Vehicle parking control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle parking control method, device and equipment and a storage medium, and the method comprises the steps: comparing the current position of a vehicle with a preset charging field position, obtaining the environment data of the surrounding of the vehicle collected by a preset vehicle-mounted sensor in the vehicle when the vehicle is determined to enter a charging field, and storing the environment data in the charging field; the positions of idle charging piles in the surrounding environment of the vehicle are obtained through analysis, and the idle charging pile closest to the vehicle is selected as a target charging pile; configuration information of a vehicle is obtained, the position of a charging port of the vehicle is obtained according to the configuration information, and then the parking mode of the vehicle is determined according to the position of the charging port; and according to the current position of the vehicle, the position of the target charging pile and the parking mode of the vehicle, a vehicle parking path of the vehicle is generated, and then according to the vehicle parking path, the vehicle is controlled to run to a parking point according to the vehicle parking path to be charged. According to the invention, the charging parking efficiency and the user experience of the vehicle can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to a vehicle parking control method, device, equipment and storage medium. Background Art

[0002] As electric vehicles are promoted and applied, the wireless charging technology of electric vehicles is also developing rapidly. When electric vehicles are wirelessly charged, public wireless charging equipment is generally used, that is, many wireless charging piles distributed in the city are used for charging.

[0003] However, in the traditional charging process, users first need to drive to the charging area where the charging pile is located, find an idle charging pile in the charging area, and after driving to the idle charging pile, they need to manually adjust the parking position of the vehicle to align with the charging port for convenient charging. This manual vehicle parking method is not only inefficient but also prone to congestion. Summary of the invention

[0004] The present invention provides a vehicle parking control method, device, equipment and storage medium to solve the technical problem that when a vehicle needs to be parked for charging, a manual vehicle parking method is inefficient and easily causes congestion.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a vehicle parking control method, comprising:

[0006] Obtaining the current position of the vehicle, and comparing the current position with a preset charging field position to determine whether the vehicle has entered the charging field;

[0007] When it is determined that the vehicle has entered the charging field, the environment data around the vehicle collected by the preset on-board sensor in the vehicle is obtained, and the position of the idle charging piles in the environment around the vehicle is obtained according to the analysis of the environment data, and then an idle charging pile closest to the vehicle is selected from the idle charging piles in the environment around the vehicle as the target charging pile;

[0008] Acquire configuration information of the vehicle, obtain the location of the charging port of the vehicle according to the configuration information, and then determine the parking mode of the vehicle according to the location of the charging port; wherein the location of the charging port includes: the front of the vehicle, the parking space or the side of the vehicle body; the parking mode includes: front parking or rear parking;

[0009] A parking path for the vehicle is generated based on the current position of the vehicle, the position of the target charging pile, and the parking method of the vehicle. Then, based on the parking path, the vehicle is controlled to travel along the parking path to a parking point for charging.

[0010] As a preferred solution, the environmental data around the vehicle collected by the on-board sensor includes: three-dimensional point cloud data of the vehicle's surrounding environment collected by the lidar, images of the vehicle's surrounding environment collected by the camera, and the distance, speed and front angle of other vehicles in the vehicle's surrounding environment collected by the millimeter-wave radar.

[0011] As a preferred solution, obtaining the location of an idle charging pile in the surrounding environment of the vehicle according to the environmental data analysis includes:

[0012] Inputting the environmental data into a preset charging pile position recognition model, so that the charging pile position recognition model recognizes the position of the idle charging piles around the vehicle according to the environmental data, and outputs the position of the idle charging piles in the vehicle surrounding environment;

[0013] The generation of the charging pile location recognition model includes:

[0014] Acquiring historical environmental data collected by the vehicle-mounted sensor;

[0015] Performing spatiotemporal synchronization processing on the historical environmental data, and then performing data fusion on the environmental data after the spatiotemporal synchronization processing;

[0016] Based on the fused data, the location information of idle charging piles in the vehicle's surrounding environment is extracted, and then based on the historical environment data and the location information, a preset neural network model is trained with the historical environment data as input and the corresponding location information as output to obtain the charging pile location recognition model.

[0017] As a preferred solution, the side of the vehicle body includes: the side above the front wheel of the vehicle body, the side above the rear wheel of the vehicle body, the vicinity of the front wheel door and the vicinity of the rear wheel door;

[0018] The determining of the parking mode of the vehicle according to the position of the charging port includes:

[0019] According to the position of the charging port, when the charging port is located at the front of the vehicle, the parking method of the vehicle is determined to be front-end parking; when the charging port is located at the rear of the vehicle, the parking method of the vehicle is determined to be rear-end parking; when the charging port is located near the front wheel on the side of the vehicle body, the parking method of the vehicle is determined to be front-end parking; when the charging port is located near the rear wheel on the side of the vehicle body, the parking method of the vehicle is determined to be rear-end parking.

[0020] As a preferred solution, generating a parking path for the vehicle according to the current position of the vehicle, the position of the target charging pile, and the parking method of the vehicle includes:

[0021] Determine the location of the corresponding target parking space according to the location of the target charging pile;

[0022] Taking the current position of the vehicle as the starting node and the position of the target parking space as the target node, according to the preset Hybrid A* algorithm and the parking method of the vehicle, node expansion is performed from the starting node to generate a number of child nodes, and the generated child nodes are connected to generate an initial vehicle parking path for the vehicle;

[0023] The initial vehicle parking path is smoothed and obstacle avoided to generate a vehicle parking path for the vehicle.

[0024] As a preferred solution, the step of controlling the vehicle to drive to a parking spot for charging according to the vehicle parking path includes:

[0025] According to the vehicle parking path, the vehicle is controlled to travel along the vehicle parking path to a parking place for charging, and real-time position information of the vehicle is obtained during driving, and the real-time position information of the vehicle is compared with the vehicle parking path. When it is determined that there is a position deviation between the real-time position of the vehicle and the driving position in the vehicle parking path, the driving path of the vehicle is corrected.

[0026] As a preferred solution, after controlling the vehicle to travel to the parking point according to the vehicle parking path, the method further includes:

[0027] The relative position between the vehicle and the parking boundary of the target parking space is obtained according to the vehicle-mounted sensor, and whether the vehicle exceeds the parking boundary of the target parking space is determined according to the relative position. When it is determined that the vehicle exceeds the parking boundary of the target parking space, the parking position of the vehicle is adjusted.

[0028] Based on the above embodiment, another embodiment of the present invention provides a vehicle parking control device, including: a vehicle position comparison module, an idle charging pile selection module, a parking mode determination module and a vehicle parking charging module;

[0029] The vehicle position comparison module is used to obtain the current position of the vehicle and compare the current position with the preset charging field position to determine whether the vehicle enters the charging field;

[0030] The idle charging pile selection module is used to obtain environmental data around the vehicle collected by a preset on-board sensor in the vehicle when it is determined that the vehicle has entered the charging field, obtain the location of the idle charging piles in the vehicle's surrounding environment according to the environmental data, and then select an idle charging pile closest to the vehicle from the idle charging piles in the vehicle's surrounding environment as a target charging pile;

[0031] The parking mode determination module is used to obtain the configuration information of the vehicle, obtain the position of the charging port of the vehicle according to the configuration information, and then determine the parking mode of the vehicle according to the position of the charging port; wherein the position of the charging port includes: the front of the vehicle, the parking space or the side of the vehicle body; the parking mode includes: front parking or rear parking;

[0032] The vehicle parking and charging module is used to generate a vehicle parking path for the vehicle according to the current position of the vehicle, the position of the target charging pile and the parking method of the vehicle, and then control the vehicle to travel to the parking point for charging according to the vehicle parking path.

