Automatic parking method and device of vehicle, electronic equipment and computer readable medium

Abstract

The invention discloses an automatic parking method and device of a vehicle, electronic equipment and a computer readable medium, and relates to the technical field of automatic driving. A specific embodiment of the method comprises the following steps: judging whether getting-off positions of passengers are distributed on two different sides in the width direction of a vehicle or not; if yes, the first side maximum door opening distance and the second side maximum door opening distance are calculated respectively; judging whether the first side maximum door opening distance is the same as the second side door opening distance or not; if yes, the vehicle is controlled to be parked in the middle in the parking space in the width direction; and if not, the vehicle is controlled to deviate and park towards the side corresponding to the smaller one of the first side maximum door opening distance and the second side maximum door opening distance relative to the center line in the width direction in the parking space. According to the embodiment, the advantage that the door opening distances of different types of vehicle doors are different is fully utilized, especially the advantage that the door opening distance of a sliding type vehicle door is small is fully utilized, parking is conducted in combination with the passenger getting-off distribution condition, and more sufficient getting-off space can be provided for passengers.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to an automatic parking method, device, electronic device and computer-readable medium for a vehicle. Background Art

[0002] A parking assist system is known, which adjusts the parking position of a vehicle in a parking space based on detected obstacles around the parking space and the distribution of passengers in the vehicle, thereby providing space for passengers to get off the vehicle (for example, refer to Japanese invention patent JP2017124802A).

[0003] For vehicles with different types of doors (such as front-opening doors, sliding doors, gull-wing doors, etc.), since the required door opening space is smaller than that of ordinary doors, more space can be provided for passengers to get off the vehicle, for example, when there are disabled people, elderly people, people in wheelchairs, etc. on the vehicle. However, the existing technology does not take into account the situation of different types of doors, resulting in the inability to use their advantages to provide passengers with more sufficient space to get off the vehicle. Summary of the invention

[0004] In view of this, embodiments of the present invention provide a method, device, electronic device and computer-readable medium for automatic parking of a vehicle to solve the technical problem of providing passengers with more sufficient space to get off the vehicle without considering different types of vehicle doors.

[0005] To achieve the above object, according to one aspect of an embodiment of the present invention, an automatic parking method is provided, wherein the vehicle has a first type of door and a second type of door, the door opening distance of the first type of door is a first door opening distance, and the door opening distance of the second type of door is a second door opening distance, and the automatic parking method comprises:

[0006] Obtaining the distribution of passengers getting off the vehicle, and obtaining the type of door corresponding to each passenger getting off position according to the distribution of passengers getting off the vehicle, so as to obtain the door opening distance corresponding to each passenger getting off position;

[0007] Determine whether the respective passenger getting-off positions are distributed on two different sides in the vehicle width direction; if so, respectively calculate the maximum door opening distance on the first side and the maximum door opening distance on the second side, wherein the maximum door opening distance on the first side and the maximum door opening distance on the second side are respectively the maximum values ​​of the door opening distances corresponding to the passenger getting-off positions on the first side and the second side;

[0008] Determine whether the maximum door opening distance on the first side and the maximum door opening distance on the second side are the same; if so, control the vehicle to be parked in the center of the width direction in the parking space; if not, control the vehicle to be parked in the parking space at an offset position closer to the smaller side of the maximum door opening distance on the first side and the maximum door opening distance on the second side relative to the center line in the width direction.

[0009] Optionally, the method further comprises:

[0010] If the various passenger getting-off positions are distributed on the same side in the width direction of the vehicle, the vehicle is controlled to be parked offset to the other side opposite to the side where the passenger getting-off positions are located relative to the center line in the width direction in the parking space.

[0011] Optionally, if the respective passenger getting-off positions are distributed on the same side in the vehicle width direction, the method further includes:

[0012] Obtaining the maximum door opening distance on the side where each passenger gets off the vehicle;

[0013] Determine whether the maximum door opening distance is the larger of the first door opening distance and the second door opening distance; if so, control the offset of the vehicle relative to the center line to be the first offset distance; if not, control the offset of the vehicle relative to the center line to be the second offset distance; wherein the first offset distance is greater than the second offset distance.

[0014] Optionally, determining whether the maximum door opening distance on the first side and the maximum door opening distance on the second side are the same; if so, controlling the vehicle to be parked in the center of the parking space along the width direction; if not, controlling the vehicle to be parked in the parking space at a side corresponding to the smaller of the maximum door opening distance on the first side and the maximum door opening distance on the second side relative to the center line in the width direction, comprises:

[0015] Determining whether the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side;

[0016] If yes, detect whether there are obstacles on the first side and the second side; if there are obstacles on both the first side and the second side or there are no obstacles on both sides, control the vehicle to park in the center of the parking space along the width direction; if there is an obstacle on the first side or the second side, control the vehicle to park in the parking space at an offset position closer to the obstacle-free side relative to the center line in the width direction;

[0017] If not, detect whether there are obstacles on the first side and the second side; if there are obstacles on both the first side and the second side or there are no obstacles, control the vehicle to be offset parked in the parking space relative to the center line in the width direction, closer to the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side; if there is an obstacle only on the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side, control the vehicle to be centered in the width direction in the parking space or to be offset parked closer to the side corresponding to the larger of the maximum door opening distance of the first side and the maximum door opening distance of the second side; if there is an obstacle only on the side corresponding to the larger of the maximum door opening distance of the first side and the maximum door opening distance of the second side, control the vehicle to be offset parked in the parking space relative to the center line in the width direction, closer to the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side.

[0018] Optionally, if the respective passenger getting-off positions are distributed on the same side in the width direction of the vehicle, controlling the vehicle to be parked offset to the other side opposite to the side where the passenger getting-off positions are located relative to the center line in the width direction in the parking space includes:

[0019] If the respective passenger getting-off positions are distributed on the same side in the vehicle width direction, detecting whether there are obstacles on the first side and the second side;

[0020] If there are obstacles on both the first side and the second side, the vehicle is controlled to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle; if there are no obstacles on both the first side and the second side, the vehicle is controlled to be parked in the center of the width direction of the parking space or to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle; if there is an obstacle only on the other side opposite to the side where the passenger gets off the vehicle, the vehicle is controlled to be parked in the center of the width direction of the parking space; if there is an obstacle only on the side where the passenger gets off the vehicle, the vehicle is controlled to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle.

