Automatic parking method, device and equipment

Abstract

The invention relates to the technical field of new energy automobiles, in particular to an automatic parking method, device and equipment. The automatic parking method comprises the steps that whether a vehicle meets an automatic parking condition or not is determined according to the state of the vehicle; and when it is determined that the vehicle meets the automatic parking condition, the vehicle is controlled to be automatically parked. In the embodiment of the invention, the automatic parking condition is set in advance according to a plurality of different scenes in which vehicle sliding may occur, whether the vehicle meets the parking condition or not is identified according to the vehicle state, and when the vehicle state meets the preset automatic parking condition, parking is automatically executed. The vehicle sliding caused by the neutral gear or other gears when the vehicle is parked and other potential safety hazards caused by the vehicle sliding are avoided, and the safety of the vehicle, a driver and other things around the vehicle is guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of new energy vehicles, and specifically to an automatic parking method, device and equipment. Background Art

[0002] With the increasing awareness of environmental protection and the development of new energy vehicle technology, more and more car owners choose new energy vehicles as the second vehicle for their families. Most new energy vehicles on the market are equipped with a P gear lock to ensure driving safety. The driver can use a mechanical handbrake or an electronic handbrake to complete the P gear lock operation to park the vehicle and ensure that the vehicle is stationary and does not slip.

[0003] However, many car owners have many years of driving behavior and driving habits of fuel vehicles, such as the habit of parking in N gear when parking on a slope. This will cause them to often forget to lock the vehicle by executing the parking lock when driving a new energy vehicle, causing the vehicle to slip during parking, posing a safety hazard to the vehicle itself and the people and cars around it. Summary of the invention

[0004] The embodiments of the present invention provide an automatic parking method, device and equipment to solve the problem in the prior art that a vehicle may slip and cause harm to the safety of people and vehicles in the surrounding environment.

[0005] In a first aspect, an embodiment of the present invention provides an automatic parking method, the method comprising: determining whether the vehicle meets the automatic parking condition according to the vehicle state; When it is determined that the vehicle satisfies the automatic parking condition, the vehicle is controlled to perform automatic parking.

[0006] Optionally, controlling the vehicle to perform automatic parking includes: Controlling the current gear position of the vehicle to the parking gear, and sending parking signals to the gear shift control unit SCU, the vehicle stability control unit ESC and the display instrument respectively; The parking signal includes a gear signal for indicating that the current gear state is the parking gear, and a validity signal indicating that the current gear state is valid; The SCU is used to light up the backlight of the parking gear button according to the parking signal, the ESC is used to control the locking of the vehicle according to the parking signal, and the display instrument is used to display that the current gear state is the parking gear.

[0007] Optionally, determining whether the vehicle meets the automatic parking condition according to the vehicle state includes: When it is detected that the vehicle power supply of the vehicle changes from the off state to the on state, or when it is detected that the vehicle power supply of the vehicle changes from the on state to the off state, determining whether the vehicle speed is less than a first speed threshold; When it is determined that the vehicle speed is less than the first speed threshold, it is determined that the vehicle meets the power-on and power-off automatic parking condition.

[0008] Optionally, determining whether the vehicle meets the automatic parking condition according to the vehicle state further includes: When the vehicle power supply is turned on and the vehicle gear is not in the parking gear, determining whether the vehicle speed is less than a first speed threshold, whether the driver's side door is open, whether the driver's seat belt is unfastened, and whether the driver leaves the seat; When it is determined that the vehicle speed is less than the first speed threshold, the driver's side door is open, the driver's seat belt is unfastened, and the driver leaves the main driver's seat, it is determined that the vehicle meets the door-open automatic parking condition.

[0009] Optionally, determining whether the vehicle meets the automatic parking condition according to the vehicle state further includes: When the vehicle power supply is turned on and the vehicle gear is not in the parking gear, determining whether the vehicle speed is less than a first speed threshold and whether the vehicle is in the exhibition hall mode; When it is determined that the vehicle speed is less than the first speed threshold and the vehicle is in the showroom mode, it is determined that the vehicle meets the showroom mode automatic parking condition.

[0010] Optionally, determining whether the vehicle meets the automatic parking condition according to the vehicle state further includes: When the vehicle power supply is turned on and the vehicle is not in the parking gear, determining whether the vehicle speed is less than a first speed threshold and whether the vehicle is in a charging state; When it is determined that the vehicle speed is less than a first speed threshold and the vehicle is in a charging state, determining that the vehicle meets the charging automatic parking condition; Among them, when the slow charging connection state is connected, or the battery management system detects that the fast charging connection state is connected, it is determined that the vehicle is in a charging state.

