[0042] Based on the direction of the target parking space, after detecting that the vehicle is straightened, the second control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to back into the garage through torque.

[0043] In conjunction with the third aspect, in some embodiments, if the parking space type of the target parking space is a double-sided parking space, the target control instruction includes a third control instruction and a fourth control instruction;

[0044] Accordingly, the sending module is specifically used for:

[0045] Sending the third control instruction to the power domain controller so that the power domain controller controls the vehicle to turn around on the spot and correct the direction of the vehicle;

[0046] Based on the direction of the target parking space, after detecting that the vehicle is straightened, the fourth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to back into the garage through torque.

[0047] In combination with the third aspect, in some embodiments, if the parking space type of the target parking space is a lateral parking space, the target control instruction includes a fifth control instruction;

[0048] Accordingly, the sending module is specifically used for:

[0049] The fifth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to sway into the garage through torque.

[0050] In a fourth aspect, the present application provides a control device for parking exit, including:

[0051] A determination module, used to determine the parking space type of the vehicle's current parking space after the user turns on the automatic parking exit function, wherein the parking space type includes a single-side parking space, a side parking space, or a double-side parking space;

[0052] The sending module is used to send a target control instruction to the power domain controller based on the parking space type of the current parking space of the vehicle, so that the power domain controller controls the vehicle to leave the warehouse through torque.

[0053] In combination with the fourth aspect, in some embodiments, if the parking space type of the current parking space of the vehicle is a single-side parking space, the target control instruction includes a sixth control instruction and a seventh control instruction;

[0054] Accordingly, the sending module is specifically used for:

[0055] Sending the sixth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to the parking area corresponding to the current parking space of the vehicle;

[0056] Based on the direction of the current parking space of the vehicle, the seventh control instruction is sent to the power domain controller, so that the power domain controller controls the left front wheel or the right front wheel of the vehicle to brake and lock, and exit the garage by swinging the tail.

[0057] In combination with the fourth aspect, in some embodiments, if the parking space type of the current parking space of the vehicle is a double-sided parking space, the target control instruction includes an eighth control instruction and a ninth control instruction;

[0058] Accordingly, the sending module is specifically used for:

[0059] Sending the eighth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to the parking area corresponding to the current parking space of the vehicle;

[0060] Based on the direction of the current parking space of the vehicle, the ninth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to turn around and leave the garage on the spot through torque control.

[0061] In combination with the fourth aspect, in some embodiments, if the parking space type of the current parking space of the vehicle is a lateral parking space, the target control instruction includes a tenth control instruction;

[0062] Accordingly, the sending module is specifically used for:

[0063] The tenth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to sway out of the garage through torque.

[0064] In a fifth aspect, the present application provides a main controller, comprising: a processor, and a memory communicatively connected to the processor;

[0065] The memory stores computer-executable instructions;

[0066] The processor executes the computer-executable instructions stored in the memory to implement the parking space entry control method described in any one of the first aspects and the parking space exit control method described in any one of the second aspects.

[0067] In a sixth aspect, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the parking space entry control method described in any one of the first aspect and the parking space exit control method described in any one of the second aspect.

[0068] In a seventh aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the parking space entry control method described in any one of the first aspect and the parking space exit control method described in any one of the second aspect.

[0069] The control method, device, equipment and storage medium for parking space entry and exit provided by the present application, after the user turns on the automatic parking entry function and determines the target parking space, the parking area of ​​the target parking space is determined according to the parking space information of the target parking space and the vehicle information of the vehicle, and the vehicle is controlled to drive to the parking area corresponding to the target parking space according to the pre-planned path, and the target control instruction is sent to the power domain controller based on the parking space type of the target parking space, so that the power domain controller controls the vehicle to enter the warehouse through torque. After the user turns on the automatic parking exit function, the parking space type of the current parking space of the vehicle is determined, and the target control instruction is sent to the power domain controller based on the parking space type of the current parking space of the vehicle, so that the power domain controller controls the vehicle to exit the warehouse through torque. Compared with the user repeatedly manually operating the steering wheel to control the vehicle to enter and exit the warehouse, the above method saves a lot of time, improves the efficiency and intelligence of automatic parking, avoids the occurrence of human errors, and reduces the risk of accidents. At the same time, different entry and exit methods are set according to different types of parking spaces, which reduces the requirements for the road surface, saves time and enhances convenience compared to traditional steering wheel steering. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0071] Figure 1 A schematic diagram of a flow chart of a first embodiment of a method for controlling parking space entry provided in an embodiment of the present application;

[0072] Figure 2 is a schematic diagram of an exemplary parking area;

[0073] Figure 3 A schematic diagram of a flow chart of a second embodiment of a method for controlling parking space entry provided in an embodiment of the present application;

[0074] Figure 4 This is a schematic diagram of an exemplary single-side parking space entry process;

[0075] Figure 5 A flowchart of a third embodiment of a method for controlling parking space entry provided in an embodiment of the present application;

[0076] Figure 6 is a schematic diagram of an exemplary double-sided parking space entry process;

[0077] Figure 7 is a schematic diagram of an exemplary side parking space entry process;

[0078] Figure 8 A schematic diagram of a flow chart of a first embodiment of a method for controlling parking exit provided in an embodiment of the present application;