[0033] Based on the above embodiments, another embodiment of the present invention provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the vehicle parking control method described in the above embodiments of the invention is implemented.

[0034] Based on the above embodiment, another embodiment of the present invention provides a storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the vehicle parking control method described in the above invention embodiment.

[0035] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0036] The present invention provides a vehicle parking control method, which obtains the current position of the vehicle, and compares the current position with the preset charging field position to determine whether the vehicle has entered the charging field; when it is determined that the vehicle has entered the charging field, obtains environmental data around the vehicle collected by a preset on-board sensor in the vehicle, obtains the position of idle charging piles in the vehicle surrounding environment according to the environmental data, and then selects an idle charging pile closest to the vehicle from the idle charging piles in the vehicle surrounding environment as a target charging pile; obtains configuration information of the vehicle, obtains the position of the charging port of the vehicle according to the configuration information, and then determines the parking mode of the vehicle according to the charging port position; generates a vehicle parking path of the vehicle according to the current position of the vehicle, the position of the target charging pile and the parking mode of the vehicle, and then controls the vehicle to travel to a parking point for charging according to the vehicle parking path according to the vehicle parking path. Through the present invention, after a vehicle enters a charging field, a parking path can be automatically planned for the vehicle according to the location of the vehicle and the locations of idle charging piles in the charging field, and the vehicle can be controlled to travel to a parking spot for charging according to the planned parking path, thereby realizing automated control of parking in the charging field, improving the charging and parking efficiency of the vehicle and user experience, and providing strong support for the popularization and promotion of electric vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a flow chart of a vehicle parking control method provided by an embodiment of the present invention;

[0038] Figure 2 It is a structural schematic diagram of a vehicle parking control device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0041] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0042] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0043] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0044] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0045] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0046] Embodiment 1

[0047] Please refer to Figure 1 , is a flow chart of a vehicle parking control method provided by an embodiment of the present invention, comprising the following specific steps:

[0048] S1. Obtain the current position of the vehicle, and compare the current position with the preset charging field position to determine whether the vehicle enters the charging field;

[0049] Specifically, the vehicle parking control method of the present invention comprises the following steps:

[0050] 1. Obtain location information and determine charging field

[0051] Step 1.1: Obtaining location information

[0052] Use global navigation satellite systems (such as GPS) combined with real-time dynamic difference technology to obtain the precise position of the vehicle:

[0053] GNSS signal reception: The GNSS system consists of multiple satellites. These satellites continuously transmit positioning signals to the earth. The on-board GNSS receiver receives signals from multiple satellites, which contain the satellite's orbital parameters and time information.

[0054] Real-time Kinematic Differential Kinematics (RTK): RTK technology simultaneously receives GNSS signals from the base station and the mobile station, and calculates and eliminates the common errors between the two stations in real time, such as satellite orbit error, satellite clock error, ionospheric and tropospheric delay, etc. The base station is a GNSS receiver with a known precise position. It continuously receives satellite signals and sends differential data to the mobile station (i.e., the receiver on the vehicle) through wireless communication (such as radio or mobile network). The mobile station (vehicle) uses the received satellite signals and the differential data from the base station to obtain its own high-precision position information through complex calculations.

[0055] High-precision positioning: RTK technology can provide centimeter-level positioning accuracy, which is much higher than the accuracy of traditional GNSS single-point positioning. Through real-time calculation and correction, the vehicle can achieve high-precision positioning in complex environments, providing accurate data support for subsequent parking control.

[0056] In summary, the combination of GNSS and RTK technologies enables vehicles to achieve high-precision positioning on a global scale, providing strong technical support for charging station parking control.

[0057] If the vehicle is in a specific area (such as a parking lot or charging station), the high-precision map or pre-stored charging field location data is further used to confirm whether the current location is within the charging field area. Confirming whether the current location is within the charging field area usually involves the following steps:

[0058] Location information acquisition: Use the vehicle-mounted GNSS receiver combined with RTK technology to obtain the vehicle's precise location information.

[0059] Compare location information: Compare the vehicle's current location information with the pre-stored charging station location data. These charging station location data may exist in the form of a high-precision map or stored in the form of a coordinate point list. The vehicle location is accurately matched with the charging station location through a geographic information system (GIS) or a dedicated location matching algorithm.

[0060] Charging field judgment: If the vehicle's current position is within the charging field area, the system determines that the vehicle has entered the charging field. In this process, a certain tolerance range may be considered to deal with positioning errors and fuzzy charging field boundaries.

[0061] Step 1.2: Charging field determination

[0062] By comparing the current position of the vehicle with the position information in the charging field database, it is determined whether the vehicle has entered the charging field.

[0063] If entering a charging field, the system should automatically activate charging-related functions and prepare for the next step.

[0064] 1.2.1、Charging related functions

[0065] Charging control function:

[0066] Note: The charger should have automatic charging control function and support manual charging control (only for professional debugging or maintenance);

[0067] Activation method: When the vehicle is connected to the charging pile and the charging program is started, the charger automatically enters the charging control mode and controls the charging according to the battery status and user needs.

[0068] 1.2.2 Communication function:

[0069] Description: The charger communicates with the electric vehicle BMS (battery management system) or vehicle controller in real time to obtain charging parameters and real-time data;

[0070] Among them, charging parameters and real-time data refer to the real-time display of charging status, charging progress (charging percentage), charging power, charging time, charging costs and other information on the vehicle or mobile phone application, and it also supports car owners to remotely start or stop charging.

[0071] Activation method: When the vehicle is physically connected to the charging pile, a communication connection is automatically established through communication protocols such as the CAN bus to achieve data exchange.

[0072] 1.2.3 Insulation detection and short circuit detection function

[0073] Note: Perform insulation and short-circuit detection on the DC output circuit to ensure charging safety;

[0074] Activation method: Automatically perform insulation detection before charging begins, and continuously monitor the circuit status during charging. Once a short circuit is found, charging will be stopped immediately and an alarm will be issued.

[0075] 1.2.4 Vehicle plug locking and temperature monitoring function

[0076] Note: The vehicle plug is equipped with a locking device to prevent unauthorized plugging and unplugging; it also monitors the plug temperature to prevent overheating;

[0077] Activation method: The plug is automatically locked when inserted into the charging port. The plug temperature is continuously monitored during charging. When it exceeds the set value, an alarm is issued and the charging power is adjusted.

