Parking method, parking device and vehicle

Abstract

The invention discloses a parking method, a parking device and a vehicle, and the parking method comprises the steps: recognizing whether a target parking space is a narrow parking space or not when a driver parks the vehicle into the target parking space; in response to the fact that the target parking space is a narrow parking space and the driver controls the vehicle to move to the target position, reminding the driver to get off; after the driver gets off, the vehicle is controlled to be parked into the target parking space from the target position; wherein the target position is the position where the vehicle can be parked in the target parking space at a time. According to the scheme, the narrow parking space parking function is triggered only when the driver parks the vehicle into the target parking space at the last step (namely, the driver moves the vehicle to the position where the vehicle can be parked into the target parking space once), so that the driver in the vehicle can participate in the parking process as much as possible, and further, the driver can be reminded to get off in the narrow parking space parking mode, so that the parking efficiency is improved. And after the driver gets off the vehicle, the vehicle continues to be parked along the original target planning path, so that the safety of the parking process is improved.

Description

Technical Field

[0001] The present application relates to the technical field of parking, and more specifically, to a parking method, a parking device and a vehicle. Background Art

[0002] In the current parking industry, it is difficult to park vehicles in narrow parking spaces, or after parking, drivers and passengers cannot get off the vehicle due to insufficient space, so they can only interrupt parking, abandon the parking space, and look for other parking spaces, resulting in a poor driving experience.

[0003] Although the automatic parking solution proposed in the related art can solve the problem of difficulty in getting off passengers in narrow parking spaces to a certain extent, due to the low or untimely obstacle detection accuracy of the vehicle, it is easy to cause sudden collisions during the automatic parking process in narrow parking spaces, and the automatic parking safety performance is relatively low. Summary of the invention

[0004] The embodiments of the present application provide a parking method, a parking device and a vehicle. The following introduces various aspects involved in the embodiments of the present application.

[0005] In a first aspect, a parking method is provided, comprising: during a process in which a driver parks a vehicle into a target parking space, identifying whether the target parking space is a narrow parking space; in response to the target parking space being a narrow parking space and the driver controlling the vehicle to move to a target position, reminding the driver to get off the vehicle; after the driver gets off the vehicle, controlling the vehicle to park into the target parking space from the target position; wherein the target position is a position in which the vehicle can be parked into the target parking space in a single time.

[0006] As a possible implementation manner, controlling the vehicle to park from the target position into the target parking space includes: continuously sending a first target signal to the vehicle to activate a narrow parking space parking mode; in the narrow parking space parking mode, controlling the vehicle to park from the target position into the target parking space.

[0007] As a possible implementation manner, the parking method further includes: in response to the interruption of the continuous state of the first target signal, braking the vehicle and exiting the narrow parking space parking mode.

[0008] As a possible implementation manner, the continuously sending the first target signal to the vehicle includes: continuously sending the first target signal to the vehicle by continuously pressing a first button of a smart key of the vehicle.

[0009] As a possible implementation, the identifying whether the target parking space is a narrow parking space includes: in response to an angle between the body of the vehicle and the entrance corner of the target parking space being greater than a preset threshold, identifying a parking distance of the target parking space, the parking distance being a difference between a measured width of the target parking space and a body width of the vehicle; if the parking distance is greater than a first threshold and less than a second threshold, determining that the target parking space is a narrow parking space; the first threshold is a minimum parking distance required for the vehicle to park in the target parking space, the first threshold is determined based on one or more of the following: a parking speed of the vehicle, a parking brake safety distance of the vehicle, and a parking brake slope of the vehicle; the second threshold is a minimum parking distance required for a passenger to get off the vehicle, the second threshold is determined based on one or more of the following: a door thickness of the vehicle, a minimum door opening required for a passenger to get off the vehicle, and a door width based on the minimum door opening.

[0010] As a possible implementation manner, before controlling the vehicle to park from the target position into the target parking space, the parking method further includes: determining the confidence of the target parking space based on parking space line characteristics and / or wheel stop characteristics of the target parking space; the confidence of the target parking space is used to indicate the validity of the target parking space.

[0011] As a possible implementation manner, before controlling the vehicle to park from the target position into the target parking space, the parking method further includes: determining a target planned path for parking from the target position into the target parking space according to the body size of the vehicle, the width of the target parking space, and obstacles around the target parking space; wherein the target planned path is a parking planned path for the vehicle to park from the target position into the target parking space in a single time.

[0012] As a possible implementation manner, after controlling the vehicle to park from the target position into the target parking space, the parking method further includes: in response to an automatic parking exit mode of the vehicle being activated, identifying whether the target parking space is a narrow parking space; in response to the target parking space being a narrow parking space, controlling the vehicle to park out of the target parking space.

[0013] As a possible implementation manner, controlling the vehicle to park out of the target parking space includes: continuously sending a second target signal to the vehicle to activate a narrow parking space parking exit mode; and controlling the vehicle to park out of the target parking space in the narrow parking space parking exit mode.