[0079] Fig. 9 A schematic diagram of a flow chart of a second embodiment of a method for controlling parking exit provided in an embodiment of the present application;

[0080] Fig.10 This is a schematic diagram of an exemplary one-side parking space exit process;

[0081] Fig.11 A schematic diagram of a flow chart of a third embodiment of a method for controlling parking exit provided in an embodiment of the present application;

[0082] Fig.12 This is a schematic diagram of an exemplary double-sided parking space exit process;

[0083] Fig.13 is a schematic diagram of an exemplary process of exiting a side parking space;

[0084] Fig.14 A schematic diagram of the structure of an embodiment of a control device for parking space entry provided in an embodiment of the present application;

[0085] Fig.15 A schematic diagram of the structure of an embodiment of a control device for parking exit provided in an embodiment of the present application;

[0086] Fig.16 A schematic diagram of the structure of the main controller provided in an embodiment of the present application.

[0087] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0088] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0089] With the acceleration of urbanization, the urban population and the number of vehicles continue to grow, resulting in a shortage of urban parking space and an increasingly prominent parking problem. This not only affects the urban traffic order, but also reduces the quality of life of urban residents. Traditional parking lot management methods are mostly manual charging and vehicle entry and exit management, which are inefficient and prone to errors. At the same time, due to the opacity of parking lot information, car owners often find it difficult to find vacant parking spaces. Even if they find vacant parking spaces, car owners need to adjust the vehicle entry and exit by observing the environment many times. However, the above methods require high driving proficiency and skills of car owners, which leads to long parking time and waste of time and energy.

[0090] In response to the above problems, the present application provides a control method, device, equipment and storage medium for parking space entry and exit. Intelligent, fast and efficient automatic parking entry and exit are achieved. Specifically, due to the opacity of parking lot information, it is often difficult for car owners to find vacant parking spaces. Even if they find vacant parking spaces, car owners need to adjust the vehicle entry and exit by observing the environment many times. However, the above method requires high driving proficiency and skills of the car owner, which leads to long parking time and waste of time and energy. In view of the above problems, the inventor studied whether it is possible to determine the parking space type of the target parking space, and then select different entry methods based on different types of parking spaces, so as to achieve high-speed, fast and intelligent automatic parking entry and exit. Based on this, the technical solution of the present application is proposed.

[0091] The parking space entry and exit control method provided in the embodiment of the present application is applied to user parking scenarios, such as parking in a parking lot, parking on the roadside, parking in a narrow alley or in a residential area, etc. In the above scenarios, the user can turn on the automatic parking entry and exit function by pressing a button, touching the screen or remotely controlling the vehicle, and then the vehicle main controller determines the target parking space based on the scene where the vehicle is located, and then determines different entry and exit methods based on the vehicle type, thereby facilitating the user, saving the user's time, and improving the safety of the user driving the vehicle.

[0092] Optionally, the vehicle is equipped with a laser radar and a camera to monitor the vehicle's external environment in real time. After the user turns on the automatic parking and exit function, the vehicle monitors the vehicle's surrounding environment information through the laser radar and the camera. Then the target parking space and the parking space type of the target parking space are determined, and the quick entry and exit method is determined according to the parking space type.

[0093] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0094] Figure 1 The flowchart of the first embodiment of the parking space entry control method provided in the present application is as follows: Figure 1 As shown, the method is used for the main controller of the vehicle, and specifically includes:

[0095] S101: After the user turns on the automatic parking function and determines the target parking space, the parking area of ​​the target parking space is determined according to the parking space information of the target parking space and the vehicle information of the vehicle.

[0096] In this step, after the user turns on the automatic parking function, the vehicle's main controller analyzes the vehicle's current environment to determine the parking spaces available for the vehicle in the current environment, and then determines the target parking space among multiple available parking spaces. In order to realize autonomous parking conveniently and efficiently, the parking area of ​​the target parking space is determined based on the surrounding environment information of the target parking space.

[0097] Specifically, the vehicle will first conduct a full-scale scan of the surrounding environment through its ultrasonic radar, millimeter-wave radar, camera, etc. It can collect information such as the distance, speed, position, and shape of objects around the vehicle in real time to form a 3D or 2D image of the vehicle's surroundings. Based on the collected environmental data, the main controller will use image processing technology and algorithms to identify available parking spaces. This usually includes identifying parking space marking lines (such as solid white lines or dotted lines), parking space size, whether the parking space is occupied, and other information. By comparing the preset parking space standards or dynamically judging based on real-time data, the system can screen out all available parking spaces. After identifying multiple available parking spaces, the main controller will select the best target parking space based on a series of optimization algorithms.

[0098] Optionally, for determining the target parking space, it is necessary to ensure that the vehicle can be fully parked without exceeding the boundaries of the parking space. And the parking space that is closest or most convenient to the current position of the vehicle should be selected. It is also necessary to avoid selecting parking spaces with many obstacles or pedestrians around to reduce the risk during parking. It is also possible to predict the movement trajectories of surrounding vehicles and select parking spaces that will not conflict with other vehicles.

