Vehicle parking auxiliary method in shared battery replacement scene, battery replacement station and vehicle

Abstract

The invention relates to the technical field of vehicle battery replacement, in particular to a vehicle parking assisting method in a shared battery replacement scene, a battery replacement station and a vehicle, and the method comprises the steps that a to-be-parked vehicle sends a parking protocol confirmed by a vehicle end to the battery replacement station; the battery swap station sends auxiliary parking information to the to-be-parked vehicle based on the parking protocol confirmed by the vehicle end; the to-be-parked vehicle executes parking operation based on the auxiliary parking information, the to-be-parked vehicle is a vehicle which is confirmed by the battery swap station to allow battery swap, and the parking protocol comprises a sensing output protocol, an environment output protocol, a parking path output protocol, a parking track output protocol or a parking control output protocol; the auxiliary parking information comprises perception information, environment information, parking path information, parking track information or vehicle control information; according to the vehicle parking assisting method, various parking operations are supported, the requirements of vehicle models with different intelligent degrees and drivers are met, a battery replacing station can be more flexibly matched with the vehicle models with different intelligent degrees, and the universality of the vehicle parking assisting method is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle battery replacement technology, and specifically to a vehicle parking assistance method, a battery replacement station and a vehicle in a shared battery replacement scenario. Background Art

[0002] At present, in the business scenario of shared battery swapping realized by battery swap stations, there is the problem of different levels of intelligence of different models. The support capabilities and effects of different models for parking scenarios at battery swap stations are not unified and reliable, resulting in technical adaptation challenges for battery swap stations when realizing shared battery swapping.

[0003] Automakers differ in the design and implementation of parking assistance methods, resulting in huge differences in parking assistance functions for different models with different levels of intelligence. This makes it difficult for battery swap stations to uniformly adapt to all models, especially low-end models that may not have intelligent parking capabilities, which increases the difficulty of operating battery swap stations. Battery swap stations need to adapt and debug parking assistance methods for different models, which increases the difficulty and cost of operations.

[0004] Moreover, the current solution that relies on battery swap stations to generate parking paths, and vehicles to parse the paths and perform parking instead of manpower, is prone to mismatches with the actual operating requirements of battery swap stations, resulting in battery swap stations facing technical adaptation challenges when realizing shared battery swapping, poor flexibility, difficulties in implementation, and restrictions.

[0005] Accordingly, the art needs a new vehicle parking assistance solution in a shared battery swap scenario to solve the above problems. Application Contents

[0006] In order to overcome the above-mentioned defects, the present application is proposed to solve or at least partially solve the technical problem that when existing battery swap stations realize shared battery swapping, different vehicle models have different levels of intelligence, resulting in technical adaptation challenges and poor flexibility in realizing shared battery swapping.

[0007] In a first aspect, a vehicle parking assistance method in a shared battery swapping scenario is provided, which is applied to a battery swapping station, and the method includes:

[0008] Receiving a parking protocol confirmed by the vehicle end sent by the vehicle to be parked, wherein the vehicle to be parked is a vehicle confirmed by the battery swap station to be allowed to swap batteries, and the parking protocol includes a perception output protocol, an environment output protocol, a parking path output protocol, a parking trajectory output protocol or a parking control output protocol;

[0009] Based on the parking protocol confirmed by the vehicle side, auxiliary parking information is sent to the vehicle to be parked, so that the vehicle to be parked performs a parking operation based on the auxiliary parking information, wherein the auxiliary parking information includes perception information, environmental information, parking path information, parking trajectory information or vehicle control information.

[0010] In a technical solution of the vehicle parking assistance method in the above-mentioned shared battery swapping scenario, the sending of assisted parking information to the vehicle to be parked based on the parking protocol confirmed by the vehicle side includes:

[0011] When the parking protocol confirmed by the vehicle end is the perception output protocol, the perception information is sent to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the perception information;

[0012] When the parking protocol confirmed by the vehicle end is the environment output protocol, sending the environment information to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the environment information;

[0013] When the parking protocol confirmed by the vehicle end is the parking path output protocol, the parking path information is sent to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the parking path information;

[0014] When the parking protocol confirmed by the vehicle end is the parking trajectory output protocol, the parking trajectory information is sent to the vehicle to be parked, so that the vehicle to be parked parses the auxiliary parking information and displays the parking trajectory information to the driver, and the driver controls the vehicle to be parked to perform a manual parking operation based on the displayed parking trajectory information;

[0015] When the parking protocol confirmed by the vehicle end is the parking control output protocol, the vehicle control information is sent to the vehicle to be parked, so that the vehicle to be parked performs a parking operation based on the vehicle control information.

[0016] In a technical solution of the vehicle parking assistance method in the above-mentioned shared battery swapping scenario, the method further includes:

[0017] Receiving a battery replacement request sent by the vehicle to be parked;

[0018] Based on the battery swap request sent by the vehicle to be parked, determine whether the battery swap of the vehicle to be parked is allowed, and send the judgment result to the vehicle to be parked, so that the vehicle to be parked performs corresponding operations based on the judgment result. When the judgment result is that battery swap is not allowed, the vehicle to be parked waits for a preset waiting time and then sends a battery swap request to the battery swap station again; when the judgment result is that battery swap is allowed, the vehicle to be parked sends a parking protocol to be synchronized.

[0019] In a technical solution of the vehicle parking assistance method in the above-mentioned shared battery swapping scenario, the method further includes:

[0020] receiving the parking protocol to be synchronized sent by the vehicle to be parked;

[0021] Based on the parking protocol supported by the preset battery swap station and the parking protocol to be synchronized, the parking protocol is synchronized to determine whether the battery swap station supports the parking protocol to be synchronized, and a synchronization result is sent to the vehicle to be parked, so that the vehicle to be parked performs a corresponding operation based on the synchronization result;

[0022] Among them, when the synchronization result is that the parking agreement to be synchronized is supported, the vehicle to be parked determines the parking agreement confirmed by the vehicle side and sends it to the battery swap station; when the synchronization result is that the parking agreement to be synchronized is not supported, the vehicle to be parked re-determines the parking agreement to be synchronized and sends it to the battery swap station.

[0023] In a second aspect, a vehicle parking assistance method in a shared battery swapping scenario is provided, which is applied to a vehicle to be parked, wherein the vehicle to be parked is a vehicle that the battery swapping station confirms is allowed to be swapped, and the method comprises:

[0024] Sending the parking protocol confirmed by the vehicle end to the battery swap station, wherein the parking protocol includes a perception output protocol, an environment output protocol, a parking path output protocol, a parking trajectory output protocol or a parking control output protocol;

[0025] Receive the auxiliary parking information sent by the battery swap station based on the parking protocol confirmed by the vehicle end, and perform a parking operation based on the auxiliary parking information, wherein the auxiliary parking information includes perception information, environmental information, parking path information, parking trajectory information or vehicle control information.

