Parking method and related device

Abstract

The embodiment of the invention provides a parking method and a related device. The method comprises the steps that a parking instruction is received; a first wheel of the vehicle is locked, rotation of at least one of the remaining wheels of the vehicle is controlled, and steering of at least one of the remaining wheels of the vehicle is controlled. By adopting the embodiment of the invention, the turning radius of the vehicle can be increased and the parking efficiency of the vehicle can be improved by controlling the locking, rotation or steering of the wheels.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a parking method and related devices. Background Art

[0002] As the number of vehicles continues to grow, parking problems in urban communities, especially in old communities, are becoming increasingly severe. As vehicle size increases, parking difficulties due to small parking spaces are further exacerbated.

[0003] In actual parking scenarios, if the space available for parking is small, users may need to adjust the vehicle's posture several times before parking. Especially in scenarios such as dead-end roads or narrow roads, parking is difficult due to the limitation of the vehicle's turning radius, and even a slight carelessness may cause accidents such as vehicle scratches. This wastes the user's time and energy to a great extent, resulting in a poor driving experience and low parking efficiency. Summary of the invention

[0004] The embodiment of the present application provides a parking method and related device. By locking a first wheel of a vehicle and controlling at least one wheel of the vehicle other than the first wheel to rotate and / or turn, the turning radius of the vehicle can be increased, the number of adjustments of the vehicle during parking can be reduced, and the parking efficiency can be improved.

[0005] In a first aspect, an embodiment of the present application provides a parking method, the method comprising:

[0006] receiving parking instructions;

[0007] A first wheel of a vehicle is locked, at least one rotation of the remaining wheels of the vehicle is controlled, and at least one steering of the remaining wheels of the vehicle is controlled.

[0008] In the above method, the vehicle locks the first wheel, controls at least one of the other wheels to rotate, and controls at least one of the other wheels to turn, which can increase the turning radius of the vehicle and improve the turning sensitivity of the vehicle. In complex working conditions with small parking spaces such as narrow roads or dead-end roads, the vehicle can reduce the parking time and improve the efficiency of vehicle parking by controlling the wheel locking, rotation or turning. Since the existing scheme does not control the rotation or turning of the wheels during parking. Therefore, the turning radius of the existing vehicle in parking is larger than that of the embodiment of the present application, and the existing vehicle needs to adjust its posture multiple times before it can park in an area with a small parking space. By increasing the turning radius, the embodiment of the present application can reduce the number of times the vehicle adjusts its posture, thereby improving parking efficiency and the user's driving experience.

[0009] In an optional solution of the first aspect, the first wheel is a front wheel, and at least one of the remaining wheels of the vehicle that is used for rotation is a rear wheel.

[0010] In the above method, according to the structure of the vehicle, when the first wheel is the front wheel and at least one of the remaining wheels of the vehicle that is used for rotation is the rear wheel, the driving force required for the vehicle to rotate around the first wheel as the center is relatively small.

[0011] In an optional solution of the first aspect, the first wheel is a front wheel, and at least one of the remaining wheels of the vehicle that is used for steering is a rear wheel.

[0012] In the above method, according to the structure of the vehicle, when the first wheel is the front wheel and at least one of the remaining wheels of the vehicle used for steering is the rear wheel, the driving force required for the vehicle to rotate around the first wheel as the center is relatively small.

[0013] In an optional scheme of the first aspect, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used for turning in a first direction, and the other of the first rear wheel and the second rear wheel is used for turning in a second direction, and the first direction and the second direction are opposite.

[0014] In an optional solution of the first aspect, the first rear wheel and the second rear wheel after turning form an eight-shaped shape, and the opening direction of the eight-shaped shape is the direction in which the front of the vehicle is located.

[0015] In the above method, the vehicle controls the first rear wheel and the second rear wheel to turn in opposite directions, which can reduce the difficulty of the vehicle rotating around a single front wheel as the center, thereby ensuring the feasibility of rotating parking of the vehicle.

[0016] In an optional scheme of the first aspect, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to rotate in a third direction, and the other of the first rear wheel and the second rear wheel is used to rotate in a fourth direction, and the third direction is opposite to the fourth direction.

[0017] In an optional scheme of the first aspect, when the vehicle rotates with the first wheel as the center, the first rear wheel and the first front wheel have the same rotation direction, the first rear wheel and the second rear wheel have opposite rotation directions, the first front wheel is another front wheel of the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

[0018] In an optional scheme of the first aspect, when the vehicle rotates clockwise with the first wheel as the center, the first rear wheel and the first front wheel are used to rotate in the direction of the front of the vehicle, and the second rear wheel rotates in the direction of the rear of the vehicle.

[0019] In the above method, since the circular path is an arc with a single front wheel as the center, based on the principle of force balance, in order to achieve clockwise or counterclockwise rotation of the vehicle while ensuring that the front wheel as the center does not move, it is necessary to control the first rear wheel and the second rear wheel to rotate in the opposite direction.

[0020] In an optional scheme of the first aspect, the first wheel, the wheel for rotation and the wheel for steering are used to realize an arc path in a parking path, wherein the parking path is used to indicate a path for the vehicle to drive from a current position to a parking position, and the arc path is an arc with its center at the first wheel.

[0021] In the above method, the parking path includes an arc that rotates with a single front wheel as the center. It can be understood that the vehicle can rotate the rear end with a single front wheel as the center, which is equivalent to the vehicle being able to rotate in situ during the parking process. Compared with the existing parking solutions, the vehicle needs to adjust its posture by driving forward, backward, left, and right. In this application, the posture of the vehicle can be changed in situ through an arc path. Therefore, even if the vehicle is parked in a narrow road or a dead-end road with a small parking space, the vehicle can complete the parking by adjusting its posture in situ. It breaks the parking space restriction on parking and enhances the ability of automatic parking.

[0022] In an optional solution of the first aspect, the parking path includes the circular arc path and a curved path, and the curved path is an arc whose center of curvature is on an extension line of the rear axle of the vehicle;

[0023] The arc path is determined based on the parking position;

[0024] The curved path is determined based on the arc path and the posture information of the vehicle, wherein the posture information is used to represent the posture of the vehicle at the current position.

[0025] In the above method, since the vehicle needs to rotate its body from outside the parking position (e.g., parking space) to inside the parking position (e.g., parking space) according to the circular arc path, the circular arc path is related to the information of the parking position (e.g., parking space). The circular arc path determined by the vehicle according to the parking position (e.g., parking space) meets the actual working conditions, ensuring the safety and accuracy of the vehicle parking.

[0026] In an optional solution of the first aspect, after receiving the parking instruction, the method further includes:

[0027] During the process of the vehicle parking based on the parking path, obtaining position information of an obstacle;

[0028] Controlling the vehicle to stop according to the location information of the obstacle; and / or,

[0029] An updated parking path is determined according to the position information of the obstacle and the parking position, and parking is performed based on the updated parking path.

[0030] In the above method, there may be other obstacles during the parking process of the vehicle, and the vehicle parks by obtaining the location information of the obstacles, and / or replans the parking path based on the location information of the obstacles, so that the vehicle can avoid obstacles and improve the safety of the vehicle during parking.

[0031] In an optional solution of the first aspect, after receiving the parking instruction, the method further includes:

[0032] Acquiring actual position information of the vehicle;

[0033] In the case where there is a deviation between the actual posture information and the preset posture information, determining a target torque for the rotating wheel and a target steering angle for the steering wheel according to the deviation, wherein the preset posture information is determined according to the parking path;

[0034] The wheels for rotation are controlled according to the target torque, and the wheels for steering are controlled according to the target steering angle.

[0035] In the above method, when the vehicle's posture is different from the preset posture, the vehicle can adjust the vehicle's posture by adjusting the torque of the wheels used for rotation and adjusting the steering angle of the wheels used for steering, so that the vehicle can be parked according to the preset parking path, thereby improving the accuracy and safety of parking.

[0036] In a second aspect, an embodiment of the present application provides a parking device, the device comprising:

[0037] A communication unit, for receiving a parking instruction;

[0038] The processing unit locks a first wheel of a vehicle, controls at least one rotation of the remaining wheels of the vehicle, and controls at least one steering of the remaining wheels of the vehicle.

[0039] In an optional solution of the second aspect, the first wheel is a front wheel, and at least one of the remaining wheels of the vehicle that is used for rotation is a rear wheel.

[0040] In an optional solution of the second aspect, the first wheel is a front wheel, and at least one of the remaining wheels of the vehicle that is used for steering is a rear wheel.

[0041] In an optional scheme of the second aspect, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used for turning in a first direction, and the other of the first rear wheel and the second rear wheel is used for turning in a second direction, and the first direction and the second direction are opposite.

[0042] In an optional solution of the second aspect, the first rear wheel and the second rear wheel after turning form an eight-shaped shape, and the opening direction of the eight-shaped shape is the direction in which the front of the vehicle is located.

[0043] In an optional scheme of the second aspect, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to rotate in a third direction, and the other of the first rear wheel and the second rear wheel is used to rotate in a fourth direction, and the third direction is opposite to the fourth direction.

