Automobile automatic parking method based on mobile terminal and related device

Abstract

The invention belongs to the technical field of automobile parking, and discloses an automobile automatic parking method based on a mobile terminal and a related device.The automobile automatic parking method based on the mobile terminal comprises the steps that under the condition that automatic parking of an automobile is started, at least one parking path is planned according to the current position of the automobile and a target parking space; sending the at least one parking path to a mobile terminal; a target parking path issued by the mobile terminal is responded, and parking is controlled according to the target parking path; wherein the target parking path is one type of parking path in the at least one parking path. The invention aims to solve the problem that a driver or a passenger is difficult to get on and off a vehicle smoothly after the opening angle of the vehicle door is limited due to the small space between parking spaces after parking.

Description

Technical Field

[0001] The present invention belongs to the technical field of automobile parking, and in particular relates to an automobile automatic parking method based on a mobile terminal and a related device. Background Art

[0002] With the continuous progress of the automobile industry and the development of intelligent technology, cars have become an indispensable means of transportation in modern society, greatly facilitating people's daily travel. Among the many use scenarios of cars, parking is a key link in the driving process, and its convenience and safety have always been the focus of users. Especially in urban environments, due to limited land resources, parking spaces are often designed to be relatively compact, with small spacing between parking spaces, which brings many inconveniences to drivers and passengers when getting off the car after parking.

[0003] In traditional parking methods, drivers need to rely on their personal experience and skills to accurately park their vehicles in limited spaces. However, in conditions where the spacing between parking spaces is small, even if the vehicle can be successfully parked in the parking space, due to space limitations, the angle at which the door opens is often not enough for the driver or passengers to enter and exit the vehicle comfortably and smoothly. This situation not only affects the user's riding experience, but may also increase safety risks due to body distortion or collision when getting out of the vehicle. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a method and related device for automatic parking of a car based on a mobile terminal, which aims to solve the problem that it is difficult for the driver or passengers to get on and off the car smoothly after the door opening angle is limited due to the small spacing between parking spaces after parking.

[0005] In order to solve the above technical problems, the present invention is implemented by the following technical solutions:

[0006] According to a first aspect of the present invention, there is provided a method for automatic parking of a car based on a mobile terminal, comprising:

[0007] When the car is in automatic parking mode, at least one parking path is planned according to the current position of the car and the target parking space;

[0008] sending the at least one parking route to a mobile terminal;

[0009] In response to the target parking path sent by the mobile terminal, parking is controlled according to the target parking path; wherein the target parking path is one of the at least one parking path.

[0010] In a possible implementation manner of the first aspect, before planning at least one parking path according to the current position of the vehicle and the target parking space, the method further includes:

[0011] Receive the automatic parking start command and start the automatic parking function.

[0012] In a possible implementation manner of the first aspect, before planning at least one parking path according to the current position of the vehicle and the target parking space, the method further includes:

[0013] Acquire the current position of the vehicle and the environment information around the target parking space, wherein the environment information around the target parking space includes the target parking space line and obstacle information;

[0014] At least one parking path is planned based on the current position of the vehicle, the target parking space line and the obstacle information.

[0015] In a possible implementation manner of the first aspect, after controlling parking according to the target parking path, the method further includes:

[0016] Send parking completion information to the mobile terminal.

[0017] In a possible implementation manner of the first aspect, after sending the parking completion information to the mobile terminal, the method further includes:

[0018] Responding to the vehicle locking instruction sent by the mobile terminal;

[0019] The vehicle is locked according to the vehicle locking instruction.

[0020] In a possible implementation manner of the first aspect, the responding to the target parking path sent by the mobile terminal further includes:

[0021] Trigger the car's double flash lights on function and the car's double flash lights will turn on.

[0022] In a possible implementation manner of the first aspect, sending the at least one parking route to the mobile terminal specifically includes:

[0023] Sending the at least one parking path to a mobile terminal based on Bluetooth technology;

[0024] The target parking path sent in response to the mobile terminal is specifically:

[0025] Respond to the target parking path sent by the mobile terminal based on Bluetooth technology.

[0026] According to a second aspect of the present invention, there is provided a vehicle automatic parking device based on a mobile terminal, comprising:

[0027] A parking path planning module, used to plan at least one parking path according to the current position of the car and the target parking space when the car starts automatic parking;

[0028] A parking path sending module, used for sending the at least one parking path to a mobile terminal;

[0029] The parking control module is used to respond to the target parking path sent by the mobile terminal and control parking according to the target parking path; wherein the target parking path is one of the at least one parking path.