[0026] In a technical solution of the vehicle parking assistance method in the above-mentioned shared battery swapping scenario, the performing of the parking operation based on the assisted parking information includes:

[0027] When the auxiliary parking information includes the parking trajectory information, parsing the auxiliary parking information and displaying the parking trajectory information to the driver, so that the driver controls the vehicle to be parked to perform a manual parking operation based on the displayed parking trajectory information;

[0028] When the auxiliary parking information includes the perception information, the environment information or the parking path information, parsing the auxiliary parking information, and controlling the vehicle to be parked to perform an automatic parking operation based on the parsed auxiliary parking information;

[0029] When the auxiliary parking information includes the vehicle control information, the vehicle to be parked is controlled to perform a parking operation based on the vehicle control information.

[0030] In a third aspect, a battery swap station is provided, comprising:

[0031] at least one processor;

[0032] and, a memory communicatively coupled to the at least one processor;

[0033] Among them, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the method described in any one of the technical solutions of the vehicle parking assistance method in the above-mentioned shared battery exchange scenario is implemented.

[0034] In a fourth aspect, an electronic device is provided, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the method described in any one of the technical solutions of the vehicle parking assistance method in the above-mentioned shared battery exchange scenario is implemented.

[0035] In a fifth aspect, a vehicle is provided, comprising the technical solution of the above-mentioned electronic device.

[0036] In a sixth aspect, a computer-readable storage medium is provided, which stores a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the method described in any one of the technical solutions of the vehicle parking assistance method in the above-mentioned shared battery exchange scenario.

[0037] Solution 1: A vehicle parking assistance method in a shared battery swapping scenario, applied to a battery swapping station, the method comprising:

[0038] Receiving a parking protocol confirmed by the vehicle end sent by the vehicle to be parked, wherein the vehicle to be parked is a vehicle confirmed by the battery swap station to be allowed to swap batteries, and the parking protocol includes a perception output protocol, an environment output protocol, a parking path output protocol, a parking trajectory output protocol or a parking control output protocol;

[0039] Based on the parking protocol confirmed by the vehicle side, auxiliary parking information is sent to the vehicle to be parked, so that the vehicle to be parked performs a parking operation based on the auxiliary parking information, wherein the auxiliary parking information includes perception information, environmental information, parking path information, parking trajectory information or vehicle control information.

[0040] Solution 2: According to the method of Solution 1, the sending of auxiliary parking information to the vehicle to be parked based on the parking agreement confirmed by the vehicle end includes:

[0041] When the parking protocol confirmed by the vehicle end is the perception output protocol, the perception information is sent to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the perception information;

[0042] When the parking protocol confirmed by the vehicle end is the environment output protocol, sending the environment information to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the environment information;

[0043] When the parking protocol confirmed by the vehicle end is the parking path output protocol, the parking path information is sent to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the parking path information;

[0044] When the parking protocol confirmed by the vehicle end is the parking trajectory output protocol, the parking trajectory information is sent to the vehicle to be parked, so that the vehicle to be parked parses the auxiliary parking information and displays the parking trajectory information to the driver, and the driver controls the vehicle to be parked to perform a manual parking operation based on the displayed parking trajectory information;

[0045] When the parking protocol confirmed by the vehicle end is the parking control output protocol, the vehicle control information is sent to the vehicle to be parked, so that the vehicle to be parked performs a parking operation based on the vehicle control information.

[0046] Solution 3: The method according to Solution 1, further comprising:

[0047] Receiving a battery replacement request sent by the vehicle to be parked;

[0048] Based on the battery swap request sent by the vehicle to be parked, determine whether the battery swap of the vehicle to be parked is allowed, and send the judgment result to the vehicle to be parked, so that the vehicle to be parked performs corresponding operations based on the judgment result. When the judgment result is that battery swap is not allowed, the vehicle to be parked waits for a preset waiting time and then sends a battery swap request to the battery swap station again; when the judgment result is that battery swap is allowed, the vehicle to be parked sends a parking protocol to be synchronized.

[0049] Solution 4: According to the method described in Solution 3, the method also includes:

[0050] receiving the parking protocol to be synchronized sent by the vehicle to be parked;

[0051] Based on the parking protocol supported by the preset battery swap station and the parking protocol to be synchronized, the parking protocol is synchronized to determine whether the battery swap station supports the parking protocol to be synchronized, and a synchronization result is sent to the vehicle to be parked, so that the vehicle to be parked performs a corresponding operation based on the synchronization result;

[0052] Among them, when the synchronization result is that the parking agreement to be synchronized is supported, the vehicle to be parked determines the parking agreement confirmed by the vehicle side and sends it to the battery swap station; when the synchronization result is that the parking agreement to be synchronized is not supported, the vehicle to be parked re-determines the parking agreement to be synchronized and sends it to the battery swap station.

[0053] Solution 5: A vehicle parking assistance method in a shared battery swapping scenario, applied to a vehicle to be parked, wherein the vehicle to be parked is a vehicle that the battery swapping station confirms is allowed to be swapped, and the method comprises:

[0054] Sending the parking protocol confirmed by the vehicle end to the battery swap station, wherein the parking protocol includes a perception output protocol, an environment output protocol, a parking path output protocol, a parking trajectory output protocol or a parking control output protocol;

[0055] Receive the auxiliary parking information sent by the battery swap station based on the parking protocol confirmed by the vehicle end, and perform a parking operation based on the auxiliary parking information, wherein the auxiliary parking information includes perception information, environmental information, parking path information, parking trajectory information or vehicle control information.

[0056] Solution 6: According to the method of Solution 5, performing a parking operation based on the auxiliary parking information comprises:

[0057] When the auxiliary parking information includes the parking trajectory information, parsing the auxiliary parking information and displaying the parking trajectory information to the driver, so that the driver controls the vehicle to be parked to perform a manual parking operation based on the displayed parking trajectory information;

[0058] When the auxiliary parking information includes the perception information, the environment information or the parking path information, parsing the auxiliary parking information, and controlling the vehicle to be parked to perform an automatic parking operation based on the parsed auxiliary parking information;

[0059] When the auxiliary parking information includes the vehicle control information, the vehicle to be parked is controlled to perform a parking operation based on the vehicle control information.

[0060] Solution 7. The method according to Solution 5, further comprising:

[0061] Sending a battery swap request to the battery swap station;

[0062] Receiving a determination result of whether battery replacement is allowed, sent by the battery replacement station;

[0063] Wherein, when the judgment result is that battery replacement is not allowed, sending a battery replacement request to the battery replacement station again after waiting for a preset waiting time;

[0064] When the judgment result is that battery swapping is allowed, the parking protocol to be synchronized is sent to the battery swap station, so that the battery swap station performs synchronization based on the parking protocol to be synchronized, and determines whether the battery swap station supports the parking protocol to be synchronized.