[0078] 1.2.5 Pre-charge function

[0079] Note: At the start-up charging stage, pre-charge the battery with a small current, and then start formal charging after the battery status is detected to be normal;

[0080] Activation method: The charger automatically starts the pre-charging process when it detects that the battery is connected and meets the pre-charging conditions.

[0081] 1.2.6 Human-computer interaction function

[0082] Description: The charging status, parameters and other information are displayed to the user through the status indicator and display screen;

[0083] Activation method: The charger automatically lights up the status indicator after startup and displays relevant information on the display when necessary.

[0084] 1.2.7 Dynamic Power Allocation Function

[0085] Description: The one-machine-multiple-charger charging pile dynamically adjusts and allocates charging power according to user needs, battery status and current load;

[0086] Activation method: When the charger receives multiple charging requests, it automatically calculates and allocates the optimal charging power according to the built-in algorithm. The specific implementation is as follows:

[0087] (1) User needs

[0088] Charging priority: When a charging pile receives multiple charging requests, it will first consider the user's charging priority. This is usually based on the user's settings or the system's default rules. For example, the system will give a higher charging priority to users who are in a hurry to use the car.

[0089] Charging time and power requirements: Users may specify the desired charging time or power required. The charger will use this information to evaluate the charging requirements of each request and allocate it within the total power allowed.

[0090] (2) Battery status

[0091] Battery State of Charge (SOC): The charging pile monitors and obtains the battery state of charge of each electric vehicle in real time. According to the remaining power of the battery, the charging pile can adjust the charging power to optimize the charging efficiency and extend the battery life. For example, when the battery is close to full charge, the charging pile will reduce the charging power to prevent overcharging.

[0092] Battery health: Some advanced chargers are also able to assess the health of the battery, including parameters such as battery temperature, voltage and current. This information helps the charger select the most appropriate charging strategy to ensure the safety and efficiency of the charging process.

[0093] (3) Current load

[0094] Grid load: The charging pile will take into account the current grid load. During peak grid load, the charging pile may reduce the total charging power to avoid excessive impact on the grid. On the contrary, when the grid load is low, the charging pile will increase the total charging power to meet more charging needs.

[0095] Charging pile load: The charging pile also considers its own load conditions. When multiple charging piles are working at the same time, the system will allocate charging power according to the load conditions of each charging pile to ensure load balance and avoid overloading of a single charging pile.

[0096] (4) Dynamic calculation and allocation process

[0097] Real-time data collection: The charging pile collects real-time data on user demand, battery status and current load through real-time communication with the electric vehicle BMS (battery management system) or vehicle controller.

[0098] Built-in algorithm calculation: The charging pile has built-in complex algorithms to calculate the optimal charging power distribution plan based on the collected data. These algorithms may include advanced algorithms such as model predictive control, neural networks, fuzzy control, etc. to achieve multi-objective optimization.

[0099] Dynamic adjustment: Once the optimal charging power allocation plan is calculated, the charging pile will immediately make dynamic adjustments. During the charging process, the charging pile will continuously monitor the changes in various parameters and adjust the charging power allocation strategy in real time as needed.

[0100] Priority management: For users or vehicles with higher charging priority, the charging pile will give priority to meeting their charging needs. At the same time, the system will consider fairness and efficiency to ensure that all users can get reasonable charging services.

[0101] Through the above steps, the one-machine-multiple-charger charging pile can flexibly adjust and allocate charging power dynamically according to user needs, battery status and current load, thereby achieving efficient, safe and fair charging services.

[0102] 1.2.8 Metering and billing functions

[0103] Description: Accurately measure the charging energy and bill users based on the actual charging situation;

[0104] Activation method: The charger automatically measures the amount of electricity during the charging process and processes the billing through the charging station management system or a third-party platform.

[0105] 1.2.9 Security protection function

[0106] Description: It includes functions such as emergency stop, temperature monitoring, humidity monitoring, and smoke monitoring to ensure the safety of the charging process;

[0107] Activation method: These functions automatically enter the working state after the charger is started, and the corresponding protection mechanism is immediately triggered once an abnormal situation is detected.

[0108] S2. When it is determined that the vehicle has entered the charging field, obtain environmental data about the vehicle collected by a preset on-board sensor in the vehicle, analyze the environmental data to obtain the location of idle charging piles in the vehicle's surroundings, and then select an idle charging pile closest to the vehicle from the idle charging piles in the vehicle's surroundings as a target charging pile;

[0109] Preferably, the environmental data around the vehicle collected by the on-board sensor includes: three-dimensional point cloud data of the vehicle's surrounding environment collected by the lidar, images of the vehicle's surrounding environment collected by the camera, and the distance, speed and front angle of other vehicles in the vehicle's surrounding environment collected by the millimeter-wave radar.

[0110] Preferably, obtaining the positions of idle charging piles in the vehicle's surrounding environment based on the environmental data analysis includes: inputting the environmental data into a preset charging pile position recognition model, so that the charging pile position recognition model recognizes the positions of idle charging piles in the vehicle's surrounding environment based on the environmental data, and outputs the positions of idle charging piles in the vehicle's surrounding environment; wherein, generation of the charging pile position recognition model includes: acquiring historical environmental data collected by the on-board sensor; performing spatiotemporal synchronization processing on the historical environmental data, and then performing data fusion on the environmental data after the spatiotemporal synchronization processing; extracting the position information of idle charging piles in the vehicle's surrounding environment based on the fused data, and then training a preset neural network model based on the historical environmental data and the position information, with the historical environmental data as input and the corresponding position information as output, to obtain the charging pile position recognition model.

[0111] 2. Obtain the distribution of charging pile installation locations

[0112] The vehicle's surrounding environment is scanned in all directions using the on-board sensor system (including LiDAR, millimeter-wave radar, cameras, etc.). The sensor system should pay special attention to the location and layout of the charging facilities around the vehicle, especially the location and type of charging piles.

[0113] After scanning the vehicle's surroundings, identifying the location and layout of charging facilities around the vehicle mainly relies on a variety of sensor technologies and data processing methods. The following is a detailed description of this step:

[0114] 1. Sensor Technology

[0115] LiDAR:

[0116] How it works: LiDAR builds an accurate 3D model of the vehicle's surroundings by emitting laser pulses and receiving the reflected signals, calculating the distance based on the time difference.

[0117] Application: During the scanning process, LiDAR can identify the specific location and shape of charging facilities (such as charging piles and charging stations), providing basic data for subsequent identification and processing.

[0118] Camera:

[0119] Function: The camera captures color images and recognizes traffic signs, lane lines, and specific symbols (such as charging station signs or signs).

[0120] Assisted identification: Although the performance of cameras may be limited at night or in bad weather conditions, they can assist LiDAR in identifying charging facilities, especially when there are clear signs or signs.

[0121] Millimeter wave radar and ultrasonic sensors:

[0122] What they do: These sensors are used to measure the distance, speed, and angle of objects. While they may not provide as detailed three-dimensional information as lidar, they can also play a role in detecting the presence and location of charging facilities.

[0123] Assisted positioning: Especially in complex environments, these sensors can help vehicles locate charging facilities more accurately.