[0030] In a possible implementation manner of the second aspect, before planning at least one parking path according to the current position of the vehicle and the target parking space, the method further includes:

[0031] Receive the automatic parking start command and start the automatic parking function.

[0032] In a possible implementation manner of the second aspect, before planning at least one parking path according to the current position of the vehicle and the target parking space, the method further includes:

[0033] Acquire the current position of the vehicle and the environment information around the target parking space, wherein the environment information around the target parking space includes the target parking space line and obstacle information;

[0034] At least one parking path is planned based on the current position of the vehicle, the target parking space line and the obstacle information.

[0035] In a possible implementation manner of the second aspect, after controlling parking according to the target parking path, the method further includes:

[0036] Send parking completion information to the mobile terminal.

[0037] In a possible implementation manner of the second aspect, after sending the parking completion information to the mobile terminal, the method further includes:

[0038] Responding to the vehicle locking instruction sent by the mobile terminal;

[0039] The vehicle is locked according to the vehicle locking instruction.

[0040] In a possible implementation manner of the second aspect, the responding to the target parking path sent by the mobile terminal further includes:

[0041] Trigger the car's double flash lights on function and the car's double flash lights will turn on.

[0042] In a possible implementation manner of the second aspect, sending the at least one parking route to the mobile terminal specifically includes:

[0043] Sending the at least one parking path to a mobile terminal based on Bluetooth technology;

[0044] The target parking path sent in response to the mobile terminal is specifically:

[0045] Respond to the target parking path sent by the mobile terminal based on Bluetooth technology.

[0046] According to a third aspect of the present invention, there is provided a device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the mobile terminal-based automatic parking method for a car when executing the computer program.

[0047] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for automatic parking of a car based on a mobile terminal is implemented.

[0048] Compared with the prior art, the present invention has at least the following beneficial effects:

[0049] The present invention provides a method for automatic parking of a car based on a mobile terminal. When the car starts automatic parking, at least one parking path is planned according to the current position of the car and the target parking space; at least one parking path is sent to the mobile terminal; in response to the target parking path sent by the mobile terminal, parking is controlled according to the target parking path. That is to say, when the parking space spacing is small or the parking environment is complex, the driver can get off the car in advance after observing the parking environment and send a parking instruction through the mobile terminal, so that the car can automatically complete the parking process. The driver does not need to worry about the problem of limited door opening after parking, and can enter and exit the vehicle more easily and freely. In summary, when the parking space spacing is small or the parking environment is complex, the traditional parking method often makes it difficult for the driver or passengers to comfortably open the door and get off the car after parking. The present invention effectively solves the problem that the driver or passengers find it difficult to get on and off the car smoothly after the door opening angle is limited due to the small parking space spacing.

[0050] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the specific implementation modes of the present invention, the drawings required for use in the description of the specific implementation modes will be briefly introduced below. Obviously, the drawings described below are some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1This is a flow chart of a method for automatic parking of a car based on a mobile terminal according to an embodiment of the present invention;

[0053] Figure 2 The present invention is a block diagram of an automatic parking device for a car based on a mobile terminal according to an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] like Figure 1 As shown, an embodiment of the present invention provides a method for automatic parking of a car based on a mobile terminal, which is mainly to solve the problem of inconvenience in getting off the car after parking in a compact parking space environment. The parking method mainly includes the following steps:

[0056] S1. When the automatic parking mode of the vehicle is turned on, at least one parking path is planned according to the current position of the vehicle and the target parking space.

[0057] Specifically, when the user decides to use the automatic parking function, he or she first needs to activate the automatic parking function in the car or through remote control. After activation, the car's automatic parking system will begin to automatically detect the surrounding environmental information, including but not limited to nearby obstacles, vehicles, pedestrians, road markings, and available parking spaces. This information is collected by various sensors equipped on the car (such as radar, camera, ultrasonic sensor, etc.) and integrated by the on-board computing unit. After obtaining sufficient environmental information, the on-board computing unit will plan at least one feasible parking path based on the current position of the car and the target parking space (selected by the user through the on-board interface or automatically identified by the system). It should be understood that the planning of the parking path can adopt methods such as double arc planning, arc and straight line combination planning, and polynomial planning.

[0058] S2. Sending the at least one parking route to a mobile terminal.

[0059] That is to say, the planned parking path information will be encoded and wirelessly transmitted to the user's mobile terminal. Preferably, the mobile terminal is the driver's smart phone.