[0099] Due to the different types of vehicles, the automatic control of vehicle entry is different. After determining the target parking space, the main controller will further analyze the environmental information around the parking space to accurately determine the parking area. Among them, the parking area is the area that the main controller predicts in advance and can achieve accurate and efficient entry.

[0100] For example, Figure 2 is a schematic diagram of an exemplary parking area, such as Figure 2 As shown, Figure 2 The figure shows the parking areas corresponding to different types of target parking spaces. The parking areas for side parking spaces and single-side parking spaces are for certain wheels, and the determination of the parking area is also related to factors such as the vehicle's driving direction and parking direction. Any parking area can be any area that can be aligned with the garage through torque control and does not affect vehicles in other parking spaces.

[0101] S102: According to the pre-planned path, the vehicle is controlled to travel to the parking area corresponding to the target parking space.

[0102] In this step, after the parking area corresponding to the target parking space is determined, a path is planned according to the current position of the vehicle, and the vehicle is controlled to travel to the parking area corresponding to the target parking space according to the planned path.

[0103] Specifically, the vehicle collects data about the surrounding environment, including road conditions, obstacle locations, parking space markings, etc., through the cameras, ultrasonic radars, millimeter-wave radars, etc. The images captured by the camera are preprocessed and recognized to extract key information such as parking space information, road boundaries, obstacles, etc. Combined with the sensor data and image processing results, the surrounding environment is comprehensively analyzed to evaluate the feasibility and safety of different paths. During the path planning process, a path planning algorithm can be selected.

[0104] Optionally, the path planning algorithm may include:

[0105] Geometric method: By building a geometric model, the position and size of the vehicle and the size and shape of the parking space are used to calculate the optimal parking path.

[0106] Rule-based algorithm: The entire parking process is broken down into multiple stages, such as environmental perception, map construction, parking space detection, positioning and path planning, and each stage follows preset rules and strategies.

[0107] Optimization algorithm: such as A* algorithm, RRT algorithm, etc. Under given constraints, the above algorithms are used to find the optimal or suboptimal path from the starting point to the end point.

[0108] End-to-end autonomous driving algorithm: Integrate perception, prediction and planning components into a unified neural network for joint optimization, and train the neural network to imitate the parking trajectory, thereby reducing the cumulative error across modules and improving the safety and convenience of parking.

[0109] The specific algorithm of path planning is not specifically limited in this embodiment of the application.

[0110] Based on the results of the path planning algorithm, one or more feasible parking paths are selected. When selecting, factors such as the length, safety, feasibility, and dynamic characteristics of the path need to be considered. The selected path is further optimized to ensure that the vehicle can complete the parking action safely and smoothly along the predetermined path. Factors such as the vehicle's steering angle, speed control, and obstacle avoidance strategy are considered during the optimization process.

[0111] S103: Based on the parking space type of the target parking space, a target control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to enter the parking space through torque.

[0112] In this step, after detecting that the vehicle has driven into the parking area, a target control instruction is generated based on the parking space type of the target parking space, and the target control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to enter the parking space through torque.

[0113] Optionally, if the parking space type of the target parking space is a single-sided parking space, the target control instruction includes a first control instruction and a second control instruction. The first control instruction is sent to the power domain controller to enable the power domain controller to control the left front wheel or right front wheel brake lock of the vehicle and straighten the direction of the vehicle by swinging the tail. Based on the direction of the target parking space, after detecting that the vehicle is straightened, the second control instruction is sent to the power domain controller to enable the power domain controller to control the vehicle to back into the garage through torque.

[0114] In one possible implementation, if the parking space type of the target parking space is a double-sided parking space, the target control instruction includes a third control instruction and a fourth control instruction. The third control instruction is sent to the power domain controller to enable the power domain controller to control the vehicle to turn around on the spot and correct the direction of the vehicle. After detecting that the vehicle is corrected based on the direction of the target parking space, the fourth control instruction is sent to the power domain controller to enable the power domain controller to control the vehicle to back into the garage through torque.

[0115] In another possible implementation, if the parking space type of the target parking space is a lateral parking space, the target control instruction includes a fifth control instruction, and the fifth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to sway into the parking space through torque.

[0116] The control method for parking entry provided in this embodiment, after the user turns on the automatic parking entry function and determines the target parking space, determines the parking area of ​​the target parking space according to the parking space information of the target parking space and the vehicle information of the vehicle, controls the vehicle to drive to the parking area corresponding to the target parking space according to the pre-planned path, and sends a target control instruction to the power domain controller based on the parking space type of the target parking space, so that the power domain controller controls the vehicle to enter the garage through torque. Compared with the user repeatedly manually operating the steering wheel to control the vehicle to enter the garage, the above method saves a lot of time, improves the efficiency and intelligence of automatic parking, avoids the occurrence of human errors, reduces the risk of accidents, sets different entry methods according to different types of parking spaces, and then controls the vehicle to enter the garage through torque, reduces the requirements for the road surface, saves time and enhances convenience compared to traditional steering wheel steering.

[0117] Figure 3 The flowchart of the second embodiment of the parking space entry control method provided in the embodiment of the present application is as follows: Figure 3 As shown, based on the above embodiment, if the parking space type of the target parking space is a single-side parking space, the target control instruction includes a first control instruction and a second control instruction. Accordingly, step S103 specifically includes:

[0118] S301: Sending a first control instruction to a power domain controller so that the power domain controller controls the left front wheel or the right front wheel of the vehicle to brake and lock, and adjust the direction of the vehicle by swinging the tail.