[0044] In an optional scheme of the second aspect, when the vehicle rotates with the first wheel as the center, the first rear wheel and the first front wheel have the same rotation direction, the first rear wheel and the second rear wheel have opposite rotation directions, the first front wheel is another front wheel of the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

[0045] In an optional scheme of the second aspect, when the vehicle rotates clockwise with the first wheel as the center, the first rear wheel and the first front wheel are used to rotate in the direction of the front of the vehicle, and the second rear wheel rotates in the direction of the rear of the vehicle.

[0046] In an optional scheme of the second aspect, the first wheel, the wheel for rotation and the wheel for steering are used to realize an arc path in a parking path, wherein the parking path is used to indicate a path for the vehicle to drive from a current position to a parking position, and the arc path is an arc with its center at the first wheel.

[0047] In an optional solution of the second aspect, the parking path includes the circular arc path and a curved path, and the curved path is an arc whose center of curvature is on an extension line of a rear axle of the vehicle;

[0048] The arc path is determined based on the parking position;

[0049] The curved path is determined based on the arc path and the posture information of the vehicle, wherein the posture information is used to represent the posture of the vehicle at the current position.

[0050] In an optional solution of the second aspect, the processing unit, specifically configured to, after receiving the parking instruction, further includes:

[0051] During the process of the vehicle parking based on the parking path, obtaining the position information of the obstacle through the communication unit;

[0052] Controlling the vehicle to stop according to the location information of the obstacle; and / or,

[0053] An updated parking path is determined according to the position information of the obstacle and the parking position, and parking is performed based on the updated parking path.

[0054] In an optional solution of the second aspect, the processing unit, specifically configured to, after receiving the parking instruction, further includes:

[0055] Acquiring actual position information of the vehicle through a communication unit;

[0056] In the case where there is a deviation between the actual posture information and the preset posture information, determining a target torque for the rotating wheel and a target steering angle for the steering wheel according to the deviation, wherein the preset posture information is determined according to the parking path;

[0057] The wheels for rotation are controlled according to the target torque, and the wheels for steering are controlled according to the target steering angle.

[0058] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor and a memory; the processor is coupled to the memory, the memory is used to store a computer program, and the processor is used to call and run the computer program so that the electronic device executes a method as described in any one of the first aspects above.

[0059] Optionally, the electronic device further includes a communication interface, wherein the communication interface is used to receive and / or send data, and / or the communication interface is used to provide input and / or output for the processor.

[0060] It should be noted that the above embodiment is described by taking a processor (or general-purpose processor) that executes the method by calling a computer specification as an example. In the specific implementation process, the processor can also be a dedicated processor, in which case the computer instructions have been pre-loaded in the processor. Optionally, the processor can also include both a dedicated processor and a general-purpose processor.

[0061] Optionally, the processor and the memory may also be integrated into one device, that is, the processor and the memory may also be integrated together.

[0062] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising a first motor, a second motor, a third motor and the electronic device as described in the third aspect.

[0063] In an optional solution of the fourth aspect, the first motor is used to drive the front wheels of the vehicle to rotate;

[0064] The second motor is used to drive the first rear wheel of the vehicle to rotate;

[0065] The third motor is used to drive the second rear wheel of the vehicle to rotate.

[0066] In an optional solution of the fourth aspect, the second motor is used to drive the first rear wheel to rotate in a third direction, and the third motor is used to drive the second rear wheel to rotate in a fourth direction, and the third direction is opposite to the fourth direction.

[0067] In an optional scheme of the fourth aspect, when the vehicle rotates with the first wheel as the center, the direction in which the second motor drives the first rear wheel to rotate is the same as the direction in which the first motor drives the first front wheel to rotate, the direction in which the second motor drives the first rear wheel to rotate is opposite to the direction in which the third motor drives the second rear wheel to rotate, the first front wheel is another front wheel in the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

[0068] In an optional scheme of the fourth aspect, when the vehicle rotates clockwise with the first wheel as the center, the first motor controls the first front wheel to rotate in the direction of the front of the vehicle, the second motor controls the first rear wheel to rotate in the direction of the front of the vehicle, and the third motor controls the second rear wheel to rotate in the direction of the rear of the vehicle.

[0069] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program runs on a computer or a processor, the method described in any one of the first aspects above is implemented.

[0070] In a sixth aspect, an embodiment of the present application provides a computer program product, which includes computer instructions. When the computer instructions are executed by a vehicle as described in the fourth aspect, the vehicle implements the method described in any one of the first aspect.

[0071] The beneficial effects of the technical solutions provided in the second to sixth aspects of the present application can refer to the beneficial effects of the technical solution of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] The following is a brief introduction to the drawings required for describing the embodiments.

[0073] Figure 1 is a schematic diagram of the architecture of a vehicle provided in an embodiment of the present application;

[0074] Figure 2 is a flow chart of a parking method provided in an embodiment of the present application;

[0075] Figure 3 is a schematic diagram of an arc path provided in an embodiment of the present application;

[0076] Figure 4 is a schematic diagram of driving along a curved path provided in an embodiment of the present application;

[0077] Figure 5 It is a schematic diagram of traveling along an arc path provided in an embodiment of the present application;

[0078] Figure 6 is a schematic diagram of a parking path provided in an embodiment of the present application;

[0079] Figure 7 It is a schematic diagram of a rotary parking process provided by an embodiment of the present application;

[0080] Figure 8 This is a block diagram of the functional units of a parking device provided in an embodiment of the present application;

[0081] Fig. 9 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0082] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0083] The terms "first", "second", "third" and "fourth" etc. in the specification and claims of the present application and the drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0084] In order to facilitate the understanding of the embodiments of the present application, the technical problems that the present application specifically aims to solve are analyzed and proposed below.

[0085] During the parking process, the vehicle is usually parked at the target location by controlling the steering of the front wheels of the vehicle. Therefore, there needs to be enough space near the target location for the vehicle to park at the target location. In special road conditions such as dead-end roads and narrow roads, since the space available for parking is small and the vehicle is limited by the turning radius, it may be necessary to adjust the position several times before it can be parked. Even in the automatic parking of the vehicle, since most vehicles only rely on the front wheels to turn, the turning radius of the vehicle is small. Therefore, in the face of complex road conditions, automatic parking is difficult due to the turning radius of the vehicle, the parking time is long, and the parking experience is poor.

[0086] Most of the current automatic parking systems of vehicles are based on traditional vehicle architecture, that is, the steering of the vehicle is controlled by the rotation of the front wheels, and a certain torque is output by the generator and / or motor to drive all wheels at the same time, etc. As a result, the adjustable range of the vehicle posture is limited. When facing a small parking space, the vehicle needs to adjust its posture several times before it can park.

[0087] In the scheme of expanding the adjustable range of the vehicle's posture by controlling the rear-wheel steering, although the turning radius of the vehicle can be increased by rear-wheel steering, the adjustable range of the vehicle's posture is increased. However, due to the lack of parking algorithm development capabilities and the high engineering difficulty of rear-turn parking, the rear-turn parking scheme cannot be applied to unmanned driving, and the user needs to adjust the vehicle's posture step by step through the steering wheel. However, due to the addition of rear-wheel steering, the difference between the vehicle's own state and conventional steering is too large, resulting in users being unfamiliar with steering. As a result, users are unable to park the vehicle in the target position by adjusting the vehicle's posture, which increases the difficulty of parking for users.

[0088] In summary, the embodiment of the present application provides a parking method. After receiving a parking instruction, the vehicle can realize an arc path in the parking path by locking the first wheel, controlling at least one rotation of the remaining wheels of the vehicle, and controlling at least one steering of the remaining wheels of the vehicle. The arc path is an arc with the center at the first wheel. The vehicle can reduce the turning radius by using the arc path, thereby improving the parking ability in special road conditions such as dead-end roads and narrow roads.

[0089] The following is an introduction to the system architecture of the embodiment of the present application. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solution of this application, and do not constitute a limitation on the technical solution provided by this application. It is known to those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0090] See also Figure 1 , Figure 1 Schematic diagram of a vehicle structure provided by an embodiment of the present application. Figure 1 As shown, the vehicle 10 includes a motor 101, a motor 102, a motor 103, a steering device 104, a steering device 105, a brake caliper 106, a brake caliper 107, a brake caliper 108, and a brake caliper 109. It should be noted that the number and installation position of the motors, steering devices, and brake calipers in the vehicle 10 are one possible situation. The number of motors, steering devices, or brake calipers can be less than or more than Figure 1 The number shown in is not limited here.

[0091] The vehicle 10 may be a vehicle driven by electric energy or a vehicle driven by new energy hybrid power. For example, when the vehicle 10 is a vehicle driven by electric energy, it may be a new energy vehicle, such as a pure electric vehicle, an extended-range electric vehicle, a hybrid vehicle, a fuel cell electric vehicle, etc. When the vehicle 10 is a car, it may be a sedan, an off-road vehicle, a truck, a bus, or a van, etc.

[0092] The motor, such as motor 101, motor 102 and motor 103, is usually the power source of the vehicle 10 and is a device that converts electrical energy into mechanical energy. The motor is located between the wheels of the vehicle 10 or at the bottom of the chassis of the vehicle 10. The location and arrangement of the motor may vary depending on the design and layout of the vehicle 10. The vehicle 10 generates a driving force applied to the wheels by controlling the speed and / or torque of the motor, thereby driving the vehicle.