[0065] Solution 8. The method according to Solution 7, further comprising:

[0066] Receiving a synchronization result sent by the battery swap station, and performing corresponding operations based on the synchronization result;

[0067] Wherein, when the synchronization result is to support the parking protocol to be synchronized, determining the parking protocol confirmed by the vehicle end and sending it to the battery swap station;

[0068] When the synchronization result is that the parking protocol to be synchronized is not supported, the parking protocol to be synchronized is re-determined and sent to the battery swap station.

[0069] Solution 9. According to the method of Solution 8, the vehicle to be parked includes a plurality of preset parking protocols supported by the vehicle to be parked, and the method further includes:

[0070] Selecting a parking protocol from the plurality of preset parking protocols supported by the to-be-parked vehicle as the parking protocol to be synchronized and sending the selected parking protocol to the battery swap station; and when the synchronization result received from the battery swap station indicates that the parking protocol to be synchronized is supported, determining that the parking protocol to be synchronized is the parking protocol confirmed by the vehicle end;

[0071] Otherwise, the parking protocol to be synchronized is re-determined based on the plurality of preset parking protocols supported by the to-be-parked vehicle or the preset parking protocols supported by the to-be-parked station that have not been sent to the battery swap station.

[0072] Solution 10: According to the method described in Solution 9, at least some parking protocols are selected from the plurality of preset parking protocols supported by the vehicle to be parked as the parking protocols to be synchronized and sent to the battery swap station; when the synchronization result received from the battery swap station supports the parking protocol to be synchronized, the parking protocol confirmed by the vehicle is determined based on the parking protocols supported by the preset battery swap station and the parking protocol to be synchronized;

[0073] Otherwise, the parking protocol to be synchronized is re-determined based on the multiple preset parking protocols supported by the battery swap station or the preset parking protocol supported by the battery swap station that has not been sent to the battery swap station.

[0074] Solution 11: According to the method of Solution 10, determining the parking protocol confirmed by the vehicle end based on the parking protocol supported by the preset battery swap station and the parking protocol to be synchronized includes:

[0075] When the parking protocol supported by the preset battery swap station is a single station-side parking protocol, determining the parking protocol to be synchronized corresponding to the single station-side parking protocol as the parking protocol confirmed by the vehicle side;

[0076] When the parking protocols supported by the preset battery swap station are multiple station-side parking protocols, one of the parking protocols to be synchronized is selected as the parking protocol confirmed by the vehicle-side.

[0077] Solution 12: A vehicle parking assistance method in a shared battery swapping scenario, the method comprising:

[0078] The vehicle to be parked sends a parking protocol confirmed by the vehicle end to the battery swap station, wherein the vehicle to be parked is a vehicle confirmed by the battery swap station to be allowed to swap batteries, and the parking protocol includes a perception output protocol, an environment output protocol, a parking path output protocol, a parking trajectory output protocol or a parking control output protocol;

[0079] The battery swap station sends auxiliary parking information to the vehicle to be parked based on the parking agreement confirmed by the vehicle end;

[0080] The vehicle to be parked receives the assisted parking information sent by the battery swap station, and performs a parking operation based on the assisted parking information, wherein the assisted parking information includes perception information, environmental information, parking path information, parking trajectory information or vehicle control information.

[0081] Solution 13: According to the method of Solution 12, the battery swap station sends auxiliary parking information to the vehicle to be parked based on the parking agreement confirmed by the vehicle end, including:

[0082] When the parking protocol confirmed by the vehicle end is a perception output protocol, the battery swap station sends perception information to the vehicle to be parked;

[0083] When the parking protocol confirmed by the vehicle end is an environment output protocol, the battery swap station sends environment information to the vehicle to be parked;

[0084] When the parking protocol confirmed by the vehicle end is a parking path output protocol, the battery swap station sends parking path information to the vehicle to be parked;

[0085] When the parking protocol confirmed by the vehicle end is a parking track output protocol, the battery swap station sends parking track information to the vehicle to be parked;

[0086] When the parking protocol confirmed by the vehicle end is a parking control output protocol, the battery swap station sends vehicle control information to the vehicle to be parked.

[0087] Solution 14. According to the method of Solution 13, performing a parking operation based on the auxiliary parking information comprises:

[0088] When the auxiliary parking information includes the parking trajectory information, the vehicle to be parked parses the auxiliary parking information and displays the parking trajectory information to the driver, so that the driver controls the vehicle to be parked to perform a manual parking operation based on the displayed parking trajectory information;

[0089] When the auxiliary parking information includes the perception information, the environment information or the parking path information, the vehicle to be parked analyzes the auxiliary parking information, and controls the vehicle to be parked to perform an automatic parking operation based on the analyzed auxiliary parking information;

[0090] When the auxiliary parking information includes the vehicle control information, the vehicle to be parked controls the vehicle to be parked to perform a parking operation based on the vehicle control information.

[0091] Solution 15. The method according to Solution 12, further comprising:

[0092] The vehicle to be parked sends a battery replacement request to the battery replacement station;

[0093] The battery swap station receives a battery swap request from the vehicle to be parked, and sends a determination result of whether the battery swap is allowed to the vehicle to be parked;

[0094] The vehicle to be parked receives a judgment result of whether battery replacement is allowed, sent by the battery replacement station;

[0095] Wherein, when the judgment result is that battery replacement is not allowed, the vehicle to be parked waits for a preset waiting time and then sends a battery replacement request to the battery replacement station again;

[0096] When the judgment result is that battery swapping is allowed, the vehicle to be parked sends a parking protocol to be synchronized to the battery swapping station.

[0097] Solution 16. The method according to Solution 15, further comprising:

[0098] The battery swap station receives the parking agreement to be synchronized sent by the vehicle to be parked;

[0099] The battery swap station synchronizes the parking protocol based on the preset battery swap station parking protocol and the parking protocol to be synchronized to determine whether the parking protocol to be synchronized is supported, and sends the synchronization result to the vehicle to be parked;

[0100] The vehicle to be parked receives the synchronization result sent by the battery swap station, and performs corresponding operations based on the synchronization result;

[0101] Wherein, when the synchronization result is to support the parking agreement to be synchronized, the vehicle to be parked determines the parking agreement confirmed by the vehicle end and sends it to the battery swap station;

[0102] When the synchronization result is that the parking protocol to be synchronized is not supported, the vehicle to be parked redetermines the parking protocol to be synchronized and sends it to the battery swap station.

[0103] Solution 17: A battery swap station, comprising:

[0104] at least one processor;

[0105] and, a memory communicatively coupled to the at least one processor;

[0106] Among them, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the vehicle parking assistance method in the shared battery exchange scenario described in any one of Schemes 1 to 4 is implemented.

