Automatic parking control method, vehicle, equipment and program product

Abstract

The invention relates to the technical field of vehicle control, in particular to an automatic parking control method, a vehicle, equipment and a program product. The method comprises the steps that if the speed of a target vehicle is zero, vehicle state information of the target vehicle and environment information, corresponding to the vehicle state information, of the target vehicle in the current environment are obtained; according to the vehicle state information and the environment information, whether the automatic parking function of the target vehicle is activated or not is judged. The vehicle state information and the environment information are closely combined, the intelligent degree of the automatic parking function control process is improved, and the safety and driving experience of a driver driving the target vehicle are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to an automatic parking control method, vehicle, equipment and program product. Background Art

[0002] The automatic parking function (AutoHold) is specifically manifested in that the driver steps on the brake pedal to stop the vehicle, but the vehicle can still remain stationary after releasing the brake pedal. The existing automatic parking activation scheme is mainly to activate the automatic parking function after the driver stops the vehicle. However, in actual driving scenarios, especially in traffic jams or parking scenarios, the driver frequently stops the vehicle, resulting in the frequent activation of the vehicle's automatic parking function, and the driver can only frequently step on the accelerator pedal to get the vehicle back into driving state. Based on the above, the existing automatic parking function control logic is single and cannot adapt to the diverse vehicle driving processes in reality. Not only does it have safety hazards caused by inaccurate throttle control, but it also has the problem of poor driving experience for the driver. Summary of the invention

[0003] Based on the above-mentioned defects and shortcomings of the prior art, the present application proposes an automatic parking control method, vehicle, equipment and program product, which closely integrate vehicle status information and environmental information, improve the intelligence level of the automatic parking function control process, and the driver's safety and driving experience of driving the target vehicle.

[0004] According to a first aspect of an embodiment of the present application, an automatic parking control method is provided, comprising: if the speed of a target vehicle is zero, obtaining vehicle status information of the target vehicle and environmental information corresponding to the vehicle status information in the current environment of the target vehicle; and judging whether to activate the automatic parking function of the target vehicle based on the vehicle status information and the environmental information.

[0005] According to the automatic parking control method provided in the first aspect of an embodiment of the present application, the vehicle status information includes the braking force of the target vehicle, and the environmental information includes the preceding vehicle movement information of an obstacle vehicle within a preset distance range in front of the target vehicle; judging whether to activate the automatic parking function of the target vehicle based on the vehicle status information and the environmental information comprises: if the braking force is greater than a first braking threshold, obtaining a changing trend of the braking force; if the changing trend indicates that the braking force becomes smaller, obtaining the preceding vehicle movement information; judging whether to activate the automatic parking function of the target vehicle based on the preceding vehicle movement information.

[0006] According to the automatic parking control method provided in the first aspect of the embodiment of the present application, the automatic parking function of the target vehicle is determined based on the movement information of the preceding vehicle, including: if the speed of the obstacle vehicle is greater than zero, obtaining a first distance between the target vehicle and the obstacle vehicle; if the first distance is greater than a first distance threshold, not activating the automatic parking function of the target vehicle.

[0007] According to the automatic parking control method provided in the first aspect of the embodiment of the present application, the automatic parking function of the target vehicle is determined based on the movement information of the preceding vehicle, including: if the speed of the obstacle vehicle is greater than zero, obtaining a first stationary time duration during which the speed of the obstacle vehicle is continuously zero, and obtaining a first distance between the target vehicle and the obstacle vehicle; if the first stationary time duration is less than a first time duration threshold, and the first distance is greater than a second distance threshold, the automatic parking function of the target vehicle is not activated.

[0008] According to the automatic parking control method provided in the first aspect of the embodiment of the present application, the automatic parking function of the target vehicle is determined based on the movement information of the preceding vehicle, including: if the speed of the obstacle vehicle is zero, then counting the first stationary time during which the speed of the obstacle vehicle is continuously zero; if the first stationary time reaches a first time threshold, then activating the automatic parking function of the target vehicle.

[0009] According to the automatic parking control method provided in the first aspect of an embodiment of the present application, the vehicle status information includes the current gear position of the target vehicle, and the environmental information includes a second distance between a first obstacle and the target vehicle in the driving direction corresponding to the current gear position; judging whether to activate the automatic parking function of the target vehicle based on the vehicle status information and the environmental information includes: if the second distance is less than a third distance threshold, activating the automatic parking function of the target vehicle.

[0010] According to the automatic parking control method provided in the first aspect of an embodiment of the present application, the vehicle status information also includes the braking force of the target vehicle; the determination of whether to activate the automatic parking function of the target vehicle based on the vehicle status information and the environmental information includes: if the second distance is greater than or equal to the third distance threshold, obtaining the changing trend of the braking force; if the changing trend indicates that the braking force remains unchanged or increases, then the automatic parking function of the target vehicle is not activated.

[0011] According to the automatic parking control method provided in the first aspect of the embodiment of the present application, the vehicle status information also includes gear switching; the determination of whether to activate the automatic parking function of the target vehicle based on the vehicle status information and the environmental information includes: if the change trend indicates that the braking force becomes smaller, and the target vehicle has the gear switch within a preset time period, then obtaining a second stationary time period in which the target vehicle's speed continues to be zero in the current gear; if the second stationary time period is less than a second time period threshold, the automatic parking function of the target vehicle is not activated.

[0012] According to the automatic parking control method provided in the first aspect of an embodiment of the present application, the vehicle status information includes the braking force of the target vehicle, and the environmental information includes the road slope of the road on which the target vehicle is located; judging whether to activate the automatic parking function of the target vehicle based on the vehicle status information and the environmental information comprises: if the braking force is greater than a first braking threshold, obtaining the road slope; if the road slope is less than the slope threshold, obtaining the changing trend of the braking force; if the changing trend indicates that the braking force increases or remains unchanged, then not activating the automatic parking function of the target vehicle.