[0021] Optionally, before controlling the vehicle to park in the parking space with an offset relative to the center line in the width direction, the method further includes:

[0022] Prompting the occupant to confirm whether to perform offset parking;

[0023] receiving a confirmation result submitted by the occupant as to whether to perform offset parking;

[0024] If the confirmation result is to perform offset parking, the vehicle is controlled to perform offset parking relative to the center line in the width direction in the parking space; if the confirmation result is not to perform offset parking, the vehicle is controlled to park in the center of the width direction in the parking space.

[0025] Optionally, before obtaining the distribution of passengers getting off the vehicle, the method further includes:

[0026] Prompting each passenger to confirm which side of the vehicle to get off;

[0027] If a confirmation result of the side of the vehicle on which the passenger gets off is received, the confirmation result is used as the passenger getting off distribution of the passenger;

[0028] If no confirmation result is received from the occupant regarding which side of the vehicle the occupant will get off, the distribution of the occupant in the vehicle is detected, and the detected distribution of the occupant is used as the occupant getting off distribution of the occupant.

[0029] In addition, according to another aspect of an embodiment of the present invention, an automatic parking device is provided, wherein the vehicle has a first type of door and a second type of door, the door opening distance of the first type of door is a first door opening distance, and the door opening distance of the second type of door is a second door opening distance, and the automatic parking device comprises:

[0030] an acquisition unit, configured to acquire a distribution of passengers getting off the vehicle, and acquire a type of door corresponding to each passenger getting off position according to the distribution of passengers getting off the vehicle, thereby obtaining a door opening distance corresponding to each passenger getting off position;

[0031] a judgment unit, configured to judge whether the respective passenger getting-off positions are distributed on two different sides in the vehicle width direction; if so, respectively calculating a maximum door opening distance on the first side and a maximum door opening distance on the second side, wherein the maximum door opening distance on the first side and the maximum door opening distance on the second side are respectively the maximum values ​​of the door opening distances corresponding to the passenger getting-off positions on the first side and the second side;

[0032] A parking unit is used to determine whether the maximum door opening distance on the first side and the maximum door opening distance on the second side are the same; if so, the vehicle is controlled to be parked in the center of the width direction in the parking space; if not, the vehicle is controlled to be parked in an offset manner toward a side corresponding to the smaller of the maximum door opening distance on the first side and the maximum door opening distance on the second side relative to the center line in the width direction in the parking space.

[0033] Optionally, the parking unit is further used for:

[0034] If the various passenger getting-off positions are distributed on the same side in the width direction of the vehicle, the vehicle is controlled to be parked offset to the other side opposite to the side where the passenger getting-off positions are located relative to the center line in the width direction in the parking space.

[0035] Optionally, the parking unit is further used for:

[0036] Obtaining the maximum door opening distance on the side where each passenger gets off the vehicle;

[0037] Determine whether the maximum door opening distance is the larger of the first door opening distance and the second door opening distance; if so, control the offset of the vehicle relative to the center line to be the first offset distance; if not, control the offset of the vehicle relative to the center line to be the second offset distance; wherein the first offset distance is greater than the second offset distance.

[0038] Optionally, the parking unit is further used for:

[0039] Determining whether the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side;

[0040] If yes, detect whether there are obstacles on the first side and the second side; if there are obstacles on both the first side and the second side or there are no obstacles on both sides, control the vehicle to park in the center of the parking space along the width direction; if there is an obstacle on the first side or the second side, control the vehicle to park in the parking space at an offset position closer to the obstacle-free side relative to the center line in the width direction;

[0041] If not, detect whether there are obstacles on the first side and the second side; if there are obstacles on both the first side and the second side or there are no obstacles, control the vehicle to be offset parked in the parking space relative to the center line in the width direction, closer to the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side; if there is an obstacle only on the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side, control the vehicle to be centered in the width direction in the parking space or to be offset parked closer to the side corresponding to the larger of the maximum door opening distance of the first side and the maximum door opening distance of the second side; if there is an obstacle only on the side corresponding to the larger of the maximum door opening distance of the first side and the maximum door opening distance of the second side, control the vehicle to be offset parked in the parking space relative to the center line in the width direction, closer to the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side.

[0042] Optionally, the parking unit is further used for:

[0043] If the respective passenger getting-off positions are distributed on the same side in the vehicle width direction, detecting whether there are obstacles on the first side and the second side;

[0044] If there are obstacles on both the first side and the second side, the vehicle is controlled to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle; if there are no obstacles on both the first side and the second side, the vehicle is controlled to be parked in the center of the width direction of the parking space or to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle; if there is an obstacle only on the other side opposite to the side where the passenger gets off the vehicle, the vehicle is controlled to be parked in the center of the width direction of the parking space; if there is an obstacle only on the side where the passenger gets off the vehicle, the vehicle is controlled to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle.

[0045] Optionally, the parking unit is further used for:

[0046] Before the vehicle performs offset parking relative to the center line in the width direction in the parking space, a confirmation prompt is issued to the occupant to confirm whether to perform offset parking;

[0047] receiving a confirmation result submitted by the occupant as to whether to perform offset parking;

[0048] If the confirmation result is to perform offset parking, the vehicle is controlled to perform offset parking relative to the center line in the width direction in the parking space; if the confirmation result is not to perform offset parking, the vehicle is controlled to park in the center of the width direction in the parking space.