[0107] Solution 18. In the battery swap station according to Solution 17, the processor includes a perception module, an environment module, a station-side planning module, and a station-side control module;

[0108] The perception module is configured to send auxiliary parking information including perception information to the vehicle to be parked when the parking protocol confirmed by the vehicle end received by the battery swap station is a perception output protocol;

[0109] The environment module is configured to send auxiliary parking information including environment information to the vehicle to be parked when the parking protocol confirmed by the vehicle end received by the battery swap station is an environment output protocol;

[0110] The station-side planning module is configured to send auxiliary parking information including parking path information or auxiliary parking information including parking trajectory information to the vehicle to be parked when the parking protocol confirmed by the vehicle-side received by the battery swap station is a parking path output protocol or a parking trajectory output protocol;

[0111] The station-side control module is configured to send auxiliary parking information including vehicle control information to the vehicle to be parked when the parking protocol confirmed by the vehicle side and received by the battery swap station is a parking control output protocol.

[0112] Solution 19. An electronic device comprising:

[0113] at least one processor;

[0114] and, a memory communicatively coupled to the at least one processor;

[0115] Among them, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, it implements the vehicle parking assistance method in the shared battery exchange scenario described in any one of Schemes 5 to 11 or implements the vehicle parking assistance method in the shared battery exchange scenario described in any one of Schemes 12 to 16.

[0116] Option 20. A vehicle comprising the electronic device as described in Option 19.

[0117] Scheme 21. A computer-readable storage medium storing a plurality of program codes, wherein the program codes are suitable for being loaded and run by a processor to execute the vehicle parking assistance method in a shared battery swapping scenario described in any one of Schemes 1 to 4, or the vehicle parking assistance method in a shared battery swapping scenario described in any one of Schemes 5 to 11, or the vehicle parking assistance method in a shared battery swapping scenario described in any one of Schemes 12 to 16.

[0118] The above one or more technical solutions of the present application have at least one or more of the following beneficial effects:

[0119] In implementing the vehicle parking assistance technical solution in the shared battery swapping scenario provided by the present application, the vehicle to be parked sends the parking protocol confirmed by the vehicle side to the battery swapping station; the battery swapping station sends auxiliary parking information to the vehicle to be parked based on the parking protocol confirmed by the vehicle side; the vehicle to be parked receives the auxiliary parking information sent by the battery swapping station, and performs parking operations based on the auxiliary parking information, wherein the vehicle to be parked is a vehicle confirmed by the battery swapping station to be allowed to be battery swapped, the parking protocol includes a perception output protocol, an environmental output protocol, a parking path output protocol, a parking trajectory output protocol or a parking control output protocol, and the auxiliary parking information includes perception information, environmental information, parking path information, parking trajectory information or vehicle control information; the present invention supports multiple parking operations to meet the needs of vehicle models and drivers with different levels of intelligence, so that the battery swapping station can more flexibly adapt to various vehicle models with different levels of intelligence, thereby improving the versatility and practicality of the vehicle parking assistance method. BRIEF DESCRIPTION OF THE DRAWINGS

[0120] The disclosure of the present application will become easier to understand with reference to the accompanying drawings. It is easy for those skilled in the art to understand that these drawings are only for illustrative purposes and are not intended to limit the scope of protection of the present application. Among them:

[0121] Figure 1It is a flowchart of the main steps of a vehicle parking assistance method in a shared battery swapping scenario according to an embodiment of the present application;

[0122] Figure 2 It is a flowchart of the main steps of a vehicle parking assistance method in a shared battery swapping scenario according to an embodiment of the present application;

[0123] Figure 3 It is a flowchart of the main steps of a vehicle parking assistance method in a shared battery swapping scenario according to an embodiment of the present application;

[0124] Figure 4 It is a schematic diagram of the main structure of a battery swap station according to an embodiment of the present application.

[0125] Figure 5 It is a schematic diagram of the main structure of an electronic device according to an embodiment of the present application.

[0126] Reference numerals:

[0127] 41: memory; 42: processor; 43: perception module; 44: environment module; station 45: end planning module; 46: station control module; 51: memory; 52: processor. DETAILED DESCRIPTION

[0128] Some embodiments of the present application are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0129] In the description of the present application, "module" and "processor" may include hardware, software or a combination of the two. A module may include hardware circuits, various suitable sensors, communication ports, memory, and may also include software parts, such as program code, or a combination of software and hardware. The processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor or any other suitable processor. The processor has data and / or signal processing functions. The processor may be implemented in software, hardware or a combination of the two. Computer-readable storage media include any suitable medium that can store program code, such as a disk, a hard disk, an optical disk, a flash memory, a read-only memory, a random access memory, etc. The term "A and / or B" means all possible combinations of A and B, such as only A, only B or A and B. The term "at least one A or B" or "at least one of A and B" has a similar meaning to "A and / or B" and may include only A, only B or A and B. The singular terms "one" and "the" may also include plural forms.

[0130] The directional terms used in this document, such as "front", "front side", "front part", "rear", "rear side" and "rear part", are based on the front-to-back direction of the vehicle after the component is installed on the vehicle. The "longitudinal", "longitudinal" and "longitudinal section" mentioned in this document are based on the front-to-back direction after the component is installed on the vehicle, while "transverse", "transverse" and "cross section" refer to the direction perpendicular to the longitudinal direction.

[0131] The relevant user personal information that may be involved in the various embodiments of this application is strictly in accordance with the requirements of laws and regulations, following the principles of legality, legitimacy and necessity, based on the reasonable purposes of business scenarios, to process the personal information that users actively provide during the use of products / services or generated due to the use of products / services, as well as the personal information obtained with the user's authorization.

[0132] The user personal information processed by this application will vary depending on the specific product / service scenario, and shall be based on the specific scenario in which the user uses the product / service, and may involve the user's account information, device information, driving information, vehicle information or other related information. This application will treat the user's personal information and its processing with a high degree of diligence.

[0133] This application attaches great importance to the security of user personal information and has taken reasonable and feasible security protection measures that meet industry standards to protect user information and prevent personal information from being accessed, disclosed, used, modified, damaged or lost without authorization.

[0134] In the business scenario of shared battery swapping, battery swap stations will serve various types of vehicles with different levels of intelligence. The support capabilities and effects of vehicles with different levels of intelligence for parking scenarios at battery swap stations are not uniform and reliable. Some vehicles with lower levels of intelligence may not provide smart parking capabilities. These problems make battery swap stations face technical adaptation challenges when realizing shared battery swapping. They cannot adapt to vehicles with different levels of intelligence and cannot assist in parking operations for all vehicles.