[0013] According to the automatic parking control method provided in the first aspect of an embodiment of the present application, the vehicle status information includes the braking force of the target vehicle, and the environmental information includes the road slope of the road on which the target vehicle is located, and the third distance between the second obstacle closest to the target vehicle and the target vehicle; if the braking force is greater than the first braking threshold, the road slope is obtained; if the road slope is less than the slope threshold, the third distance is obtained; if the third distance is less than the fourth distance threshold, the automatic parking function of the target vehicle is activated.

[0014] According to the automatic parking control method provided in the first aspect of the embodiment of the present application, judging whether to activate the automatic parking function of the target vehicle based on the vehicle status information and the environmental information includes: obtaining the environmental scene of the current environment of the target vehicle; judging whether to activate the automatic parking function of the target vehicle based on the environmental scene, the vehicle status information and the environmental information.

[0015] According to a second aspect of an embodiment of the present application, a vehicle is provided. The vehicle serves as a target vehicle and an automatic parking function is controlled by an automatic parking control method as described in any one of the above.

[0016] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising: a memory and a processor; the memory is connected to the processor and is used to store programs; the processor is used to implement the automatic parking control method as described in the first aspect by running the program in the memory.

[0017] According to a fourth aspect of the embodiments of the present application, a computer program product is provided, comprising computer program instructions; when the computer program instructions are executed by a processor, the processor executes the automatic parking control method as described in the first aspect. Optionally, the computer program may be stored in a readable storage medium of a computer device or in the cloud; the processor of the computer device reads the computer program from the readable storage medium or the cloud.

[0018] In an embodiment of the present application, the vehicle status information of the target vehicle and the environmental information corresponding to the vehicle status information in the current environment of the target vehicle are obtained; based on the vehicle status information and the environmental information, it is determined whether to activate the automatic parking function of the target vehicle. In the above process, when controlling the automatic parking function of the target vehicle, the vehicle status information and the environmental information are closely combined to achieve a diversified analysis of the driving process of the target vehicle, improve the adaptability of the automatic parking function to the diversified driving process, avoid the single control of the automatic parking function, and thus improve the intelligence of the automatic parking function control process, as well as the safety and driving experience of the driver driving the target vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of a flow chart of an automatic parking control method provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of an implementation flow of an automatic parking control method provided in an embodiment of the present application applied to a traffic jam scenario;

[0022] Figure 3 A schematic diagram of an implementation flow of an automatic parking control method provided in an embodiment of the present application applied to a parking scenario;

[0023] Figure 4 A block diagram of an automatic parking control device provided in an embodiment of the present application;

[0024] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0026] Exemplary Methods

[0027] This application provides an automatic parking control method to address the potential safety hazards and driving inconvenience caused by the frequent activation of the automatic parking function in scenarios such as traffic jams or parking. The automatic parking control method can be implemented on any device with data processing functions, such as a vehicle-configured controller, a remote server, and an independent processor. The automatic parking control method can be implemented on any of the above devices in the form of a software algorithm.

[0028] In one embodiment, if Figure 1 As shown, the process steps of the automatic parking control method include:

[0029] Step 101: If the speed of the target vehicle is zero, then obtain the vehicle state information of the target vehicle and the environment information corresponding to the vehicle state information in the current environment of the target vehicle.

[0030] In this embodiment, during the driving process of the target vehicle, if the speed of the target vehicle is zero, indicating that the target vehicle has stopped moving, the automatic parking function of the target vehicle may be activated. If the speed of the target vehicle is not zero, indicating that the target vehicle is still moving, the automatic parking function cannot be activated, thereby avoiding the safety risk caused by the sudden activation of the automatic parking function when the speed of the target vehicle is not zero. Optionally, the automatic parking function can only be activated after the target vehicle is stopped by the driver, that is, one of the necessary conditions for the automatic parking function of the target vehicle to be activated is that the target vehicle is limited to zero speed by the braking force. The braking force limiting the target vehicle is provided by the braking system of the target vehicle, and the braking system includes a brake master cylinder, and the above-mentioned braking force includes the brake master cylinder pressure. During the driving process of the target vehicle, the driver controls the size of the brake master cylinder pressure by stepping on the brake pedal in the braking system. The stepping depth of the brake pedal is proportional to the braking force. The greater the stepping depth of the brake pedal, the greater the braking force.

[0031] In this embodiment, if the speed of the target vehicle is zero, the process of determining whether the automatic parking function is activated is started. When determining whether the automatic parking function is activated, the vehicle status information and environmental information are combined, wherein the vehicle status information includes one or more information related to the current state of the target vehicle, such as the braking force, gear information, and vehicle speed related information of the target vehicle; the environmental information includes one or more information of the current environment corresponding to the vehicle status information in the current environment of the target vehicle, such as obstacle information in the current environment, distance information between the target vehicle and the obstacle, and movement of the obstacle. The vehicle status information can be collected by calling one or more components such as the data transmission bus, sensor, perception system, and controller input and output data configured on the target vehicle.

[0032] In this embodiment, the environmental information is obtained in order to determine whether to activate the automatic parking function, but there are a large number of various types of information in the actual driving environment, such as obstacle information, road information, pedestrian information, road sign information, terrain information, weather information, ambient temperature information, etc. Therefore, the environmental information obtained corresponds to the vehicle status information, and the vehicle status information and the corresponding environmental information are processed comprehensively. The correspondence between the vehicle status information and the environmental information can be set based on the actual driving conditions and needs of the vehicle. For example, based on the type of vehicle status information, different environmental information corresponds to different types of vehicle status information; for another example, the vehicle status information is analyzed, and when the vehicle status information indicates that the target vehicle is in different states, different environmental information is obtained in different states. Based on the correspondence between the vehicle status information and the environmental information, targeted acquisition of environmental information is achieved, thereby avoiding excessive data or data redundancy in environmental information acquisition and improving data acquisition efficiency. Environmental information can be collected by calling any one or more devices such as image sensing devices, radar sensing devices, and cloud data acquisition devices configured on the target vehicle.