[0014] As a possible implementation manner, the continuously sending the second target signal to the vehicle includes: continuously sending the second target signal to the vehicle by continuously pressing a second button of a smart key of the vehicle.

[0015] In a second aspect, a parking device is provided, comprising: an identification module, used to identify whether the target parking space is a narrow parking space when the driver parks the vehicle into the target parking space; a reminder module, used to remind the driver to get off the vehicle in response to the target parking space being a narrow parking space and the driver controlling the vehicle to move to the target position; and a parking module, used to control the vehicle to park into the target parking space from the target position after the driver gets off the vehicle; wherein the target position is a position where the vehicle can be parked into the target parking space in a single time.

[0016] According to a third aspect, a vehicle is provided, comprising the parking device as described in the second aspect.

[0017] The present application provides a parking method, including: in the process of the driver parking the vehicle into the target parking space, identifying whether the target parking space is a narrow parking space; in response to the target parking space being a narrow parking space and the driver controlling the vehicle to move to the target position, reminding the driver to get off the vehicle; after the driver gets off the vehicle, controlling the vehicle to park into the target parking space from the target position; wherein the target position is a position where the vehicle can be parked into the target parking space in a single time. This solution triggers the narrow parking space parking function only when the driver parks the vehicle into the target parking space in the last step (i.e. the driver moves the vehicle to a position where the vehicle can be parked into the target parking space in a single time), so that the driver in the vehicle can participate in the parking process to the greatest extent possible. Furthermore, in the narrow parking space parking mode, the driver will be reminded to get off the vehicle, and the vehicle will continue to park along the original target planning path after the driver gets off the vehicle, thereby helping to improve the safety of the parking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a flowchart of a parking method provided in one embodiment of the present application.

[0019] Figure 2 It is a schematic diagram of the angle between the vehicle body and the target parking space provided in one embodiment of the present application.

[0020] Figure 3 Schematic diagram of the parking depth of a vehicle parked in a target parking space according to an embodiment of the present application.

[0021] Figure 4 yes Figure 1 Schematic diagram of the process of parking out of a target parking space shown in FIG.

[0022] Figure 5 It is a schematic diagram of the process of a narrow parking space parking mode provided in one embodiment of the present application.

[0023] Figure 6 It is a schematic diagram of the process of a narrow parking space parking mode provided in one embodiment of the present application.

[0024] Figure 7It is a structural schematic diagram of a docking device provided in one embodiment of the present application.

[0025] Figure 8 It is a schematic diagram of the structure of a vehicle provided in one embodiment of the present application. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0027] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present disclosure, unless otherwise specified, "multiple" means two or more. In addition, the use of "based on" or "according to" means openness and inclusiveness, because the process, step, calculation or other action "based on" or "according to" one or more conditions or values ​​can be based on additional conditions or beyond values ​​in practice.

[0028] In the current parking industry, when there are obstacles on both sides of the target parking space (such as vehicles or walls), the parking space may be narrow. It is difficult to park a vehicle in a narrow parking space, or after parking, the driver and passengers cannot get off the vehicle due to insufficient space, so they can only interrupt parking, abandon the parking space, and look for other parking spaces, which results in a poor driving experience.

[0029] The automatic parking solutions proposed in the related art can solve the problem of difficulty in getting off passengers in narrow parking spaces to a certain extent. However, due to the low or untimely obstacle detection accuracy of the vehicle, especially the poor detection effect of moving objects (such as pets or moving vehicles), it is easy to cause sudden collisions during automatic parking in narrow parking spaces, and the safety performance of automatic parking is low. In addition, in order to ensure the safety performance of automatic parking, manufacturers usually set a large braking distance for the vehicle, which further makes it difficult to park in a really narrow parking space or easy to cause collisions.

[0030] In view of the above problems, the present application provides a parking method, including: in the process of the driver parking the vehicle into the target parking space, identifying whether the target parking space is a narrow parking space; in response to the target parking space being a narrow parking space and the driver controlling the vehicle to move to the target position, reminding the driver to get off the vehicle; after the driver gets off the vehicle, controlling the vehicle to park into the target parking space from the target position; wherein the target position is a position where the vehicle can be parked into the target parking space in a single time. This solution triggers the narrow parking space parking function only when the driver parks the vehicle into the target parking space in the last step (i.e. the driver moves the vehicle to a position where the vehicle can be parked into the target parking space in a single time), so that the driver in the vehicle can participate in the parking process to the greatest extent possible. Furthermore, in the narrow parking space parking mode, the driver will be reminded to get off the vehicle, and the vehicle will continue to be parked along the original target planning path after the driver gets off the vehicle, thereby helping to improve the safety of the parking process.

[0031] Combined with the following Figure 1 The parking method in the embodiment of the present application is described in detail. The parking method in the embodiment of the present application can be applied to various vehicles, such as electric vehicles, fuel vehicles or hybrid vehicles, etc., and the present application does not make specific restrictions on this. Figure 1 As shown, the parking method 100 may include steps: S110 to S130.