[0135] In view of the above situation, the present application discloses a vehicle parking assistance method in a shared battery swapping scenario, which is applied to a battery swapping station. Figure 1 , Figure 1 1 is a flow chart of the main steps of a vehicle parking assistance method in a shared battery swapping scenario according to an embodiment of the present application. Figure 1 As shown, the vehicle parking assistance method in the shared battery exchange scenario in the embodiment of the present application mainly includes the following steps S101 to S102.

[0136] Step S101: receiving a parking agreement confirmed by the vehicle end sent by the vehicle to be parked.

[0137] In this embodiment, the vehicle to be parked is a vehicle that has been confirmed by the battery swap station to be allowed to swap batteries;

[0138] The method also includes: the battery swap station receives a battery swap request sent by the vehicle to be parked, determines whether the battery swap of the vehicle to be parked is allowed, and sends the determination result to the vehicle to be parked, so that the vehicle to be parked performs corresponding operations based on the determination result, wherein, when the determination result is that battery swap is not allowed, the vehicle to be parked waits for a preset waiting time and then sends a battery swap request to the battery swap station again; when the determination result is that battery swap is allowed, the vehicle to be parked sends a parking protocol to be synchronized.

[0139] In this embodiment, the parking protocol is a private protocol, which is specifically the protocol information for the interaction between the battery swap station and the vehicle. It is the requirement for communication between the station when vehicles with different levels of intelligence park at the battery swap station and enable assisted parking at the battery swap station. Highly intelligent vehicles can be backward compatible with simpler communications, while low-level intelligent vehicles cannot go to higher-level protocols because the computing power and communication may not meet the requirements.

[0140] Specifically, the parking protocol includes a perception output protocol, an environment output protocol, a parking path output protocol, a parking trajectory output protocol or a parking control output protocol.

[0141] In this embodiment, the method further includes:

[0142] receiving a parking protocol to be synchronized sent by a vehicle to be parked;

[0143] Based on the parking protocols supported by the preset battery swap station and the parking protocols to be synchronized, the parking protocols are synchronized to determine whether the battery swap station supports the parking protocols to be synchronized, and the synchronization result is sent to the vehicle to be parked, so that the vehicle to be parked performs corresponding operations based on the synchronization result;

[0144] Among them, when the synchronization result is that the parking agreement to be synchronized is supported, the vehicle to be parked determines the parking agreement confirmed by the vehicle side and sends it to the battery swap station; when the synchronization result is that the parking agreement to be synchronized is not supported, the vehicle to be parked re-determines the parking agreement to be synchronized and sends it to the battery swap station.

[0145] In one embodiment, after receiving the parking agreement to be synchronized sent by the vehicle to be parked, the battery swap station queries the parking agreements supported by the battery swap station preset inside the battery swap station to see whether the parking agreement to be synchronized is supported. When it is confirmed to be supported, a synchronization result supporting the parking agreement to be synchronized is sent to the vehicle to be parked, so that the vehicle to be parked determines that the parking agreement to be synchronized is the parking agreement confirmed by the vehicle side based on the synchronization result; otherwise, the battery swap station sends a synchronization result of not supporting the parking agreement to be synchronized to the vehicle to be parked, so that the vehicle to be parked exits the agreement selection, or redetermines the parking agreement to be synchronized and sends it to the battery swap station.

[0146] In one embodiment, the battery swap station and the vehicle to be parked are connected by communication. Network communication problems may occur during the synchronization of the parking agreement, and the communication between the vehicle to be parked and the battery swap station cannot be completed, including the following two situations: when the battery swap station cannot receive the parking agreement to be synchronized, the synchronization process of the parking agreement cannot be started; when the battery swap station cannot send the synchronization result to the vehicle to be parked, the vehicle to be parked will time out, and after exiting the protocol selection, the synchronization process of the parking agreement will be restarted according to the vehicle to be parked's own settings, or the synchronization of the parking agreement will be exited.

[0147] Step S102: Based on the parking agreement confirmed by the vehicle side, auxiliary parking information is sent to the vehicle to be parked, so that the vehicle to be parked performs a parking operation based on the auxiliary parking information.

[0148] In this embodiment, the auxiliary parking information includes perception information, environmental information, parking path information, parking trajectory information or vehicle control information.

[0149] Specifically, the perception information mainly refers to the perception of the vehicle to be parked, including the location information constructed in the coordinate system established at the location of the battery swap station, generally expressed as (x, y, z), the orientation of the vehicle to be parked (the rotation angle centered on the z-axis, also called the yaw angle), the model of the vehicle to be parked (used to identify the wheelbase of the vehicle), the size of the vehicle to be parked, etc.; in addition to the attributes related to the vehicle to be parked itself, the rest of the perception information will be continuously updated during the entire vehicle parking assistance process;

[0150] Environmental information mainly refers to the environmental status around the parking space in the battery swap station, with the data output of parking obstacles as the main focus; including the distribution, position (specific position in the coordinate system as above), size, and obstacle type (dynamic / static, dynamic refers to pedestrians, moving vehicles, small animals, etc., static refers to stopped vehicles, trees, etc.) of parking obstacles. Dynamic obstacles will also pay attention to the direction and speed of the moving target.

[0151] The parking path information includes the implementation strategy. In addition to the parking path point information provided, it also includes the vehicle's yaw angle, direction (forward, backward) and other information at the path point; multiple segments of information can be provided, such as driving forward first and then driving backward; when the parking path information is provided, it is usually sent to the vehicle control system in the vehicle to be parked, which parses the parking path information to form vehicle control signals, such as shifting gears, accelerating, reversing, steering, etc.

[0152] The parking trajectory information is a series of points, which is sent by the battery swap station to the vehicle to be parked. The vehicle to be parked displays the information to the driver based on user interaction methods such as the vehicle's central control screen (for example, the parking path information is drawn on the rearview camera display) to prompt the user how to park. It is usually suitable for vehicles with a lower level of intelligence to perform manual parking operations.

[0153] The vehicle control information is determined based on the type of vehicle to be parked.

[0154] It should be noted that the specific information content of the perception information, environmental information, parking path information, parking trajectory information and vehicle control information is only for illustrative purposes and does not limit the implementation methods of the present application. In actual applications, the specific information content of the perception information, environmental information, parking path information, parking trajectory information and vehicle control information can be obtained according to actual needs.

[0155] In one implementation, when the parking protocol confirmed by the vehicle side is a perception output protocol, perception information is sent to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the perception information.

[0156] In one implementation, when the parking protocol confirmed by the vehicle side is an environment output protocol, environment information is sent to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the environment information.

[0157] In one implementation, when the parking protocol confirmed by the vehicle side is a parking path output protocol, parking path information is sent to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the parking path information.