[0119] S302: Based on the direction of the target parking space, after detecting that the vehicle is aligned, a second control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to back into the parking space through torque.

[0120] If the determined target parking space is a single-sided parking space, that is, one side of the parking space is a wall or other objects, and the parking space is relatively narrow, in order to quickly and efficiently automatically park the car, the main controller of the vehicle generates a first control instruction and sends it to the power domain controller, and then the power domain controller controls the vehicle to align the vehicle parallel to the target parking space based on the first control instruction. After detecting that the vehicle is aligned, the vehicle is controlled to go straight into the parking space based on the received second control instruction.

[0121] For example, Figure 4 FIG. 1 is a schematic diagram of an exemplary one-side parking space entry process. Figure 4 As shown, after the vehicle drives into the parking area, the power domain controller controls the left front wheel of the vehicle to brake and lock based on the first control instruction, and the left rear motor has negative torque. The specific value is aimed at achieving the control target wheel speed (for example, 1m / s) without slipping, and the value varies depending on the road surface. The right rear motor has positive torque. The specific value is aimed at maintaining the control target wheel speed (for example, 1m / s) without slipping, and the value varies depending on the road surface. The direction of the vehicle is straightened by swinging the tail, and then the vehicle goes straight into the garage.

[0122] Optionally, the system sets the target rotation angle based on the normal body alignment. The angle can be given by the Advanced Driver Assistance System (ADAS), or the power domain controller can execute the selection. According to the obstacle warning and the stop command of ADAS, the single entry selection is completed after the actual rotation angle is reached, and the longitudinal movement is returned to the ADAS automatic parking assist system (APA). Among them, the target speed mainly considers stability, and it is recommended to be between 0.2-1m / s.

[0123] The control method for parking space entry provided in this embodiment sends a first control instruction to the power domain controller so that the power domain controller controls the brake lock of the left front wheel or the right front wheel of the vehicle, and straightens the direction of the vehicle by swinging the tail. After detecting that the vehicle is straightened based on the direction of the target parking space, a second control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to back into the warehouse by torque. By locking the specific wheel (left front wheel or right front wheel) by braking, the direction of the vehicle can be accurately adjusted, which helps the vehicle to park in the target parking space more accurately. Compared with the traditional method of adjusting the steering wheel and the position of the vehicle multiple times, the above method can straighten the direction of the vehicle faster and reduce the number of adjustments and corrections during the parking process. It also avoids the risk of collision that may occur due to multiple adjustments to the vehicle position, simplifies the parking operation process, and improves the convenience of driving.

[0124] Figure 5 The flowchart of the third embodiment of the parking space entry control method provided in the embodiment of the present application is as follows: Figure 5 As shown, based on the first embodiment of the method, if the parking space type of the target parking space is a double-sided parking space, the target control instruction includes the third control instruction and the fourth control instruction. Accordingly, step S103 may further include:

[0125] S501: Send a third control instruction to the power domain controller, so that the power domain controller controls the vehicle to turn around on the spot and correct the direction of the vehicle.

[0126] S502: Based on the direction of the target parking space, after detecting that the vehicle is aligned, a fourth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to back into the parking space through torque.

[0127] If the parking space type of the determined target parking space is a double-sided parking space, that is, there are parking spaces on both sides of the vehicle, then in order to quickly and efficiently automatically park the vehicle, the vehicle's main controller generates a third control instruction and sends it to the power domain controller, and then the power domain controller controls the vehicle to turn around on the spot based on the third control instruction and be parallel to the target parking space. After detecting that the vehicle is straightened, the vehicle is controlled to go straight into the parking space based on the received fourth control instruction.

[0128] For example, Figure 6 FIG. 1 is a schematic diagram of an exemplary double-sided parking space entry process. Figure 6As shown, after the vehicle drives into the parking area, the power domain controller controls the positive torque of the left motor of the vehicle based on the third control instruction. The specific value is to achieve the control target wheel speed (for example, 1m / s) without slipping, and the value varies according to the road surface. The negative torque of the right motor, the specific value is to maintain the control target wheel speed (for example, 1m / s) without slipping, and the value varies according to the road surface, thereby achieving a U-turn on the spot. According to the parking space selected in the path planning, rotate 90 degrees to the right or left. The target speed should mainly consider stability, and it is recommended to be between 0.2-1m / s.

[0129] The control method for parking space entry provided in this embodiment sends a third control instruction to the power domain controller so that the power domain controller controls the vehicle to turn around on the spot and correct the direction of the vehicle. Based on the direction of the target parking space, after detecting that the vehicle is corrected, a fourth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to back into the garage through torque. Turning around on the spot can significantly reduce the turning radius of the vehicle, so that the vehicle can easily complete the direction adjustment in a narrow or complex parking environment. And by turning around on the spot and quickly correcting the direction of the vehicle, the need for multiple reversing and adjustments can be reduced, thereby significantly improving parking efficiency. The precise control of the vehicle power system by the power domain controller ensures the stability and controllability of the vehicle during the turn around on the spot, avoids the loss of control caused by improper operation, simplifies the driving operation process, and reduces the driving burden of the driver. Significantly improve the convenience and comfort of driving.