[0124] 2. Data Processing and Identification Methods

[0125] Based on multi-sensor fusion technology, the specific processing flow for charging facility identification is as follows:

[0126] 1. Obtain data collected by various sensors including lidar, camera, and millimeter-wave radar:

[0127] Laser Radar (Li DAR): Collects accurate three-dimensional point cloud data of the vehicle's surrounding environment, which contains spatial information such as the shape and location of charging facilities (such as charging piles and charging stations).

[0128] Camera: Captures high-resolution color images that contain visual information such as traffic signs, lane markings, and charging facility signs or signs.

[0129] Millimeter-wave radar: Measures the distance, speed, and angle of objects around the vehicle, providing supplementary information about the presence of charging facilities and their dynamic status (such as whether other vehicles are charging).

[0130] 2. The data preprocessing and fusion methods collected based on the above steps are as follows:

[0131] 2.1 Data preprocessing:

[0132] LiDAR point cloud: Filtering operation is performed to remove noise points, and then ground segmentation is performed to remove the ground point cloud for subsequent processing.

[0133] Camera image: Perform image enhancement processing, such as contrast adjustment and noise suppression, to improve image quality.

[0134] Millimeter-wave radar data: parse the raw data and extract distance, speed, and angle information.

[0135] 2.2 Data Fusion:

[0136] 2.2.1 Spatiotemporal synchronization: Ensure that data from different sensors are synchronized in time and space.

[0137] 2.2.2 Multi-sensor data fusion:

[0138] The Kalman filter method is used to fuse data from different sensors as follows:

[0139] 2.2.2.1. State definition

[0140] First, define the state of the system. In the scenario of charging facility identification, we can define the state as the three-dimensional position (x, y, z coordinates) of the charging facility (such as the charging pile) and the possible motion state (velocity vector vx, vy, vz, the charging pile usually does not move, but the movement of the vehicle itself will cause the observed position to change).

[0141] 2.2.2.2. State prediction

[0142] At each time step, the state at the current time step is predicted based on the state estimate at the previous time step and the system model (which here may be a simple constant speed model or static model, since charging stations usually do not move).

[0143] 2.2.2.3. Observation update

[0144] When lidar and mmWave radar provide new observations, these observations are used to update the state estimate. Lidar provides precise 3D position information, while mmWave radar provides distance and velocity information, which can be converted into position information.

[0145] 2.2.2.4. Kalman gain calculation

[0146] The Kalman gain Kk is used to balance the weight between prediction and observation, which is calculated based on the prediction error covariance and the observation noise covariance.

[0147] 2.2.2.5. Status Update

[0148] The state estimate and error covariance are updated using the Kalman gain and the observations.

[0149] 2.2.2.6. Repeat

[0150] Repeat the above process, continuously receive new observation data, and update the state estimate, so as to achieve continuous and accurate tracking of the location of the charging facility.

[0151] The camera image data uses image processing and computer vision technology to identify the specific logo or sign of the charging facility, and match and fuse its location with the data from the lidar and millimeter-wave radar.

[0152] The fused data will contain the three-dimensional location, shape, type and possible signage information of the charging facilities.

[0153] 3. Build a charging pile location recognition model

[0154] Model training: Using the preprocessed and fused data, a charging pile location recognition model is trained. This model is based on machine learning and can automatically learn the characteristics of charging piles from the data and identify their locations.

[0155] Feature extraction: During the training process, key features such as the shape, size, color, and location of the charging pile are extracted from the fused data for model training and testing.

[0156] 4. Identification processing and result output

[0157] Real-time recognition: Input the multi-sensor data collected in real time into the trained charging pile location recognition model.

[0158] Model reasoning: The model performs reasoning based on the input data to predict the specific location and type of the charging pile.

[0159] Result output: The recognition results are presented to the driver in a visual form (such as annotations on the map, instructions on the vehicle display). At the same time, these results can also be used for the vehicle's automatic navigation and charging docking system to realize the automated charging process.

[0160] Through the above process, the vehicle can accurately identify the location and type of charging piles in the surrounding environment, providing the driver with a convenient charging service experience.

[0161] Step 2.2: Vehicle configuration retrieval

[0162] The system retrieves vehicle configuration information, including vehicle model, charging port type, charging station location, etc.

[0163] Combined with the scanned environmental information and vehicle configuration information, the specific installation location of the charging pile can be accurately determined. This information will be used for subsequent parking method selection and charging pile docking.

[0164] S3, obtaining configuration information of the vehicle, obtaining the position of the charging port of the vehicle according to the configuration information, and then determining the parking mode of the vehicle according to the position of the charging port; wherein the position of the charging port includes: the front of the vehicle, the parking space or the side of the vehicle body; and the parking mode includes: parking at the front of the vehicle or parking at the rear of the vehicle;

[0165] Preferably, the side of the vehicle body includes: above the front wheel on the side of the vehicle body, above the rear wheel on the side of the vehicle body, near the front wheel door and near the rear wheel door; determining the parking method of the vehicle according to the position of the charging port includes: according to the position of the charging port, when the charging port is located at the front of the vehicle, determining the parking method of the vehicle as front parking; when the charging port is located at the rear of the vehicle, determining the parking method of the vehicle as rear parking; when the charging port is located near the front wheel on the side of the vehicle body, determining the parking method of the vehicle as front parking; when the charging port is located near the rear wheel on the side of the vehicle body, determining the parking method of the vehicle as rear parking.

[0166] 3. Determine the parking method

[0167] Step 3.1: Analyze the location of the charging port

[0168] Based on the scanned charging port location and vehicle configuration information, it is determined whether the charging port is located at the front, rear or side of the vehicle. Considering the accessibility and ease of operation of the charging port, it provides a basis for the next parking method selection.

[0169] The distribution of charging ports for electric vehicles varies depending on the model and brand. Here are some common locations and features of charging ports:

[0170] (1) Front:

[0171] Grille location: Some electric vehicles have the charging port located just above the front bumper or front grille, such as some Nissan and Audi models. This design makes it easier for owners to charge the car from the front.

[0172] Inside or near the car logo: Some models have the charging port cleverly hidden inside the car logo or in the decorative panel near the car logo, which is both beautiful and practical.

[0173] Inside the hood: A few models have the charging port designed inside the hood, which requires opening the hood to find.

[0174] (2) Body side:

[0175] Above the front wheel: Some models have the charging port located on the fender above the front wheel. This design makes it easier for car owners to charge on the side of the car body.

[0176] Above the rear wheel: Some models, such as some BMW models, have the charging port located on the side of the car body above the rear wheel.

[0177] Near the door: A few models have the charging port designed inside the decorative panel near the door, making it convenient for car owners to approach and charge from the side of the car body.

[0178] (3) Rear end:

[0179] Center of the rear of the vehicle: Some models have the charging port designed in the center of the rear of the vehicle or under the trunk lid. This design is more convenient when charging at the rear of the vehicle.

[0180] Near the taillights: Tesla's Model S and Model X models integrate the charging port into the rear taillight lens, blending it into the side of the entire car, which is both beautiful and practical.