[0158] In one embodiment, when the parking protocol confirmed by the vehicle side is a parking trajectory output protocol, parking trajectory information is sent to the vehicle to be parked, so that the vehicle to be parked parses the auxiliary parking information and displays the parking trajectory information to the driver, and the driver controls the vehicle to be parked to perform a manual parking operation based on the displayed parking trajectory information.

[0159] In one implementation, when the parking protocol confirmed by the vehicle side is a parking control output protocol, vehicle control information is sent to the vehicle to be parked, so that the vehicle to be parked performs a parking operation based on the vehicle control information.

[0160] The present application discloses a vehicle parking assistance method in a shared battery swapping scenario, which is applied to a vehicle to be parked, where the vehicle to be parked is a vehicle that has been confirmed by a battery swapping station to be allowed to swap batteries. Figure 2 , Figure 2 1 is a flow chart of the main steps of a vehicle parking assistance method in a shared battery swapping scenario according to an embodiment of the present application. Figure 2 As shown, the vehicle parking assistance method in the shared battery exchange scenario in the embodiment of the present application mainly includes the following steps S201 to S202.

[0161] Step S201: Send the parking agreement confirmed by the vehicle to the battery swap station.

[0162] In this embodiment, the parking protocol includes a perception output protocol, an environment output protocol, a parking path output protocol, a parking trajectory output protocol, or a parking control output protocol.

[0163] In this embodiment, the method further includes: sending a battery swap request to a battery swap station; receiving a determination result of whether battery swap is allowed sent by the battery swap station;

[0164] Among them, when the judgment result is that battery swapping is not allowed, the battery swapping request is sent to the battery swapping station again after waiting for the preset waiting time; when the judgment result is that battery swapping is allowed, the parking protocol to be synchronized is sent to the battery swapping station, so that the battery swapping station synchronizes based on the parking protocol to be synchronized, and determines whether the battery swapping station supports the parking protocol to be synchronized.

[0165] Exemplarily, the method of sending the parking agreement to be synchronized to the battery swap station is set according to the intelligence level of the vehicle to be parked, and the method of automatic transmission by the vehicle or manual transmission by the driver can be selected. It should be noted that the method of sending the parking agreement to be synchronized to the battery swap station here is only an exemplary description. In actual application, the method of sending the parking agreement to be synchronized to the battery swap station is set according to the actual vehicle model.

[0166] In one embodiment, the vehicle to be parked includes a plurality of preset parking protocols supported by the vehicle to be parked, and the method further includes:

[0167] Selecting a parking protocol from a plurality of preset parking protocols supported by the vehicle to be parked as the parking protocol to be synchronized and sending it to the battery swap station; when the synchronization result received from the battery swap station is that the parking protocol to be synchronized is supported, determining that the parking protocol to be synchronized is the parking protocol confirmed by the vehicle end;

[0168] Otherwise, the parking protocol to be synchronized is re-determined based on a plurality of preset parking protocols supported by the to-be-parked vehicle or preset parking protocols supported by the to-be-parked station that have not been sent to the battery swap station.

[0169] In one embodiment, the vehicle to be parked includes a plurality of preset parking protocols supported by the vehicle to be parked, and the method further includes:

[0170] Selecting at least some parking protocols from a plurality of preset parking protocols supported by the vehicle to be parked as parking protocols to be synchronized and sending them to the battery swap station; when the synchronization result received from the battery swap station supports the parking protocols to be synchronized, determining the parking protocol confirmed by the vehicle end based on the parking protocols supported by the preset battery swap station and the parking protocols to be synchronized;

[0171] Otherwise, the parking protocol to be synchronized is re-determined based on a plurality of preset parking protocols supported by the battery swap station or a preset parking protocol supported by the battery swap station that has not been sent to the battery swap station.

[0172] In one implementation, determining the parking protocol confirmed by the vehicle end based on the parking protocol supported by the preset battery swap station and the parking protocol to be synchronized includes:

[0173] When the parking protocol supported by the preset battery swap station is a single station-side parking protocol, determining the parking protocol to be synchronized corresponding to the single station-side parking protocol as the parking protocol confirmed by the vehicle side;

[0174] When the parking protocols supported by the preset battery swap station are multiple station-side parking protocols, one parking protocol is selected from the parking protocols to be synchronized as the parking protocol confirmed by the vehicle-side.

[0175] Step S202: receiving the auxiliary parking information sent by the battery swap station based on the parking protocol confirmed by the vehicle end, and performing the parking operation based on the auxiliary parking information.

[0176] In this embodiment, the auxiliary parking information includes perception information, environmental information, parking path information, parking trajectory information or vehicle control information.

[0177] The method further includes: receiving a synchronization result sent by the battery swap station, and performing corresponding operations based on the synchronization result;

[0178] Among them, when the synchronization result is that the parking agreement to be synchronized is supported, the parking agreement confirmed by the vehicle side is determined and sent to the battery swap station; when the synchronization result is that the parking agreement to be synchronized is not supported, the parking agreement to be synchronized is re-determined and sent to the battery swap station.

[0179] In one implementation, when the assisted parking information includes parking trajectory information, the assisted parking information is parsed and the parking trajectory information is displayed to the driver, so that the driver controls the vehicle to be parked to perform a manual parking operation based on the displayed parking trajectory information.

[0180] In one implementation, when the assisted parking information includes perception information, environment information, or parking path information, the assisted parking information is parsed, and the vehicle to be parked is controlled to perform an automatic parking operation based on the parsed assisted parking information.

[0181] In one embodiment, when the auxiliary parking information includes vehicle control information, the vehicle to be parked is controlled to perform a parking operation based on the vehicle control information.

[0182] See attached Figure 3 , Figure 3 1 is a flow chart of the main steps of a vehicle parking assistance method in a shared battery swapping scenario according to an embodiment of the present application. Figure 3 As shown, the vehicle parking assistance method in the shared battery exchange scenario in the embodiment of the present application mainly includes the following steps S301 to S303.

[0183] Step S301: The vehicle to be parked sends a parking agreement confirmed by the vehicle end to the battery swap station.

[0184] In this embodiment, the vehicle to be parked is a vehicle that the battery swap station has confirmed is allowed to swap batteries, and the parking protocol includes a perception output protocol, an environment output protocol, a parking path output protocol, a parking trajectory output protocol, or a parking control output protocol.

[0185] In this embodiment, the method further includes:

[0186] The vehicle to be parked sends a battery swap request to the battery swap station;

[0187] The battery swap station receives a battery swap request from a vehicle to be parked, and sends a determination result of whether the battery swap is allowed to the vehicle to be parked;

[0188] The vehicle to be parked receives the judgment result of whether battery replacement is allowed from the battery replacement station;

[0189] Among them, when the judgment result is that battery swapping is not allowed, the vehicle to be parked will wait for a preset waiting time and then send a battery swap request to the battery swap station again; when the judgment result is that battery swapping is allowed, the vehicle to be parked will send a parking agreement to be synchronized to the battery swap station.