[0049] Optionally, the acquiring unit is further used for:

[0050] Before obtaining the distribution of passengers getting off the vehicle, a confirmation prompt is issued to each passenger on which side of the vehicle to get off;

[0051] If a confirmation result of the side of the vehicle on which the passenger gets off is received, the confirmation result is used as the passenger getting off distribution of the passenger;

[0052] If no confirmation result is received from the occupant regarding which side of the vehicle the occupant will get off, the distribution of the occupant in the vehicle is detected, and the detected distribution of the occupant is used as the occupant getting off distribution of the occupant.

[0053] In addition, according to another aspect of the embodiments of the present invention, a vehicle is provided, comprising the automatic parking device described in any one of the above embodiments.

[0054] According to another aspect of an embodiment of the present invention, there is further provided an electronic device, including:

[0055] one or more processors;

[0056] a storage device for storing one or more programs,

[0057] When the one or more programs are executed by the one or more processors, the one or more processors implement the method described in any one of the above embodiments.

[0058] According to another aspect of an embodiment of the present invention, a computer-readable medium is provided, on which a computer program is stored. When the program is executed by a processor, the method described in any one of the above embodiments is implemented.

[0059] An embodiment of the above invention has the following advantages or beneficial effects: the embodiment of the present invention makes full use of the advantages of some types of vehicle doors, and parking is performed in combination with the distribution of obstacles and the distribution of occupants in the vehicle, which can provide passengers with more sufficient space to get off the vehicle, and can further park in combination with the distribution of obstacles, thereby providing passengers with more sufficient space to get off the vehicle.

[0060] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with the specific implementation manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0062] Figure 1 is a flowchart of an automatic parking method for a vehicle according to a first embodiment of the present invention;

[0063] Figure 2a and Figure 2b is a schematic diagram of the distribution of passengers getting off a vehicle according to an embodiment of the present invention;

[0064] Figure 3a , Figure 3b , Figure 3c and Figure 3d is a schematic diagram of a vehicle parking in a parking space according to an embodiment of the present invention;

[0065] Figure 4a and Figure 4b is a schematic diagram of obstacle distribution according to an embodiment of the present invention;

[0066] Figure 5 is a flowchart of an automatic parking method for a vehicle according to a second embodiment of the present invention;

[0067] Figure 6 is a flowchart of an automatic parking method for a vehicle according to a third embodiment of the present invention;

[0068] Figure 7 is a schematic diagram of an automatic parking device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0070] Figure 1 is a flowchart of an automatic parking method for a vehicle according to a first embodiment of the present invention.

[0071] Wherein, the vehicle has a first type of door and a second type of door, the door opening distance of the first type of door is a first door opening distance, and the door opening distance of the second type of door is a second door opening distance. As an embodiment of the present invention, Figure 1 As shown, the automatic parking method may include:

[0072] Step S101, obtaining the distribution of passengers getting off the vehicle, and obtaining the type of door corresponding to each passenger getting off position according to the distribution of passengers getting off the vehicle, so as to obtain the door opening distance corresponding to each passenger getting off position.

[0073] First, the distribution of passengers getting off the vehicle is obtained, and then the type of door corresponding to each passenger getting off position is obtained according to the distribution of passengers getting off the vehicle, and finally the door opening distance corresponding to each passenger getting off position is obtained according to the door opening distance of each door type. Optionally, the first type of door may be a revolving door, and the second type of door may be a sliding door. For example, if the distribution of passengers getting off the vehicle is the front left and the front right, the types of doors corresponding to the front left and the front right are obtained, so as to obtain the door opening distances corresponding to the front left and the front right; if the distribution of passengers getting off the vehicle is the front left and the two sides of the rear row, the types of doors corresponding to the front left and the two sides of the rear row are obtained, so as to obtain the door opening distances corresponding to the front left and the two sides of the rear row. For example, the door opening distance of a sliding door is much smaller than the door opening distance of a revolving door.

[0074] Optionally, before obtaining the distribution of occupants getting off the vehicle, the method also includes: issuing a confirmation prompt to each occupant on which side of the vehicle to get off; if a confirmation result submitted by the occupant on which side of the vehicle to get off is received, using the confirmation result as the occupant getting off distribution of the occupant; if a confirmation result submitted by the occupant on which side of the vehicle to get off is not received, detecting the distribution of the occupants in the vehicle, and using the detected distribution of the occupants as the occupant getting off distribution of the occupant. In order to improve the flexibility of passengers getting off the vehicle, a confirmation prompt is first sent to each passenger on which side of the vehicle to get off. Each member submits the confirmation result of which side of the vehicle to get off according to his or her own needs, or does not submit the confirmation result of which side of the vehicle to get off. If the passenger submits the confirmation result of which side of the vehicle to get off, the confirmation result will be used as the passenger getting off distribution of the passenger. If the passenger does not submit the confirmation result of which side of the vehicle to get off within the preset time, the distribution of the passenger in the vehicle will be detected, and the detected distribution of the passenger will be used as the passenger getting off distribution of the passenger.

[0075] The distribution of occupants in the vehicle can also be collected by a camera, and then an image recognition model is used to perform image recognition on the collected images to obtain the distribution of occupants in the vehicle; pressure sensors or seat belt sensors installed under each seat can also be used to detect the distribution of occupants in the vehicle.

[0076] Step S102, determines whether the various passenger getting-off positions are distributed on two different sides in the vehicle width direction; if so, calculates the maximum door opening distance on the first side and the maximum door opening distance on the second side respectively, and the maximum door opening distance on the first side and the maximum door opening distance on the second side are respectively the maximum values ​​of the door opening distances corresponding to the passenger getting-off positions on the first side and the second side.

[0077] After obtaining the door opening distances corresponding to the various passenger getting-off positions, it is determined whether the various passenger getting-off positions are distributed on two different sides in the vehicle width direction. If the various passenger getting-off positions are distributed on two different sides in the vehicle width direction, the maximum door opening distances on these two sides are calculated respectively, i.e., the maximum door opening distance on the first side and the maximum door opening distance on the second side. It should be noted that the maximum door opening distance on the first side is the maximum value of the door opening distances corresponding to the various passenger getting-off positions on the first side, and the maximum door opening distance on the second side is the maximum value of the door opening distances corresponding to the various passenger getting-off positions on the second side.