[0033] Step 102: Determine whether to activate the automatic parking function of the target vehicle based on the vehicle status information and the environment information.

[0034] In this embodiment, after obtaining the vehicle status information, the specific environment in which the target vehicle is currently located can be analyzed based on the environmental information, and the vehicle status information and environmental information can be closely combined to perform diversified analysis on the target vehicle's driving process from a comprehensive perspective of the target vehicle itself and the environment, thereby realizing intelligent management of the automatic parking function, rather than simply determining whether to activate the automatic parking function based on whether the target vehicle is stopped. This improves the adaptability of the automatic parking function to diversified driving processes and avoids the singleness of controlling whether the automatic parking function is activated only by the accelerator pedal. This can not only meet the diverse needs of drivers, but also avoid safety hazards caused by frequently starting the automatic parking function at inappropriate times.

[0035] In one embodiment, the vehicle state information includes the braking force of the target vehicle, and the environmental information includes the movement information of the leading vehicle of the obstacle vehicle within a preset distance range in front of the target vehicle.

[0036] Based on the vehicle status information and environmental information, determine whether to activate the automatic parking function of the target vehicle, including: if the braking force is greater than the first braking threshold, obtain the changing trend of the braking force; if the changing trend indicates that the braking force becomes smaller, obtain the movement information of the preceding vehicle; based on the movement information of the preceding vehicle, determine whether to activate the automatic parking function of the target vehicle.

[0037] In this embodiment, the triggering time of the automatic parking function is positioned when the vehicle is stopped and the braking force is greater than the first braking threshold (that is, the driver steps on the brake pedal to a certain depth), and the change trend of the braking force is used to determine whether to activate the automatic parking function, wherein the first braking threshold is pre-set based on the vehicle structure, actual conditions and needs of the target vehicle. The change trend of the braking force refers to the trend of continuous change of the braking force. Optionally, a plurality of braking force sampling values ​​can be continuously collected with a smaller preset sampling time as a period, and the change trend of the braking force is obtained based on the plurality of continuous braking force sampling values. The preset sampling time is pre-set according to the actual conditions and needs.

[0038] In this embodiment, the driver controls the stepping depth of the brake pedal to control the changing trend of the braking force. After the target vehicle is stopped and the braking force is greater than the first braking force threshold, it is determined whether the changing trend of the braking force indicates that the braking force is gradually decreasing, that is, whether the driver is gradually releasing the brake pedal. If the driver does not release the brake pedal, it indicates that the driver has been actively controlling the braking of the target vehicle, and the automatic parking function will not be activated. If the driver has the action of releasing the brake pedal, when the driver releases the brake pedal, the changing trend will indicate that the braking force is gradually decreasing. At this time, the movement information of the obstacle vehicle in front of the target vehicle within the preset distance range in front of the target vehicle is obtained to determine whether to activate the automatic parking function of the target vehicle. Among them, the preset distance range is set in advance based on actual conditions and needs. For example, the preset distance range can be set to a range within a radius of 5 meters centered on the target vehicle, and for example, within 5 meters in front of the target vehicle in the driving direction.

[0039] In this embodiment, the preceding vehicle motion information can be obtained based on data collected by sensing devices such as surround view cameras and ultrasonic radar sensors configured by the target vehicle, and the specific data collection method is adapted to the specific configuration of the target vehicle. The preceding vehicle motion information includes one or more motion information such as the position information of the obstacle vehicle, the movement trajectory of the obstacle, and the movement direction of the obstacle.

[0040] In one embodiment, based on the movement information of the preceding vehicle, determining whether to activate the automatic parking function of the target vehicle includes: if the speed of the obstacle vehicle is greater than zero, obtaining a first distance between the target vehicle and the obstacle vehicle; if the first distance is greater than a first distance threshold, not activating the automatic parking function of the target vehicle.

[0041] In this embodiment, the obstacle vehicle within the preset distance range in front of the target vehicle is close to the target vehicle. When the target vehicle closely follows the vehicle in front, the obstacle vehicle may stop and go. At this time, it is determined whether the speed of the obstacle vehicle is greater than zero. If not, the speed of the obstacle vehicle is zero, indicating that the obstacle vehicle has not moved. At this time, the automatic parking function can be directly activated, or the motion information of the obstacle vehicle can be further obtained to further determine whether to activate the automatic parking function; if yes, it indicates that the obstacle vehicle is moving. At this time, if the first distance between the target vehicle and the obstacle vehicle is greater than the first distance threshold, it indicates that there is enough space in front of the target vehicle for the target vehicle to move forward. At this time, the automatic parking function of the target vehicle is not activated to ensure that the driver can directly control the target vehicle to move forward through the braking system or the driving system, avoid the frequent activation of the automatic parking function when following the vehicle in front, resulting in the target vehicle being unable to follow up in time, and improve the driver's driving experience; and avoid the safety risks caused by the driver's eager release of the automatic parking function when following the vehicle in front, and improve the driving safety of the vehicle. Among them, the first distance threshold is set in advance according to the timing situation.

[0042] In this embodiment, for an obstacle vehicle within a preset distance range in front of the target vehicle, the obstacle vehicle closest to the target vehicle may be focused on among multiple obstacle vehicles, thereby reducing the amount of data processing during the control of the automatic parking function.

[0043] In one embodiment, based on the movement information of the preceding vehicle, determining whether to activate the automatic parking function of the target vehicle includes: if the speed of the obstacle vehicle is greater than zero, obtaining a first stationary time duration during which the speed of the obstacle vehicle is continuously zero, and obtaining a first distance between the target vehicle and the obstacle vehicle; if the first stationary time duration is less than a first time duration threshold, and the first distance is greater than a second distance threshold, then not activating the automatic parking function of the target vehicle.