[0130] Optionally, based on the first embodiment of the method, if the parking space type of the target parking space is a lateral parking space, the target control instruction includes a fifth control instruction. Accordingly, step S301 may further include:

[0131] A fifth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to sway into the garage through torque.

[0132] If the parking space type of the target parking space is a lateral parking space, a fifth control instruction is generated and sent to the power domain controller, so that the power domain controller controls the vehicle to swing sideways into the parking space through torque. The swinging into the parking space may be a head swing or a tail swing.

[0133] For example, Figure 7 FIG. 1 is a schematic diagram of an exemplary side parking space entry process. Figure 7As shown, vehicle 1 is a head-swiveling entry, and the fifth control instruction generated is left rear wheel brake lock, left front motor positive torque, the specific value is to achieve the control target wheel speed (for example, 1m / s) without slipping as the goal, the value varies depending on the road surface, right front motor negative torque, the specific value is to maintain the control target wheel speed (for example, 1m / s) without slipping as the goal, the value varies depending on the road surface. Vehicle 2 is a tail-swiveling entry, and the fifth control instruction generated is left front wheel brake lock, left rear motor negative torque, the specific value is to achieve the control target wheel speed (for example, 1m / s) without slipping as the goal, the value varies depending on the road surface, right rear motor positive torque, the specific value is to maintain the control target wheel speed (for example, 1m / s) without slipping as the goal, the value varies depending on the road surface.

[0134] Figure 8 The flowchart of the control method for parking exit provided in the embodiment of the present application is as follows: Figure 8 As shown, the method is applied to the main controller of the vehicle, specifically comprising:

[0135] S801: After the user turns on the automatic parking exit function, determine the parking space type of the vehicle's current parking space.

[0136] In this step, in order to facilitate the user's use of the vehicle, the user can set to turn on the automatic parking and exiting the garage function. After the user instructs the vehicle to automatically park and exit the garage, the vehicle main controller determines the parking space type of the vehicle's current parking space based on the collected external environment information, where the parking space type includes single-side parking space, side parking space or double-side parking space.

[0137] S802: Based on the parking space type of the vehicle's current parking space, a target control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to leave the garage through torque.

[0138] In this step, the parking space type of the vehicle's current parking space is determined, and a target control instruction is generated based on the parking space type and sent to the power domain controller, so that the power domain controller controls the vehicle to leave the garage through torque.

[0139] Optionally, if the parking space type of the vehicle's current parking space is a single-sided parking space, a sixth control instruction is sent to the power domain controller to enable the power domain controller to control the vehicle to move forward to the parking area corresponding to the vehicle's current parking space, and based on the direction of the vehicle's current parking space, a seventh control instruction is sent to the power domain controller to enable the power domain controller to control the vehicle's left front wheel or right front wheel brake lock and exit the garage by swinging the tail.

[0140] In one possible implementation, if the parking space type of the vehicle's current parking space is a double-sided parking space, an eighth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to move forward to the parking area corresponding to the vehicle's current parking space, and then based on the direction of the vehicle's current parking space, a ninth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to turn around and leave the warehouse on the spot.

[0141] In another possible implementation, if the parking space type of the vehicle's current parking space is a lateral parking space, a tenth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to swing out of the garage through torque.

[0142] The control method for parking exit provided in this embodiment determines the parking space type of the vehicle's current parking space after the user turns on the automatic parking exit function, and sends a target control instruction to the power domain controller based on the parking space type of the vehicle's current parking space, so that the power domain controller controls the vehicle to exit the space through torque. The user only needs to turn on the automatic parking exit function, and the system can automatically complete subsequent operations without the driver having to perform complex operations or judgments. Especially in narrow or complex parking environments, the automatic exit function can greatly improve the convenience of driving and reduce the driver's operating burden. The system can accurately identify the type of the current parking space and provide accurate basic information for subsequent exit operations. Based on the identification of the parking space type, the system can automatically adjust the control strategy to adapt to the exit requirements of different parking space types to ensure the smoothness and safety of the exit process. It can also reduce driving pressure and improve user experience.

[0143] Fig. 9 The flowchart of the second embodiment of the control method for parking exit provided in the embodiment of the present application is as follows: Fig. 9 As shown, based on the above embodiment, if the parking space type of the current parking space of the vehicle is a single-side parking space, the target control instruction includes the sixth control instruction and the seventh control instruction. Accordingly, step S802 specifically includes:

[0144] S901: Send a sixth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to a parking area corresponding to the current parking space of the vehicle.

[0145] S902: Based on the direction of the vehicle's current parking space, a seventh control instruction is sent to the power domain controller, so that the power domain controller controls the left front wheel or the right front wheel of the vehicle to lock the brakes and exit the garage by swinging the tail.

[0146] By determining the parking space type of the vehicle's current parking space, if the parking space type is a single-sided parking space, the vehicle can only leave the parking space on one side of the parking space. Then, the power domain controller controls the vehicle to move forward to the parking area corresponding to the vehicle's current parking space based on the received sixth control instruction. Then, based on the direction of the vehicle's current parking space, the seventh control instruction is received to control one of the front wheels of the vehicle to lock the brake and leave the parking space by swinging the tail.