[0078] Step S103, determining whether the maximum door opening distance on the first side and the maximum door opening distance on the second side are the same; if so, controlling the vehicle to be parked in the center of the width direction in the parking space; if not, controlling the vehicle to be parked in the parking space at an offset position closer to the smaller side of the maximum door opening distance on the first side and the maximum door opening distance on the second side relative to the center line in the width direction.

[0079] In step S103, it is determined whether the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side. If the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side, the vehicle is controlled to park in the center of the width direction in the parking space. If the maximum door opening distance on the first side is different from the maximum door opening distance on the second side, the vehicle is controlled to park in an offset manner relative to the center line in the width direction, closer to the side corresponding to the smaller of the maximum door opening distance on the first side and the maximum door opening distance on the second side. In other words, if the maximum door opening distance on the first side is smaller than the maximum door opening distance on the second side, the vehicle is controlled to park in an offset manner relative to the center line in the width direction, closer to the first side; if the maximum door opening distance on the first side is larger than the maximum door opening distance on the second side, the vehicle is controlled to park in an offset manner relative to the center line in the width direction, closer to the second side.

[0080] like Figure 2a As shown, the positions of the passengers getting off the vehicle are distributed on two different sides in the width direction of the vehicle, and it is determined whether the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side. If the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side, the vehicle is controlled to park in the center of the width direction of the parking space, such as Figure 3a As shown; if the maximum door opening distance on the left is greater than the maximum door opening distance on the right, the vehicle is controlled to park more to the right relative to the center line in the width direction of the parking space, such as Figure 3b Similarly, if the maximum door opening distance on the left is smaller than the maximum door opening distance on the right, the vehicle is controlled to park more to the left relative to the center line in the width direction of the parking space, as shown in FIG. Figure 3c shown.

[0081] It can be seen that the embodiments of the present invention make full use of the different door opening distances of different types of doors, especially make full use of the advantage of small door opening distances of some types of doors, and park the vehicle in combination with the distribution of passengers getting off the vehicle, so as to provide passengers with more sufficient space for getting off the vehicle.

[0082] In step S103, before controlling the vehicle to perform offset parking relative to the center line of the width direction in the parking space, the method further includes: sending a confirmation prompt to the occupant whether to perform offset parking; receiving a confirmation result submitted by the occupant whether to perform offset parking; if the confirmation result is to perform offset parking, controlling the vehicle to perform offset parking relative to the center line of the width direction in the parking space; if the confirmation result is not to perform offset parking, controlling the vehicle to park in the center of the width direction in the parking space. Before controlling the vehicle to perform offset parking relative to the center line of the width direction in the parking space, a confirmation prompt may be sent to the occupant (such as the driver) whether to perform offset parking; if the confirmation result submitted by the occupant for performing offset parking is received, the vehicle is controlled to perform offset parking relative to the center line of the width direction in the parking space; if the confirmation result submitted by the occupant for performing offset parking is not received within a certain period of time or the confirmation result submitted by the occupant for not performing offset parking is received, the vehicle is controlled to park in the center of the width direction in the parking space. For example, if the rear seat occupant is a disabled person, an elderly person or a person in a wheelchair, the occupant can choose whether to perform offset parking according to actual needs.

[0083] Optionally, step S103 may include: determining whether the maximum door opening distance on the first side and the maximum door opening distance on the second side are the same; if so, detecting whether there are obstacles on the first side and the second side; if there are obstacles on both the first side and the second side or there are no obstacles on both sides, controlling the vehicle to be parked in the center of the width direction in the parking space; if there is an obstacle on the first side or the second side, controlling the vehicle to be parked in the parking space relative to the center line in the width direction closer to the side without obstacles; if not, detecting whether there are obstacles on the first side and the second side; if there are obstacles on both the first side and the second side or there are no obstacles on both sides, controlling the vehicle to be parked in the parking space relative to the center line in the width direction closer to the side without obstacles. The vehicle is parked in an offset manner toward the side corresponding to the smaller of the first-side maximum door opening distance and the second-side maximum door opening distance; if there is an obstacle only on the side corresponding to the smaller of the first-side maximum door opening distance and the second-side maximum door opening distance, the vehicle is controlled to be parked in the center of the width direction of the parking space or to be parked in an offset manner toward the side corresponding to the larger of the first-side maximum door opening distance and the second-side maximum door opening distance; if there is an obstacle only on the side corresponding to the larger of the first-side maximum door opening distance and the second-side maximum door opening distance, the vehicle is controlled to be parked in an offset manner toward the side corresponding to the smaller of the first-side maximum door opening distance and the second-side maximum door opening distance relative to the center line of the width direction of the parking space. If the exit positions of the passengers are distributed on two different sides in the width direction of the vehicle, determine whether the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side; if the maximum door opening distance on the first side is the same, further detect whether there are obstacles on both sides; if there are obstacles on both sides or there are no obstacles on both sides, control the vehicle to park in the center of the parking space along the width direction; if there is an obstacle only on one side, control the vehicle to park in the parking space with an offset position closer to the side without obstacles relative to the center line in the width direction. If the maximum door opening distance on the first side is different from the maximum door opening distance on the second side, further detect whether there are obstacles on both sides. If there are obstacles on both sides or there are no obstacles on both sides, control the vehicle to be parked in the parking space relative to the center line in the width direction on the side with the smaller maximum door opening distance. If there is an obstacle only on the side with the smaller maximum door opening distance, control the vehicle to be parked in the center of the width direction on the parking space or to be parked in the parking space relative to the center line in the width direction on the side with the larger maximum door opening distance. If there is an obstacle only on the side with the larger maximum door opening distance, control the vehicle to be parked in the parking space relative to the center line in the width direction on the side with the smaller maximum door opening distance.