[0044] In this embodiment, when the target vehicle closely follows the preceding vehicle, the obstacle vehicle in front of the target vehicle stops running, that is, when the speed of the obstacle vehicle is zero, the first static duration of the static obstacle vehicle is counted. Optionally, the first static duration can be counted from when the speeds of the obstacle vehicle and the target vehicle are both zero, until the obstacle vehicle starts to run again, that is, until the speed of the obstacle vehicle is no longer zero. At the same time, the first distance between the target vehicle and the obstacle vehicle is obtained. If the first static duration is less than the first duration threshold, and the first distance is greater than the second distance threshold, it indicates that although the obstacle vehicle has stopped running, the parking duration is short, and there is enough space in front of the target vehicle for the target vehicle to move forward. At this time, the automatic parking function of the target vehicle is not activated to ensure that the driver can directly control the target vehicle to move forward through the braking system or the driving system.

[0045] In one embodiment, based on the movement information of the preceding vehicle, determining whether to activate the automatic parking function of the target vehicle includes: if the speed of the obstacle vehicle is zero, counting the first stationary time duration during which the speed of the obstacle vehicle is continuously zero; if the first stationary time duration reaches a first time duration threshold, activating the automatic parking function of the target vehicle.

[0046] In this embodiment, when the speed of the obstacle vehicle is zero, the first static time length during which the speed of the obstacle vehicle is continuously zero is counted in real time. Optionally, the first static time length can be counted from when the speeds of the obstacle vehicle and the target vehicle are both zero. If the first static time length reaches the first time length threshold, it indicates that the obstacle vehicle has been stationary for a long time, and then the automatic parking function of the target vehicle is activated, and the driver's braking operation of the target vehicle is released, so that the driver can release the brake pedal while ensuring that the target vehicle can continue to ensure that the speed is zero, thereby reducing the driver's driving pressure. Further, after the automatic parking function of the target vehicle is activated, when the obstacle vehicle starts to move again, the driver can contact the automatic parking function by operating the control button or the accelerator pedal, so that the target vehicle can drive normally.

[0047] In one embodiment, the vehicle state information includes a current gear position of the target vehicle, and the environmental information includes a second distance between the first obstacle and the target vehicle in a driving direction corresponding to the current gear position.

[0048] Determining whether to activate the automatic parking function of the target vehicle according to the vehicle state information and the environment information includes: if the second distance is less than a third distance threshold, activating the automatic parking function of the target vehicle.

[0049] In this embodiment, whether to activate the automatic parking function can be determined according to the current gear position of the target vehicle. An obstacle existing in the driving direction corresponding to the current gear position is defined as a first obstacle. When the first obstacle exists in the driving direction corresponding to the current gear position, the target vehicle determines the second distance between the first obstacle and the target vehicle through the perception system. If the second distance is less than the third distance threshold, it indicates that the distance between the target vehicle and the first obstacle is very close and there is a risk of collision. At this time, the automatic parking function of the target vehicle is automatically activated to ensure the safety of the vehicle.

[0050] In this embodiment, the first obstacle includes static obstacles such as enclosures, green plants, and limit devices, and also includes dynamic obstacles such as pedestrians and other vehicles. However, as long as the first obstacle is located in the current gear, the automatic parking function is activated according to the above logic control. Optionally, the first obstacle is located within a second preset distance range in the driving direction corresponding to the current gear. For example, an obstacle within 2 meters from the target vehicle in the driving direction corresponding to the front gear is the first obstacle. Optionally, the first obstacle is the obstacle closest to the target vehicle in the driving direction corresponding to the current gear.

[0051] In this embodiment, the current gear includes a reverse gear (R gear) and a forward gear (D gear). If the target vehicle is in the D gear, it is determined whether the second distance between the target vehicle and the first obstacle directly in front is greater than the third distance threshold. If the vehicle is in the R gear, it is determined whether the second distance between the target vehicle and the first obstacle directly behind is greater than the third distance threshold. Optionally, when the target vehicle includes path planning content such as a reversing image, the first obstacle is an obstacle on the planned path corresponding to the front gear. For example, the first obstacle is an obstacle within 2 meters from the target vehicle on the planned path corresponding to the front gear. For another example, the first obstacle is the obstacle closest to the target vehicle on the planned path corresponding to the front gear. The specific values ​​of the third distance threshold and the second preset distance range can be pre-set according to actual conditions and needs.

[0052] In one embodiment, the vehicle status information also includes the braking force of the target vehicle.

[0053] Based on the vehicle status information and environmental information, determine whether to activate the automatic parking function of the target vehicle, including: if the second distance is greater than or equal to the third distance threshold, obtain the change trend of the braking force; if the change trend indicates that the braking force remains unchanged or increases, then do not activate the automatic parking function of the target vehicle.

[0054] In this embodiment, if the second distance is greater than or equal to the third distance threshold, the change trend of the braking force is further analyzed. If the second distance is greater than or equal to the third distance threshold, and the change trend indicates that the braking force remains unchanged or increases, it indicates that not only the target vehicle is far away from the first obstacle, and the collision risk is small, but also the driver of the target vehicle still steps on the brake pedal to a certain depth, and the driver actively performs the braking operation on the target vehicle. At this time, there is no need to activate the automatic parking function of the target vehicle, so as to avoid the automatic parking function affecting the normal operation of the driver.

[0055] In one embodiment, the vehicle status information also includes gear shifting.

[0056] Based on the vehicle status information and environmental information, determine whether to activate the automatic parking function of the target vehicle, including: if the change trend indicates that the braking force is reduced, and the target vehicle has a gear switch within a preset time, then obtain the second stationary time during which the target vehicle's speed continues to be zero in the current gear; if the second stationary time is less than the second time threshold, the automatic parking function of the target vehicle is not activated.