[0093] The motor 101 is located at the front axle of the vehicle 10 and is used to drive the left front wheel and the right front wheel to rotate, for example, to rotate forward or backward. After the vehicle 10 determines the parking path, the vehicle 10 can apply corresponding torque to the front wheels through the motor 101 based on the torque of the front wheels indicated by the parking path to rotate the front wheels.

[0094] The motor 102 is located at the rear axle of the vehicle 10 and is used to drive the left rear wheel to rotate, for example, to rotate forward or backward. After the vehicle 10 determines the parking path, the vehicle 10 can apply a corresponding torque to the left rear wheel through the motor 102 based on the torque of the left rear wheel indicated by the parking path to rotate the left rear wheel, thereby achieving parking.

[0095] The motor 103 is located at the rear axle of the vehicle 10 and is used to drive the right rear wheel to rotate, for example, forward or backward. After the vehicle 10 determines the parking path, the vehicle 10 can apply a corresponding torque to the right rear wheel through the motor 103 based on the torque of the right rear wheel indicated by the parking path to rotate the right rear wheel, thereby achieving parking.

[0096] The steering device 104 is used to drive the left rear wheel to rotate, for example, to the left or right. After the vehicle 10 determines the parking path, the vehicle 10 can control the left rear wheel to rotate to a corresponding angle through the steering device 104 based on the steering angle of the left rear wheel indicated by the parking path.

[0097] For example, the steering device 104 can control the left rear wheel to turn to the left at any angle between 0 degrees and 10 degrees, and can also control the left rear wheel to turn to the right at any angle between 0 degrees and 10 degrees.

[0098] The steering device 105 is used to drive the right rear wheel to rotate, for example, to the left or right. After the vehicle 10 determines the parking path, the vehicle 10 can control the right rear wheel to rotate to a corresponding angle through the steering device 105 based on the steering angle of the right rear wheel indicated by the parking path.

[0099] For example, the steering device 105 can control the right rear wheel to turn to the left at any angle between 0 degrees and 10 degrees, and can also control the right rear wheel to turn to the right at any angle between 0 degrees and 10 degrees.

[0100] It is understandable that the vehicle 10 can drive the front wheels to steer by turning the steering wheel, so the vehicle 10 already has a set of steering devices for controlling the steering of the front wheels. The embodiment of the present application can control the steering of the front wheels by the existing steering device on the vehicle 10, and no new steering device is installed. In one implementation, the vehicle 10 controls the left front wheel and the right front wheel to turn to the left at the same time by the above-mentioned existing steering device, and the vehicle 10 controls the left front wheel and the right front wheel to turn to the right at the same time by the above-mentioned existing steering device.

[0101] The brake caliper is an important component in the vehicle's braking system, used to apply braking force to lock, slow down or stop the wheels from rotating. It is usually installed around the wheel and connected to the brake disc. For example, Figure 1 The brake caliper 106 , the brake caliper 107 , the brake caliper 108 and the brake caliper 109 shown can respectively control the wheel to lock, slow down or stop rotating.

[0102] Exemplarily, when the parking path determined by the vehicle 10 includes an arc path, if the arc path is an arc with the left front wheel as the center, the vehicle 10 brakes the left front wheel through the brake caliper 106, so that the left front wheel is locked and cannot rotate. Then, the vehicle 10 controls the right front wheel to rotate forward through the motor 101, and controls the right front wheel to rotate in the direction of rotation indicated by the arc path through the steering system. The vehicle 10 controls the left rear wheel to rotate backward through the motor 102, and controls the left rear wheel to rotate to the left through the steering device 104. The vehicle 10 controls the right rear wheel to rotate forward through the motor 103, and controls the right rear wheel to rotate to the right through the steering device 105. Thus, the vehicle 10 can rotate counterclockwise along the arc path with the left front wheel as the center.

[0103] Exemplarily, when the parking path determined by the vehicle 10 includes an arc path, if the arc path is an arc with the right front wheel as the center, the vehicle 10 brakes the right front wheel through the brake caliper 107, so that the right front wheel is locked and cannot rotate. Then, the vehicle 10 controls the left front wheel to rotate forward through the motor 101, and controls the left front wheel to rotate in the direction of rotation indicated by the arc path through the steering system. The vehicle 10 controls the left rear wheel to rotate forward through the motor 102, and controls the left rear wheel to rotate to the left through the steering device 104. The vehicle 10 controls the right rear wheel to rotate backward through the motor 103, and controls the right rear wheel to rotate to the right through the steering device 105. Thus, the vehicle 10 can rotate clockwise along the arc path with the right front wheel as the center.

[0104] The method of the embodiment of the present application is described in detail below.

[0105] See also Figure 2 , Figure 2 is a flow chart of a parking method provided in an embodiment of the present application, and the method is applied to Figure 1 The vehicle shown. Figure 2 As shown, the method includes but is not limited to the following steps:

[0106] Step S201, receiving a parking instruction.

[0107] Specifically, the vehicle executes the parking function after receiving the parking instruction, wherein the parking instruction may be an instruction generated by the vehicle in response to a user operation, or an instruction received by the vehicle from other electronic devices.

[0108] In a possible implementation, the user can control the vehicle to enter the automatic parking mode through a physical button in the vehicle, a touch control in the display screen, or a voice function. For example, the vehicle provides the user with one or more parking positions that can be selected, and the user can select a target parking position from the one or more parking positions according to the current position of the vehicle. In response to the user operation, the vehicle plans a parking path according to the parking position selected by the user.

[0109] In a possible implementation, before the vehicle automatically parks, it may first determine a parking path from the current position to the parking position, wherein the parking position may be an actual parking space or an area that can be parked.

[0110] For example, the vehicle may obtain environmental information of the current position and the parking position through a camera or a radar. For example, the environmental information may include but is not limited to the distance from the current position to the parking position, whether there is an obstacle between the current position and the parking position, the distance between the vehicle and the obstacle, etc. Then, the vehicle determines a parking path from the current position to the parking position based on the environmental information.

[0111] In a possible implementation, the parking path includes a curved path and an arc path.

[0112] Specifically, a curved path refers to an arc whose center of curvature is on the extension line of the rear axle of the vehicle. When the wheels of the vehicle rotate in the same direction (forward or backward), the vehicle can achieve a curved path by controlling the front wheels to turn left or right by a certain angle. An arc path refers to an arc with the center at the first wheel. For example, the trajectory obtained by the vehicle rotating with the left front wheel as the center or the right front wheel as the center is an arc.

[0113] In a possible implementation, the vehicle determines an arc path in the parking path according to the parking position. Then, the curved path is determined according to the vehicle's posture information and the arc path. Finally, the vehicle can determine the parking path according to the curved path and the arc path. The parking path is used to indicate the path of the vehicle from the current position to the parking position, and the posture information is used to indicate the posture of the vehicle at the current position.

[0114] Specifically, since the vehicle needs to rotate its body from outside the parking space to inside the parking space according to the circular path, the circular path is related to the parking space information. The vehicle can first determine the circular path according to the parking position, such as the parking space information. Then the vehicle determines the rotation position according to the circular path, and the rotation position can be the starting point of the circular path. The vehicle determines that the path between the current position and the rotation position is the curved path, and then combines the curved path and the circular path to determine the parking path.

[0115] In a possible implementation, the vehicle determines the center position and center angle of the arc trajectory according to the position information of the parking space, thereby determining the arc path according to the center position and center angle.

[0116] Specifically, since the vehicle needs to rotate its body from outside the parking space to inside the parking space based on the arc path, the vehicle can determine the position where the vehicle starts to rotate and the angle at which the vehicle needs to rotate according to parameters such as the position of the parking space, the length and width of the parking space, and the size of the vehicle. For example, the vehicle can characterize the position where the vehicle starts to rotate by determining the center position of the arc path, and characterize the angle at which the vehicle needs to rotate by the center angle of the arc path. Then, the specific arc path is determined according to the center position and the center angle.

[0117] In a possible implementation, the vehicle determines a curved path from an initial position of the vehicle to a rotational position of the circular arc path through a search algorithm based on the current posture information of the vehicle and the center position of the circular arc path.

[0118] Specifically, the initial position of the vehicle can be determined by the vehicle's posture information, and the rotation position of the arc path can be determined by the center position of the arc path. After the vehicle determines the arc path according to the parking space information, the path from the initial position to the rotation position can be obtained through the search algorithm. This makes the determined curved path more consistent with the actual working conditions.

[0119] For example, the vehicle can determine the range of rotation positions that the vehicle can be rotated to based on the location of the parking space, the length and width of the parking space, the size of the vehicle, and other information, that is, the range of coordinate points where the vehicle can start to rotate with the target front wheel as the center. For example, the vehicle can start to rotate with the left front wheel as the center from position A, and the vehicle can also start to rotate from position B and position C. Then, the range of the above rotation positions includes position A, position B, and position C.

[0120] Moreover, due to different rotation positions, the rotation angles of the vehicle to enter the parking space are also different. For example, the vehicle can be parked in the parking space by rotating angle A at position A, the vehicle can be parked in the parking space by rotating angle B at position B, and the vehicle can be parked in the parking space by rotating angle C at position C. Then, the range of the vehicle rotation angle includes angle A, angle B and angle C.