[0147] For example, Fig.10 FIG. 1 is a schematic diagram of an exemplary one-side parking space exit process. Fig.10 As shown, after the vehicle drives to the parking area, the power domain controller controls the vehicle to swing out of the parking space through torque. The specific control method is opposite to the control method of unilateral parking space entry in the aforementioned parking space entry control method, and will not be repeated here.

[0148] The control method for parking exit provided in this embodiment sends a sixth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to the parking area corresponding to the current parking space of the vehicle. Based on the direction of the current parking space of the vehicle, a seventh control instruction is sent to the power domain controller so that the power domain controller controls the left front wheel or the right front wheel of the vehicle to brake and lock, and exit the warehouse by swinging the tail. The swinging tail exit is achieved by braking and locking a specific wheel (left front wheel or right front wheel). This method can flexibly respond to different parking space types and exit requirements. By adjusting the direction of the vehicle once, the swinging tail exit can quickly move the vehicle out of the parking space, reduce the time and steps required for exit, and improve the exit efficiency. During the swinging tail exit process, the vehicle can avoid surrounding obstacles with a smaller turning radius and precise control path, reduce the risk of collision, and ensure the safety of the exit process. The driving operation process is simplified and the driving burden of the driver is reduced.

[0149] Fig.11 The flowchart of the third embodiment of the control method for parking exit provided in the embodiment of the present application is as follows: Fig.11 As shown, based on the first embodiment of the above method, if the parking space type of the current parking space of the vehicle is a double-sided parking space, the target control instruction includes the eighth control instruction and the ninth control instruction. Accordingly, step S802 may further include:

[0150] S1101: Send an eighth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to a parking area corresponding to the current parking space of the vehicle.

[0151] S1102: Based on the direction of the vehicle's current parking space, a ninth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to turn around and leave the garage.

[0152] By determining the parking space type of the vehicle's current parking space, if the parking space type is a double-sided parking space, the power domain controller controls the vehicle to move forward to the parking area corresponding to the vehicle's current parking space based on the received eighth control instruction, and then based on the direction of the vehicle's current parking space, controls the vehicle to turn around and leave the warehouse on the spot through the received ninth control instruction.

[0153] For example, Fig.12 is a schematic diagram of an exemplary bilateral parking space exit process, such as Fig.12 As shown, after the vehicle drives to the parking area, the power domain controller controls the vehicle to turn 90 degrees on the spot, thereby realizing the vehicle leaving the garage. The specific control method is the same as the on-the-spot turning control method for entering the parking space on both sides in the aforementioned parking space entry control method, and will not be repeated here.

[0154] The control method for parking exit provided in this embodiment sends an eighth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to the parking area corresponding to the current parking space of the vehicle, and sends a ninth control instruction to the power domain controller based on the direction of the current parking space of the vehicle so that the power domain controller controls the vehicle to turn around and exit the parking space. Through the above method, space utilization is improved, driving safety and stability are enhanced, and driving operation is simplified.

[0155] Optionally, based on the first embodiment of the method, if the parking space type of the current parking space of the vehicle is a lateral parking space, the target control instruction includes the tenth control instruction, and accordingly, step S802 may further include:

[0156] A tenth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to swing out of the garage through torque.

[0157] By determining the parking space type of the vehicle's current parking space, if the parking space type is a lateral parking space, the power domain controller controls the vehicle to swing its head or tail to exit the garage based on the received tenth control instruction.

[0158] For example, Fig.13 FIG. 1 is a schematic diagram of an exemplary side parking space exit process, as shown in FIG. Fig.13 As shown, the vehicle controls the front wheels or rear wheels on the inside of the parking space to lock the brakes, and then moves out of the parking space by swinging its head or tail. The specific method of swinging its head or tail is the same as that in the aforementioned control method for entering the parking space, and will not be repeated here.

[0159] Fig.14 A schematic diagram of the structure of an embodiment of a control device for parking space entry provided in an embodiment of the present application, as shown in FIG. Fig.14 As shown, the parking space entry control device 1400 specifically includes:

[0160] The determination module 1401 is used to determine the parking area of ​​the target parking space according to the parking space information of the target parking space and the vehicle information of the vehicle after the user turns on the automatic parking function and determines the target parking space.

[0161] The control module 1402 is used to control the vehicle to travel to the parking area corresponding to the target parking space according to the pre-planned path.

[0162] The sending module 1403 is used to send a target control instruction to the power domain controller based on the parking space type of the target parking space, so that the power domain controller controls the vehicle to enter the parking space through torque. The parking space type includes a single-side parking space, a side parking space or a double-side parking space.

[0163] In one or more embodiments, if the parking space type of the target parking space is a single-side parking space, the target control instruction includes a first control instruction and a second control instruction;

[0164] Accordingly, the sending module 1403 is specifically used for:

[0165] Sending a first control instruction to the power domain controller so that the power domain controller controls the left front wheel or the right front wheel of the vehicle to brake and lock, and corrects the direction of the vehicle by swinging the tail;

[0166] Based on the direction of the target parking space, after detecting that the vehicle is aligned, a second control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to back into the garage through torque.