[0057] In this embodiment, in the case where there is frequent gear switching to adjust the position of the target vehicle, it can be determined whether to activate the automatic parking function based on the gear switching. If the second distance is greater than or equal to the third distance threshold, and the change trend indicates that the braking force is reduced, indicating that the target vehicle is far away from the first obstacle, the driver gradually releases the brake pedal, and then the second static time length of the target vehicle at the current gear position at which the speed continues to be zero is obtained to determine whether to activate the automatic parking function. Optionally, the preset time length is set to a shorter time length. If the target vehicle has a gear switch within the preset time length, it indicates that the driver has performed a gear switch operation on the target vehicle in a short time. At this time, it is not necessary to activate the automatic parking function of the target vehicle to avoid affecting the normal operation of the driver.

[0058] If the second distance is greater than or equal to the third distance threshold, and the change trend indicates that the braking force is reduced, and the target vehicle does not switch gears within the preset time, and the second static time reaches the second time threshold, indicating that the target vehicle has no gear switching action for a long time, and the driver's target vehicle has been stationary for a long time and has a tendency to continue to be stationary, then the automatic parking function of the target vehicle is activated to achieve automatic control of the target vehicle to maintain stationary. Alternatively, if the second distance is greater than or equal to the third distance threshold, and the change trend indicates that the braking force is reduced, and the target vehicle does not switch gears within the preset time, the automatic parking function of the target vehicle is directly activated to achieve automatic control of the target vehicle to maintain stationary.

[0059] It should be noted that the above-mentioned preset time duration, second braking threshold value, and second time duration threshold value can all be set in advance according to the performance of the target vehicle, actual conditions, and needs.

[0060] In one embodiment, the vehicle state information includes the braking force of the target vehicle, and the environmental information includes the road slope of the road on which the target vehicle is located.

[0061] Based on the vehicle status information and environmental information, determine whether to activate the automatic parking function of the target vehicle, including: if the braking force is greater than the first braking threshold, obtain the road slope; if the road slope is less than the slope threshold, obtain the change trend of the braking force; if the change trend indicates that the braking force increases or remains unchanged, do not activate the automatic parking function of the target vehicle.

[0062] In this embodiment, the automatic parking function needs to ensure the basic function of preventing the vehicle from rolling. When the braking force is greater than the first braking threshold, it indicates that the braking force applied by the driver to the target vehicle has reached a certain level. The setting of the first braking threshold can provide the driver with an autonomous control opportunity to control the automatic activation function. Specifically, when the driver wants to start the judgment process of whether to activate the automatic driving function, the driver can step on the pedal deeply so that the braking force is greater than the first braking threshold; if the driver does not want to start the judgment process of whether to automatically activate the automatic driving function, the driver can step on the pedal shallowly so that the braking force is less than or equal to the first braking threshold.

[0063] When the braking force is greater than the first braking threshold, the road slope of the target vehicle is obtained. If the road slope of the target vehicle is greater than or equal to the slope threshold, it indicates that the target vehicle has a greater risk of slipping at this time, and the automatic parking function of the target vehicle is directly activated; if the road slope is less than the slope threshold, it indicates that the target vehicle has a lower risk of slipping at this time, and the change trend of the braking force is further obtained. If the change trend indicates that the braking force increases or remains unchanged, it indicates that the driver autonomously controls the braking of the target vehicle, and the automatic parking function of the target vehicle is not activated.

[0064] In this embodiment, when it is determined that the road slope is less than the slope threshold, combined with the implementation methods provided by the above embodiments, if the braking force is greater than the first braking threshold, the change trend of the braking force is obtained, and if the change trend indicates that the braking force is reduced, the movement information of the preceding vehicle is obtained, and based on the movement information of the preceding vehicle, it is determined whether to activate the automatic parking function of the target vehicle. Based on the movement information of the preceding vehicle, it is determined whether to activate the automatic parking function of the target vehicle, and any one of the implementation methods provided by the above embodiments can also be adopted.

[0065] In one embodiment, the vehicle state information includes the braking force of the target vehicle, and the environmental information includes the road slope of the road on which the target vehicle is located, and a third distance between the target vehicle and a second obstacle closest to the target vehicle.

[0066] Based on the vehicle status information and environmental information, determine whether to activate the automatic parking function of the target vehicle, including: if the braking force is greater than the first braking threshold, obtain the road slope; if the road slope is less than the slope threshold, obtain the third distance; if the third distance is less than the fourth distance threshold, activate the automatic parking function of the target vehicle.

[0067] In this embodiment, when the braking force is greater than the first braking threshold, the road slope of the target vehicle is obtained. If the road slope of the target vehicle is greater than or equal to the slope threshold, it indicates that the target vehicle is at a greater risk of slipping at this time, and the automatic parking function of the target vehicle is directly activated; if the road slope is less than the slope threshold, the third distance between the second obstacle and the target vehicle is obtained. If the third distance is less than the fourth distance threshold, it indicates that the distance between the target vehicle and the third obstacle is relatively close, and in order to avoid vehicle collision, the automatic parking function of the target vehicle is activated.

[0068] In this embodiment, when it is determined that the road slope is less than the slope threshold, combined with the implementation methods provided in the above embodiments, it is determined whether the second obstacle closest to the target vehicle is located in the driving direction corresponding to the current gear position. If so, the second obstacle is taken as the first obstacle. If the second distance between the first obstacle and the target vehicle is less than the third distance threshold, the automatic parking function of the target vehicle is activated. Among them, the third distance threshold and the fourth distance threshold can be set to the same value according to actual conditions and needs, or can be set to different values. Further, when the second obstacle is taken as the first obstacle, if the second distance is greater than or equal to the third distance threshold, the change trend of the braking force is obtained; if the change trend indicates that the braking force remains unchanged or increases, the automatic parking function of the target vehicle is not activated. Further, when the second obstacle is taken as the first obstacle, if the change trend indicates that the braking force decreases, and the target vehicle has a gear switch within the preset time, the second static time length of the target vehicle at the current gear position is obtained. If the second static time length is less than the second time length threshold, the automatic parking function of the target vehicle is not activated.