[0032] In step S110 , when the driver parks the vehicle in the target parking space, it is identified whether the target parking space is a narrow parking space.

[0033] In order to allow the driver to participate in the parking process to the greatest extent possible and improve the safety of the parking process, in the present application, the driver controls the vehicle to park in the early stage of parking until the vehicle is moved to the target position.

[0034] In the embodiment of the present application, when the driver controls the vehicle to park, the vehicle can identify a narrow parking space for the target parking space.

[0035] In the embodiment of the present application, whether the target parking space is a narrow parking space is mainly identified by identifying the parking distance of the target parking space, and the parking distance is the difference between the measured width of the target parking space and the body width of the vehicle. For example, the parking distance of the target parking space can be detected and identified, and if the parking distance is greater than a first threshold (indicating that the vehicle can be parked in the target parking space), and the parking distance is less than a second threshold (indicating that when the vehicle is successfully parked in the preset range of the target parking space, it may affect the driver or passengers to get off the vehicle, that is, the door opening is limited), then the target parking space is determined to be a narrow parking space.

[0036] In some implementations, the first threshold is a minimum parking distance required for the vehicle to park in a target parking space, and the first threshold is determined based on one or more of the following: a parking speed of the vehicle, a parking brake safety distance of the vehicle, and a parking brake slope of the vehicle.

[0037] It should be noted that the lower the automatic parking speed set for the vehicle, the greater the braking slope, the smaller the braking safety distance, and the smaller the parking distance required for the vehicle to successfully park in the target parking space.

[0038] In some implementations, the second threshold is a minimum parking distance required for a passenger to get off the vehicle, and the second threshold is determined based on one or more of the following: a door thickness of the vehicle, a minimum door opening required for a passenger to get off the vehicle, and a door width based on the minimum door opening.

[0039] It should be noted that the thickness of the vehicle's doors will affect the door opening required for passengers to get off the vehicle (the smaller the door thickness, the smaller the door opening required by the passengers); the smaller the door opening, the smaller the door opening width, and the smaller the parking distance required to open the door.

[0040] As an example, the formula for determining whether the target parking space is a narrow parking space is as follows:

[0041]

[0042] in, is the target parking space width detected by the vehicle perception system; d is the body width of the vehicle; d1 is the minimum distance value obtained by subtracting the vehicle width from the target parking space width measured by the vehicle perception system. d1 is associated with the automatic parking speed set by the vehicle, the braking safety distance of the vehicle, and the braking slope of the vehicle. For example, the lower the automatic parking speed of the vehicle, the greater the braking slope, and the smaller the braking safety distance, the smaller d1 is, indicating that the parking space width required for the vehicle to park in the target parking space is narrower. d1 can be set according to actual conditions; d2 is the maximum distance value obtained by subtracting the vehicle width from the target parking space width measured by the vehicle perception system. d2 is associated with the vehicle door thickness and the door opening required for passengers to get off the vehicle (i.e., the minimum distance required for passengers to get off the vehicle). For example, the smaller the door opening, the smaller the door opening width, and the smaller the parking distance required for the door to open. d2 can be set according to actual conditions.

[0043] In the embodiment of the present application, the vehicle perception system includes but is not limited to: radar, camera, infrared and other sensors.

[0044] It should be noted that the above formula expresses a calculation method, and in actual processes, this formula can be used but is not limited to it.

[0045] It should be understood that during automatic parking in a narrow parking space, the target parking space width The judgment of the value is one of the necessary conditions for triggering the narrow parking space parking function.

[0046] Considering that the larger the angle between the vehicle body and the target parking space, the wider the target parking space The more accurate the detection value is. (Ideally, when the vehicle body is perpendicular to the target parking space, Therefore, when the angle between the vehicle body and the target parking space is greater than the preset threshold, the parking distance of the target parking space can be identified.

[0047] For example, in response to the angle between the vehicle body and the entrance corner of the target parking space being greater than a preset threshold, the parking distance of the target parking space is identified. The preset threshold can be set according to demand, for example, the preset threshold can be 60° or 75°.

[0048] As an example, see Figure 2 , the angle between the vehicle body and the entrance corner of the target parking space is α, and the width of the target parking space detected by the vehicle perception system is

[0049] In the present application, the angle (90°) between the vehicle body and the target parking space when the vehicle body is perpendicular to the target parking space is used as a reference benchmark, the angle between the vehicle body and the left entrance corner point of the target parking space is 0~90°, and the angle between the vehicle body and the right entrance corner point of the target parking space is 0~90°. Therefore, the angle between the vehicle body and the target parking space in the present application ranges from 0~90°.

[0050] In some implementations, if the target parking space does not have an entrance corner point, a parking space corner point of an obstacle on either side of the narrow parking space may be used as the entrance corner point of the target parking space for calculation.