[0167] In one or more embodiments, if the parking space type of the target parking space is a double-sided parking space, the target control instruction includes a third control instruction and a fourth control instruction;

[0168] Accordingly, the sending module 1403 is specifically used for:

[0169] Sending a third control instruction to the power domain controller so that the power domain controller controls the vehicle to turn around on the spot and correct the direction of the vehicle;

[0170] Based on the direction of the target parking space, after detecting that the vehicle is aligned, a fourth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to back into the garage through torque.

[0171] In one or more embodiments, if the parking space type of the target parking space is a lateral parking space, the target control instruction includes a fifth control instruction;

[0172] Accordingly, the sending module 1403 is specifically used for:

[0173] A fifth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to sway into the garage through torque.

[0174] Optionally, when the parking space entry control device 1400 is implemented as a power domain controller, the control module 1402 may also be used to:

[0175] The power domain controller controls the vehicle to sway into the garage through torque based on the received target control instructions.

[0176] The parking space entry control device provided in the embodiment of the present application can be used to execute the parking space entry control method in any of the above embodiments. Its implementation principle and technical effects are similar and will not be repeated here.

[0177] Fig.15 A schematic diagram of the structure of an embodiment of a control device for parking exit provided in an embodiment of the present application is shown in FIG. Fig.15 As shown, the control device 1500 for parking space exit includes:

[0178] The determination module 1501 is used to determine the parking space type of the vehicle's current parking space after the user turns on the automatic parking exit function. The parking space type includes a single-side parking space, a side parking space, or a double-side parking space.

[0179] The sending module 1502 is used to send a target control instruction to the power domain controller based on the parking space type of the current parking space of the vehicle, so that the power domain controller controls the vehicle to leave the garage through torque.

[0180] In one or more embodiments, if the parking space type of the current parking space of the vehicle is a single-side parking space, the target control instruction includes a sixth control instruction and a seventh control instruction;

[0181] Accordingly, the sending module 1502 is specifically configured to:

[0182] Sending a sixth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to a parking area corresponding to the current parking space of the vehicle;

[0183] Based on the direction of the vehicle's current parking space, a seventh control instruction is sent to the power domain controller so that the power domain controller controls the left front wheel or the right front wheel of the vehicle to lock the brakes and exit the garage by swinging the tail.

[0184] In one or more embodiments, if the parking space type of the current parking space of the vehicle is a double-sided parking space, the target control instruction includes an eighth control instruction and a ninth control instruction;

[0185] Accordingly, the sending module 1502 is specifically configured to:

[0186] Sending an eighth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to a parking area corresponding to the current parking space of the vehicle;

[0187] Based on the direction of the vehicle's current parking space, a ninth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to turn around and leave the garage.

[0188] In one or more embodiments, if the parking space type of the current parking space of the vehicle is a lateral parking space, the target control instruction includes a tenth control instruction;

[0189] Accordingly, the sending module 1502 is specifically configured to:

[0190] A tenth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to swing out of the garage through torque.

[0191] Optionally, when the control device 1500 for parking exit is implemented as a power domain controller, it may also include:

[0192] The control module is used for the power domain controller to control the vehicle to sway out of the warehouse through torque based on the received target control instructions.

[0193] The control device for parking exit provided in the above embodiment is used to execute the control method for parking exit in any of the above method embodiments. Its implementation principle and technical effect are similar and will not be repeated here.

[0194] Fig.16 A schematic diagram of the structure of the main controller provided in the embodiment of the present application is shown in FIG. Fig.16 As shown, the main controller 1600 includes: a processor 1602, and a memory 1601 that is communicatively connected to the processor 1602;

[0195] The memory 1601 stores computer executable instructions;

[0196] The processor 1602 executes the computer-executable instructions stored in the memory 1601 to implement the parking space entry control method and the parking space exit control method in any method embodiment.

[0197] Optionally, the above-mentioned components of the electronic device may be connected via a system bus.

[0198] The system bus may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The system bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The memory 1601 may include a random access memory 1601 (RAM), and may also include a non-volatile memory 1601 (NVM), such as at least one disk storage 1601.

[0199] All or part of the steps of the above-mentioned method embodiments can be completed by hardware related to program instructions. The above-mentioned program can be stored in a readable memory 1601. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the above-mentioned memory 1601 (storage medium) includes: read-only memory 1601 (ROM), RAM, flash memory 1601, hard disk, solid state hard disk, magnetic tape, floppy disk, optical disc and any combination thereof.

[0200] The main controller provided in the embodiment of the present application can be used to execute the parking entry control method and the parking exit control method provided in any of the above method embodiments. The implementation principles and technical effects are similar and will not be repeated here.

[0201] An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to execute the parking space entry control method and the parking space exit control method provided in the above-mentioned various embodiments.

[0202] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic memory, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0203] Optionally, a readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in the device as discrete components.

[0204] An embodiment of the present application also provides a computer program product, which includes a computer program. The computer program is stored in a computer-readable storage medium. At least one processor can read the computer program from the computer-readable storage medium. When at least one processor executes the computer program, the technical solution provided by any of the above method embodiments can be implemented.