[0069] In one embodiment, judging whether to activate the automatic parking function of the target vehicle is performed based on the vehicle status information and the environmental information, including: obtaining the environmental scene of the target vehicle's current environment; judging whether to activate the automatic parking function of the target vehicle based on the environmental scene, the vehicle status information and the environmental information.

[0070] In this embodiment, the process of determining whether the automatic parking function is activated can also be combined with the environmental scene of the target vehicle's current environment to further improve the accuracy of the automatic parking function control process. Environmental scenes include traffic jams, reversing into a garage, parking in place, mountain roads, and other reasonably set scenes.

[0071] Optionally, when the environmental scenario is a traffic jam scenario, and the driver has a greater need to keep up with the vehicle in front, the vehicle status information includes the braking force of the target vehicle, and the environmental information includes the movement information of the preceding vehicle of the obstacle vehicle within a preset distance range in front of the target vehicle. Based on the environmental scenario, the vehicle status information, and the environmental information, determine whether to activate the automatic parking function of the target vehicle, including: when the environmental scenario is a traffic jam scenario, if the braking force is greater than the first braking threshold, obtain the changing trend of the braking force; if the changing trend indicates that the braking force becomes smaller, obtain the movement information of the preceding vehicle; based on the movement information of the preceding vehicle, determine whether to activate the automatic parking function of the target vehicle. Based on the movement information of the preceding vehicle, determine whether to activate the automatic parking function of the target vehicle, and any one of the implementation methods provided in the above-mentioned embodiments may also be used.

[0072] Optionally, in the case where the environmental scenario is reversing into a garage or parking, the gear information is more important for determining whether the automatic parking is activated, then the vehicle status information includes the current gear of the target vehicle, and the environmental information includes the second distance between the first obstacle and the target vehicle in the driving direction corresponding to the current gear. Based on the environmental scenario, the vehicle status information and the environmental information, determine whether to activate the automatic parking function of the target vehicle, including: in the case where the environmental scenario is reversing into a garage or parking, if the second distance is less than the third distance threshold, then activate the automatic parking function of the target vehicle. Further, in the case where the environmental scenario is reversing into a garage or parking, if the second distance is greater than or equal to the third distance threshold, obtain the change trend of the braking force; if the change trend indicates that the braking force remains unchanged or increases, then do not activate the automatic parking function of the target vehicle. Furthermore, in the case where the environmental scenario is reversing into a garage or parking, if the change trend indicates that the braking force becomes smaller, and the target vehicle switches gears within the preset time, the second stationary time during which the target vehicle's speed remains zero in the current gear is obtained; if the second stationary time is less than the second time threshold, the automatic parking function of the target vehicle is not activated.

[0073] In this embodiment, regardless of the environmental scenario, when the braking force is greater than the first braking threshold, if the road slope of the target vehicle is greater than or equal to the slope threshold, indicating that the target vehicle is at a greater risk of slipping at this time, the automatic parking function of the target vehicle is directly activated.

[0074] In a specific embodiment, Figure 2 As shown, the implementation process of the automatic parking control method in a traffic jam scenario is as follows:

[0075] Step 201, determining whether the target vehicle is stopped, that is, whether the speed of the target vehicle is zero, if not, continue to monitor the target vehicle, if so, execute step 202;

[0076] Step 202, determining whether the brake master cylinder pressure of the target vehicle reaches the first brake threshold, if not, the automatic parking function is in an inactive state (also known as a Standby-wait state), executing step 210, if yes, executing step 203;

[0077] Step 203, the automatic parking function enters a standby state (also called a Standby-active state);

[0078] Step 204, determining whether the road slope of the target vehicle is greater than the slope threshold, if so, executing step 211, the automatic parking function enters an activated state (also called an Active state), if not, executing step 205;

[0079] Step 205, determining whether the change trend of the braking force indicates that the braking force is decreasing, if not, the automatic parking function is still in the standby state, executing step 210, if yes, executing step 206;

[0080] Step 206, determining whether the speed of the obstacle vehicle in front of the target vehicle is zero, if not, executing step 207, if yes, executing step 208;

[0081] Step 207, determining whether the first distance between the target vehicle and the obstacle vehicle is greater than the first distance threshold, if so, the automatic parking function is still in the standby state, and executing step 210;

[0082] Step 208, determining whether the first static time length during which the speed of the obstacle vehicle is continuously zero is less than the first time length threshold, if so, executing step 209, if not, executing step 211, and the automatic parking function enters an activated state;

[0083] Step 209, determining whether the first distance between the target vehicle and the obstacle vehicle is greater than the second distance threshold, if so, the automatic parking function is still in the standby state, and executing step 210;

[0084] Step 210, the automatic parking function is not activated;

[0085] Step 211, the automatic parking function is activated.

[0086] The above implementation process is continuously and cyclically implemented after the target vehicle is started, and is stopped after the target vehicle stops running or obtains the automatic parking function disabling information.

[0087] In a specific embodiment, Figure 3 As shown, the implementation process of the automatic parking control method in the parking scene is as follows:

[0088] Step 301, determining whether the target vehicle is stopped, that is, whether the speed of the target vehicle is zero, if not, continue to monitor the target vehicle, if so, execute step 302;

[0089] Step 302, determining whether the brake master cylinder pressure of the target vehicle reaches the first brake threshold, if not, the automatic parking function is in an inactive state (also known as a Standby-wait state), executing step 310, if yes, executing step 303;

[0090] Step 303, the automatic parking function enters a standby state (also called a Standby-active state);

[0091] Step 304, determining whether the road slope of the target vehicle is greater than the slope threshold, if so, executing step 311, the automatic parking function enters the activation state (also called the Active state), if not, executing step 305;

[0092] Step 305, determining whether the second distance between the first obstacle and the target vehicle in the driving direction corresponding to the current gear is less than the third distance threshold, if not, executing step 310, the automatic parking function remains in the standby state, if yes, executing step 306;

[0093] Step 306, determining whether the change trend of the braking force indicates that the braking force is decreasing, if not, executing step 310, the automatic parking function remains in a standby state, if so, executing step 307;

[0094] Step 307, determining whether the target vehicle has a gear switch within a preset time period, if so, executing step 308;

[0095] Step 308, determining whether the braking force is greater than the second braking threshold, if so, executing step 309;

[0096] Step 309, when the speed of the target vehicle is not zero, determining whether the second static time length during which the speed of the target vehicle is continuously zero in the current gear is less than the second time length threshold, if so, executing step 310, the automatic parking function remains in the standby state, if so, executing step 311, the automatic parking function enters the activated state;

[0097] Step 310, the automatic parking function is not activated;

[0098] Step 311, the automatic parking function is activated.