[0084] If the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side, and there are obstacles on both sides (such as walls), the vehicle is controlled to park in the center of the parking space along the width direction, such as Figure 4aIf there is an obstacle only on the left side, the vehicle is controlled to park more to the right relative to the center line in the width direction of the parking space, which is the same as Figure 3b If there is an obstacle only on the right side, the vehicle is controlled to park more to the left relative to the center line in the width direction of the parking space, similar to Figure 3c similar.

[0085] If the maximum door opening distances on the first side and the second side are different, and there is an obstacle only on the side with the smaller maximum door opening distance, the vehicle is controlled to park in the center of the width direction of the parking space or to park offset to the side with the larger maximum door opening distance; if there is an obstacle only on the side with the larger maximum door opening distance, the vehicle is controlled to park offset to the side with the smaller maximum door opening distance relative to the center line in the width direction of the parking space, such as Figure 4b shown.

[0086] Therefore, the embodiment of the present invention can further park the vehicle in combination with the distribution of obstacles, thereby providing passengers with more sufficient space for getting off the vehicle.

[0087] In some embodiments of the present invention, the images on both sides of the parking space can be collected by a camera, and then the image recognition model is used to perform image recognition on the images on both sides of the parking space, so as to obtain the distribution of obstacles on both sides of the parking space. Optionally, the obstacles can be walls, vehicles, trees, flower beds, etc.

[0088] Figure 5 is a flow chart of an automatic parking method according to a second embodiment of the present invention. As another embodiment of the present invention, Figure 5 As shown, the automatic parking method may include:

[0089] Step S501, obtaining the distribution of passengers getting off the vehicle, and obtaining the type of door corresponding to each passenger getting off position according to the distribution of passengers getting off the vehicle, so as to obtain the door opening distance corresponding to each passenger getting off position.

[0090] Step S502, determining whether the respective passenger getting-off positions are distributed on two different sides in the vehicle width direction; if so, executing step S503; if not, executing step S507.

[0091] Step S503, respectively calculating the maximum door opening distance on the first side and the maximum door opening distance on the second side, wherein the maximum door opening distance on the first side and the maximum door opening distance on the second side are respectively the maximum values ​​of the door opening distances corresponding to the passenger getting-off positions on the first side and the second side.

[0092] Step S504, determine whether the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side; if so, execute step S505; if not, execute step S506.

[0093] Step S505, controlling the vehicle to park in the center of the parking space along the width direction.

[0094] Step S506, controlling the vehicle to park in an offset manner in the parking space, closer to a side corresponding to a smaller one of the first side maximum door opening distance and the second side maximum door opening distance relative to a center line in a width direction.

[0095] Step S507 , controlling the vehicle to park in the parking space with an offset position relative to the center line in the width direction and closer to the other side opposite to the side where the passenger gets off the vehicle.

[0096] In this embodiment, if the positions for getting off the passenger are distributed on the same side in the width direction of the vehicle, the vehicle is controlled to be parked offset to the other side opposite to the side where the position for getting off the passenger is located relative to the center line in the width direction of the parking space. In other words, if the positions for getting off the passenger are distributed on the same side in the width direction of the vehicle, the vehicle is controlled to be parked offset to the side where no passenger is getting off the vehicle relative to the center line in the width direction of the parking space, so as to provide more sufficient space for passengers to get off the vehicle.

[0097] like Figure 2b As shown in FIG. 1 , the positions where the passengers get off the vehicle are distributed on the same side in the width direction of the vehicle, that is, the left side. Then the vehicle is controlled to park more to the right relative to the center line in the width direction of the parking space, such as Figure 3d shown.

[0098] Optionally, if the various passenger getting-off positions are distributed on the same side in the width direction of the vehicle, the vehicle is controlled to be offset and parked closer to the other side opposite to the side where the passenger getting-off positions are located relative to the center line in the width direction of the parking space, including: if the various passenger getting-off positions are distributed on the same side in the width direction of the vehicle, detecting whether there are obstacles on the first side and the second side; if there are obstacles on both the first side and the second side, controlling the vehicle to be offset and parked closer to the other side opposite to the side where the passenger getting-off positions are located relative to the center line in the width direction of the parking space; If there are no obstacles on both the first side and the second side, the vehicle is controlled to be parked in the center of the width direction of the parking space or to be parked in an offset manner relative to the center line of the width direction and closer to the other side opposite to the side where the passenger gets off the vehicle; if there is an obstacle only on the other side opposite to the side where the passenger gets off the vehicle, the vehicle is controlled to be parked in the center of the width direction of the parking space; if there is an obstacle only on the side where the passenger gets off the vehicle, the vehicle is controlled to be parked in an offset manner relative to the center line of the width direction and closer to the other side opposite to the side where the passenger gets off the vehicle. If the positions where each passenger gets off the vehicle are distributed on the same side in the width direction of the vehicle, the two sides are further checked for obstacles. If there are obstacles on both sides, the vehicle is controlled to be parked at an offset position relative to the center line in the width direction on the side where no passenger gets off the vehicle. If there are no obstacles on both sides, the vehicle is controlled to be parked in the center of the width direction in the parking space or is parked at an offset position relative to the center line in the width direction on the side where no passenger gets off the vehicle. If there are obstacles only on the side where no passenger gets off the vehicle, the vehicle is controlled to be parked in the center of the width direction in the parking space. If there are obstacles only on the side where passengers get off the vehicle, the vehicle is controlled to be parked at an offset position relative to the center line in the width direction on the side where no passenger gets off the vehicle.

[0099] In step S507, before controlling the vehicle to perform offset parking in the parking space relative to the center line in the width direction closer to the side corresponding to the smaller of the first side maximum door opening distance and the second side maximum door opening distance, the method further includes: sending a confirmation prompt to the occupant whether to perform offset parking; receiving a confirmation result submitted by the occupant whether to perform offset parking; if the confirmation result is to perform offset parking, controlling the vehicle to perform offset parking in the parking space relative to the center line in the width direction; if the confirmation result is not to perform offset parking, controlling the vehicle to park in the center of the parking space. Before controlling the vehicle to perform offset parking in the parking space relative to the center line in the width direction, a confirmation prompt may be sent to the occupant (such as the driver) whether to perform offset parking; if the confirmation result submitted by the occupant for performing offset parking is received, the vehicle is controlled to perform offset parking in the parking space relative to the center line in the width direction; if the confirmation result submitted by the occupant for performing offset parking is not received within a certain period of time or the confirmation result submitted by the occupant for not performing offset parking is received, the vehicle is controlled to park in the center of the width direction in the parking space.