[0181] Step 3.2: Select parking method

[0182] If the charging port is located at the front of the vehicle, select the front parking method;

[0183] If the charging port is at the rear of the vehicle, select the rear parking method;

[0184] If the charging port is on the side of the vehicle, you will need to choose the most appropriate parking method based on the specific situation, which may involve approaching the side of the vehicle or parking at a specific angle;

[0185] If the charging port is located above the front wheel on the side of the vehicle, select the front parking method;

[0186] If the charging port is located above the rear wheel on the side of the vehicle, select the parking space entry method;

[0187] If the charging port is located near the door, close to the front wheels, choose the front parking method;

[0188] If the charging port is located near the door, close to the rear wheels, choose the rear-end parking method.

[0189] S4. Generate a parking path for the vehicle according to the current position of the vehicle, the position of the target charging pile, and the parking method of the vehicle, and then control the vehicle to travel to the parking point for charging according to the parking path.

[0190] Preferably, generating a parking path for the vehicle according to the current position of the vehicle, the position of the target charging pile and the parking method of the vehicle includes: determining the position of the corresponding target parking space according to the position of the target charging pile; taking the current position of the vehicle as the starting node and the position of the target parking space as the target node, and performing node expansion from the starting node according to a preset HybridA* algorithm and the parking method of the vehicle to generate a plurality of sub-nodes, and connecting the generated sub-nodes to generate an initial parking path for the vehicle; and performing smoothing and obstacle avoidance processing on the initial parking path to generate a parking path for the vehicle.

[0191] Preferably, controlling the vehicle to travel along the vehicle parking path to a parking spot for charging according to the vehicle parking path includes: controlling the vehicle to travel along the vehicle parking path to a parking spot for charging according to the vehicle parking path, and acquiring real-time position information of the vehicle during driving, comparing the real-time position information of the vehicle with the vehicle parking path, and correcting the driving path of the vehicle when it is determined that there is a position deviation between the real-time position of the vehicle and the driving position in the vehicle parking path.

[0192] 4. Parking process execution

[0193] Step 4.1: Path planning

[0194] Based on the selected parking method and the current position of the vehicle, the system plans the optimal parking path. Path planning should consider factors such as avoiding obstacles, maintaining a safe distance from other vehicles, and reducing the number and angle of turns. The present invention performs parking path planning based on the Hybrid A* algorithm, and its specific calculation process is as follows:

[0195] 1. Input data preparation

[0196] Vehicle current position and attitude: The precise position (x, y, θ) of the vehicle is obtained through GNSS and RTK technology, where θ is the vehicle's heading angle.

[0197] Parking space information: including the location (x_park, y_park), size (length_park, width_park) and direction of the parking space.

[0198] Obstacle information: Obtain the location, size and shape of obstacles through sensors such as ultrasonic radar, lidar and cameras.

[0199] Vehicle parameters: vehicle length (length_veh), width (width_veh), maximum turning radius (radius_turn).

[0200] 2. Application of Hybrid A* Algorithm

[0201] 2.1 Initialization

[0202] Set the starting node (the current position and posture of the vehicle) and the target node (the center position of the parking space and the desired orientation). Initialize the open list and the closed list to store the nodes to be evaluated and the nodes that have been evaluated. Set the heuristic function to consider the vehicle's motion characteristics and obstacle information.

[0203] 2.2 Node Expansion

[0204] Starting from the starting node, possible child nodes are generated according to the kinematic constraints of the vehicle (such as the maximum turning radius). Use the Reeds-Shepp curve or Dubins curve to connect the current node with the generated child nodes to ensure that the path satisfies the non-integrity constraints of the vehicle. Calculate the cost (g value) and heuristic value (h value) of each child node, and update the f value (f = g + h). Add the newly generated child node to the open list and check whether it conflicts with obstacles.

[0205] 2.3 Path Search

[0206] Select the node with the smallest f value from the open list as the current node. If the current node is the target node or is close enough to the target node (less than the set threshold), stop searching. Otherwise, move the current node from the open list to the closed list and continue to expand its child nodes.

[0207] 2.4 Path Reconstruction

[0208] Trace back from the target node to the starting node and reconstruct the complete parking path based on the parent node pointer.

[0209] 3. Path optimization and adjustment

[0210] 3.1 Path smoothing

[0211] Use B-spline or Bezier curves to smooth the reconstructed path to reduce sharp turns and unnecessary vibrations. Make sure the smoothed path still meets the vehicle's kinematic constraints and obstacle avoidance requirements.

[0212] 3.2 Obstacle Avoidance

[0213] During the path smoothing process, the path is checked again to see if it collides with obstacles. If a collision is found, the local path is replanned near the collision point and smoothed again.

[0214] 3.3 Dynamic Adjustment

[0215] During the parking process, the vehicle continuously monitors the surrounding environment. If pedestrians or vehicles are detected entering the parking area, the path is dynamically adjusted based on real-time data to ensure safety.

[0216] Through the above steps, combined with the specific calculation process of the Hybrid A* algorithm, an optimal parking path that not only meets the vehicle's motion characteristics but also avoids obstacles can be generated, and necessary optimization and adjustments can be made.

[0217] Step 4.2: Execution Control

[0218] 1. The system controls the vehicle to park according to the planned path through EPS (electric power steering system), gear control, speed control and other means. In the charging field intelligent parking control system, the precise parking of the vehicle is achieved through EPS (electric power steering system), gear control, speed control and other means. The specific process is as follows:

[0219] EPS (Electric Power Steering System) Control:

[0220] Steering angle and speed control: The EPS system accurately controls the steering angle and speed of the steering wheel according to the planned parking path, so that the vehicle can drive along the predetermined trajectory. For example, when turning into a parking space, EPS will calculate and control the steering wheel angle in advance to ensure that the vehicle can enter the parking space smoothly.

[0221] Feedback adjustment: The EPS system also has a feedback adjustment function, which uses sensors to monitor the deviation between the vehicle's actual driving trajectory and the predetermined trajectory in real time, and adjusts the steering wheel rotation accordingly to correct the deviation and ensure that the vehicle is parked accurately.

[0222] Gear Control:

[0223] Automatic gear shifting: During parking, the system automatically adjusts the vehicle's gear according to vehicle speed, road conditions and parking requirements. For example, when approaching a parking space, the system may switch the gear from forward gear to reverse gear so that the vehicle can smoothly reverse into the parking space.

[0224] Gear lock: In some cases, in order to prevent the driver from operating the vehicle incorrectly, the system may temporarily lock the gear to ensure that the vehicle travels along the intended path.

[0225] Speed ​​control:

[0226] Adaptive Cruise Control: During parking, the system uses the adaptive cruise control function to automatically adjust the vehicle speed according to the distance between the vehicle and the obstacle or the target parking space. For example, when approaching a parking space, the system will automatically reduce the speed to ensure a smooth and safe parking process.

[0227] Braking and acceleration coordination: The system also coordinates the braking system and the acceleration system according to the actual driving conditions of the vehicle to achieve precise vehicle speed control. For example, when emergency braking is needed to avoid a collision, the system will respond quickly and apply braking force; when acceleration is needed to keep up with the planned path, it will increase power output.