[0051] It should be noted that an automatic parking function switch can be added to the vehicle's main control screen or the user's mobile phone. An automatic parking function button can also be set, such as setting the automatic parking function button on a smart car key, and triggering the automatic parking function through the smart car key. Of course, the automatic parking function can also be in a normally open state by default, and automatically triggered by a trigger event. For example, when the vehicle's gear is changed to the R gear, the automatic parking system is activated.

[0052] In step S120 , in response to the target parking space being a narrow parking space and the driver controlling the vehicle to move to the target position, the driver is reminded to get off the vehicle.

[0053] It should be noted that when the driver controls the vehicle to move to the target position, the vehicle's narrow parking space parking mode will be triggered. At this time, the vehicle will send a function request to the driver to automatically park in the target parking space (i.e., send a function request to the driver to enter the narrow parking space parking mode).

[0054] In some implementations, reminding the driver to get off the vehicle includes: reminding the driver to get off the vehicle after the driver agrees to enter the narrow parking space parking mode. Of course, even if the driver refuses to enter the narrow parking space parking mode, the vehicle can still remind the driver that the vehicle is about to park in a narrow parking space and there may be difficulty in getting off the passenger.

[0055] In this application, the target position is a position where the vehicle can be parked in the target parking space in a single time. Single parking may mean that starting from the target position, the vehicle can be successfully parked in the target parking space in one time by only moving backward or forward, and there is no collision with obstacles on both sides of the target parking space.

[0056] Considering that, without affecting passengers getting off the vehicle, the deeper the parking depth of the vehicle at the target position is, the longer the driver stays in the vehicle, and the higher the safety performance of the parking process. Therefore, the target position may also refer to a position where the vehicle can be parked in the target parking space once and the parking depth of the vehicle is greater than a depth threshold. The depth threshold can be set according to demand.

[0057] In some implementations, for example, the front or rear of the vehicle at the target location may be close to the edge of the target parking space, or may have been parked in the target parking space along the target planned path.

[0058] The parking depth of a vehicle parked in a target parking space is described in detail below with reference to an example.

[0059] For example, see Figure 3 If there are cars A and B on both sides of the target parking space, and the current driver controls the vehicle (i.e., the vehicle) in the R gear, and parks the vehicle in the target parking space through the rear end, the narrow parking space parking system uses the rear surround view or radar or other sensors that can sense the rear area to identify the edge of the parking space through a single recognition or fusion method. For example, the entrance edge L1, side line L2 and side line L3 of the target parking space can be identified, and the parking depth of the vehicle can be located by or without limitation to the existing positioning methods, such as defining the center point of the rear axle of the vehicle as a relative coordinate point, and a corner point of the target parking space as an absolute coordinate point, defining the parking depth as positive outside the garage and negative inside the garage, and combining the wheel speed pulse, driving time, and steering angle of the current vehicle to calculate the driving distance and parking depth D of the vehicle; when D≥b, the front row or the front and rear doors are not restricted from opening, and passengers can get off freely, which is a trigger condition for satisfying the subsequent automatic parking in the narrow parking space; when D<b, the front row or the front and rear doors are restricted from opening. b is a depth threshold for parking. For example, b can be set to 0 m, that is, the center point of the rear axle of the vehicle coincides with the entrance edge line L1. Of course, it can also be set to other values, such as -0.2 m.

[0060] It should be noted that when the vehicle is parked in the target parking space with the front of the vehicle in D gear, the method of judging the distance to the parking space line is the same as Figure 3The method of judging when the rear end of a vehicle in R gear is parked in the target parking space is the same and will not be elaborated here.

[0061] In some implementations, when parking into a target parking space by the front of the vehicle, the narrow parking space parking system of the vehicle may use a front surround view or radar or other means that can sense the space ahead to determine whether the target parking space is a narrow parking space.

[0062] In some implementations, when parking into a target parking space through the rear end of the vehicle, the vehicle's narrow parking system may use a rear surround view or radar or other means that can sense the rear space to determine whether the target parking space is a narrow parking space.

[0063] It should be noted that, in the process of determining the parking depth of the vehicle, if the edge of the target parking space is not detected, a corner point of the obstacles on both sides may be selected as an absolute coordinate point to determine the parking depth D.

[0064] In some implementations, before controlling the vehicle to park from the target position into the target parking space, the parking method further includes: starting the automatic parking function and using the automatic parking system to perform path planning. For example, according to the body size of the vehicle, the width of the target parking space, and obstacles around the target parking space, a target planning path for parking from the target position into the target parking space is determined; wherein the target planning path is a parking planning path that the vehicle can park from the target position into the target parking space once.

[0065] In this application, the target planning path is a parking planning path that the vehicle can park into the target parking space in a single time. In the embodiment of this application, the target planning path can also be referred to as the last planning path for the vehicle to park into the target parking space.

[0066] As an example, a target planning path for parking from a target position into a target parking space may be determined based on the body size of the vehicle, the width of the target parking space, and obstacles around the target parking space.

