Parking method and related system

Abstract

The embodiment of the invention provides a parking method and a related system, and the method comprises the steps: obtaining environment information, vehicle speed information of a vehicle, and position information of a user under the condition of determining that the user has a riding intention based on the posture information of the user; generating a parking path from the position of the vehicle to a target position based on the environment information, the speed information of the vehicle and the position information of the user; the target position is a parking position corresponding to the position information of the user; and according to the parking path, the vehicle is controlled to run to the target position and is parked. According to the method provided by the embodiment of the invention, whether the user has the riding intention or not can be actively detected, and the vehicle can flexibly arrive at the target position corresponding to the user at any time and any place to park and receive a passenger under the condition that the user has the riding intention, so that the riding convenience of the user can be effectively improved, and the experience feeling of the user is improved.

Description

Technical Field

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

[0002] Autonomous driving technology is a technology that uses artificial intelligence, sensors and other technologies to enable vehicles to drive autonomously without human intervention.

[0003] Currently, self-driving buses can arrive at the parking location reserved by the user on the application, stop and pick up passengers, or travel along a preset route and stop at a fixed station on the route to pick up passengers.

[0004] However, this method requires users to go through a cumbersome process to make reservations on the application, or arrive at a fixed station to take the bus, which is less convenient and reduces the user experience. Summary of the invention

[0005] Based on the above problems, the present application provides a parking method and related system.

[0006] The embodiments of the present application disclose the following technical solutions:

[0007] In the first aspect, an embodiment of the present application provides a parking method, including:

[0008] When it is determined based on the user's posture information that the user intends to take a ride, obtaining environmental information, vehicle speed information, and user location information;

[0009] Based on the environmental information, the vehicle speed information, and the user's location information, a parking path is generated from the vehicle's location to a target location; the target location is a parking location corresponding to the user's location information;

[0010] According to the parking path, the vehicle is controlled to travel to the target position and park.

[0011] In a possible implementation, controlling the vehicle to travel to the target position and park according to the parking path includes:

[0012] Determining whether the vehicle is in a parking lane according to the parking path and the environmental information;

[0013] When it is determined that the vehicle is not in a parking lane, determining whether there is another vehicle in a lane to the right of the vehicle;

[0014] When it is determined that there is no other vehicle in the right lane of the vehicle, the vehicle is controlled to travel to the right lane of the vehicle, and travels to the target position along the parking path and stops.

[0015] In a possible implementation, when it is determined that there is no other vehicle in the right lane of the vehicle, controlling the vehicle to drive to the right lane of the vehicle, and driving to the target position along the parking path and parking, includes:

[0016] When it is determined that there is no other vehicle in the right lane of the vehicle, controlling the vehicle to travel to the right lane of the vehicle, and determining whether the vehicle is in a parking lane;

[0017] When it is determined that the vehicle is in a parking lane, the vehicle is controlled to travel along the parking path to the target position and park.

[0018] In a possible implementation, when it is determined that the vehicle is not in a parking lane, after determining whether there are other vehicles in the right lane of the vehicle, the method further includes:

[0019] When it is determined that there is another vehicle in the right lane of the vehicle, adjusting the speed of the vehicle according to the speed information of the vehicle;

[0020] When other vehicles in the right lane pass the vehicle, determining whether there are other vehicles in the right lane of the vehicle;

[0021] When it is determined that there is no other vehicle in the right lane of the vehicle, the vehicle is controlled to travel to the right lane of the vehicle, and travels to the target position along the parking path and stops.

[0022] In a possible implementation manner, after determining whether the vehicle is in a parking lane according to the parking path and the environmental information, the method further includes:

[0023] When it is determined that the vehicle is in a parking lane, the vehicle is controlled to travel along the parking path to the target position and park.

[0024] In a possible implementation, when determining based on the user's posture information that the user has a ride intention, before acquiring the environment information, the vehicle speed information, and the user's location information, the method further includes:

[0025] Determining a state of the user based on posture information of the user;

[0026] When the user is facing the vehicle and waving to the vehicle continuously, it is determined that the user has the intention to take a ride.

[0027] In a possible implementation manner, determining the state of the user based on the posture information of the user includes:

[0028] Based on the posture information of the user, determining a first confidence level that the user is in a state facing the vehicle;

[0029] When the first confidence level is greater than a first threshold, determining, based on the user's posture information, a second confidence level that the user is in a state of continuously waving to the vehicle;

[0030] When the second confidence level is greater than a second threshold, it is determined that the user is facing the vehicle and waving continuously at the vehicle.

[0031] In a possible implementation, controlling the vehicle to travel to the target position and park according to the parking path includes:

[0032] According to the parking path, the vehicle is controlled to execute at least one of turning on the double flashes, displaying a prompt message on an external information display screen, and playing a prompt sound, and driving to the target location;

[0033] When the vehicle reaches the target position, the vehicle is controlled to stop and the door is opened.

[0034] A second aspect: The present application embodiment provides a parking system, including:

[0035] Acquisition module, generation module and control module;

[0036] The acquisition module is used to acquire environmental information, vehicle speed information, and user location information when it is determined based on the user's posture information that the user has a ride intention;

[0037] The generating module is used to generate a parking path from the location of the vehicle to a target location based on the environmental information, the vehicle speed information, and the user's location information; the target location is a parking location corresponding to the user's location information;

[0038] The control module is used to control the vehicle to travel to the target position and park according to the parking path.

[0039] A third aspect: An embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory;

[0040] The memory is used to store program code and transmit the program code to the processor;

[0041] The processor is used to execute the steps of the parking method described above according to the instructions in the program code.

[0042] Aspect 4: An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a parking method as described above are implemented.

[0043] Aspect 5: An embodiment of the present application provides a vehicle, which includes the above-mentioned electronic device.