[0011] Optionally, determining whether the vehicle meets the automatic parking condition according to the vehicle state further includes: When the vehicle power supply is turned on and the vehicle is not in the parking gear, determining whether the vehicle speed is less than a first speed threshold and whether the parking button is pressed; When it is determined that the vehicle speed is less than the first speed threshold and the parking button is pressed, it is determined that the vehicle meets the button automatic parking condition.

[0012] In a second aspect, an embodiment of the present invention provides an automatic parking device, the device comprising: A determination module, determining whether the vehicle meets the automatic parking condition according to the vehicle state; The parking module controls the vehicle to perform automatic parking when it is determined that the vehicle meets the automatic parking condition.

[0013] In a third aspect, an embodiment of the present invention provides an electronic device, including: at least one processor; and at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the method as described in any one of the first aspects.

[0014] In a fourth aspect, an embodiment of the present invention provides a storage medium, wherein the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute any method described in the first aspect.

[0015] In the embodiment of the present invention, automatic parking conditions are set in advance according to several different scenarios where the vehicle may roll out, and the vehicle status is used to identify whether the vehicle meets the parking conditions. When the vehicle status meets the preset automatic parking conditions, parking is automatically performed to avoid the vehicle rolling out due to being in neutral or other gears when parking, as well as other safety hazards caused by rolling out, and to ensure the safety of the vehicle itself, the driver, and other things around the vehicle. At the same time, the relevant controllers or functional modules are all platform-based, shortening the vehicle development cycle and reducing the cost of component management. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 Shown is a schematic diagram of an automatic parking system provided by an embodiment of the present application; Figure 2 Shown is a flow chart of an automatic parking method provided by an embodiment of the present application; Figure 3 Shown is a schematic structural diagram of an automatic parking device provided in an embodiment of the present application; Figure 4 Shown is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0019] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0020] like Figure 1 FIG. 1 is a schematic diagram of the structure of an automatic parking system provided by an embodiment of the present invention. Figure 1 The automatic parking system includes: a vehicle control unit (VCU) 110, a shift control unit (SCU) 120, an electronic stability controller (ESC) 130, a display instrument 140 and other modules 150.

[0021] The VCU is used to sense the vehicle status in real time through the signals sent by other modules. It also determines whether the vehicle meets the automatic parking conditions based on the vehicle status. When it is determined that the vehicle meets the automatic parking conditions, it controls the vehicle to perform automatic parking.

[0022] When the vehicle is automatically parked, the VCU controls the vehicle's current gear position to P gear and sends parking signals to the shift control unit SCU, body stability unit ESC and display instrument respectively.

[0023] The SCU is used to light up the backlight of the parking gear of the shifter according to the parking signal received to prompt the user. The ESC is used to lock the vehicle according to the parking signal received.

[0024] The display instrument is connected to the VCU through the IC chip, and is used to receive the VCU command through the IC chip and display relevant prompt information. For example, when the VCU completes the automatic parking control, it receives the parking signal sent by the VCU, and displays the current gear position as the parking gear in the display instrument according to the parking signal.

[0025] Among them, the automatic parking conditions pre-set for the vehicle include automatic parking conditions for power on and off, automatic parking conditions for opening the door, automatic parking conditions for exhibition hall mode, automatic parking conditions for charging and automatic parking conditions for buttons.

[0026] The other modules include several sub-modules, all of which are connected to the VCU to monitor the vehicle status in real time and provide feedback to the VCU to assist the VCU in determining whether the vehicle meets the automatic parking conditions.

[0027] In some embodiments, other modules specifically include an on-board charger (Conversion & Distribution Unit, CDU), a battery management system (Battery Management System, BMS), a safety control module (Sensor Diagnostic Module, SDM) and a body control module IBC / BCM.

[0028] Specifically, CDU is used to determine the connection status of the vehicle's slow charging; BMS is used to detect the connection status of the vehicle's fast charging; SDM is used to detect the driver's seat belt status and the main driver's seat occupancy status; IBC / BCM is used to detect the vehicle's power mode and the driver's side door switch status.