[0067] It should be noted that, for the generation of the target planning path for a narrow parking space, the present application may obtain an accurate planning route based on, but not limited to, using the free space around the vehicle, image segmentation or other methods.

[0068] In step S130, after the driver gets off the vehicle, the vehicle is controlled to park from the target position into the target parking space.

[0069] In some implementations, controlling the vehicle to park from the target position into the target parking space includes: continuously sending a first target signal to the vehicle to activate a narrow parking space parking mode; and in the narrow parking space parking mode, controlling the vehicle to park from the target position into the target parking space.

[0070] In response to the interruption of the continuous state of the first target signal, the vehicle is braked to a stop and the narrow parking space parking mode is exited, thereby minimizing the vehicle collision caused by the signal delay.

[0071] In some implementations, the first target signal can be continuously sent to the vehicle through software (such as a user's mobile phone APP), or through hardware (such as a smart car key). However, in order to reduce braking delay and facilitate operation and ensure functional safety, this application prefers to use a mechanical smart car key to trigger and activate the narrow parking space parking mode.

[0072] In some implementations, the first target signal may be continuously sent to the vehicle by continuously pressing a first button of a smart car key of the vehicle. The first button may be a button on the smart car key that can trigger and activate the narrow parking space parking mode.

[0073] In some implementations, before controlling the vehicle to park in the target parking space from the target position, the parking method further includes: determining the confidence of the target parking space according to the parking space line feature and / or wheel stop feature of the target parking space; the confidence of the target parking space is used to indicate the validity of the target parking space. If the confidence of the target parking space is greater than the confidence threshold, the target parking space is considered to be a valid parking space, and parking can be performed in the target parking space. If the confidence of the target parking space is less than or equal to the confidence threshold, the target parking space is considered to be an invalid parking space (such as an illegal parking space in a prohibited area or a narrow parking space where parking is not possible), and parking cannot be performed in the target parking space.

[0074] The characteristics of parking space lines include but are not limited to: the color, shape, continuity, direction indication, letter marking, etc. of parking space lines. The characteristics of wheel stoppers include but are not limited to: the position, shape, color, height, width, etc. of wheel stoppers.

[0075] It should be noted that when the driver controls the vehicle to gradually park in the target parking space, if it is confirmed that there are obstacles on both sides of the target parking space, the width of the target parking space If the narrow parking space threshold condition is met and the vehicle at the current position has been parked to a certain depth D in the target parking space, the narrow parking space parking mode can be triggered. The current position is the target position.

[0076] It should be understood that while the driver is controlling the vehicle to gradually park into the target parking space, the vehicle will judge the narrow parking mode in real time. If the current position of the vehicle has met the triggering conditions of the narrow parking mode, the driver will be reminded to enter the narrow parking mode.

[0077] In some implementations, after the narrow parking space parking mode is triggered, the vehicle can display images or sounds for the driver to choose whether to turn on the "narrow parking space parking mode" function.

[0078] It should be understood that when the driver is in the vehicle, regardless of whether the driver agrees to enter the narrow parking space parking mode, after the driver gets out of the vehicle, the narrow parking space parking mode can be activated by continuously sending the first target signal to the vehicle.

[0079] The above mainly introduces the parking mode of the vehicle in detail, and the parking mode of the vehicle will be introduced in conjunction with the accompanying drawings. It should be understood that the description of the embodiment of the parking mode of the vehicle in the above corresponds to the description of the embodiment of the parking mode of the vehicle out, so the parts not described in detail can refer to the embodiment of the parking mode of the vehicle in the above.

[0080] See also Figure 4 The parking method 400 in the embodiment of the present application may include steps: S410 to S420.

[0081] In step S410 , in response to the automatic parking mode of the vehicle being activated, it is identified whether the target parking space is a narrow parking space.

[0082] It should be understood that before step S410, the vehicle is already in the target parking space.

[0083] The method of identifying whether the target parking space is a narrow parking space is described in the above embodiment in the vehicle parking mode, which will not be described in detail here.

[0084] In step S420, in response to the target parking space being a narrow parking space, the vehicle is controlled to park out of the target parking space.

[0085] In some implementations, controlling the vehicle to park out of the target parking space includes: continuously sending a second target signal to the vehicle to activate a narrow parking space parking mode; and in the narrow parking space parking mode, controlling the vehicle to park out of the target parking space. The second target signal may be a signal that triggers activation of the narrow parking space parking mode.

[0086] In some implementations, continuously sending the second target signal to the vehicle includes continuously sending the second target signal to the vehicle by continuously pressing a second button of a smart car key of the vehicle.

[0087] In response to the interruption of the continuous state of the first target signal, the vehicle is braked to a stop and the narrow parking space exit mode is exited, thereby minimizing the vehicle collision caused by the signal delay.

[0088] In some implementations, the second target signal can be continuously sent to the vehicle through software (such as a user's mobile phone APP), or through hardware (such as a smart car key). However, in order to reduce braking delay and facilitate operation and ensure functional safety, this application prefers to use a mechanical smart car key to trigger and activate the narrow parking space exit mode.