[0060] More specifically, this step depends on the communication protocol between the car and the mobile terminal, which can be Bluetooth, Wi-Fi, cellular data or any other supported data transmission method. On the mobile terminal, the user will see a graphical representation of one or more parking paths, including the starting point, end point and key points along the path. The user can select the most suitable one as the target parking path on the mobile terminal according to his or her preferences or actual situation.

[0061] S3. Responding to the target parking path sent by the mobile terminal, controlling parking according to the target parking path; wherein the target parking path is one of the at least one parking path.

[0062] Specifically, after the user selects the target parking path, a confirmation signal is sent to the car through the mobile terminal. After the car receives the signal, it will automatically start the parking program and control it according to the selected target parking path. During the parking process, the car will adjust the direction, speed and acceleration to ensure that it moves smoothly and safely to the target parking space along the planned path. At the same time, the sensors on the car will continue to monitor the surrounding environment. Once any potential danger is detected (such as sudden pedestrians or obstacles), the system will immediately take measures (such as pausing parking, sounding an alarm, etc.) to avoid accidents.

[0063] It can be seen that through the mobile terminal-based automatic car parking method provided by the present invention, when the driver needs to park, he observes the parking environment. If the parking environment will make it inconvenient for the driver or passengers to open the door and get off the car after parking, the driver can choose to turn on the automatic parking function before parking, and then get off the car in advance. After getting off the car, the driver sends a parking instruction through the mobile terminal, and the car parks according to the parking instruction, avoiding the problem of inconvenience in getting off the car after parking.

[0064] In one achievable manner, before planning at least one parking route according to the current position of the vehicle and the target parking space, the method further includes: receiving an automatic parking start instruction and starting the automatic parking function.

[0065] That is to say, when the user decides to use the automatic parking function, he or she must first send a command to the car to start the automatic parking function in some way. This command can be sent in a variety of ways, including but not limited to:

[0066] ① The user can send a command by pressing or toggling the button or switch used to turn on the automatic parking function directly inside the car.

[0067] ②If the car is equipped with a voice recognition system, users can turn on the automatic parking function through voice commands, such as saying "turn on automatic parking" and other preset voice commands.

[0068] ③Users can also send instructions to start automatic parking through an application installed on a mobile terminal (such as a smartphone).

[0069] When the car receives the command to start automatic parking, the car's control system will respond immediately and start the automatic parking function. During this process, various sensors on the car (such as radar, camera, ultrasonic sensor, etc.) will be activated to collect information about the surrounding environment, including nearby obstacles, vehicles, pedestrians, road markings, and available parking spaces.

[0070] In one achievable manner, before planning at least one parking path according to the current position of the vehicle and the target parking space, the method further includes:

[0071] a. Obtaining the current position of the vehicle and the environmental information around the target parking space, wherein the environmental information around the target parking space includes the target parking space line and obstacle information.

[0072] Specifically, after the automatic parking function is activated, the car's global positioning system (GPS) or other positioning device will automatically obtain the car's current location information. At the same time, the parking space lines on the target parking space, including the front and rear boundary lines, left and right boundary lines, etc., are identified through sensors such as cameras and radars to determine the exact location and size of the parking space; at the same time, obstacles in the target parking space and its surrounding areas, such as other parked vehicles, curbs, trees, pedestrians, etc., are identified.

[0073] b. Based on the current position of the vehicle, target parking space line and obstacle information, at least one parking path is planned.

[0074] Specifically, after obtaining the current position of the car, the target parking space line and the obstacle information, the on-board computing unit will plan at least one feasible parking path based on this information using the path planning algorithm. It should be understood that the generation of each parking path takes into account factors such as the size of the vehicle, steering capability, driving speed, the location of surrounding obstacles and possible driving restrictions.

[0075] In an implementable manner, after controlling parking according to the target parking path, the method further includes: sending parking completion information to the mobile terminal.

[0076] That is, when the car successfully parks in the target parking space, the system will automatically confirm that the parking is complete. After the parking is completed, the control system of the car will send a parking completion message to the user's mobile terminal to inform the user that the parking has been successfully completed.

[0077] For example, the parking completion information may include the parking location, parking time, fuel or electricity consumed, etc. The user can quickly understand the parking result by viewing the parking completion information.

[0078] In an achievable manner, after sending the parking completion information to the mobile terminal, the method further includes: responding to a vehicle locking instruction sent by the mobile terminal; and completing vehicle locking according to the vehicle locking instruction.