[0190] In this embodiment, the method further includes:

[0191] The battery swap station receives the parking agreement to be synchronized sent by the vehicle to be parked;

[0192] The battery swap station synchronizes the parking protocol based on the preset battery swap station parking protocol and the parking protocol to be synchronized to determine whether the parking protocol to be synchronized is supported, and sends the synchronization result to the vehicle to be parked;

[0193] The vehicle to be parked receives the synchronization result sent by the battery swap station and performs corresponding operations based on the synchronization result;

[0194] Among them, when the synchronization result is to support the parking agreement to be synchronized, the vehicle to be parked determines the parking agreement confirmed by the vehicle end and sends it to the battery swap station;

[0195] When the synchronization result is that the parking protocol to be synchronized is not supported, the vehicle to be parked re-determines the parking protocol to be synchronized and goes to the battery swap station.

[0196] Step S302: The battery swap station sends auxiliary parking information to the vehicle to be parked based on the parking agreement confirmed by the vehicle.

[0197] In this embodiment, the auxiliary parking information includes perception information, environmental information, parking path information, parking trajectory information or vehicle control information.

[0198] In one implementation, when the parking protocol confirmed by the vehicle side is a perception output protocol, the battery swap station sends perception information to the vehicle to be parked.

[0199] In one implementation, when the parking protocol confirmed by the vehicle side is an environment output protocol, the battery swap station sends environment information to the vehicle to be parked.

[0200] In one implementation, when the parking protocol confirmed by the vehicle side is a parking path output protocol, the battery swap station sends parking path information to the vehicle to be parked.

[0201] In one implementation, when the parking protocol confirmed by the vehicle side is a parking trajectory output protocol, the battery swap station sends parking trajectory information to the vehicle to be parked.

[0202] In one implementation, when the parking protocol confirmed by the vehicle side is a parking control output protocol, the battery swap station sends vehicle control information to the vehicle to be parked.

[0203] Step S303: The vehicle to be parked receives the assisted parking information sent by the battery swap station and performs a parking operation based on the assisted parking information.

[0204] In one implementation, when the assisted parking information includes parking trajectory information, the vehicle to be parked parses the assisted parking information and displays the parking trajectory information to the driver, so that the driver controls the vehicle to be parked to perform a manual parking operation based on the displayed parking trajectory information.

[0205] In one embodiment, when the assisted parking information includes perception information, environmental information, or parking path information, the vehicle to be parked analyzes the assisted parking information, and controls the vehicle to be parked to perform an automatic parking operation based on the analyzed assisted parking information;

[0206] In one embodiment, when the auxiliary parking information includes vehicle control information, the vehicle to be parked controls the vehicle to be parked to perform a parking operation based on the vehicle control information.

[0207] Another aspect of the present application provides a battery swap station.

[0208] See attached Figure 4 , Figure 4 4 shows exemplarily that the memory 41 and the processor 42 are communicatively connected via a bus.

[0209] In an embodiment of a battery swap station according to the present application, the battery swap station may include at least one processor 42; and a memory 41 that is communicatively connected to the at least one processor 42; wherein a computer program is stored in the memory 41, and when the computer program is executed by the at least one processor 42, the method described in any of the above embodiments is implemented.

[0210] In an embodiment of a battery swap station according to the present application, the processor 42 includes a perception module 43, an environment module 44, a station-side planning module 45, and a station-side control module 46;

[0211] The sensing module 43 is configured to send auxiliary parking information including sensing information to the vehicle to be parked when the parking protocol confirmed by the vehicle end received by the battery swap station is a sensing output protocol;

[0212] The environment module 44 is configured to send auxiliary parking information including environment information to the vehicle to be parked when the parking protocol confirmed by the vehicle end received by the battery swap station is an environment output protocol;

[0213] The station-side planning module 45 is configured to send auxiliary parking information including parking path information or auxiliary parking information including parking trajectory information to the vehicle to be parked when the parking protocol confirmed by the vehicle-side received by the battery swap station is a parking path output protocol or a parking trajectory output protocol;

[0214] The station-side control module 46 is configured to send auxiliary parking information including vehicle control information to the vehicle to be parked when the parking protocol confirmed by the vehicle side received by the battery swap station is a parking control output protocol.

[0215] Another aspect of the present application provides an electronic device.

[0216] In an embodiment of an electronic device according to the present application, the electronic device may include at least one processor 52; and a memory 51 connected to the at least one processor 52 in communication; wherein the memory 51 stores a computer program, and when the computer program is executed by the at least one processor 52, the method described in any of the above embodiments is implemented. Figure 5 , Figure 5 FIG. 5 exemplarily shows that the memory 51 and the processor 52 are communicatively connected via a bus.

[0217] In some embodiments of the present application, the electronic device may further include at least one sensor, which is used to sense information. The sensor is connected to any type of processor mentioned in the present application. Optionally, the electronic device may also include a vehicle control system and / or an automatic driving system, which is used to guide the electronic device to drive itself or assist driving. The processor 52 communicates with the sensor, the vehicle control system and / or the automatic driving system to complete the method described in any of the above embodiments.

[0218] In some embodiments of the present application, the electronic device described in the present application may also be but not limited to a mobile phone, a tablet computer, a desktop, a laptop, a handheld computer, a notebook computer, a vehicle-mounted device, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook, a personal digital assistant (personal digital assistant, PDA), an augmented reality (augmented reality, AR)\virtual reality (virtual reality, VR) device, etc., and the embodiments of the present application are not limited to this.

[0219] Another aspect of the present application provides a vehicle, comprising the above-mentioned electronic device.

[0220] In one embodiment, the vehicle further comprises a smart cockpit module, an autonomous driving controller module and a vehicle control module;

[0221] The intelligent cockpit function module is used for analyzing the auxiliary parking information including the parking trajectory information output by the station-side planning module 45 and displaying the parking trajectory information to the driver, so that the driver controls the vehicle to perform a manual parking operation based on the displayed parking trajectory information;

[0222] The automatic driving controller module is used to parse the assisted parking information based on one or more of the assisted parking information including the perception information output by the perception module 43, the assisted parking information including the environment information output by the environment module 44, and / or the assisted parking information including the parking path information output by the station-side planning module 45, and control the vehicle to perform the automatic parking operation based on the parsed assisted parking information;

[0223] The vehicle control module is used to control the vehicle to perform a parking operation based on the auxiliary parking information including the vehicle control information output by the station-end control module 46 .

[0224] It should be pointed out that although the various steps in the above embodiments are described in a specific order, those skilled in the art can understand that in order to achieve the effect of the present application, different steps do not have to be executed in such an order. They can be executed simultaneously (in parallel) or in other orders. These adjusted schemes are equivalent to the technical schemes described in this application, and therefore will also fall within the scope of protection of this application.