[0029] like Figure 2 As shown in FIG. 1 , a flow chart of an automatic parking method provided by an embodiment of the present invention is shown. The method is applied to Figure 1 The automatic parking system shown in FIG. is specifically applied to the VCU in the automatic parking system. Figure 2 The specific steps of the method include: S201, determining whether the vehicle meets the automatic parking condition according to the vehicle state.

[0030] Specifically, the vehicle status is obtained in real time through other modules such as CDU, BMS, SDM and IBC / BCM carried by the vehicle, and the vehicle status is compared with the preset automatic parking conditions to determine whether the vehicle meets the automatic parking conditions.

[0031] Among them, the automatic parking conditions pre-set for the vehicle include automatic parking conditions for power on and off, automatic parking conditions for opening the door, automatic parking conditions for showroom mode, automatic parking conditions for charging and automatic parking conditions for buttons, which are used to represent various scenarios in which the vehicle may slip.

[0032] The automatic parking condition for power on and off is used to perform automatic parking every time the vehicle is powered on or off to prevent the risk of the vehicle rolling away.

[0033] When the VCU determines whether the vehicle meets the automatic parking conditions, it determines the power status of the vehicle through the IBC / BCM and the speed sensor installed in the vehicle.

[0034] When it is detected that the vehicle power supply changes from the off state to the on state, or the vehicle power supply changes from the on state to the off state, that is, when the vehicle power supply state changes, it is further determined whether the vehicle speed is lower than the preset first speed threshold. When it is determined that the vehicle speed is lower than the first speed threshold, it is determined that the vehicle meets the automatic parking condition for power on and off. Generally, the first speed threshold is set to 2km / h.

[0035] The door-open automatic parking condition is used to perform automatic parking when the driver leaves the vehicle, so as to avoid the situation where the driver forgets to park the vehicle when leaving the vehicle.

[0036] When the vehicle power is on and the vehicle gear is not in the parking gear, determine whether the vehicle meets the door-opening automatic parking conditions to perform automatic parking on the vehicle. When determining whether the vehicle meets the door-opening automatic parking conditions, the VCU determines the vehicle speed through the on-board sensor, determines the opening state of the driver's side door through the IBC / BCM, and determines whether the driver's seat belt is unfastened and the occupancy state of the main driver's seat through the SDM.

[0037] When it is detected that the vehicle speed is less than a first speed threshold, and at the same time the driver's side door is open, the driver's seat belt is unfastened, and the driver leaves the main driver's seat, it is determined that the vehicle meets the automatic door opening parking condition.

[0038] The showroom mode automatic parking condition is used to perform automatic parking in showroom mode to prevent the vehicle from rolling away when it is displayed in a showroom.

[0039] When the vehicle power is on and the vehicle gear is not in the parking gear, it is determined whether the vehicle meets the conditions for automatic parking in the showroom mode to perform automatic parking on the vehicle. When determining whether the vehicle meets the conditions for automatic parking in the showroom mode, the VCU determines the vehicle speed through the on-board sensor and determines whether the vehicle is in the showroom mode through the IBC / BCM.

[0040] When it is detected that the vehicle speed is less than the first speed threshold and the vehicle is in the showroom mode, it is determined that the vehicle meets the showroom mode automatic parking condition. After the IBC / BCM adjusts the vehicle mode state to the showroom mode, it sends a showroom mode signal to the VCU to synchronize the vehicle state with the VCU.

[0041] The charging automatic parking condition is used to perform automatic parking when the vehicle is connected to the charging gun for charging, so as to prevent the vehicle from rolling away after the user leaves the vehicle during charging.

[0042] When the vehicle power supply is turned on and the vehicle gear is not in the parking gear, it is determined whether the vehicle speed is less than the first speed threshold and whether the vehicle is in the charging state. When the charging gun is connected and the slow charging state is determined to be connected, or when the battery management system BMS detects that the fast charging state is connected, it is determined that the vehicle is in the charging state.

[0043] When it is determined that the vehicle speed is less than the first speed threshold and the vehicle is in a charging state, it is determined that the vehicle meets the charging automatic parking condition.

[0044] The button automatic parking condition is used to trigger parking after the user actively presses a button to prevent the vehicle from rolling.

[0045] When the vehicle power is turned on and the vehicle gear is not in the parking gear, determine whether the vehicle speed is less than the first speed threshold and whether the parking button is pressed. The ESC determines whether the parking button is pressed. When the ESC detects that the parking button is pressed, it sends information to the VCU to synchronize the P gear button status to the VCU in real time.