[0089] In some implementations, the second target signal may be continuously sent to the vehicle by continuously pressing a second button of the vehicle's smart car key. The second button may be a button on the smart car key that can trigger and activate the narrow parking space exit mode.

[0090] It should be understood that when the parking space is wider, in order to provide safety during the parking process, the driver may perform manual parking without triggering the narrow parking space parking mode (including the narrow parking space parking entry mode and the narrow parking space parking exit mode).

[0091] The following describes the embodiments of the present application in more detail with reference to specific examples. Figures 5 and 6 It is only to help those skilled in the art understand the embodiments of the present application, rather than to limit the embodiments of the present application to the specific values ​​or specific scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the examples given, and such modifications or changes also fall within the scope of the embodiments of the present application.

[0092] Figure 5 A method for parking in a narrow parking space provided by an embodiment of the present application. Figure 5 The method for parking in a narrow parking space may include the following steps: S501 to S505.

[0093] In step S501, when the driver is controlling the parking of the vehicle, when the vehicle speed is less than a certain threshold, the vehicle automatically enters a ready state, starts scanning the surrounding environment, and identifies the characteristics of the target parking space. It should be understood that the narrow parking space parking function can be turned on by a button or by default. Step S501 can be called a narrow parking space recognition mode.

[0094] In step S502, according to the scan data of the narrow parking space recognition mode 510, the width of the left and right obstacles of the target parking space is determined, and the path planning is performed. If the target parking space is determined to be a narrow parking space (i.e., the arbitration result), the driver can be prompted through audio and video. It should be understood that the driver can choose to agree or refuse to enter the narrow parking space parking system. Step S502 can be called a narrow parking space arbitration mode.

[0095] In step S503, after the driver agrees to enter the narrow parking space system, the narrow parking space system is activated, the vehicle automatically brakes to a stop, shifts to P gear, pauses the automatic parking, and prompts the driver to get off. In this mode, the door is automatically unlocked, the sliding door is automatically opened, the seat is automatically moved back, the double flashing lights are turned on, the windows are closed, and the rearview mirrors are folded. Step S503 can be called a narrow parking space prompt mode.

[0096] In step S504, the narrow parking system enters this mode after continuously receiving an event signal of a button of the smart car key or receiving other continuous event signals. In this mode, the vehicle closes the door, locks the vehicle, enters the low-speed vehicle control mode, and the steering, driving, and braking systems execute the narrow parking command. The vehicle parks the vehicle in the parking space according to the known path planning. If the parking process detects that a button of the smart car key is released, the parking is paused or exited. If the driver does not release the button during the parking process, the vehicle continues to park until its parking depth is aligned with the left or right reference vehicle. Step S504 can be called the narrow parking mode.

[0097] It should be noted that the vehicle can only be controlled after the narrow parking space continuously receives event-type signals. In the narrow parking space parking mode, the main dynamic parameters change as follows:

[0098] Vehicle speed: To ensure driving safety, the speed of vehicles parking in narrow parking spaces is limited to ensure vehicle control safety;

[0099] Braking slope: To ensure parking safety and timely braking, the slope can be increased;

[0100] Safety distance: The safety distance can be set smaller than that in a normal parking space to increase the parking space.

[0101] It should be noted that in order to ensure functional safety, the mechanical smart car key button should be used to trigger the vehicle control mode.

[0102] In step S505, the vehicle is automatically turned off, locked, and armed, and a video and audio prompt is provided to indicate that the parking is complete. Step S505 may be referred to as a narrow parking space parking completion mode.

[0103] Figure 6 A method for parking in a narrow parking space provided in an embodiment of the present application. Figure 6 The method for parking out of a narrow parking space may include the following steps: S601 to S605.

[0104] In step S601, the vehicle is remotely awakened and enters the driving mode, and the narrow parking system begins to scan the surrounding environment and identify the characteristics of the surrounding environment. It should be understood that the narrow parking function can be turned on by a button or by default. Step S601 can be called a narrow parking recognition mode.

[0105] In step S602, the narrow parking system enters this mode after continuously receiving an event signal of a key of the mechanical smart car key being long pressed or receiving other continuous event signals. The narrow parking system senses and determines that there are obstacles on the left and right, and the distance of the obstacles meets the narrow parking system triggering threshold. The narrow parking system is activated and plans the driving path according to the front and rear obstacles. Step S602 can be called the narrow parking arbitration mode.

[0106] In step S603, the system may prompt the driver that the planning is successful by using but not limited to double flashing lights, horns, lights, folding rearview mirrors, etc., and the system enters a ready mode; the system may prompt that the planning fails by using but not limited to turning off the engine, locking the car, horns, etc., and the system enters an abort mode;

[0107] It should be understood that after the planning is successful, some associated components may enter the passenger boarding mode in advance, such as opening windows, moving seats back, etc. Step S603 may be referred to as a narrow parking space prompt mode.