[0121] Therefore, after the vehicle determines the range of the rotation position and the range of the rotation angle of the arc path according to the geometric method, the path from the initial position to the rotation position can be determined according to the search algorithm. Therefore, after the vehicle determines the range of rotation around a single wheel based on the geometric method according to parking experience, the specific path is determined according to the search algorithm. This can improve the efficiency of the search path and plan a better parking path.

[0122] In a possible implementation, the vehicle determines the radius and center angle of the curved path according to the vehicle's posture and the center position of the arc path. Then, the curved path is determined according to the radius and center angle of the curved path.

[0123] Specifically, after determining the arc path, the rotation position, that is, the starting point of the arc path, can be determined according to the center position. Then, the vehicle plans a curved path from the initial position to the rotation position by using a geometric method. For example, the vehicle first determines the radius and center angle of the curved path by using a geometric method, and then determines the curved path according to the radius and center angle.

[0124] In a possible implementation, the vehicle may determine a parking path by a geometric method.

[0125] For example, the vehicle determines the center angle of the arc path through a geometric method based on the parking space information, and then determines the starting point of the arc path based on the center angle of the arc path. The vehicle determines the radius and center angle of the curved path based on the starting point of the arc path through a geometric method. If there is still a distance between the initial position of the vehicle and the starting point of the curved path, the vehicle can add a straight path between the initial position and the curved position to connect the initial position and the starting point of the curved path. Among them, the straight path can be a straight line parallel to the parallel parking space, that is, the vehicle is parallel to the parallel parking space at the starting point of the curved path. Finally, the vehicle connects the straight path, the curved path and the arc path in sequence to obtain a parking path.

[0126] In a possible implementation, the parking path may also be determined by a search algorithm.

[0127] For example, in the process of planning the parking path through the search algorithm, in addition to introducing the RS (Reeds-Shepp) curve to expand the nodes, the circular arc curve generated by rotating around the front wheel can also be introduced to increase the space for path planning solutions. The rotation position in the parking path planned by the search algorithm is the optimal position, and the parking path is the optimal path. Among them, the optimal path can be understood as the path with the smallest displacement, the shortest time, or the least number of gear shifts, etc.

[0128] Step S202, locking a first wheel of the vehicle, controlling at least one rotation of the remaining wheels of the vehicle, and controlling at least one steering of the remaining wheels of the vehicle.

[0129] Specifically, the remaining wheels of the vehicle refer to the remaining wheels except the first wheel. The vehicle can lock the first wheel by a brake caliper, drive at least one of the remaining wheels except the first wheel to rotate by a motor, and control the steering of at least one of the remaining wheels except the first wheel by a steering device. Controlling the rotation of the wheel may be controlling the wheel to rotate forward or backward, and controlling the steering of the wheel may be controlling the wheel to turn left or right.

[0130] In one implementation, when the vehicle rotates counterclockwise with the left front wheel as the center, the vehicle can lock the left front wheel and control at least one of the other wheels except the left front wheel to rotate and / or turn. For example, the vehicle controls the right rear wheel to rotate forward, and controls the right rear wheel to turn right, so that the vehicle rotates counterclockwise with the left front wheel as the center.

[0131] In a possible implementation, when the vehicle is parked in a forward manner, take the vehicle parking in a parallel parking space on the right as an example. The vehicle can first drive the front of the vehicle into the parallel parking space on the right in a forward manner, and at this time the rear of the vehicle is still outside the parking space. Therefore, the vehicle needs to rotate the rear of the vehicle into the parking space. For example, the vehicle can use any front wheel as the first wheel, control at least one wheel other than the first wheel to rotate, and control at least one wheel other than the first wheel to turn. Then, with the first wheel as the center of the circle, the rear of the vehicle is rotated into the parking space to complete the parking.

[0132] In a possible implementation, after a vehicle is parked in a parking space according to a parking path, the vehicle can also park out of the parking space according to the parking path. For example, in the parking space, the vehicle can use any front wheel as the first wheel, control at least one wheel other than the first wheel to rotate, and control at least one wheel other than the first wheel to turn. Then, with the first wheel as the center of the circle, the rear end of the vehicle is rotated out of the parking space. Since the direction of the vehicle body has a certain angle with the parallel parking space at this time, the vehicle can directly drive out of the parking space in a reverse manner. It is used when the space in front and behind the vehicle is small, and the vehicle can drive out of the parking space in a reverse manner after rotating the first wheel without moving forward and backward.

[0133] In a possible implementation manner, the first wheel is a front wheel, and at least one wheel for rotation among the remaining wheels of the vehicle is a rear wheel.

[0134] Specifically, due to the structure of the vehicle, when the first wheel is the front wheel and at least one of the remaining wheels of the vehicle that is used for rotation is the rear wheel, the driving force required for the vehicle to rotate around the first wheel is small, and it is easy for the vehicle to turn around the first wheel. Therefore, the first wheel can be used as the front wheel, and at least one of the remaining wheels of the vehicle that is used for rotation can be used as the rear wheel.

[0135] Likewise, when the first wheel is a rear wheel and at least one of the remaining wheels of the vehicle that is used for rotation is a front wheel, the driving force required for the vehicle to rotate around the first wheel is relatively small.

[0136] In a possible implementation manner, the first wheel is a front wheel, and at least one wheel used for steering among the remaining wheels of the vehicle is a rear wheel.

[0137] Specifically, due to the structure of the vehicle, when the first wheel is the front wheel and at least one of the remaining wheels of the vehicle that is used for steering is the rear wheel, the driving force required for the vehicle to rotate around the first wheel is small, and it is easy for the vehicle to turn around the first wheel. Therefore, the first wheel can be used as the front wheel, and at least one of the remaining wheels of the vehicle that is used for steering can be used as the rear wheel.

[0138] Likewise, when the first wheel is a rear wheel and at least one of the remaining wheels of the vehicle that is used for steering is a front wheel, the driving force required for the vehicle to rotate around the first wheel is relatively small.

[0139] In one possible embodiment, the rear wheels of the vehicle include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to turn in a first direction, and the other of the first rear wheel and the second rear wheel is used to turn in a second direction, and the first direction and the second direction are opposite.

[0140] In one implementation, the first rear wheel and the second rear wheel after turning form an eight-shaped shape, and the opening direction of the eight-shaped shape is the direction in which the front of the vehicle is located.

[0141] For example, the first rear wheel is the left rear wheel, the second rear wheel is the right rear wheel, the first direction is the left direction, and the second direction is the right direction. The vehicle controls the left rear wheel to turn left, and controls the right rear wheel to turn right. After turning, the left rear wheel and the right rear wheel present an "outward eight" posture, that is, the left rear wheel and the right rear wheel after turning form an eight-shaped shape, and the opening direction of the eight-shaped shape is the direction in which the front of the vehicle is located. According to the vehicle structure, the above-mentioned "outward eight" posture is mainly used when the vehicle is moving forward and turning.

[0142] In one implementation, the vehicle controls the left rear wheel to turn right, and controls the right rear wheel to turn left, so that the left rear wheel and the right rear wheel present an "inward eight" posture, that is, the left rear wheel and the right rear wheel after turning form an eight-shaped shape, and the opening direction of the eight-shaped shape is the direction in which the rear end of the vehicle is located. According to the vehicle structure, the above-mentioned "inward eight" posture is mainly used when the vehicle is reversing and turning.

[0143] In one possible embodiment, the rear wheels of the vehicle include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to rotate in a third direction, and the other of the first rear wheel and the second rear wheel is used to rotate in a fourth direction, and the third direction is opposite to the fourth direction.

[0144] Specifically, since the first wheel is the front wheel, the vehicle rotates with the front wheel as the center. The vehicle can provide a force in the opposite direction to the vehicle by controlling the first rear wheel and the second rear wheel to rotate in opposite directions, so that the vehicle can rotate in place.

[0145] In one possible implementation, when the vehicle rotates with the first wheel as the center, the first rear wheel and the first front wheel rotate in the same direction, the first rear wheel and the second rear wheel rotate in opposite directions, the first front wheel is another front wheel in the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

[0146] Specifically, according to the structure of the vehicle, since the vehicle rotates with the first wheel as the center, the rotation direction of the wheels on the opposite side of the first wheel (for example, the first front wheel and the first rear wheel) is consistent. In addition, the rotation direction of the wheel on the same side of the first wheel (for example, the second rear wheel) is opposite to the rotation direction of the first rear wheel. The vehicle controls the rotation of the first front wheel, the first rear wheel, and the second rear wheel based on the above rotation direction, which can reduce the driving force of the vehicle rotating around the first wheel.

[0147] In a possible implementation, when the vehicle rotates clockwise with the first wheel as the center, the first rear wheel and the first front wheel are used to rotate in the direction of the front of the vehicle, and the second rear wheel rotates in the direction of the rear of the vehicle.

[0148] In one possible embodiment, the first wheel is the first front wheel, the vehicle locks the first front wheel, controls the second front wheel to turn in the first direction and rotate in the fourth direction, controls the first rear wheel to turn in the first direction and rotate in the third direction, and controls the second rear wheel to turn in the second direction and rotate in the fourth direction, wherein the second front wheel and the second rear wheel are on the same side of the vehicle.