[0100] Figure 6 is a flow chart of an automatic parking method according to a third embodiment of the present invention. As another embodiment of the present invention, Figure 6 As shown, the automatic parking method may include:

[0101] Step S601, obtaining the distribution of passengers getting off the vehicle, and obtaining the type of door corresponding to each passenger getting off position according to the distribution of passengers getting off the vehicle, so as to obtain the door opening distance corresponding to each passenger getting off position.

[0102] Step S602, determining whether the respective passenger getting-off positions are distributed on two different sides in the vehicle width direction; if so, executing step S603; if not, executing step S607.

[0103] Step S606, respectively calculating the maximum door opening distance on the first side and the maximum door opening distance on the second side, wherein the maximum door opening distance on the first side and the maximum door opening distance on the second side are respectively the maximum values ​​of the door opening distances corresponding to the passenger getting-off positions on the first side and the second side.

[0104] Step S604, determine whether the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side; if so, execute step S605; if not, execute step S606.

[0105] Step S605, controlling the vehicle to park in the center of the parking space along the width direction.

[0106] Step S606, controlling the vehicle to park in an offset manner in the parking space, closer to a side corresponding to a smaller one of the first side maximum door opening distance and the second side maximum door opening distance relative to a center line in a width direction.

[0107] Step S607, obtaining the maximum door opening distance on the side where each passenger gets off the vehicle.

[0108] Step S608, determining whether the maximum door opening distance is the larger of the first door opening distance and the second door opening distance; if so, executing step S609; if not, executing step S610.

[0109] Step S609: Control the vehicle to park in the parking space with an offset distance relative to the center line in the width direction closer to the other side opposite to the side where the passenger gets off the vehicle, and the offset amount is a first offset distance.

[0110] Step S610, controlling the vehicle to park offset in the parking space relative to the center line in the width direction toward the other side opposite to the side where the passenger gets off the vehicle, and the offset amount is a second offset distance; wherein the first offset distance is greater than the second offset distance.

[0111] In this embodiment, if the positions for getting off the vehicle are distributed on the same side in the width direction of the vehicle, the maximum door opening distance of the side is obtained. If the maximum door opening distance of the side is the larger of the first door opening distance and the second door opening distance, the vehicle is controlled to be offset parked closer to the side where no passenger gets off the vehicle relative to the center line in the width direction in the parking space, and the offset is the first offset distance. If the maximum door opening distance of the side is the smaller of the first door opening distance and the second door opening distance, the vehicle is controlled to be offset parked closer to the side where no passenger gets off the vehicle relative to the center line in the width direction in the parking space, and the offset is the second offset distance, wherein the first offset distance is greater than the second offset distance. In the case that the positions for getting off the vehicle are distributed on the same side in the width direction of the vehicle, the offset distance for offset parking to the other side is further adjusted according to the maximum door opening distance of the side, thereby providing more sufficient space for passengers to get off the vehicle.

[0112] Figure 7 is a schematic diagram of an automatic parking device according to an embodiment of the present invention. The vehicle has a first type of door and a second type of door, the first type of door has an opening distance of a first door, and the second type of door has an opening distance of a second door. Figure 7As shown, the automatic parking device includes an acquisition unit 701, a judgment unit 702 and a parking unit 703; wherein the acquisition unit 701 is used to acquire the distribution of passengers getting off the vehicle, and acquire the type of door corresponding to each passenger getting off position according to the distribution of passengers getting off the vehicle, so as to obtain the door opening distance corresponding to each passenger getting off position; the judgment unit 702 is used to determine whether the various passenger getting off positions are distributed on two different sides in the width direction of the vehicle; if so, the maximum door opening distance on the first side and the maximum door opening distance on the second side are calculated respectively, and the maximum door opening distance on the first side and the maximum door opening distance on the second side are respectively the maximum values ​​of the door opening distances corresponding to the passenger getting off positions on the first side and the second side; the parking unit 703 is used to determine whether the maximum door opening distance on the first side and the maximum door opening distance on the second side are the same; if so, the vehicle is controlled to be parked in the center of the parking space along the width direction; if not, the vehicle is controlled to be parked in the parking space at an offset position closer to the smaller one of the maximum door opening distance on the first side and the maximum door opening distance on the second side relative to the center line in the width direction.

[0113] Optionally, the parking unit 703 is also used for:

[0114] If the various passenger getting-off positions are distributed on the same side in the width direction of the vehicle, the vehicle is controlled to be parked offset to the other side opposite to the side where the passenger getting-off positions are located relative to the center line in the width direction in the parking space.

[0115] Optionally, the parking unit 703 is also used for:

[0116] Obtaining the maximum door opening distance on the side where each passenger gets off the vehicle;

[0117] Determine whether the maximum door opening distance is the larger of the first door opening distance and the second door opening distance; if so, control the offset of the vehicle relative to the center line to be the first offset distance; if not, control the offset of the vehicle relative to the center line to be the second offset distance; wherein the first offset distance is greater than the second offset distance.