[0225] It is understood by those skilled in the art that all or part of the processes in the method for implementing the above-mentioned embodiment of the present application can also be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device, medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier signal, telecommunication signal and software distribution medium, etc. that can carry the computer program code.

[0226] Another aspect of the present application also provides a computer-readable storage medium.

[0227] In an embodiment of a computer-readable storage medium according to the present application, the computer-readable storage medium can be configured to store a program for executing the vehicle parking assistance method in the shared battery exchange scenario of the above-mentioned method embodiment, and the program can be loaded and run by the processor to implement the vehicle parking assistance method in the above-mentioned shared battery exchange scenario. For ease of explanation, only the parts related to the embodiment of the present application are shown. For specific technical details not disclosed, please refer to the method part of the embodiment of the present application. The computer-readable storage medium can be a storage device including various electronic devices. Optionally, the computer-readable storage medium in the embodiment of the present application is a non-temporary computer-readable storage medium.

[0228] So far, the technical solution of the present application has been described in conjunction with an embodiment shown in the accompanying drawings, but it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principles of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.

Claims

1. A vehicle parking assistance method in a shared battery swapping scenario, applied to a battery swapping station, characterized in that: The method comprises: Receiving a parking protocol confirmed by the vehicle end sent by the vehicle to be parked, wherein the vehicle to be parked is a vehicle confirmed by the battery swap station to be allowed to swap batteries, and the parking protocol includes a perception output protocol, an environment output protocol, a parking path output protocol, a parking trajectory output protocol or a parking control output protocol; Based on the parking protocol confirmed by the vehicle side, auxiliary parking information is sent to the vehicle to be parked, so that the vehicle to be parked performs a parking operation based on the auxiliary parking information, wherein the auxiliary parking information includes perception information, environmental information, parking path information, parking trajectory information or vehicle control information.

2. The vehicle parking assistance method in the shared battery swap scenario according to claim 1 is characterized in that: The sending of auxiliary parking information to the vehicle to be parked based on the parking agreement confirmed by the vehicle end includes: When the parking protocol confirmed by the vehicle end is the perception output protocol, the perception information is sent to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the perception information; When the parking protocol confirmed by the vehicle end is the environment output protocol, sending the environment information to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the environment information; When the parking protocol confirmed by the vehicle end is the parking path output protocol, the parking path information is sent to the vehicle to be parked, so that the vehicle to be parked performs an automatic parking operation based on the parking path information; When the parking protocol confirmed by the vehicle end is the parking trajectory output protocol, the parking trajectory information is sent to the vehicle to be parked, so that the vehicle to be parked parses the auxiliary parking information and displays the parking trajectory information to the driver, and the driver controls the vehicle to be parked to perform a manual parking operation based on the displayed parking trajectory information; When the parking protocol confirmed by the vehicle end is the parking control output protocol, the vehicle control information is sent to the vehicle to be parked, so that the vehicle to be parked performs a parking operation based on the vehicle control information.

3. The vehicle parking assistance method in a shared battery swapping scenario according to claim 1 is characterized in that: The method further comprises: Receiving a battery replacement request sent by the vehicle to be parked; Based on the battery swap request sent by the vehicle to be parked, determine whether the battery swap of the vehicle to be parked is allowed, and send the judgment result to the vehicle to be parked, so that the vehicle to be parked performs corresponding operations based on the judgment result. When the judgment result is that battery swap is not allowed, the vehicle to be parked waits for a preset waiting time and then sends a battery swap request to the battery swap station again; when the judgment result is that battery swap is allowed, the vehicle to be parked sends a parking protocol to be synchronized.

4. The vehicle parking assistance method in the shared battery swapping scenario according to claim 3 is characterized in that: The method further comprises: receiving the parking protocol to be synchronized sent by the vehicle to be parked; Based on the parking protocol supported by the preset battery swap station and the parking protocol to be synchronized, the parking protocol is synchronized to determine whether the battery swap station supports the parking protocol to be synchronized, and a synchronization result is sent to the vehicle to be parked, so that the vehicle to be parked performs a corresponding operation based on the synchronization result; Among them, when the synchronization result is that the parking agreement to be synchronized is supported, the vehicle to be parked determines the parking agreement confirmed by the vehicle side and sends it to the battery swap station; when the synchronization result is that the parking agreement to be synchronized is not supported, the vehicle to be parked re-determines the parking agreement to be synchronized and sends it to the battery swap station.

5. A vehicle parking assistance method in a shared battery swapping scenario, applied to a vehicle to be parked, characterized in that: The vehicle to be parked is a vehicle that is confirmed by the battery swap station to be allowed to swap batteries, and the method includes: Sending the parking protocol confirmed by the vehicle end to the battery swap station, wherein the parking protocol includes a perception output protocol, an environment output protocol, a parking path output protocol, a parking trajectory output protocol or a parking control output protocol; Receive the auxiliary parking information sent by the battery swap station based on the parking protocol confirmed by the vehicle end, and perform a parking operation based on the auxiliary parking information, wherein the auxiliary parking information includes perception information, environmental information, parking path information, parking trajectory information or vehicle control information.

6. The vehicle parking assistance method in the shared battery swapping scenario according to claim 5 is characterized in that: The performing a parking operation based on the auxiliary parking information includes: When the auxiliary parking information includes the parking trajectory information, parsing the auxiliary parking information and displaying the parking trajectory information to the driver, so that the driver controls the vehicle to be parked to perform a manual parking operation based on the displayed parking trajectory information; When the auxiliary parking information includes the perception information, the environment information or the parking path information, parsing the auxiliary parking information, and controlling the vehicle to be parked to perform an automatic parking operation based on the parsed auxiliary parking information; When the auxiliary parking information includes the vehicle control information, the vehicle to be parked is controlled to perform a parking operation based on the vehicle control information.

7. A battery swap station, characterized in that: include: at least one processor; and, a memory communicatively coupled to the at least one processor; Wherein, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the vehicle parking assistance method in the shared battery exchange scenario described in any one of claims 1 to 4 is implemented.

8. An electronic device, characterized in that: include: at least one processor; and, a memory communicatively coupled to the at least one processor; Wherein, a computer program is stored in the memory, and when the computer program is executed by the at least one processor, the vehicle parking assistance method in the shared battery exchange scenario described in any one of claims 5 to 6 is implemented.

9. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 8.

10. A computer-readable storage medium storing a plurality of program codes, characterized in that: The program code is suitable for being loaded and run by a processor to execute the vehicle parking assistance method in a shared battery swapping scenario as described in any one of claims 1 to 4 or the vehicle parking assistance method in a shared battery swapping scenario as described in any one of claims 5 to 6.

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