[0149] Specifically, according to the structure of the vehicle, when the first rear wheel and the second rear wheel are in an "outward eight" posture and the second front wheel turns toward the inside of the vehicle, the driving force of the vehicle rotating around the first wheel as the center of the circle can be reduced. The turning of the second front wheel toward the inside of the vehicle can be explained by taking the second front wheel as the left front wheel as an example: the outer side of the left front wheel is the left side, and the inner side of the left front wheel is the right side, so turning the left front wheel inward is turning to the right side.

[0150] At the same time, according to the structure of the vehicle, since the vehicle rotates with the first front wheel as the center, the rotation direction of the wheels on the opposite side of the first front wheel (for example, the second front wheel and the second rear wheel) is consistent. In addition, the rotation direction of the wheel on the same side of the first front wheel (for example, the first rear wheel) is opposite to the rotation direction of the second rear wheel. Under the above conditions, the rotation directions of the first front wheel, the first rear wheel and the second rear wheel can reduce the driving force of the vehicle rotating around the first wheel.

[0151] For example, see Figure 3 , Figure 3 is a schematic diagram of an arc path provided in an embodiment of the present application, such as Figure 3As shown, the right front wheel of the vehicle is taken as the first wheel for explanation. The vehicle rotates clockwise with the right front wheel as the center, so the vehicle brakes the right front wheel through the brake caliper of the right front wheel, so that the right front wheel is locked and cannot rotate. Then, because the vehicle needs to rotate clockwise, the vehicle controls the forward rotation of the left front wheel through the motor of the front axle, that is, the vehicle provides the driving force for the left front wheel to rotate forward through the motor of the front axle. The vehicle controls the left rear wheel to rotate in the same direction as the left front wheel through the motor of the left rear wheel, that is, the vehicle provides the driving force for the left rear wheel to rotate forward through the motor of the left rear wheel. The vehicle controls the right rear wheel to rotate in the opposite direction to the left front wheel through the motor of the right rear wheel, that is, the vehicle provides the driving force for the right rear wheel to rotate backward through the motor of the right rear wheel.

[0152] It is understood that the vehicle can be operated by causing the first wheel (eg Figure 3 The wheel on the opposite side (for example Figure 3 The left front wheel and the left rear wheel in the vehicle rotate in the same direction, that is, rotate in the direction of the front of the vehicle, so that the first wheel (for example Figure 3 The wheel on the same side as the right front wheel (e.g. Figure 3 The right rear wheel in the vehicle rotates in the opposite direction, that is, rotates in the direction of the rear of the vehicle. One or more wheels other than the first wheel can be caused to slip, thereby realizing the rotation of the vehicle around the right front wheel.

[0153] like Figure 3 As shown, the above scheme is that the vehicle controls the forward and backward rotation of the wheels through the motor to realize the rotation of the whole vehicle with any front wheel as the center of the circle. In order to further reduce the difficulty of vehicle rotation and increase the radius of vehicle rotation. The vehicle can also realize the arc path by controlling the left and right rotation of the wheels on the basis of controlling the forward and backward rotation of the wheels.

[0154] Specifically, in Figure 3 In the example, the vehicle controls the left rear wheel to turn left, the right rear wheel to turn right, and the left front wheel to turn right through the steering device, which can reduce the difficulty of the vehicle rotating clockwise with the right front wheel as the center. It can be seen that at this time, the left rear wheel and the right rear wheel form an eight-shaped shape, and the opening direction of the eight-shaped shape is the direction where the front of the vehicle is located.

[0155] It is understood that the vehicle can provide driving force for the vehicle to rotate around the first wheel by controlling at least one wheel other than the first wheel to rotate. Figure 3 Turning the left rear wheel to the left and the right rear wheel to the right can make the vehicle easier to rotate.

[0156] In one implementation, the angle at which the vehicle controls the wheel to turn can be any value between 0 and 10. For example, the vehicle can control the wheel to turn 10 degrees to the left, or control the wheel to turn 10 degrees to the right.

[0157] The following will take the first front wheel as the first wheel as an example to illustrate the control of the vehicle over the remaining wheels, as follows:

[0158] In a possible implementation, the vehicle controls one wheel other than the first wheel to rotate and one wheel to turn as follows:

[0159] Exemplarily, the vehicle locks the first front wheel and controls the second front wheel to rotate and steer.

[0160] Exemplarily, the vehicle locks the first front wheel and controls the first rear wheel to rotate and steer.

[0161] Exemplarily, the vehicle locks the first front wheel and controls the second rear wheel to rotate and steer.

[0162] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to rotate, and controls the first rear wheel to steer.

[0163] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to rotate, and controls the second rear wheel to steer.

[0164] Exemplarily, the vehicle locks the first front wheel, controls the first rear wheel to rotate, and controls the second rear wheel to steer.

[0165] Exemplarily, the vehicle locks the first front wheel, controls the first rear wheel to steer, and controls the second rear wheel to rotate.

[0166] In a possible implementation, the vehicle controls two wheels other than the first wheel to rotate and one wheel to turn as follows:

[0167] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to rotate, and controls the first rear wheel to rotate and steer.

[0168] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to rotate, controls the first rear wheel to rotate, and controls the second rear wheel to steer.

[0169] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to rotate and steer, and controls the first rear wheel to rotate.

[0170] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to rotate, and controls the second rear wheel to rotate and steer.

[0171] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to rotate and steer, and controls the second rear wheel to rotate.

[0172] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to rotate, controls the first rear wheel to steer, and controls the second rear wheel to rotate.

[0173] Exemplarily, the vehicle locks the first front wheel, controls the steering of the second front wheel, and controls the rotation of the first rear wheel and the second rear wheel.

[0174] Exemplarily, the vehicle locks the first front wheel, controls the rotation and steering of the first rear wheel, and controls the rotation of the second rear wheel.

[0175] Exemplarily, the vehicle locks the first front wheel, controls the first rear wheel to rotate, and controls the second rear wheel to rotate and steer.

[0176] In a possible implementation, the vehicle controls three wheels except the first wheel to rotate and one wheel to turn as follows:

[0177] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel, the first rear wheel, and the second rear wheel to rotate, and controls the second front wheel to steer.

[0178] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel, the first rear wheel and the second rear wheel to rotate, and controls the first rear wheel to steer.

[0179] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel, the first rear wheel, and the second rear wheel to rotate, and controls the second rear wheel to steer.

[0180] In a possible implementation, the vehicle controls one wheel other than the first wheel to rotate and two wheels to turn as follows:

[0181] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to steer, and controls the first rear wheel to steer and rotate.

[0182] Exemplarily, the vehicle locks the first front wheel, controls the steering of the second front wheel, controls the steering of the first rear wheel, and controls the rotation of the second rear wheel.

[0183] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to steer and rotate, and controls the first rear wheel to steer.

[0184] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to steer, and controls the second rear wheel to steer and rotate.

[0185] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to steer and rotate, and controls the second rear wheel to steer.

[0186] Exemplarily, the vehicle locks the first front wheel, controls the steering of the second front wheel, controls the rotation of the first rear wheel, and controls the steering of the second rear wheel.

[0187] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to rotate, and controls the first rear wheel and the second rear wheel to steer.

[0188] Exemplarily, the vehicle locks the first front wheel, controls the steering and rotation of the first rear wheel, and controls the steering of the second rear wheel.

[0189] Exemplarily, the vehicle locks the first front wheel, controls the steering of the first rear wheel, and controls the steering and rotation of the second rear wheel.

[0190] In a possible implementation, the vehicle controls two wheels other than the first wheel to rotate and the two wheels to turn as follows:

[0191] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel and the first rear wheel to rotate, and controls the second front wheel and the first rear wheel to steer.

[0192] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel and the first rear wheel to rotate, and controls the second front wheel and the second rear wheel to steer.

[0193] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel and the first rear wheel to rotate, and controls the first rear wheel and the second rear wheel to steer.

[0194] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel and the second rear wheel to rotate, and controls the second front wheel and the first rear wheel to steer.

[0195] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel and the second rear wheel to rotate, and controls the second front wheel and the second rear wheel to steer.

[0196] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel and the second rear wheel to rotate, and controls the first rear wheel and the second rear wheel to steer.

[0197] Exemplarily, the vehicle locks the first front wheel, controls the first rear wheel and the second rear wheel to rotate, and controls the first front wheel and the first rear wheel to steer.

[0198] Exemplarily, the vehicle locks the first front wheel, controls the first rear wheel and the second rear wheel to rotate, and controls the first front wheel and the second rear wheel to steer.

[0199] Exemplarily, the vehicle locks the first front wheel, controls the first rear wheel and the second rear wheel to rotate, and controls the first rear wheel and the second rear wheel to steer.

[0200] In a possible implementation, the vehicle controls three wheels except the first wheel to rotate and two wheels to turn as follows:

[0201] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel, the first rear wheel, and the second rear wheel to rotate, and controls the second front wheel and the first rear wheel to steer.

[0202] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel, the first rear wheel, and the second rear wheel to rotate, and controls the second front wheel and the second rear wheel to steer.