[0046] When it is determined that the vehicle speed is less than the first speed threshold and the parking button is pressed, it is determined that the vehicle meets the button automatic parking condition.

[0047] S202: When it is determined that the vehicle meets the automatic parking condition, the vehicle is controlled to perform automatic parking.

[0048] Specifically, when the VCU determines that the vehicle meets any of the automatic parking conditions, the vehicle is controlled to perform automatic parking. When performing automatic parking, the VCU controls the current gear position of the vehicle to the parking gear, and sends parking signals to the SCU, ESC and display instrument respectively. The parking signal specifically includes a gear signal indicating that the current gear position of the vehicle is the parking gear, and a validity signal indicating that the current gear position is valid.

[0049] After receiving the parking signal, the SCU determines that the current gear is the parking gear and lights up the backlight of the parking gear button on the shifter to remind the user that the vehicle's current gear is the parking gear. After receiving the parking signal, the ESC determines that the current gear is the parking gear and controls the vehicle to lock. After receiving the parking signal, the display instrument determines that the current parking gear is the parking gear and displays the current gear status as the parking gear to remind the user.

[0050] In the embodiment of the present invention, automatic parking conditions are set in advance according to several different scenarios where the vehicle may roll out, and the vehicle status is used to identify whether the vehicle meets the parking conditions. When the vehicle status meets the preset automatic parking conditions, parking is automatically performed to avoid the vehicle rolling out due to being in neutral or other gears when parking, as well as other safety hazards caused by rolling out, and to ensure the safety of the vehicle itself, the driver, and other things around the vehicle. At the same time, the relevant controllers or functional modules are all platform-based, shortening the vehicle development cycle and reducing the cost of component management.

[0051] Corresponding to the above automatic parking method, the present application embodiment also provides an automatic parking device. Figure 3 , is a schematic diagram of the structure of an automatic parking device provided in an embodiment of the present application. The automatic parking device may include: a determination module 301 and a parking module 302.

[0052] The determination module 301 determines whether the vehicle meets the automatic parking condition according to the vehicle state.

[0053] The parking module 302 controls the vehicle to perform automatic parking when it is determined that the vehicle meets the automatic parking condition.

[0054] Figure 4 FIG. 1 is a schematic diagram of the structure of an electronic device according to an embodiment of the present specification. Figure 4 As shown, the electronic device may include at least one processor; and at least one memory communicatively connected to the processing unit, wherein: the memory stores program instructions that can be executed by the processing unit, and the processor calls the program instructions to execute the automatic parking method provided in this embodiment.

[0055] The electronic device can be a device capable of intelligently communicating with a user, such as a cloud server, and the specific form of the electronic device is not limited in the embodiments of this specification. It can be understood that the electronic device here is the machine mentioned in the method embodiment.

[0056] Figure 4 A block diagram of an exemplary electronic device suitable for implementing the embodiments of the present description is shown. Figure 4 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of this specification.

[0057] like Figure 4 As shown, the electronic device is in the form of a general computing device. The components of the electronic device may include but are not limited to: one or more processors 410, a communication interface 420, a memory 430, and a communication bus 440 connecting different system components (including the memory 430, the communication interface 420 and the processor 410).

[0058] The communication bus 440 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnection (PCI) bus.

[0059] Electronic devices typically include a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, removable and non-removable media.

[0060] The memory 430 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 430 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of each embodiment of the present specification.

[0061] A program / utility having a set (at least one) of program modules may be stored in memory 430, such program modules including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules generally perform the functions and / or methods of the embodiments described in this specification.

[0062] The processor 410 executes various functional applications and data processing by running the programs stored in the memory 430, such as implementing the automatic parking method provided in the embodiment shown in this specification.

[0063] An embodiment of the present specification provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions enable the computer to execute the automatic parking method provided by the embodiment shown in the present specification.

[0064] The above-mentioned non-transitory computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ReadOnly Memory; hereinafter referred to as: ROM), an erasable programmable read-only memory (Erasable Programmable ReadOnly Memory; hereinafter referred to as: EPROM) or flash memory, optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0065] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, which carry computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0066] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0067] Computer program code for performing the operations of this specification may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect through the Internet).

[0068] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0069] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this specification, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0070] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of this specification includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of this specification belong.