[0108] In step S604, the narrow parking space parking system enters this mode after continuously receiving an event signal of a long press of a key of the mechanical smart car key or receiving other continuous event signals. In this mode, the vehicle closes the door, locks the vehicle, enters the low-speed vehicle control mode, and the steering, driving, and braking systems execute the narrow parking space parking instruction. The vehicle parks out of the parking space according to the path planning. If there is no driver intervention, the parking depth of the vehicle can refer to or is not limited to whether the driver and the co-driver can get on the vehicle. If the parking process does not receive a continuous event request signal, the parking is suspended or exited. Step S604 can be called the narrow parking space parking mode.

[0109] It should be understood that this module can also be controlled through a mobile phone APP. In order to reduce delays, facilitate operation, and ensure functional safety, it is recommended to trigger this mode by long pressing a button on the mechanical key.

[0110] In step S605, the narrow lane parking system prompts the driver through audio and video, etc., that the vehicle is in P gear, unlocked, and disarmed. Step S605 can be called a narrow parking space parking completion mode.

[0111] It should be understood that the driver can be prompted that the parking is successful by using but not limited to double flashing lights, horns, lights, unfolded rearview mirrors, etc.

[0112] Combination of the above Figures 1 to 6 The method embodiment of the present application is described in detail. Figure 7 The device embodiment of the present application is described in detail. It should be understood that the description of the method embodiment corresponds to the description of the device embodiment, so the parts not described in detail can refer to the previous method embodiment.

[0113] Figure 7 FIG. 2 is a schematic diagram of the structure of a parking device provided by an embodiment of the present application. Figure 7 The parking device 700 may include a recognition module 710 , a reminder module 720 and a parking module 730 .

[0114] The identification module 710 is used to identify whether the target parking space is a narrow parking space when the driver parks the vehicle in the target parking space.

[0115] The reminder module 720 is configured to remind the driver to get off the vehicle in response to the target parking space being a narrow parking space and the driver controlling the vehicle to move to the target position.

[0116] The parking module 730 is used to control the vehicle to park from the target position into the target parking space after the driver gets off the vehicle; wherein the target position is a position where the vehicle can park into the target parking space once.

[0117] Optionally, the parking module 730 is configured to: continuously send a first target signal to the vehicle to activate a narrow parking space parking mode; and control the vehicle to park from the target position into the target parking space in the narrow parking space parking mode.

[0118] Optionally, the parking device 700 further includes: an exit module, configured to brake the vehicle and exit the narrow parking space parking mode in response to the interruption of the continuous state of the first target signal.

[0119] Optionally, the continuously sending the first target signal to the vehicle includes: continuously sending the first target signal to the vehicle by continuously pressing a first button of a smart key of the vehicle.

[0120] Optionally, the identification module 710 is used to: in response to the angle between the body of the vehicle and the entrance corner point of the target parking space being greater than a preset threshold, identify the parking distance of the target parking space, the parking distance being the difference between the measured width of the target parking space and the body width of the vehicle; if the parking distance is greater than a first threshold and the parking distance is less than a second threshold, determine that the target parking space is a narrow parking space; the first threshold is the minimum parking distance required for the vehicle to park in the target parking space, the first threshold is determined based on one or more of the following: the parking speed of the vehicle, the parking brake safety distance of the vehicle, and the parking brake slope of the vehicle; the second threshold is the minimum parking distance required for passengers to get off the vehicle, and the second threshold is determined based on one or more of the following: the thickness of the vehicle door, the minimum door opening required for passengers to get off the vehicle, and the door width based on the minimum door opening.

[0121] Optionally, the parking device 700 further includes: a determination module, used to determine the confidence of the target parking space according to the parking space line characteristics and / or wheel stop characteristics of the target parking space before controlling the vehicle to park from the target position into the target parking space; the confidence of the target parking space is used to indicate the validity of the target parking space.

[0122] Optionally, the parking device 700 further includes: a determination module, used to determine a target planned path for parking from the target position into the target parking space according to the body size of the vehicle, the width of the target parking space, and obstacles around the target parking space before controlling the vehicle to park from the target position into the target parking space; wherein the target planned path is a parking planned path for the vehicle to park from the target position into the target parking space once.

[0123] Optionally, the parking device 700 further includes: a second identification module for identifying whether the target parking space is a narrow parking space in response to activation of an automatic parking exit mode of the vehicle after the vehicle is controlled to park from the target position into the target parking space; and a parking exit module for controlling the vehicle to park out of the target parking space in response to the target parking space being a narrow parking space.

[0124] Optionally, the parking exit module is used to: continuously send a second target signal to the vehicle to activate a narrow parking space parking exit mode; and control the vehicle to park out of the target parking space in the narrow parking space parking exit mode.

[0125] Optionally, the continuously sending the second target signal to the vehicle includes: continuously sending the second target signal to the vehicle by continuously pressing a second button of a smart key of the vehicle.