[0203] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel, the first rear wheel, and the second rear wheel to rotate, and controls the first rear wheel and the second rear wheel to steer.

[0204] In a possible implementation, the vehicle controls one wheel except the first wheel to rotate and three wheels to turn as follows:

[0205] Exemplarily, the vehicle locks the first front wheel, controls the steering of the second front wheel, the first rear wheel, and the second rear wheel, and controls the rotation of the second front wheel.

[0206] Exemplarily, the vehicle locks the first front wheel, controls the steering of the second front wheel, the first rear wheel, and the second rear wheel, and controls the rotation of the first rear wheel.

[0207] Exemplarily, the vehicle locks the first front wheel, controls the steering of the second front wheel, the first rear wheel, and the second rear wheel, and controls the rotation of the second rear wheel.

[0208] In a possible implementation, the vehicle controls two wheels other than the first wheel to rotate and three wheels to turn as follows:

[0209] Exemplarily, the vehicle locks the first front wheel, controls the steering of the second front wheel, the first rear wheel, and the second rear wheel, and controls the rotation of the second front wheel and the first rear wheel.

[0210] Exemplarily, the vehicle locks the first front wheel, controls the steering of the second front wheel, the first rear wheel, and the second rear wheel, and controls the rotation of the second front wheel and the second rear wheel.

[0211] Exemplarily, the vehicle locks the first front wheel, controls the steering of the second front wheel, the first rear wheel, and the second rear wheel, and controls the rotation of the first rear wheel and the second rear wheel.

[0212] In a possible implementation, the vehicle controls three wheels except the first wheel to rotate and the three wheels to turn as follows:

[0213] Exemplarily, the vehicle locks the first front wheel, controls the second front wheel to rotate and steer, controls the first rear wheel to rotate and steer, and controls the second rear wheel to rotate and steer.

[0214] The above describes the vehicle's control over wheel locking, rotation, and steering. The following describes in detail how the vehicle achieves parking by controlling wheel locking, rotation, and steering.

[0215] In a possible implementation, during the parking process of the vehicle, the rotation and steering of the wheels are controlled according to the parking path.

[0216] In a possible implementation, the vehicle controls the torque of the first rear wheel and the torque of the second rear wheel respectively through at least two motors, so that there is a torque difference between the first rear wheel and the second rear wheel, that is, the torque of the first rear wheel is inconsistent with the torque of the second rear wheel. The vehicle can also control the steering direction and steering angle of the first rear wheel and the second rear wheel respectively through a rear-wheel steering device. Thus, the vehicle can increase the turning radius and turning sensitivity of the vehicle by the torque difference between the first rear wheel and the second rear wheel, and controlling the steering of the first rear wheel and the second rear wheel. Even in scenarios with small parking spaces, such as narrow road parking scenarios, dead-end road parking scenarios, etc., the vehicle can have better turning performance. Thereby, the number of adjustments during parking can be reduced and parking efficiency can be improved.

[0217] In a possible implementation, the vehicle controls the first front wheel and the second front wheel to turn in the same direction according to the curved path. According to the curved path, the first front wheel, the second front wheel, the first rear wheel and the second rear wheel are controlled to rotate in the same direction, so that the vehicle can travel along the curved path.

[0218] Specifically, since the curved path is a curve with a point on the extension line of the rear axle of the vehicle as the center of curvature, the curved path is determined based on the traditional Ackerman chassis model. Therefore, the vehicle can control the steering of the front wheels while controlling the wheels to rotate in the same direction (forward or backward) to achieve the curved path. For example, if the vehicle controls the wheels to rotate forward at the same time. At the same time, the vehicle controls the front wheels to turn left, then the vehicle will drive to the left front according to the steering angle of the front wheels.

[0219] For example, see Figure 4 , Figure 4 is a schematic diagram of traveling along a curved path provided in an embodiment of the present application, such as Figure 4 As shown, the vehicle needs to park in a parallel parking space, and the vehicle starts from position A and drives to position B along a curved path. When the vehicle is in position A, it is parallel to the parallel parking space. When it is in position B, the front of the vehicle has entered the parking space, and the rear of the vehicle is still outside the parking space. Specifically, the vehicle controls the front wheels to rotate forward by controlling the front axle motor to rotate forward. The vehicle controls the first rear wheel and the second rear wheel to rotate forward by controlling the two motors on the rear axle to rotate forward. Then, the vehicle controls the front wheels to turn right by a certain angle according to the curved path, so that the vehicle drives from position A to position B to the right front.

[0220] In a possible implementation manner, the vehicle locks a first wheel according to a circular arc path, controls at least one wheel other than the first wheel to rotate, and controls at least one wheel other than the first wheel to steer.

[0221] For example, take the first wheel as the front wheel, and the first rear wheel and the second rear wheel for rotation as an example. Since the arc path is an arc with a single front wheel (such as the first wheel) as the center, based on the principle of force balance, on the basis of ensuring that the first wheel as the center does not move, the vehicle can rotate clockwise or counterclockwise, and it is necessary to control the first rear wheel and the second rear wheel to rotate in opposite directions. For example, the vehicle realizes the arc path by controlling the torque of the first rear wheel to rotate the first rear wheel in the third direction, and by controlling the torque of the second rear wheel to rotate the second rear wheel in the fourth direction. Among them, the third direction is opposite to the fourth direction.

[0222] For example, see Figure 5 , Figure 5 is a schematic diagram of traveling along an arc path provided in an embodiment of the present application, such as Figure 5 As shown, the vehicle travels from position B to position C along an arc path. Among them, Figure 5 The position B corresponds to Figure 4 Position B. The vehicle rotates counterclockwise with the left front wheel as the center, so that the rear end of the vehicle is parked in the parking space. Therefore, the vehicle brakes the left front wheel through the brake caliper of the left front wheel, so that the left front wheel is locked and cannot rotate. Then, the vehicle can control the rotation of at least one wheel except the left front wheel, and control the steering of at least one wheel except the left front wheel to rotate the rear end of the vehicle into the parking space. For example, since the vehicle needs to rotate counterclockwise, the vehicle controls the right front wheel to rotate forward through the motor of the front axle, that is, the vehicle uses the motor of the front axle to provide the right front wheel with a driving force for forward rotation. The vehicle controls the right rear wheel to rotate in the same direction as the right front wheel through the motor of the right rear wheel, that is, the vehicle uses the motor of the right rear wheel to provide the right rear wheel with a driving force for forward rotation. The vehicle controls the left rear wheel to rotate in the opposite direction to the right front wheel through the motor of the left rear wheel, that is, the vehicle uses the motor of the left rear wheel to provide the left rear wheel with a driving force for backward rotation. Thus, the vehicle can rotate the rear end of the vehicle from position B to position C.

[0223] exist Figure 5 In the present invention, the vehicle can realize an arc path by controlling the left and right steering of the wheels in addition to controlling the forward and backward rotation of the wheels. Specifically, the vehicle controls the left rear wheel to turn left, the right rear wheel to turn right, and the right front wheel to turn right through the steering device, which can reduce the difficulty of the vehicle rotating counterclockwise with the left front wheel as the center.

[0224] In a possible implementation, when the parallel parking space is on the right side of the vehicle, the vehicle may first move to the rear of the parking space and then drive the front of the vehicle into the parking space according to a curved path, e.g. Figure 4 Then rotate the left front wheel counterclockwise along the arc path so that the rear of the car enters the parking space and parking is completed. Figure 5 Position C.

[0225] For example, see Figure 6 , Figure 6 is a schematic diagram of a parking path provided in an embodiment of the present application, such as Figure 6 As shown, straight line 1 is a straight path, curve 2 is a curved path, and curve 3 is an arc path. It can be understood that if the initial position of the vehicle is at the starting point of the curved path, the parking path may not include a straight path, that is, the vehicle completes parking according to curves 2 and 3. The vehicle controls the wheels to rotate forward from position 1 to achieve straight line 1. Then, the vehicle controls the wheels to rotate forward and the front wheels to turn right, and drives the front of the vehicle into the parking space according to curve 2, that is, drives into position 2. The vehicle rotates counterclockwise around the left front wheel according to curve 3 to reach position 3, so that the rear of the vehicle enters the parking space and completes parking.

[0226] In a possible implementation, when the parallel parking space is on the left side of the vehicle, the vehicle can first move to the rear of the parking space, and then drive the front of the vehicle into the parking space according to the curved path. Then, the right front wheel rotates clockwise according to the circular path, so that the rear of the vehicle enters the parking space and completes parking.

[0227] In a possible implementation, when the vehicle rotates around a single wheel according to an arc path, the distance traveled by each wheel may be different, and the accuracy and stability of the vehicle rotation need to be controlled. Therefore, the vehicle can dynamically adjust the torque or speed of multiple motors through sensing information to improve the accuracy of the vehicle rotation.

[0228] Specifically, the perception information can be a comprehensive and uninterrupted intelligent perception of the vehicle's state and surrounding environment through intelligent driving sensors such as cameras and / or radars installed on the vehicle. For example, the vehicle obtains information about the surrounding environment to determine the space available for parking, the situation of surrounding obstacles, etc., and adjusts the output of the motor. By controlling the torque of the first rear wheel and the torque of the second rear wheel respectively, the vehicle's driving can be made more in line with the actual driving environment.