[0079] Specifically, after the parking completion information is sent, if the user wants to lock the vehicle immediately to ensure safety, a lock command can be sent to the car through the mobile terminal. After the car receives the lock command, it will immediately respond and enter the lock process. During the lock process, the car will automatically lock all doors, including the driver's door, the co-driver's door, the trunk door, etc., to prevent unauthorized entry; at the same time, it will automatically close all windows and sunroofs to prevent rain, dust, etc. from entering the car. Preferably, the car will also confirm that the lock operation has been completed by flashing lights or honking the horn. When the car successfully completes the lock operation, the control system will send a lock completion message to the user's mobile terminal to inform the user that the vehicle has been safely locked.

[0080] In one achievable manner, in response to the target parking path sent by the mobile terminal, it also includes: triggering a function of turning on the vehicle's double flash lights, and turning on the vehicle's double flash lights.

[0081] That is to say, when the user selects the target parking path through the mobile terminal and sends it to the car, the car will immediately respond to the target parking path instruction. At this time, in order to provide more intuitive parking instructions to the user and the surrounding environment, the car's control system will trigger the double flash light function, causing the car's double flash lights to flash. After the double flash lights are turned on, it can not only remind the user that the car is ready to park according to the selected target parking path, but also warn pedestrians and other vehicles in the surrounding environment to reduce safety risks during parking. When the double flash lights are turned on, the car will automatically park according to the selected target parking path.

[0082] In one possible implementation, the at least one parking path is sent to the mobile terminal based on Bluetooth technology, that is, after the parking path is planned, the control system of the car will use Bluetooth technology to send the at least one parking path to the user's mobile terminal. It should be understood that the car and the mobile terminal need to establish a Bluetooth connection first before data communication can be performed.

[0083] Based on the Bluetooth technology, the target parking path sent by the mobile terminal is responded to. When the user selects the target parking path through the mobile terminal and sends it to the car, the car will receive the instruction using the Bluetooth technology. After receiving the instruction, the car will respond immediately and prepare for parking according to the selected target parking path.

[0084] In this implementation, Bluetooth technology is used to transmit parking information, ensuring that the transmission of parking information is not affected even in an environment where the basement network signal is poor.

[0085] In one embodiment, the user's smartphone is equipped with an automatic parking APP. The APP interface can provide functions such as start, pause, continue, and complete, as well as voice and text reminders during the parking process. The APP can synchronously display the current parking status, and supports parallel parking spaces with single and double boundaries, vertical parking spaces with single and double boundaries, and diagonal parking spaces. The APP interface can display the Bluetooth connection status of the mobile phone, and can let the user know the Bluetooth signal strength between the mobile phone and the vehicle in real time, so that the user can park the car under the premise of remote parking, thereby allowing the user to perform parking operations more safely.

[0086] In one embodiment, the recognition aspect is mainly composed of ultrasonic radar and camera system, which are PDC system and AVM system respectively. The PDC system is responsible for scanning the space size and obstacle position of the parking space; the AVM system is responsible for identifying lane lines and visual obstacle information through the camera. The remote parking system can comprehensively judge the parking space information based on the fusion of the recognition results of the PDC system and the AVM system, automatically detect the available parking space and provide the driver with parking instructions and direction control functions, and control the vehicle to automatically enter the corresponding parking space.

[0087] Preferably, when the vehicle is in the locked state, the user sends a parking instruction through the APP, and the system will automatically pair and authenticate. After the pairing is successful, the BCM starts to release the power and the VCU executes the high voltage. The vehicle status is READY. When both conditions are met, the double flashes light up, and the parking controller starts to park out according to the parking signal. The vehicle automatically completes the exit and prompts that the parking is completed.

[0088] In another embodiment of the present invention, the present invention further provides an automatic parking device for a car based on a mobile terminal, the automatic parking device for a car is used to implement an automatic parking method for a car based on a mobile terminal in the above embodiment, and specifically includes a parking path planning module, a parking path sending module and a parking control module, each module is configured as follows: including:

[0089] The parking path planning module is used to plan at least one parking path according to the current position of the car and the target parking space when the car turns on automatic parking.

[0090] Specifically, before planning at least one parking path according to the current position of the vehicle and the target parking space, the process also includes:

[0091] Acquire the current position of the vehicle and the environmental information around the target parking space, wherein the environmental information around the target parking space includes the target parking space line and obstacle information; and plan at least one parking path based on the current position of the vehicle, the target parking space line and the obstacle information.

[0092] The parking path sending module is used to send the at least one parking path to the mobile terminal.

[0093] The parking control module is used to respond to the target parking path sent by the mobile terminal and control parking according to the target parking path; wherein the target parking path is one of the at least one parking path.

[0094] Specifically, after controlling parking according to the target parking path, the method further includes: sending parking completion information to the mobile terminal.