[0099] The above implementation process is continuously and cyclically implemented after the target vehicle is started, and is stopped after the target vehicle stops running or obtains the automatic parking function disabling information.

[0100] It should be noted that the driver in the above embodiments can be a real driver or a virtual driver, and is called a driver as long as the driving function can be achieved. The first braking threshold, the second braking threshold, the preset distance range, the second preset distance range, the first distance threshold, the second distance threshold, the third distance threshold, the first duration threshold, the first duration threshold, the second duration threshold, the slope threshold and other parameters provided in the above embodiments are set in advance according to the vehicle performance, actual conditions and needs of the target vehicle, but the specific values ​​set for each parameter do not affect each other, and the specific values ​​set for each parameter can be the same or different. When the automatic parking control methods provided in the above-mentioned embodiments are implemented on specific vehicle models, conditional limitations can be made on the original automatic parking control logic of the specific vehicle model. When the target vehicle does not meet the comprehensive restrictions of the above-mentioned vehicle speed, braking force, change trend, stationary time, gear switching and other conditions, the control logic of the automatic parking function is still self-consistent with the control logic of the automatic parking function originally configured for the target vehicle. In other words, the present application expands the automatic parking control methods provided in the above-mentioned embodiments to the control logic of the existing automatic parking function of the vehicle through conditional judgment, so that the automatic parking control methods provided in the above-mentioned embodiments can be implemented on more vehicle models, thereby improving the universality of the automatic parking control methods.

[0101] In an embodiment of the present application, the vehicle status information of the target vehicle and the environmental information corresponding to the vehicle status information in the current environment of the target vehicle are obtained; based on the vehicle status information and the environmental information, it is determined whether to activate the automatic parking function of the target vehicle. In the above process, when controlling the automatic parking function of the target vehicle, the vehicle status information and the environmental information are closely combined to achieve a diversified analysis of the driving process of the target vehicle, improve the adaptability of the automatic parking function to the diversified driving process, avoid the single control of the automatic parking function, and thus improve the intelligence of the automatic parking function control process, as well as the safety and driving experience of the driver driving the target vehicle.

[0102] Furthermore, when the target vehicle is driving on a public road, the forward-looking camera sensor can be used to identify the obstacle vehicle directly in front of the lane, and the motion state of the obstacle vehicle can be calculated in real time. Or when the target vehicle is parked in a parking lot, the surround camera and ultrasonic radar sensor can be used to identify the surrounding environment of the vehicle. In the above driving scenarios, the information recognized by the sensor, combined with the timing of the driver's stepping on the brake pedal, whether there is a tendency to release the brake pedal, and whether there is a gear shift, the automatic parking function is changed from the traditional activation method when the vehicle is stationary to an intelligent activation method based on the driving environment and driving needs. Solve the problem of poor driving experience caused by frequent activation of the automatic parking function when following a vehicle at low speed and stopping in traffic jams and reversing into a garage.

[0103] Example Vehicles

[0104] Correspondingly, an embodiment of the present application further provides a vehicle, which serves as a target vehicle and controls an automatic parking function by an automatic parking control method provided in any one of the above embodiments.

[0105] The vehicle provided in this embodiment belongs to the same application concept as the automatic parking control method provided in the above embodiments of this application, and can apply the automatic parking control method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the automatic parking control method provided in the above embodiments of this application, and will not be repeated here.

[0106] Exemplary Devices

[0107] Accordingly, the embodiment of the present application also provides an automatic parking control device, such as Figure 4 As shown, the device may include:

[0108] The acquisition module 401 is used to acquire the vehicle state information of the target vehicle and the environment information corresponding to the vehicle state information in the current environment of the target vehicle if the speed of the target vehicle is zero;

[0109] The judgment module 402 is used to judge whether to activate the automatic parking function of the target vehicle according to the vehicle state information and the environmental information.

[0110] The automatic parking control device provided in this embodiment belongs to the same application concept as the automatic parking control method provided in the above embodiments of this application, and can execute the automatic parking control method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the automatic parking control method provided in the above embodiments of this application, and will not be repeated here.

[0111] Exemplary Electronic Devices

[0112] The present application also provides an electronic device, such as Figure 5 As shown, the electronic device includes: a memory 500 and a processor 501.

[0113] The memory 500 is connected to the processor 501 and is used to store programs.

[0114] The processor 501 is used to implement the automatic parking control method in the above embodiment by running the program stored in the memory 500.

[0115] Specifically, the electronic device may further include: a communication interface 502 , an input device 503 , an output device 504 and a bus 505 .

[0116] The processor 501, the memory 500, the communication interface 502, the input device 503 and the output device 504 are connected to each other via a bus.

[0117] Bus 505 may include a pathway for transferring information between the various components of the computer system.

[0118] The processor 501 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0119] The processor 501 may include a main processor, and may also include a baseband chip, a modem, etc.

[0120] The memory 500 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 500 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0121] The input device 503 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0122] Output device 504 may include a device that allows information to be output to a user, such as a display screen, printer, speaker, etc.