[0118] Optionally, the parking unit 703 is also used for:

[0119] Determining whether the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side;

[0120] If yes, detect whether there are obstacles on the first side and the second side; if there are obstacles on both the first side and the second side or there are no obstacles on both sides, control the vehicle to park in the center of the parking space along the width direction; if there is an obstacle on the first side or the second side, control the vehicle to park in the parking space at an offset position closer to the obstacle-free side relative to the center line in the width direction;

[0121] If not, detect whether there are obstacles on the first side and the second side; if there are obstacles on both the first side and the second side or there are no obstacles, control the vehicle to be offset parked in the parking space relative to the center line in the width direction, closer to the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side; if there is an obstacle only on the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side, control the vehicle to be centered in the width direction in the parking space or to be offset parked closer to the side corresponding to the larger of the maximum door opening distance of the first side and the maximum door opening distance of the second side; if there is an obstacle only on the side corresponding to the larger of the maximum door opening distance of the first side and the maximum door opening distance of the second side, control the vehicle to be offset parked in the parking space relative to the center line in the width direction, closer to the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side.

[0122] Optionally, the parking unit 703 is also used for:

[0123] If the respective passenger getting-off positions are distributed on the same side in the vehicle width direction, detecting whether there are obstacles on the first side and the second side;

[0124] If there are obstacles on both the first side and the second side, the vehicle is controlled to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle; if there are no obstacles on both the first side and the second side, the vehicle is controlled to be parked in the center of the width direction of the parking space or to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle; if there is an obstacle only on the other side opposite to the side where the passenger gets off the vehicle, the vehicle is controlled to be parked in the center of the width direction of the parking space; if there is an obstacle only on the side where the passenger gets off the vehicle, the vehicle is controlled to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle.

[0125] Optionally, the parking unit 703 is also used for:

[0126] Before the vehicle performs offset parking relative to the center line in the width direction in the parking space, a confirmation prompt is issued to the occupant to confirm whether to perform offset parking;

[0127] receiving a confirmation result submitted by the occupant as to whether to perform offset parking;

[0128] If the confirmation result is to perform offset parking, the vehicle is controlled to perform offset parking relative to the center line in the width direction in the parking space; if the confirmation result is not to perform offset parking, the vehicle is controlled to park in the center of the width direction in the parking space.

[0129] Optionally, the acquiring unit 701 is further configured to:

[0130] Before obtaining the distribution of passengers getting off the vehicle, a confirmation prompt is issued to each passenger on which side of the vehicle to get off;

[0131] If a confirmation result of the side of the vehicle on which the passenger gets off is received, the confirmation result is used as the passenger getting off distribution of the passenger;

[0132] If no confirmation result is received from the occupant regarding which side of the vehicle the occupant will get off, the distribution of the occupant in the vehicle is detected, and the detected distribution of the occupant is used as the occupant getting off distribution of the occupant.

[0133] It should be noted that the specific implementation content of the automatic parking device of the present invention has been described in detail in the automatic parking method described above, so the repeated content will not be described again here.

[0134] As another aspect, the present invention further provides a vehicle, comprising the automatic parking device described in the above embodiment.

[0135] The flow chart and block diagram in the figure illustrate the possible implementation architecture, function and operation of the system, method and computer program according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, program segment or part of the code, and the above-mentioned module, program segment or part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0136] The units involved in the embodiments of the present invention may be implemented by software or hardware. The units described may also be set in a processor, for example, it may be described as: a processor includes a detection unit and a control unit, wherein the names of these units do not constitute a limitation on the units themselves in some cases.

[0137] As another aspect, the present invention further provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently without being assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device implements the following method: obtaining the distribution of passengers getting off the vehicle, obtaining the type of door corresponding to each passenger getting off position according to the distribution of passengers getting off the vehicle, thereby obtaining the door opening distance corresponding to each passenger getting off position; determining whether each passenger getting off position is distributed on two different sides in the vehicle width direction; if so, respectively calculating the maximum door opening distance of the first side and the maximum door opening distance of the second side, the maximum door opening distance of the first side and the maximum door opening distance of the second side being the first maximum door opening distance and the second maximum door opening distance being the first maximum door opening distance and the second maximum door opening distance being the second maximum door opening distance and the second maximum door opening distance being the first ... first maximum door opening distance and the second maximum door opening distance being the first maximum door opening distance and the second maximum door opening distance being the first maximum door opening distance and the second maximum door opening distance being the first maximum door opening distance and the second maximum door opening distance being the first maximum door opening distance and the second maximum door opening distance respectively. The maximum value of the door opening distances corresponding to the passenger exit positions on the first side and the second side; determine whether the maximum door opening distance on the first side and the maximum door opening distance on the second side are the same; if so, control the vehicle to park in the center of the width direction in the parking space; if not, control the vehicle to park in the parking space closer to the smaller side of the maximum door opening distance on the first side and the maximum door opening distance on the second side relative to the center line in the width direction; wherein the vehicle has a first type of door and a second type of door, the door opening distance of the first type of door is the first door opening distance, and the door opening distance of the second type of door is the second door opening distance. The computer-readable medium may include ROM, RAM, magnetic disk, optical disk, or USB flash drive, etc.

[0138] The embodiments of the present invention make full use of the advantages of some types of vehicle doors, and park the vehicle in combination with the distribution of obstacles and the distribution of passengers in the vehicle, thereby providing passengers with more sufficient space to get off the vehicle. The embodiments of the present invention can further park the vehicle in combination with the distribution of obstacles, thereby providing passengers with more sufficient space to get off the vehicle.

[0139] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic parking method for a vehicle, wherein the vehicle has a first type of door and a second type of door, the first type of door has an opening distance of a first door opening distance, and the second type of door has an opening distance of a second door opening distance, wherein: The automatic parking method comprises: Obtaining the distribution of passengers getting off the vehicle, and obtaining the type of door corresponding to each passenger getting off position according to the distribution of passengers getting off the vehicle, so as to obtain the door opening distance corresponding to each passenger getting off position; Determine whether the respective passenger getting-off positions are distributed on two different sides in the vehicle width direction; if so, respectively calculate the maximum door opening distance on the first side and the maximum door opening distance on the second side, wherein the maximum door opening distance on the first side and the maximum door opening distance on the second side are respectively the maximum values ​​of the door opening distances corresponding to the passenger getting-off positions on the first side and the second side; Determine whether the maximum door opening distance on the first side and the maximum door opening distance on the second side are the same; if so, control the vehicle to be parked in the center of the width direction in the parking space; if not, control the vehicle to be parked in the parking space at an offset position closer to the smaller side of the maximum door opening distance on the first side and the maximum door opening distance on the second side relative to the center line in the width direction.