[0228] 2. During the parking process, the vehicle position information is updated in real time, and the control strategy is adjusted as needed to ensure a smooth and safe parking process.

[0229] During parking, the system will dynamically adjust the control strategy based on the vehicle's real-time information (such as location, speed, direction, etc.) and environmental information (such as obstacle location, charging port location, etc.) to ensure smooth parking. The specific adjustment methods are as follows:

[0230] Real-time position monitoring and adjustment:

[0231] Position deviation correction: The system monitors the vehicle's position information in real time through GPS, laser radar, camera and other sensors, and compares it with the planned parking path. Once a position deviation is found, the system will immediately calculate the deviation amount and correct it through EPS, gear control, speed control and other means to return the vehicle to the planned path.

[0232] Obstacle Detection and Avoidance:

[0233] Obstacle recognition: The system uses sensors to monitor obstacle information around the vehicle in real time, including other vehicles, pedestrians, fixed facilities, etc. Once an obstacle is identified, the system will immediately evaluate its impact on the parking process.

[0234] Avoidance strategy: The system will develop a corresponding avoidance strategy based on factors such as the location, size, and speed of the obstacle. For example, if the obstacle is located on the planned parking path and cannot be moved, the system may replan the parking path or prompt the driver to intervene manually.

[0235] Charging port docking status monitoring:

[0236] Docking status detection: During parking, the system will continuously monitor the docking status of the charging port and the vehicle charging port. If the docking is unsuccessful or there is a deviation, the system will immediately adjust the vehicle position or charging port docking angle to ensure successful docking.

[0237] Feedback adjustment: After successful docking, the system will also make feedback adjustments based on real-time information during the charging process (such as charging current, voltage, etc.) to ensure the stability and safety of the charging process.

[0238] User Interaction and Feedback:

[0239] Information display: The system displays parking plans, estimated time, charging status and other information to the driver in real time through channels such as the vehicle display or mobile phone APP, improving user transparency and satisfaction.

[0240] User intervention prompt: When user intervention is required (such as obstacles that cannot be avoided, charging port docking failure, etc.), the system will promptly issue prompt information to guide the user to perform corresponding operations.

[0241] In summary, by comprehensively using EPS, gear control, vehicle speed control and other means, and dynamically adjusting the control strategy according to the real-time information of the vehicle during the parking process, the charging field intelligent parking control system can achieve an efficient, safe and intelligent parking process.

[0242] Preferably, after controlling the vehicle to travel to the parking point according to the vehicle parking path, the method further includes: obtaining the relative position between the vehicle and the parking boundary of the target parking space according to the vehicle-mounted sensor, and judging whether the vehicle exceeds the parking boundary of the target parking space according to the relative position; when it is determined that the vehicle exceeds the parking boundary of the target parking space, adjusting the parking position of the vehicle.

[0243] 5. Parking completed and charging ready

[0244] Step 5.1: Parking completion confirmation

[0245] When the vehicle is successfully parked at the designated location and meets the charging requirements, the system should automatically confirm that parking is complete. At this time, the vehicle should be in a state where the charging port can be docked, and the vehicle body and the charging facility should maintain an appropriate distance and angle. Determining whether the vehicle has been successfully parked at the designated location and meets the charging requirements usually relies on a comprehensive evaluation of multi-sensor fusion technology and intelligent algorithms. The following is a specific judgment method:

[0246] Position accuracy judgment:

[0247] Use GPS combined with high-precision maps or pre-stored charging station location data to determine whether the vehicle is located within the designated parking area. Use sensors such as on-board cameras or lidar to capture the relative position of the vehicle and the parking space boundary in real time to ensure that the vehicle does not exceed the parking space boundary.

[0248] Charging port docking status:

[0249] When the vehicle approaches the charging facility, the docking status between the charging port and the vehicle charging port is detected by a camera or infrared sensor. If the charging port has been successfully docked and the charging system starts to transmit power, it can be considered that the vehicle has been successfully parked in a position that meets the charging requirements.

[0250] Vehicle posture judgment:

[0251] Use on-board sensors (such as gyroscopes, accelerometers, etc.) to determine the vehicle's posture (such as pitch angle, roll angle, yaw angle) to ensure that the vehicle is parked stably without tilting or offset.

[0252] System feedback and confirmation:

[0253] The control system will comprehensively analyze the above data and give feedback on whether the parking is successful. If all conditions are met, the system will send a confirmation signal, indicating that the vehicle has been successfully parked in the designated location and meets the charging requirements.

[0254] After the vehicle is successfully parked at the designated location, the following automatic identification and adjustment measures can be taken to ensure that the vehicle body maintains an appropriate distance and angle with the charging facility:

[0255] Distance and angle measurement: Use distance measuring equipment such as LiDAR or ultrasonic sensors to measure the actual distance between the vehicle body and the charging facility. Use cameras to capture images of the vehicle body and the charging facility, and use image processing technology to calculate the relative angle between the vehicle body and the charging facility.

[0256] Intelligent identification and judgment: The measured distance and angle data are compared with the preset thresholds to determine whether the vehicle body and the charging facility are at an appropriate distance and angle. If the distance is too close or too far, or the angle deviation is too large, the system will automatically identify the problem.

[0257] Adjustment measures: If the distance or angle between the vehicle body and the charging facility does not meet the requirements, the system will take corresponding adjustment measures according to the actual situation. For example, the EPS system can fine-tune the steering wheel angle to slowly move the vehicle to a more suitable position; or the vehicle speed and braking system can be controlled to fine-tune the vehicle forward and backward to adjust the distance. If the automatic adjustment fails to achieve the expected effect, the system may issue an alarm and prompt the driver to intervene manually.

[0258] Repeated verification and confirmation: After making the above adjustments, the system will measure and judge the distance and angle again to ensure that the vehicle body and the charging facility maintain an appropriate distance and angle. Only when all conditions are met will the system finally confirm that the vehicle has been successfully parked in a position that meets the charging requirements.

[0259] Step 5.2: Charging Preparation

[0260] Charging port docking:

[0261] If the vehicle is equipped with an automatic charging port docking function, the system can automatically complete the charging port docking operation. If manual operation is required, the system should provide clear instructions and prompts to guide the driver to complete the charging port docking.

[0262] Charging parameter setting:

[0263] The system automatically sets the charging parameters (such as charging current, charging voltage, etc.) according to the vehicle configuration and the requirements of the charging facilities. If necessary, the driver can also manually adjust the charging parameters to meet specific needs.

[0264] Charging starts:

[0265] When the charging port is successfully connected and the charging parameters are set, the system starts charging the vehicle. The system can send a notification to the user about the start of charging and the estimated charging time.

[0266] 1. Charging port docking

[0267] Automatic charging port docking function: If the vehicle is equipped with an automatic charging port docking function, the process usually involves the coordinated work of high-precision sensors, robotic arms or slide rails. When the vehicle is parked at the designated location, the system will start the automatic docking procedure:

[0268] Sensor detection: The sensors on the vehicle (such as lidar, ultrasonic sensors, cameras, etc.) will first detect the relative position between the charging port and the charging pile.