[0123] The communication interface 502 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0124] The processor 501 executes the program stored in the memory 500 and calls other devices, which can be used to implement the various steps of the automatic parking control method provided in the above embodiments of the present application.

[0125] Exemplary computer program products and storage media

[0126] In addition to the above-mentioned method and device, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the automatic parking control method described in the embodiment of the present application.

[0127] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK).

[0128] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0129] In addition, the embodiments of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the automatic parking control method described in the embodiments of the present application.

[0130] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0131] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0132] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0133] The modules and sub-modules in the devices and terminals provided in the embodiments of the present application can be merged, divided and deleted according to actual needs.

[0134] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0135] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0136] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0137] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0138] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0139] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0140] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic parking control method, characterized in that: include: If the speed of the target vehicle is zero, then obtaining vehicle state information of the target vehicle and environmental information corresponding to the vehicle state information in the current environment of the target vehicle; According to the vehicle state information and the environmental information, it is determined whether to activate the automatic parking function of the target vehicle.

2. The automatic parking control method according to claim 1, characterized in that: The vehicle state information includes the braking force of the target vehicle, and the environmental information includes the movement information of the leading vehicle of the obstacle vehicle within a preset distance range in front of the target vehicle; The determining whether to activate the automatic parking function of the target vehicle according to the vehicle state information and the environment information includes: If the braking force is greater than a first braking threshold, obtaining a change trend of the braking force; If the change trend indicates that the braking force is reduced, obtaining the movement information of the preceding vehicle; Based on the preceding vehicle movement information, it is determined whether to activate an automatic parking function of the target vehicle.

3. The automatic parking control method according to claim 2, characterized in that: The determining whether to activate the automatic parking function of the target vehicle based on the preceding vehicle movement information includes: If the speed of the obstacle vehicle is greater than zero, obtaining a first distance between the target vehicle and the obstacle vehicle; If the first distance is greater than a first distance threshold, the automatic parking function of the target vehicle is not activated.

4. The automatic parking control method according to claim 2, characterized in that: The determining whether to activate the automatic parking function of the target vehicle based on the preceding vehicle movement information includes: If the speed of the obstacle vehicle is greater than zero, obtaining a first stationary time length during which the speed of the obstacle vehicle is continuously zero, and obtaining a first distance between the target vehicle and the obstacle vehicle; If the first stationary time is less than a first time threshold and the first distance is greater than a second distance threshold, the automatic parking function of the target vehicle is not activated.

5. The automatic parking control method according to claim 2, characterized in that: The determining whether to activate the automatic parking function of the target vehicle based on the preceding vehicle movement information includes: If the speed of the obstacle vehicle is zero, then the first stationary time length during which the speed of the obstacle vehicle is continuously zero is counted; If the first stationary time reaches a first time threshold, an automatic parking function of the target vehicle is activated.

6. The automatic parking control method according to claim 1, characterized in that: The vehicle state information includes a current gear position of the target vehicle, and the environmental information includes a second distance between a first obstacle and the target vehicle in a driving direction corresponding to the current gear position; The determining, based on the vehicle state information and the environment information, whether to activate the automatic parking function of the target vehicle includes: If the second distance is less than a third distance threshold, an automatic parking function of the target vehicle is activated.

7. The automatic parking control method according to claim 6, characterized in that: The vehicle status information also includes the braking force of the target vehicle; The determining, based on the vehicle state information and the environment information, whether to activate the automatic parking function of the target vehicle includes: If the second distance is greater than or equal to the third distance threshold, obtaining a change trend of the braking force; If the change trend indicates that the braking force remains unchanged or increases, the automatic parking function of the target vehicle is not activated.

8. The automatic parking control method according to claim 7, characterized in that: The vehicle status information also includes gear switching; The determining, based on the vehicle state information and the environment information, whether to activate the automatic parking function of the target vehicle includes: If the change trend indicates that the braking force is reduced, and the target vehicle has the gear switch within the preset time, then obtaining a second stationary time during which the target vehicle has a speed of zero in the current gear; If the second stationary time is less than a second time threshold, the automatic parking function of the target vehicle is not activated.

9. The automatic parking control method according to claim 1, characterized in that: The vehicle state information includes the braking force of the target vehicle, and the environmental information includes the road slope of the road where the target vehicle is located; The determining, based on the vehicle state information and the environment information, whether to activate the automatic parking function of the target vehicle includes: If the braking force is greater than a first braking threshold, obtaining the road slope; If the road slope is less than the slope threshold, obtaining a change trend of the braking force; If the change trend indicates that the braking force increases or remains unchanged, the automatic parking function of the target vehicle is not activated.

10. The automatic parking control method according to claim 1, characterized in that: The vehicle state information includes the braking force of the target vehicle, and the environmental information includes the road slope of the road where the target vehicle is located, and a third distance between the second obstacle closest to the target vehicle and the target vehicle; The determining, based on the vehicle state information and the environment information, whether to activate the automatic parking function of the target vehicle includes: If the braking force is greater than a first braking threshold, obtaining the road slope; If the road slope is less than the slope threshold, acquiring the third distance; If the third distance is less than a fourth distance threshold, an automatic parking function of the target vehicle is activated.

11. The automatic parking control method according to claim 1, characterized in that: The determining, based on the vehicle state information and the environment information, whether to activate the automatic parking function of the target vehicle includes: Obtaining the environment scene of the target vehicle's current environment; Based on the environmental scene, the vehicle status information and the environmental information, it is determined whether to activate the automatic parking function of the target vehicle.

12. A vehicle, characterized in that: The vehicle is used as a target vehicle, and an automatic parking function is controlled by the automatic parking control method according to any one of claims 1 to 11.

13. An electronic device, characterized in that: include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the automatic parking control method as described in any one of claims 1-11 by running the program in the memory.

14. A computer program product, characterized in that includes computer program instructions; When the computer program instructions are executed by a processor, the processor executes the automatic parking control method as described in any one of claims 1 to 11.

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