[0229] The vehicle can also obtain the driving state of the vehicle through sensors such as gyroscopes, cameras, radars, etc., for example, to determine whether the vehicle body is stable according to the driving state of the vehicle, so as to make the vehicle body more stable by adjusting the torque of the first rear wheel and the torque of the second rear wheel.

[0230] In addition, the vehicle can calculate the road friction in real time through the parameters collected by sensors such as wheel speed sensors and torque sensors. According to the changes in road friction, the torque or speed output of multiple motors is adjusted respectively. At the same time, combined with intelligent driving perception and chassis perception, closed-loop control of the rotation of multiple motors is achieved, thereby improving the accuracy and stability of vehicle rotation.

[0231] In a possible implementation, during the process of parking based on the parking path, the vehicle may obtain the position information of the obstacle, and then control the vehicle to park according to the position information of the obstacle. And / or, an updated parking path is determined according to the position information of the obstacle and the parking position, and parking is performed based on the updated parking path.

[0232] Specifically, when the vehicle is parking based on the parking path, other obstacles may appear on the parking path, so the vehicle can obtain the location of the obstacle through the sensing device. If the distance between the vehicle and the obstacle is close, the vehicle can avoid the obstacle by parking. Alternatively, the vehicle can also re-plan the parking path based on the location of the obstacle to obtain an updated parking path. Then, the vehicle continues to park based on the updated parking path. Among them, the vehicle's sensing equipment includes but is not limited to cameras, radars, etc. Obstacles include but are not limited to other vehicles, pedestrians, non-motor vehicles, etc.

[0233] In a possible implementation, the vehicle obtains actual posture information of the vehicle during parking. When there is a deviation between the actual posture information and the preset posture information, the target torque of the rotating wheel and the target steering angle of the steering wheel are determined according to the deviation. Then, the rotating wheel is controlled according to the target torque, and the steering wheel is controlled according to the target steering angle.

[0234] Specifically, the vehicle determines the preset posture information according to the parking path. Then, the vehicle detects whether there is a deviation between the actual posture information and the preset posture information through the perception system in real time. Among them, the perception system includes 360 images or radars. In the case of a deviation between the actual posture information and the preset posture information, the deviation of the vehicle posture is adjusted by adjusting the steering angle of the wheels used for steering and adjusting the torque of the wheels used for rotation.

[0235] above Figure 2 The illustrated embodiment includes a variety of possible solutions. For ease of understanding, the following describes a possible solution. It should be understood that Figure 7 For some of the terms, logic, etc. in the scheme shown, please refer to Figure 2 The embodiment shown.

[0236] See also Figure 7 , Figure 7 : is a schematic diagram of a rotary parking process provided by an embodiment of the present application. The method comprises the following steps:

[0237] S701: User parks the vehicle. The user drives the vehicle to the rear of the parking space, then returns the steering wheel to the center, releases the brake and accelerator to park the vehicle.

[0238] S702, select a parking position. The vehicle receives a parking position selected by the user, such as a target parking space. The user can control the vehicle to enter the automatic parking mode through a physical button in the vehicle, a touch control in the display screen, or a voice function. The vehicle provides the user with one or more parking positions that can be selected, and the user can select a target parking position from the one or more parking positions based on the current position of the vehicle. The vehicle receives the target parking position selected by the user and enters S703.

[0239] S703, the vehicle determines whether it can park. The vehicle can determine whether it can park in the target parking position from the current position based on the current environment information. If it can, the vehicle requests the user whether to start parking. After the user chooses to start parking, the process proceeds to S705. If not, the process proceeds to S704.

[0240] S704, the vehicle automatically adjusts to the initial parking position. The vehicle adjusts to the initial parking position according to the target parking position, that is, the vehicle can be parked in the target parking position by the method provided in the embodiment of the present application at the initial parking position.

[0241] S705, the vehicle determines a parking path. The vehicle determines a parking path based on an initial position and a target parking position, wherein the parking path includes a curved path and an arc path. A curved path refers to an arc whose center of curvature is on the extension line of the rear axle of the vehicle. Specifically, when the wheels of the vehicle rotate in the same direction (forward or backward), the vehicle controls the front wheels to turn left or right by a certain angle to achieve a curved path. An arc path refers to an arc whose center is at the front wheel. For example, when the vehicle locks the first wheel, controls at least one wheel other than the first wheel to rotate, and controls at least one wheel other than the first wheel to steer, the trajectory achieved is an arc.

[0242] Exemplarily, the vehicle determines an arc path in the parking path according to the target parking position. Then, the curved path is determined according to the initial position and the arc path. Finally, the vehicle can determine the parking path according to the curved path and the arc path.

[0243] S706: Parking is performed based on the parking path by locking the first wheel.

[0244] The vehicle realizes a curved path in the parking path by controlling the torque of the first rear wheel to control the first rear wheel to rotate in a third direction, and by controlling the torque of the second rear wheel to control the second rear wheel to rotate in a third direction. Then, the vehicle locks the first wheel, controls the rotation of at least one wheel other than the first wheel, and controls the steering of at least one wheel other than the first wheel to realize an arc path. The rotation of the wheel can be controlled by adjusting the torque corresponding to the wheel. For example, the vehicle can adjust the torque corresponding to the wheel according to the yaw angle of the vehicle to drive the wheel to rotate. Since the torque of the wheel is determined according to the yaw angle of the vehicle, and since the yaw angle of the vehicle is related to the lateral movement of the vehicle, the torque of the wheel is determined according to the yaw angle of the vehicle to ensure the stability of the vehicle during parking.

[0245] In addition, based on the vehicle's control of wheel rotation, the vehicle controls the wheel steering according to the arc path, which can reduce the difficulty of vehicle rotation, improve the accuracy of vehicle rotation, and realize the vehicle's "twisting buttocks" parking.

[0246] When the vehicle determines that it has parked in the target location through the perception system, the vehicle ends the automatic parking mode and completes automatic parking.

[0247] The method of the embodiment of the present application is described in detail above, and the device of the embodiment of the present application is provided below.

[0248] See also Figure 8 , Figure 8 80 is a functional unit block diagram of a parking device provided in an embodiment of the present application. The parking device 80 may include a communication unit 801 and a processing unit 802. The parking device 80 is used to implement the aforementioned parking method, for example Figure 2 Parking method shown.

[0249] It should be noted that the division of the above-mentioned multiple units is only a logical division based on functions, and does not limit the specific structure of the parking device 80. In specific implementations, some functional modules may be subdivided into more small functional modules, and some functional modules may be combined into one functional module.

[0250] In a possible implementation, the communication unit 801 is used to receive a parking instruction;

[0251] The processing unit 802 is used to lock a first wheel of the vehicle, control at least one rotation of the remaining wheels of the vehicle, and control at least one steering of the remaining wheels of the vehicle.

[0252] In a possible implementation manner, the first wheel is a front wheel, and at least one wheel for rotation among the remaining wheels of the vehicle is a rear wheel.

[0253] In a possible implementation manner, the first wheel is a front wheel, and at least one wheel used for steering among the remaining wheels of the vehicle is a rear wheel.

[0254] In a possible embodiment, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to turn in a first direction, and the other of the first rear wheel and the second rear wheel is used to turn in a second direction, and the first direction and the second direction are opposite.

[0255] In a possible implementation manner, the first rear wheel and the second rear wheel after turning form an eight-shaped shape, and the opening direction of the eight-shaped shape is the direction in which the front of the vehicle is located.

[0256] In a possible implementation, the rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to rotate in a third direction, and the other of the first rear wheel and the second rear wheel is used to rotate in a fourth direction, and the third direction is opposite to the fourth direction.

[0257] In one possible implementation, when the vehicle rotates with the first wheel as the center, the first rear wheel and the first front wheel rotate in the same direction, the first rear wheel and the second rear wheel rotate in opposite directions, the first front wheel is another front wheel in the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

[0258] In a possible implementation, when the vehicle rotates clockwise with the first wheel as the center, the first rear wheel and the first front wheel are used to rotate toward the front of the vehicle, and the second rear wheel rotates toward the rear of the vehicle.

[0259] In a possible implementation, the first wheel, the wheel for rotation, and the wheel for steering are used to realize an arc path in a parking path, wherein the parking path is used to indicate a path for the vehicle to drive from a current position to a parking position, and the arc path is an arc with its center at the first wheel.

[0260] In a possible implementation, the parking path includes an arc path and a curved path, and the curved path is an arc whose center of curvature is on the extension line of the rear axle of the vehicle;

[0261] The arc path is determined based on the parking position;

[0262] The curved path is determined based on the arc path and the vehicle's posture information, wherein the posture information is used to represent the vehicle's posture at the current position.

[0263] In a possible implementation manner, the processing unit 802 is specifically configured to, after receiving the parking instruction, further include:

[0264] When the vehicle is parking based on the parking path, the position information of the obstacle is obtained through the communication unit 801;

[0265] Controlling the vehicle to stop according to the location information of the obstacle; and / or,

[0266] An updated parking path is determined according to the position information of the obstacle and the parking position, and parking is performed based on the updated parking path.