[0095] Preferably, after sending the parking completion information to the mobile terminal, the method further includes: responding to a vehicle locking instruction sent by the mobile terminal; and completing vehicle locking according to the vehicle locking instruction.

[0096] All relevant contents of each step involved in the aforementioned embodiment of a method for automatic parking of a car based on a mobile terminal can be referred to the functional description of the functional module corresponding to the automatic parking device for a car based on a mobile terminal in the embodiment of the present invention, and will not be repeated here. The division of modules in the embodiment of the present invention is schematic, which is only a logical function division. There may be other division methods in actual implementation. In addition, each functional module in each embodiment of the present invention can be integrated into a processor, or it can exist physically separately, or two or more modules can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules.

[0097] In another embodiment of the present invention, a computer device is provided, the computer device comprising a processor and a memory, the memory is used to store a computer program, the computer program comprises program instructions, and the processor is used to execute the program instructions stored in the computer storage medium. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc., which are the computing core and control core of the terminal, which are suitable for implementing one or more instructions, and are specifically suitable for loading and executing one or more instructions in the computer storage medium to implement the corresponding method flow or corresponding function; the processor described in the embodiment of the present invention can be used for the operation of a method for automatic parking of a car based on a mobile terminal.

[0098] In another embodiment of the present invention, the present invention further provides a storage medium, specifically a computer-readable storage medium (Memory), which is a memory device in a computer device for storing programs and data. It is understandable that the computer-readable storage medium here can include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. The computer-readable storage medium provides a storage space, which stores the operating system of the terminal. In addition, one or more instructions suitable for being loaded and executed by the processor are also stored in the storage space, and these instructions can be one or more computer programs (including program codes). It should be noted that the computer-readable storage medium here can be a high-speed RAM memory or a non-volatile memory, such as at least one disk memory. The processor can load and execute one or more instructions stored in the computer-readable storage medium to implement the corresponding steps of the above-mentioned embodiment of a method for automatic parking of a car based on a mobile terminal.

[0099] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0101] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0102] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0103] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0104] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for automatic parking of a car based on a mobile terminal, characterized in that: include: When the car is in automatic parking mode, at least one parking path is planned according to the current position of the car and the target parking space; sending the at least one parking route to a mobile terminal; In response to the target parking path sent by the mobile terminal, parking is controlled according to the target parking path; wherein the target parking path is one of the at least one parking path.

2. The method for automatic parking of a car based on a mobile terminal according to claim 1, characterized in that: Before planning at least one parking path according to the current position of the vehicle and the target parking space, the method further includes: Receive the automatic parking start command and start the automatic parking function.

3. The method for automatic parking of a car based on a mobile terminal according to claim 1, characterized in that: Before planning at least one parking path according to the current position of the vehicle and the target parking space, the method further includes: Acquire the current position of the vehicle and the environment information around the target parking space, wherein the environment information around the target parking space includes the target parking space line and obstacle information; At least one parking path is planned based on the current position of the vehicle, the target parking space line and the obstacle information.

4. The method for automatic parking of a car based on a mobile terminal according to claim 1, characterized in that: After controlling parking according to the target parking path, the method further includes: Send parking completion information to the mobile terminal.

5. The method for automatic parking of a car based on a mobile terminal according to claim 4, characterized in that: After sending the parking completion information to the mobile terminal, the method further includes: Responding to the vehicle locking instruction sent by the mobile terminal; The vehicle is locked according to the vehicle locking instruction.

6. The method for automatic parking of a car based on a mobile terminal according to claim 1, characterized in that: The step of responding to the target parking path sent by the mobile terminal further includes: Trigger the car's double flash lights on function and the car's double flash lights will turn on.

7. The method for automatic parking of a car based on a mobile terminal according to claim 1, characterized in that: The sending the at least one parking path to the mobile terminal specifically includes: Sending the at least one parking path to a mobile terminal based on Bluetooth technology; The target parking path sent in response to the mobile terminal is specifically: Respond to the target parking path sent by the mobile terminal based on Bluetooth technology.

8. An automatic parking device for a car based on a mobile terminal, characterized in that: include: A parking path planning module, used to plan at least one parking path according to the current position of the car and the target parking space when the car starts automatic parking; A parking path sending module, used for sending the at least one parking path to a mobile terminal; The parking control module is used to respond to the target parking path sent by the mobile terminal and control parking according to the target parking path; wherein the target parking path is one of the at least one parking path.

9. A device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the automatic parking method for a car based on a mobile terminal as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the automatic parking method for a car based on a mobile terminal as described in any one of claims 1 to 7 is implemented.

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