[0071] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0072] It should be noted that the terminals involved in the embodiments of this specification may include but are not limited to personal computers (Personal Computer; hereinafter referred to as: PC), personal digital assistants (Personal Digital Assistant; hereinafter referred to as: PDA), wireless handheld devices, tablet computers (Tablet Computer), mobile phones, MP3 players, MP4 players, etc.

[0073] In the embodiments provided in this specification, 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. For example, 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.

[0074] In addition, each functional unit in each embodiment of this specification 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. The above integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0075] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute some steps of the method described in each embodiment of this specification.

[0076] The above description is only a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of this specification should be included in the scope of protection of this specification.

Claims

1. An automatic parking method, characterized in that: The method comprises: determining whether the vehicle meets the automatic parking condition according to the vehicle state; When it is determined that the vehicle satisfies the automatic parking condition, the vehicle is controlled to perform automatic parking.

2. The method according to claim 1, characterized in that The controlling the vehicle to perform automatic parking comprises: Controlling the current gear position of the vehicle to the parking gear, and sending parking signals to the gear shift control unit SCU, the vehicle stability control unit ESC and the display instrument respectively; The parking signal includes a gear signal for indicating that the current gear state is the parking gear, and a validity signal indicating that the current gear state is valid; The SCU is used to light up the backlight of the parking gear button according to the parking signal, the ESC is used to control the locking of the vehicle according to the parking signal, and the display instrument is used to display that the current gear state is the parking gear.

3. The method according to claim 1, characterized in that The determining whether the vehicle meets the automatic parking condition according to the vehicle state includes: When it is detected that the vehicle power supply of the vehicle changes from the off state to the on state, or when it is detected that the vehicle power supply of the vehicle changes from the on state to the off state, determining whether the vehicle speed is less than a first speed threshold; When it is determined that the vehicle speed is less than the first speed threshold, it is determined that the vehicle meets the power-on and power-off automatic parking condition.

4. The method according to claim 1, characterized in that: The determining whether the vehicle meets the automatic parking condition according to the vehicle state also includes: When the vehicle power supply is turned on and the vehicle gear is not in the parking gear, determining whether the vehicle speed is less than a first speed threshold, whether the driver's side door is open, whether the driver's seat belt is unfastened, and whether the driver leaves the seat; When it is determined that the vehicle speed is less than the first speed threshold, the driver's side door is open, the driver's seat belt is unfastened, and the driver leaves the main driver's seat, it is determined that the vehicle meets the door-open automatic parking condition.

5. The method according to claim 1, characterized in that The determining whether the vehicle meets the automatic parking condition according to the vehicle state also includes: When the vehicle power supply is turned on and the vehicle gear is not in the parking gear, determining whether the vehicle speed is less than a first speed threshold and whether the vehicle is in the exhibition hall mode; When it is determined that the vehicle speed is less than the first speed threshold and the vehicle is in the showroom mode, it is determined that the vehicle meets the showroom mode automatic parking condition.

6. The method according to claim 1, characterized in that The determining whether the vehicle meets the automatic parking condition according to the vehicle state also includes: When the vehicle power supply of the vehicle is in the on state and the vehicle is not in the parking gear, determining whether the vehicle speed is less than a first speed threshold and whether the vehicle is in a charging state; When it is determined that the vehicle speed is less than a first speed threshold and the vehicle is in a charging state, determining that the vehicle meets the charging automatic parking condition; Among them, when the slow charging connection state is connected, or the battery management system detects that the fast charging connection state is connected, it is determined that the vehicle is in a charging state.

7. The method according to claim 1, characterized in that The determining whether the vehicle meets the automatic parking condition according to the vehicle state also includes: When the vehicle power supply is turned on and the vehicle is not in the parking gear, determining whether the vehicle speed is less than a first speed threshold and whether the parking button is pressed; When it is determined that the vehicle speed is less than the first speed threshold and the parking button is pressed, it is determined that the vehicle meets the button automatic parking condition.

8. An automatic parking device, characterized in that: The device comprises: A determination module, determining whether the vehicle meets the automatic parking condition according to the vehicle state; The parking module controls the vehicle to perform automatic parking when it is determined that the vehicle meets the automatic parking condition.

9. An electronic device, characterized in that: include: at least one processor; as well as at least one memory in communication with the processor, wherein: The memory stores program instructions executable by the processor, and the processor can execute the method according to any one of claims 1 to 7 by calling the program instructions.

10. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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