[0267] In a possible implementation manner, the processing unit 802 is specifically configured to, after receiving the parking instruction, further include:

[0268] Acquire the actual position information of the vehicle through the communication unit 801;

[0269] In the case where there is a deviation between the actual posture information and the preset posture information, a target torque for the rotating wheel and a target steering angle for the steering wheel are determined according to the deviation, wherein the preset posture information is determined according to the parking path;

[0270] The wheels are controlled for rotation according to the target torque, and the wheels are controlled for steering according to the target steering angle.

[0271] It should be noted that in the embodiments of the present application, the specific implementation and technical effects of each unit can also refer to Figure 2 The corresponding description of the method embodiment shown in .

[0272] See also Fig. 9 , Fig. 9 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Fig. 9 As shown, the electronic device 90 may include: one or more processors 901, one or more memories 902, and one or more communication interfaces 903. These components may be connected via a bus 904 or other means. Fig. 9 Take the connection via bus 904 as an example.

[0273] The communication interface 903 may be used for the electronic device 90 to communicate with other communication devices, such as other electronic devices. Specifically, the communication interface 903 may be a wired interface.

[0274] The memory 902 can be coupled to the processor 901 through the bus 904 or the input and output ports, and the memory 902 can also be integrated with the processor 901. The memory 902 is used to store various software programs and / or multiple sets of instructions or data. Specifically, the memory 902 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more disk storage devices, flash memory devices or other non-volatile solid-state storage devices. The memory 902 may store an operating system (hereinafter referred to as system), such as an embedded operating system such as uCOS, VxWorks, RTLinux, etc. The memory 902 may also store a network communication program, which may be used to communicate with one or more additional devices, one or more user devices, or one or more terminals. The memory 902 may be independent and connected to the processor 901 via a bus 904. The memory 902 may also be integrated with the processor 901.

[0275] The memory 902 is used to store application code for executing the above solution, and the execution is controlled by the processor 901. The processor 901 is used to execute the application code stored in the memory 902.

[0276] Processor 901 may be a central processing unit, a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 901 may also be a combination that implements a certain function, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like.

[0277] The present application also provides a vehicle, the vehicle includes a first motor, a second motor, a third motor and Fig. 9 Electronic equipment shown.

[0278] In a possible implementation, the first motor is used to drive the front wheels of the vehicle to rotate;

[0279] The second motor is used to drive the first rear wheel of the vehicle to rotate;

[0280] The third motor is used to drive the second rear wheel of the vehicle to rotate.

[0281] In a possible implementation, the second motor is used to drive the first rear wheel to rotate in a third direction, and the third motor is used to drive the second rear wheel to rotate in a fourth direction, and the third direction is opposite to the fourth direction.

[0282] In one possible implementation, when the vehicle rotates with the first wheel as the center, the direction in which the second motor drives the first rear wheel to rotate is the same as the direction in which the first motor drives the first front wheel to rotate, and the direction in which the second motor drives the first rear wheel to rotate is opposite to the direction in which the third motor drives the second rear wheel to rotate, and the first front wheel is another front wheel in the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

[0283] In a possible implementation, when the vehicle rotates clockwise with the first wheel as the center, the first motor controls the first front wheel to rotate in the direction of the front of the vehicle, the second motor controls the first rear wheel to rotate in the direction of the front of the vehicle, and the third motor controls the second rear wheel to rotate in the direction of the rear of the vehicle.

[0284] The present application also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on at least one processor, the aforementioned parking method is implemented, for example Figure 2 method.

[0285] The present application also provides a computer program product, which includes computer instructions, and when executed by a computing device, implements the aforementioned parking method, for example Figure 2 method.

[0286] In the embodiments of the present application, the words "for example" or "such as" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "for example" or "such as" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the words "for example" or "such as" is intended to present related concepts in a specific way.

[0287] The "at least one" mentioned in the embodiments of the present application refers to one or more, and "plurality" refers to two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. "And / or" describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can be represented by: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0288] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects. For example, the first device and the second device are only for the convenience of description, and do not represent the difference in structure, importance, etc. between the first device and the second device. In some embodiments, the first device and the second device can also be the same device.

[0289] In the above embodiments, the term "when..." can be interpreted as meaning "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the concept and principle of the present application shall be included in the protection scope of the present application.

[0290] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware or by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0291] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A parking method, characterized in that: The method comprises: receiving parking instructions; A first wheel of a vehicle is locked, at least one rotation of the remaining wheels of the vehicle is controlled, and at least one steering of the remaining wheels of the vehicle is controlled.

2. The method according to claim 1, characterized in that: The first wheel is a front wheel, and at least one wheel for rotation among the remaining wheels of the vehicle is a rear wheel.

3. The method according to claim 1, characterized in that The first wheel is a front wheel, and at least one wheel used for steering among the remaining wheels of the vehicle is a rear wheel.

4. The method according to claim 3, characterized in that The rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to turn in a first direction, and the other of the first rear wheel and the second rear wheel is used to turn in a second direction, and the first direction and the second direction are opposite.

5. The method according to claim 4, characterized in that After turning, the first rear wheel and the second rear wheel form an eight-shaped shape, and the opening direction of the eight-shaped shape is the direction in which the front of the vehicle is located.

6. The method according to claim 2, characterized in that The rear wheels include a first rear wheel and a second rear wheel, one of the first rear wheel and the second rear wheel is used to rotate in a third direction, and the other of the first rear wheel and the second rear wheel is used to rotate in a fourth direction, and the third direction is opposite to the fourth direction.

7. The method according to claim 6, characterized in that When the vehicle rotates with the first wheel as the center, the first rear wheel and the first front wheel rotate in the same direction, the first rear wheel and the second rear wheel rotate in opposite directions, the first front wheel is another front wheel of the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

8. The method according to claim 7, characterized in that When the vehicle rotates clockwise with the first wheel as the center, the first rear wheel and the first front wheel are used to rotate in the direction of the front of the vehicle, and the second rear wheel rotates in the direction of the rear of the vehicle.

9. The method according to any one of claims 1 to 8, characterized in that: The first wheel, the wheel for rotation and the wheel for steering are used to realize an arc path in a parking path, wherein the parking path is used to indicate a path for the vehicle to enter a parking position from a current position, and the arc path is an arc with its center at the first wheel.

10. The method according to claim 9, characterized in that The parking path includes the circular arc path and the curved path, wherein the curved path is an arc whose center of curvature is on the extension line of the rear axle of the vehicle; The arc path is determined based on the parking position; The curved path is determined based on the arc path and the posture information of the vehicle, wherein the posture information is used to represent the posture of the vehicle at the current position.

11. The method according to claim 9 or 10, characterized in that: After receiving the parking instruction, the method further includes: During the process of the vehicle parking based on the parking path, obtaining position information of an obstacle; Controlling the vehicle to stop according to the location information of the obstacle; and / or, An updated parking path is determined according to the position information of the obstacle and the parking position, and parking is performed based on the updated parking path.

12. The method according to any one of claims 9 to 11, characterized in that: After receiving the parking instruction, the method further includes: Obtaining actual position information of the vehicle; In the case where there is a deviation between the actual posture information and the preset posture information, determining a target torque for the rotating wheel and a target steering angle for the steering wheel according to the deviation, wherein the preset posture information is determined according to the parking path; The wheels for rotation are controlled according to the target torque, and the wheels for steering are controlled according to the target steering angle.

13. A parking device, characterized in that: The device comprises: A communication unit, for receiving a parking instruction; The processing unit locks a first wheel of a vehicle, controls at least one rotation of the remaining wheels of the vehicle, and controls at least one steering of the remaining wheels of the vehicle.

14. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor is used to call and run the computer program, so that the electronic device executes the method according to any one of claims 1 to 12.

15. A vehicle, characterized in that: The electronic device comprises a first motor, a second motor, a third motor and the electronic device as claimed in claim 14.

16. The vehicle according to claim 15, characterized in that The first motor is used to drive the front wheels of the vehicle to rotate; The second motor is used to drive the first rear wheel of the vehicle to rotate; The third motor is used to drive the second rear wheel of the vehicle to rotate.

17. The vehicle according to claim 16, characterized in that The second motor is used to drive the first rear wheel to rotate in a third direction, and the third motor is used to drive the second rear wheel to rotate in a fourth direction, and the third direction is opposite to the fourth direction.

18. The vehicle according to claim 17, characterized in that When the vehicle rotates with the first wheel as the center, the direction in which the second motor drives the first rear wheel to rotate is the same as the direction in which the first motor drives the first front wheel to rotate, and the direction in which the second motor drives the first rear wheel to rotate is opposite to the direction in which the third motor drives the second rear wheel to rotate, and the first front wheel is another front wheel in the vehicle except the first wheel, and the first rear wheel and the first front wheel are on the same side of the vehicle.

19. The vehicle according to claim 18, characterized in that When the vehicle rotates clockwise with the first wheel as the center, the first motor controls the first front wheel to rotate in the direction of the front of the vehicle, the second motor controls the first rear wheel to rotate in the direction of the front of the vehicle, and the third motor controls the second rear wheel to rotate in the direction of the rear of the vehicle.

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes instructions for executing the method according to any one of claims 1 to 12.

21. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are executed by the vehicle according to any one of claims 15 to 19, the vehicle implements the method according to any one of claims 1 to 12.

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