[0126] The present application also provides a vehicle, see Figure 8 The vehicle 800 includes the parking device 700 described in any of the above embodiments. It should be understood that the vehicle 800 can be any type of vehicle mentioned above, and the present application does not make any specific limitation on this.

[0127] The embodiment of the present application also provides a machine-readable storage medium for storing a program, and the program enables a computer to execute the method in each embodiment of the present application.

[0128] The embodiment of the present application also provides a computer program product. The computer program product includes a program. The program enables a computer to execute the method in each embodiment of the present application.

[0129] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a machine-readable storage medium, or transmitted from one machine-readable storage medium to another machine-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The machine-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a digital video disc (DVD)), or a semiconductor medium (eg, a solid state disk (SSD)).

[0130] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments of the present disclosure can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present disclosure.

[0131] In the several embodiments provided in the present disclosure, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0132] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0133] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0134] The above is only a specific embodiment of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present disclosure, which should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A parking method, characterized in that: include: When the driver parks the vehicle in a target parking space, identifying whether the target parking space is a narrow parking space; In response to the target parking space being a narrow parking space and the driver controlling the vehicle to move to the target position, reminding the driver to get off the vehicle; After the driver gets off the vehicle, controlling the vehicle to park from the target position into the target parking space; The target position is a position where the vehicle can be parked in the target parking space in a single time.

2. The parking method according to claim 1, characterized in that: The controlling the vehicle to park from the target position into the target parking space comprises: continuously sending a first target signal to the vehicle to activate a narrow parking space parking mode; In the narrow parking space parking mode, the vehicle is controlled to park from the target position into the target parking space.

3. The parking method according to claim 2, characterized in that: The parking method further comprises: In response to the first target signal being interrupted in its continuous state, the vehicle is braked to a stop and the narrow parking space entering mode is exited.

4. The parking method according to claim 2, characterized in that: The continuously sending the first target signal to the vehicle includes: By continuously pressing the first button of the smart key of the vehicle, the first target signal is continuously sent to the vehicle.

5. The parking method according to any one of claims 1 to 4, characterized in that: The identifying whether the target parking space is a narrow parking space includes: In response to an angle between a body of the vehicle and an entrance corner point of the target parking space being greater than a preset threshold, identifying a parking distance of the target parking space, the parking distance being a difference between a measured width of the target parking space and a body width of the vehicle; If the parking distance is greater than a first threshold value and the parking distance is less than a second threshold value, determining that the target parking space is a narrow parking space; The first threshold is a minimum parking distance required for the vehicle to park in the target parking space, and the first threshold is determined based on one or more of the following: a parking speed of the vehicle, a parking brake safety distance of the vehicle, and a parking brake slope of the vehicle; The second threshold is a minimum parking distance required for a passenger to get off the vehicle, and the second threshold is determined based on one or more of the following: a door thickness of the vehicle, a minimum door opening required for the passenger to get off the vehicle, and a door width based on the minimum door opening.

6. The parking method according to any one of claims 1 to 4, characterized in that: Before controlling the vehicle to park from the target position into the target parking space, the parking method further includes: Determining the confidence level of the target parking space according to the parking space line characteristics and / or wheel stopper characteristics of the target parking space; The confidence level of the target parking space is used to indicate the validity of the target parking space.

7. The parking method according to any one of claims 1 to 4, characterized in that: Before controlling the vehicle to park from the target position into the target parking space, the parking method further includes: Determining a target planning path for parking from the target position into the target parking space according to the body size of the vehicle, the width of the target parking space, and obstacles around the target parking space; The target planning path is a parking planning path for the vehicle to be parked from the target position into the target parking space in a single time.

8. The parking method according to any one of claims 1 to 4, characterized in that: After controlling the vehicle to park from the target position into the target parking space, the parking method further includes: In response to the automatic parking mode of the vehicle being activated, identifying whether the target parking space is a narrow parking space; In response to the target parking space being a narrow parking space, the vehicle is controlled to park out of the target parking space.

9. The parking method according to claim 8, characterized in that: The controlling the vehicle to park out of the target parking space comprises: continuously sending a second target signal to the vehicle to activate a narrow parking space exit mode; In the narrow parking space exit mode, the vehicle is controlled to park out of the target parking space.

10. The parking method according to claim 9, characterized in that: The continuously sending a second target signal to the vehicle includes: By continuously pressing the second button of the smart key of the vehicle, the second target signal is continuously sent to the vehicle.

11. A parking device, characterized in that: include: An identification module, used to identify whether the target parking space is a narrow parking space when the driver parks the vehicle in the target parking space; a reminder module, configured to remind the driver to get off the vehicle in response to the target parking space being a narrow parking space and the driver controlling the vehicle to move to the target position; A parking module, used for controlling the vehicle to park from the target position into the target parking space after the driver gets off the vehicle; The target position is a position where the vehicle can be parked in the target parking space in a single time.

12. A vehicle, characterized in that: Comprising the parking device as claimed in claim 11.

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