[0269] Robotic arm or slide rail operation: Based on sensor data, the robotic arm or charging port on the vehicle will automatically extend and move along a preset track or path toward the charging port of the charging pile.

[0270] Precise docking: At the end of the robotic arm or charging port, there is usually a docking device that can achieve precise docking with the charging port of the charging pile. During the docking process, a fine-tuning mechanism may also be involved to ensure the accuracy and stability of the docking.

[0271] Manual operation instructions and tips:

[0272] If the vehicle does not have the automatic charging port docking function, or in some cases requires manual intervention, the system will generate corresponding instructions and prompts. These instructions and prompts may be generated in the following ways:

[0273] On-board screen display: The system will display clear instructions on the on-board screen to tell the driver how to operate the charging port docking.

[0274] Voice prompts: The system may also issue voice prompts through the vehicle's audio system to guide the driver to complete the charging port docking operation.

[0275] Mobile APP notification: If the vehicle supports mobile APP remote control, the system can also send notifications and instructions to the driver through the APP.

[0276] 2. Charging parameter setting

[0277] Charging parameters can usually be set in the following ways:

[0278] In-vehicle system settings: The driver can enter the charging settings interface through the touch screen or physical buttons of the in-vehicle system and set the charging parameters. These parameters may include charging current, charging time, charging power, etc.

[0279] Mobile APP settings: If the vehicle supports mobile APP remote control, the driver can also set the charging parameters through the APP. In the APP, there are usually special charging setting options for the driver to select and adjust.

[0280] Charging pile settings: In some cases, charging parameters can also be set through the charging pile. The driver can select the required charging mode and parameters on the touch screen or operation panel of the charging pile.

[0281] 3. Charging starts and estimated charging time is generated

[0282] Charging starts: When the charging port is connected and the charging parameters are set, the system can start charging. In some cases, the driver may need to confirm the operation of starting charging on the vehicle system or charging station.

[0283] Estimated charging time generation: The estimated charging time is usually generated based on the following factors:

[0284] Remaining battery power: The system will estimate the approximate time required to fully charge the battery based on the current remaining battery power.

[0285] Charging power and current: The size of the charging power and current will directly affect the charging speed, thereby affecting the estimated charging time.

[0286] Charging mode: Different charging modes (such as fast charging, slow charging, etc.) have different charging speeds and efficiencies, which will also affect the estimated charging time.

[0287] Based on the above factors, the system will calculate the estimated charging time through the built-in algorithm and display it on the in-vehicle screen, mobile phone APP or charging pile for the driver's reference. It should be noted that the estimated charging time may vary due to various factors in the actual charging process.

[0288] Step 5.3: Charging process monitoring

[0289] During the charging process, the system should monitor the charging status and vehicle status in real time.

[0290] If an abnormal situation occurs (such as charging interruption, battery overheating, etc.), the system should immediately stop charging and take appropriate safety measures. During the charging process, the system integrates multiple sensors and intelligent algorithms to comprehensively monitor the charging status and vehicle status of the vehicle. The specific monitoring methods and reflected parameters are as follows:

[0291] Monitor the vehicle's charging status:

[0292] Current and voltage: The system monitors the current and voltage values ​​during the charging process in real time. These parameters directly reflect the charging power and efficiency. Whether the current and voltage are stable, and whether they reach the preset threshold, are important bases for judging the charging status.

[0293] Charge capacity: By accumulating the current integral during the charging process, the system can calculate the amount of electricity that has been charged, thereby estimating the remaining charging time and remaining battery capacity.

[0294] Charging mode: The system will also record the current charging mode (such as fast charging, slow charging, etc.). The changing trends and characteristics of current and voltage under different modes are also important factors in judging the charging status.

[0295] Monitor vehicle status:

[0296] Battery temperature: Battery temperature is a key factor affecting charging efficiency and safety. The system monitors the battery temperature in real time through a temperature sensor to prevent battery overheating and safety accidents.

[0297] Vehicle system status: The system also monitors the status of other vehicle systems, such as the power system, cooling system, etc., to ensure that the vehicle as a whole is in normal condition during the charging process.

[0298] Safety alarm: If the vehicle status is abnormal (such as high battery temperature, charging line failure, etc.), the system will immediately issue an alarm and take corresponding protective measures.

[0299] Determine whether an abnormality occurs:

[0300] The system uses preset thresholds and algorithms to determine whether the charging process and vehicle status are abnormal. For example, if the charging current suddenly drops, the voltage fluctuates too much, or the battery temperature exceeds the safe range, these may be considered abnormal conditions.

[0301] Determine which exception occurred:

[0302] The system will determine what specific abnormality has occurred based on the specific parameters monitored and the manifestation of the abnormal situation, combined with the built-in fault diagnosis algorithm. For example, if the battery temperature continues to rise and exceeds the safety threshold, it may be judged as a battery overheating abnormality; if the charging current is zero but the voltage is normal, it may be judged as a charging line fault, etc.

[0303] When an exception occurs, what specific measures should be taken:

[0304] Stop charging immediately: Once an abnormal condition is detected, the system will immediately stop the charging operation to prevent further damage to the battery or vehicle.

[0305] Issue an alarm: The system will issue an alarm through sound, light or on-board screen to alert the driver.

[0306] Record exception information: The system will automatically record the time, type, parameters and other information of the exception for subsequent analysis and processing.

[0307] Take protective measures: Depending on the type of abnormality, the system may take further protective measures, such as cutting off power, starting the cooling system, etc.

[0308] Notify maintenance: For more serious abnormal situations, the system may notify the owner or maintenance center through the vehicle network or mobile phone APP so that timely maintenance can be carried out.

[0309] Through the above measures, the system can ensure that abnormal situations are discovered and handled in a timely manner during the charging process, thus ensuring the safety of vehicles and charging facilities.

[0310] Through the above operation process, the vehicle can accurately judge and select the appropriate parking method based on the installation location of the charging port, thereby achieving an efficient and safe charging process.

[0311] Embodiment 2

[0312] Please refer to Figure 2 , is a schematic diagram of the structure of a vehicle parking control device provided by an embodiment of the present invention, the device comprising: a vehicle position comparison module, an idle charging pile selection module, a parking mode determination module and a vehicle parking charging module;

[0313] The vehicle position comparison module is used to obtain the current position of the vehicle and compare the current position with the preset charging field position to determine whether the vehicle enters the charging field;

[0314] The idle charging pile selection module is used to obtain environmental data around the vehicle collected by a preset on-board sensor in the vehicle when it is determined that the vehicle has entered the charging field, obtain the location of the idle charging piles in the vehicle's surrounding environment according to the environmental data, and then select an idle charging pile closest to the vehicle from the idle charging piles in the vehicle's surrounding environment as a target charging pile;

[0315] The parking mode determination module is used to obtain the configuration information of the vehicle, obtain the position of the charging port of the vehicle according to the configuration information, and then determine the parking mode of the vehicle according to the position of the charging port; wherein the position of the charging port includes: the front of the vehicle, the parking space or the side of the vehicle body; the parking mode includes: front parking or rear parking;

[0316] The vehicle parking and charging module is used to generate a vehicle parking path for the vehicle according to the current position of the vehicle, the position of the target charging pile and the parking method of the vehicle, and then control the vehicle to travel to the parking point for charging according to the vehicle parking path.