[0205] In the present application, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship; in the formula, the character " / " indicates that the previous and next associated objects are in a "division" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0206] It is to be understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of description and are not intended to limit the scope of the embodiments of the present application. In the embodiments of the present application, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0207] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0208] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A parking space entry control method, characterized in that: Applied to a main controller of a vehicle, the method comprises: After the user turns on the automatic parking function and determines the target parking space, the parking area of ​​the target parking space is determined according to the parking space information of the target parking space and the vehicle information of the vehicle; According to the pre-planned path, control the vehicle to drive to the parking area corresponding to the target parking space; Based on the parking space type of the target parking space, a target control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to enter the parking space through torque. The parking space type includes a single-side parking space, a side parking space or a double-side parking space.

2. The method according to claim 1, characterized in that If the parking space type of the target parking space is a single-side parking space, the target control instruction includes a first control instruction and a second control instruction; Accordingly, based on the parking space type of the target parking space, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to enter the parking space through torque, including: Sending the first control instruction to the power domain controller, so that the power domain controller controls the left front wheel or the right front wheel of the vehicle to brake and lock, and corrects the direction of the vehicle by swinging the tail; Based on the direction of the target parking space, after detecting that the vehicle is straightened, the second control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to back into the garage through torque.

3. The method according to claim 1, characterized in that If the parking space type of the target parking space is a double-sided parking space, the target control instruction includes a third control instruction and a fourth control instruction; Accordingly, based on the parking space type of the target parking space, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to enter the parking space through torque, including: Sending the third control instruction to the power domain controller so that the power domain controller controls the vehicle to turn around on the spot and correct the direction of the vehicle; Based on the direction of the target parking space, after detecting that the vehicle is straightened, the fourth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to back into the garage through torque.

4. The method according to claim 1, characterized in that: If the parking space type of the target parking space is a lateral parking space, the target control instruction includes a fifth control instruction; Accordingly, based on the parking space type of the target parking space, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to enter the parking space through torque, including: The fifth control instruction is sent to the power domain controller so that the power domain controller controls the vehicle to sway into the garage through torque.

5. A method for controlling parking space exit, characterized in that: Applied to a main controller of a vehicle, the method comprises: After the user turns on the automatic parking exit function, determine the parking space type of the vehicle's current parking space, which includes a single-side parking space, a side parking space, or a double-side parking space; Based on the parking space type of the current parking space of the vehicle, a target control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to leave the garage through torque.

6. The method according to claim 5, characterized in that If the parking space type of the current parking space of the vehicle is a single-side parking space, the target control instruction includes a sixth control instruction and a seventh control instruction; Accordingly, based on the parking space type of the current parking space of the vehicle, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to leave the garage through torque, includes: Sending the sixth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to the parking area corresponding to the current parking space of the vehicle; Based on the direction of the current parking space of the vehicle, the seventh control instruction is sent to the power domain controller, so that the power domain controller controls the left front wheel or the right front wheel of the vehicle to brake and lock, and exit the garage by swinging the tail.

7. The method according to claim 5, characterized in that If the parking space type of the current parking space of the vehicle is a double-sided parking space, the target control instruction includes an eighth control instruction and a ninth control instruction; Accordingly, based on the parking space type of the current parking space of the vehicle, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to leave the garage through torque, includes: Sending the eighth control instruction to the power domain controller so that the power domain controller controls the vehicle to move forward to the parking area corresponding to the current parking space of the vehicle; Based on the direction of the current parking space of the vehicle, the ninth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to turn around and leave the warehouse on the spot.

8. The method according to claim 5, characterized in that If the parking space type of the current parking space of the vehicle is a lateral parking space, the target control instruction includes a tenth control instruction; Accordingly, based on the parking space type of the current parking space of the vehicle, sending a target control instruction to the power domain controller so that the power domain controller controls the vehicle to leave the garage through torque, includes: The tenth control instruction is sent to the power domain controller, so that the power domain controller controls the vehicle to sway out of the garage through torque.

9. A parking space entry control device, characterized in that: include: A determination module, configured to determine the parking area of ​​the target parking space according to the parking space information of the target parking space and the vehicle information of the vehicle after the user turns on the automatic parking function and determines the target parking space; A control module, used to control the vehicle to travel to a parking area corresponding to the target parking space according to a pre-planned path; The sending module is used to send a target control instruction to the power domain controller based on the parking space type of the target parking space, so that the power domain controller controls the vehicle to enter the garage through torque. The parking space type includes a single-side parking space, a side parking space or a double-side parking space.

10. A control device for parking space exit, characterized in that: include: A determination module, used to determine the parking space type of the vehicle's current parking space after the user turns on the automatic parking exit function, wherein the parking space type includes a single-side parking space, a side parking space, or a double-side parking space; The sending module is used to send a target control instruction to the power domain controller based on the parking space type of the current parking space of the vehicle, so that the power domain controller controls the vehicle to leave the warehouse through torque.

11. A main controller, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the parking space entry control method according to any one of claims 1 to 4 and the parking space exit control method according to any one of claims 5 to 8.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the parking space entry control method according to any one of claims 1 to 4 and the parking space exit control method according to any one of claims 5 to 8.

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