2. The automatic parking method according to claim 1, characterized in that: The method further comprises: If the various passenger getting-off positions are distributed on the same side in the width direction of the vehicle, the vehicle is controlled to be parked offset to the other side opposite to the side where the passenger getting-off positions are located relative to the center line in the width direction in the parking space.

3. The automatic parking method according to claim 2, characterized in that: If the respective passenger getting-off positions are distributed on the same side in the vehicle width direction, the method further includes: Obtaining the maximum door opening distance on the side where each passenger gets off the vehicle; Determine whether the maximum door opening distance is the larger of the first door opening distance and the second door opening distance; if so, control the offset of the vehicle relative to the center line to be the first offset distance; if not, control the offset of the vehicle relative to the center line to be the second offset distance; wherein the first offset distance is greater than the second offset distance.

4. The automatic parking method according to claim 1, characterized in that: Determining whether the maximum door opening distance on the first side and the maximum door opening distance on the second side are the same; if so, controlling the vehicle to park in the center of the parking space along the width direction; if not, controlling the vehicle to park in the parking space at a side corresponding to the smaller of the maximum door opening distance on the first side and the maximum door opening distance on the second side relative to the center line in the width direction, including: Determining whether the maximum door opening distance on the first side is the same as the maximum door opening distance on the second side; If yes, detect whether there are obstacles on the first side and the second side; if there are obstacles on both the first side and the second side or there are no obstacles on both sides, control the vehicle to park in the center of the parking space along the width direction; if there is an obstacle on the first side or the second side, control the vehicle to park in the parking space at an offset position closer to the obstacle-free side relative to the center line in the width direction; If not, detect whether there are obstacles on the first side and the second side; if there are obstacles on both the first side and the second side or there are no obstacles, control the vehicle to be offset parked in the parking space relative to the center line in the width direction, closer to the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side; if there is an obstacle only on the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side, control the vehicle to be centered in the width direction in the parking space or to be offset parked closer to the side corresponding to the larger of the maximum door opening distance of the first side and the maximum door opening distance of the second side; if there is an obstacle only on the side corresponding to the larger of the maximum door opening distance of the first side and the maximum door opening distance of the second side, control the vehicle to be offset parked in the parking space relative to the center line in the width direction, closer to the side corresponding to the smaller of the maximum door opening distance of the first side and the maximum door opening distance of the second side.

5. The automatic parking method according to claim 2, characterized in that: If the passenger getting-off positions are distributed on the same side in the width direction of the vehicle, the vehicle is controlled to be parked in the parking space closer to the other side opposite to the passenger getting-off position relative to the center line in the width direction, including: If the respective passenger getting-off positions are distributed on the same side in the vehicle width direction, detecting whether there are obstacles on the first side and the second side; If there are obstacles on both the first side and the second side, the vehicle is controlled to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle; if there are no obstacles on both the first side and the second side, the vehicle is controlled to be parked in the center of the width direction of the parking space or to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle; if there is an obstacle only on the other side opposite to the side where the passenger gets off the vehicle, the vehicle is controlled to be parked in the center of the width direction of the parking space; if there is an obstacle only on the side where the passenger gets off the vehicle, the vehicle is controlled to be parked in an offset manner relative to the center line in the width direction of the parking space, closer to the other side opposite to the side where the passenger gets off the vehicle.

6. The automatic parking method according to claim 1, characterized in that: Before controlling the vehicle to perform offset parking relative to the center line in the width direction in the parking space, the method further includes: Prompting the occupant to confirm whether to perform offset parking; receiving a confirmation result submitted by the occupant as to whether to perform offset parking; If the confirmation result is to perform offset parking, the vehicle is controlled to perform offset parking relative to the center line in the width direction in the parking space; if the confirmation result is not to perform offset parking, the vehicle is controlled to park in the center of the width direction in the parking space.

7. The automatic parking method according to any one of claims 1 to 6, characterized in that: Before obtaining the distribution of passengers getting off the vehicle, it also includes: Prompting each passenger to confirm which side of the vehicle to get off; If a confirmation result of the side of the vehicle on which the passenger gets off is received, the confirmation result is used as the passenger getting off distribution of the passenger; If no confirmation result is received from the occupant regarding which side of the vehicle the occupant will get off, the distribution of the occupant in the vehicle is detected, and the detected distribution of the occupant is used as the occupant getting off distribution of the occupant.

8. An automatic parking device for a vehicle, wherein the vehicle has a first type of door and a second type of door, the first type of door has an opening distance of a first door opening distance, and the second type of door has an opening distance of a second door opening distance, wherein: The automatic parking device comprises: an acquisition unit, configured to acquire a distribution of passengers getting off the vehicle, and acquire a type of door corresponding to each passenger getting off position according to the distribution of passengers getting off the vehicle, thereby obtaining a door opening distance corresponding to each passenger getting off position; a judgment unit, configured to judge whether the respective passenger getting-off positions are distributed on two different sides in the vehicle width direction; if so, respectively calculating a maximum door opening distance on the first side and a maximum door opening distance on the second side, wherein the maximum door opening distance on the first side and the maximum door opening distance on the second side are respectively the maximum values ​​of the door opening distances corresponding to the passenger getting-off positions on the first side and the second side; A parking unit is used to determine whether the maximum door opening distance on the first side and the maximum door opening distance on the second side are the same; if so, the vehicle is controlled to be parked in the center of the width direction in the parking space; if not, the vehicle is controlled to be parked in an offset manner toward a side corresponding to the smaller of the maximum door opening distance on the first side and the maximum door opening distance on the second side relative to the center line in the width direction in the parking space.

9. A vehicle, characterized in that: It comprises the automatic parking device as claimed in claim 7.

10. An electronic device, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the automatic parking method as described in any one of claims 1-7.

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