[0317] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0318] Those skilled in the art can clearly understand that, for the sake of convenience and brevity, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0319] Embodiment 3

[0320] Accordingly, an embodiment of the present invention provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the vehicle parking control method described in the above embodiment of the invention when executing the computer program.

[0321] The electronic device may be a computing device such as a desktop computer, a notebook, a palm computer, a cloud server, etc. The device may include, but is not limited to, a processor and a memory.

[0322] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the device, and various interfaces and lines are used to connect various parts of the entire device.

[0323] Embodiment 4

[0324] Accordingly, an embodiment of the present invention provides a storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the vehicle parking control method described in the above embodiment of the invention.

[0325] The memory can be used to store the computer program, and the processor realizes various functions of the device by running or executing the computer program stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0326] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When the computer program is executed by the processor, the steps of each method embodiment described above can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0327] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A vehicle parking control method, characterized in that: include: Obtaining the current position of the vehicle, and comparing the current position with a preset charging field position to determine whether the vehicle has entered the charging field; When it is determined that the vehicle has entered the charging field, the environment data around the vehicle collected by the preset on-board sensor in the vehicle is obtained, and the position of the idle charging piles in the environment around the vehicle is obtained according to the analysis of the environment data, and then an idle charging pile closest to the vehicle is selected from the idle charging piles in the environment around the vehicle as the target charging pile; Acquire configuration information of the vehicle, obtain the location of the charging port of the vehicle according to the configuration information, and then determine the parking mode of the vehicle according to the location of the charging port; wherein the location of the charging port includes: the front of the vehicle, the parking space or the side of the vehicle body; the parking mode includes: front parking or rear parking; A parking path for the vehicle is generated based on the current position of the vehicle, the position of the target charging pile, and the parking method of the vehicle. Then, based on the parking path, the vehicle is controlled to travel along the parking path to a parking point for charging.

2. The vehicle parking control method according to claim 1, characterized in that: The environmental data around the vehicle collected by the on-board sensor includes: three-dimensional point cloud data of the vehicle's surrounding environment collected by the lidar, images of the vehicle's surrounding environment collected by the camera, and the distance, speed and front angle of other vehicles in the vehicle's surrounding environment collected by the millimeter wave radar.

3. The vehicle parking control method according to claim 2, characterized in that: The obtaining the position of an idle charging pile in the surrounding environment of the vehicle according to the environmental data analysis includes: Inputting the environmental data into a preset charging pile position recognition model, so that the charging pile position recognition model recognizes the position of the idle charging piles around the vehicle according to the environmental data, and outputs the position of the idle charging piles in the vehicle surrounding environment; The generation of the charging pile location recognition model includes: Acquiring historical environmental data collected by the vehicle-mounted sensor; Performing spatiotemporal synchronization processing on the historical environmental data, and then performing data fusion on the environmental data after the spatiotemporal synchronization processing; Based on the fused data, the location information of idle charging piles in the vehicle's surrounding environment is extracted, and then based on the historical environment data and the location information, a preset neural network model is trained with the historical environment data as input and the corresponding location information as output to obtain the charging pile location recognition model.

4. The vehicle parking control method according to claim 1, characterized in that: The side of the vehicle body includes: above the front wheel on the side of the vehicle body, above the rear wheel on the side of the vehicle body, near the front wheel door, and near the rear wheel door; The determining of the parking mode of the vehicle according to the position of the charging port includes: According to the position of the charging port, when the charging port is located at the front of the vehicle, the parking method of the vehicle is determined to be front-end parking; when the charging port is located at the rear of the vehicle, the parking method of the vehicle is determined to be rear-end parking; when the charging port is located near the front wheel on the side of the vehicle body, the parking method of the vehicle is determined to be front-end parking; when the charging port is located near the rear wheel on the side of the vehicle body, the parking method of the vehicle is determined to be rear-end parking.

5. The vehicle parking control method according to claim 1, characterized in that: The generating of the parking path of the vehicle according to the current position of the vehicle, the position of the target charging pile and the parking mode of the vehicle includes: Determine the location of the corresponding target parking space according to the location of the target charging pile; Taking the current position of the vehicle as the starting node and the position of the target parking space as the target node, according to the preset HybridA* algorithm and the parking method of the vehicle, node expansion is performed from the starting node to generate a number of child nodes, and the generated child nodes are connected to generate an initial vehicle parking path for the vehicle; The initial vehicle parking path is smoothed and obstacle avoided to generate a vehicle parking path for the vehicle.

6. The vehicle parking control method according to claim 1, characterized in that: The step of controlling the vehicle to drive to a parking spot for charging according to the vehicle parking path includes: According to the vehicle parking path, the vehicle is controlled to travel along the vehicle parking path to a parking place for charging, and real-time position information of the vehicle is obtained during driving, and the real-time position information of the vehicle is compared with the vehicle parking path. When it is determined that there is a position deviation between the real-time position of the vehicle and the driving position in the vehicle parking path, the driving path of the vehicle is corrected.

7. The vehicle parking control method according to claim 1, characterized in that: After controlling the vehicle to travel to the parking point according to the vehicle parking path, the method further includes: The relative position between the vehicle and the parking boundary of the target parking space is obtained according to the vehicle-mounted sensor, and whether the vehicle exceeds the parking boundary of the target parking space is determined according to the relative position. When it is determined that the vehicle exceeds the parking boundary of the target parking space, the parking position of the vehicle is adjusted.

8. A vehicle parking control device, characterized in that: include: Vehicle location comparison module, idle charging pile selection module, parking mode determination module and vehicle parking charging module; The vehicle position comparison module is used to obtain the current position of the vehicle and compare the current position with the preset charging field position to determine whether the vehicle enters the charging field; The idle charging pile selection module is used to obtain environmental data around the vehicle collected by a preset on-board sensor in the vehicle when it is determined that the vehicle has entered the charging field, obtain the location of the idle charging piles in the vehicle's surrounding environment according to the environmental data, and then select an idle charging pile closest to the vehicle from the idle charging piles in the vehicle's surrounding environment as a target charging pile; The parking mode determination module is used to obtain the configuration information of the vehicle, obtain the position of the charging port of the vehicle according to the configuration information, and then determine the parking mode of the vehicle according to the position of the charging port; wherein the position of the charging port includes: the front of the vehicle, the parking space or the side of the vehicle body; the parking mode includes: front parking or rear parking; The vehicle parking and charging module is used to generate a vehicle parking path for the vehicle according to the current position of the vehicle, the position of the target charging pile and the parking method of the vehicle, and then control the vehicle to travel to the parking point for charging according to the vehicle parking path.

9. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the vehicle parking control method according to any one of claims 1 to 7 when executing the computer program.

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

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