[0044] Compared with the prior art, this application has the following beneficial effects:

[0045] The embodiment of the present application provides a parking method and related system, which obtains environmental information, vehicle speed information, and user location information by determining that the user has the intention to take a ride based on the user's posture information; generates a parking path from the vehicle's location to a target location based on the environmental information, vehicle speed information, and user location information; the target location is the parking location corresponding to the user's location information; and controls the vehicle to travel to the target location and park according to the parking path. The method provided by the embodiment of the present application can actively detect whether the user has the intention to take a ride, and when it is determined that the user has the intention to take a ride, the vehicle can flexibly reach the user's corresponding target location at any time and place to park and pick up passengers, which can effectively improve the convenience of the user's ride and thus improve the user's experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0047] Figure 1 A schematic diagram of sensor distribution of an autonomous driving vehicle provided in an embodiment of the present application;

[0048] Figure 2 A flowchart of a parking method provided in an embodiment of the present application;

[0049] Figure 3 A block diagram of an automatic driving system for a vehicle provided in an embodiment of the present application;

[0050] Figure 4 A structural schematic diagram of a parking system is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0052] Currently, self-driving vehicles can park and pick up passengers at the parking location reserved by the user on the application, or travel along a preset route and park and pick up passengers at fixed stations on the route.

[0053] Among them, according to the parking location reserved by the user on the application, the method of arriving at the parking location to park and pick up passengers requires the user to download and install the corresponding application in advance, and use the electronic device installed with the corresponding application to remotely book a car within the operating range of the autonomous driving vehicle. After the system receives the user's request to book a car, it can send the user's location information to the autonomous driving vehicle, and the autonomous driving vehicle can automatically drive to the user's location based on the location information. This method requires users to make reservations on the application through a cumbersome process. The process is relatively cumbersome and has a high learning cost. For example, some groups who are not good at using electronic devices, such as the elderly, find it difficult to master the method of booking a car, and the convenience is poor.

[0054] The method of traveling along a preset route and stopping to pick up passengers at fixed stations on the route requires users to arrive at fixed stations at specific times according to the operating schedule of the self-driving vehicle to board the vehicle, which is less convenient and reduces the user experience.

[0055] Therefore, a solution is urgently needed to solve the above technical problems.

[0056] Based on this, the embodiment of the present application provides a parking method and related system, which obtains environmental information, vehicle speed information, and user location information by determining that the user has the intention to take a ride based on the user's posture information; generates a parking path from the vehicle's location to a target location based on the environmental information, vehicle speed information, and user location information; the target location is the parking location corresponding to the user's location information; and controls the vehicle to travel to the target location and park according to the parking path. The method provided by the embodiment of the present application can actively detect whether the user has the intention to take a ride, and when it is determined that the user has the intention to take a ride, the vehicle can flexibly reach the user's corresponding target location at any time and place to park and pick up passengers, which can effectively improve the convenience of the user's ride and thus improve the user's experience.

[0057] Combine the following Figure 1 An application scenario of a parking method provided in an embodiment of the present application is introduced, such as Figure 1 As shown, this figure is a schematic diagram of the sensor distribution of an autonomous driving vehicle provided in an embodiment of the present application.

[0058] In the embodiment of the present application, the autonomous driving vehicle is provided with a binocular camera, a millimeter wave radar, an ultrasonic radar, and a laser radar. Figure 1 In the figure, the detection range of the binocular camera is a first range 1101, the detection range of the millimeter wave radar is a second range 1102, the detection range of the ultrasonic radar is a third range 1103, and the detection range of the laser radar is a fourth range 1104.

[0059] For example, the binocular camera and the laser radar can collect the user's posture information and send it to the automated-driving control unit (ACU). The ACU can determine whether the user has the intention to take a ride based on the user's posture information, and if it is determined that the user has the intention to take a ride, obtain the environmental information collected by the millimeter wave radar and the ultrasonic radar within their respective detection ranges, the vehicle speed information, and the user's location information.

[0060] After acquiring the environmental information, the vehicle speed information, and the user's location information, the ACU can generate a parking path from the vehicle's location to the target location based on the environmental information, the vehicle speed information, and the user's location information, and control the vehicle to drive to the target location and park according to the parking path.

[0061] Combine the following Figure 2 A parking method provided in an embodiment of the present application is introduced.

[0062] See also Figure 2 , which is a flow chart of a parking method provided in an embodiment of the present application, including S201-S203.

[0063] S201. When it is determined based on the user's posture information that the user has an intention to take a ride, obtain environmental information, vehicle speed information, and user location information.

[0064] In a possible implementation, the state of the user is determined based on the user's posture information. When the user is facing the vehicle and waving to the vehicle continuously, it can be determined that the user has the intention to take a ride.

[0065] Exemplarily, in the embodiment of the present application, based on the posture information of the user, a first confidence level that the user is in a state facing the vehicle can be determined.

[0066] When the first confidence level is less than or equal to the first threshold, it indicates that the user has no intention of taking a ride, and the user's posture information can continue to be collected.

[0067] When the first confidence level is greater than a first threshold, it indicates that the user may have an intention to take a ride. In this case, a second confidence level indicating that the user is in a state of continuously waving to the vehicle may be determined based on the user's posture information.

[0068] When the second confidence level is less than or equal to the second threshold, it indicates that the user has no intention of taking a ride, and the user's posture information can continue to be collected.

[0069] When the second confidence level is greater than a second threshold, it is determined that the user is facing the vehicle and waving to the vehicle continuously, indicating that the user intends to take a ride.

[0070] It is understandable that the order of determining the first confidence and the second confidence in the embodiment of the present application is not specifically limited, and the above is only an example. Exemplarily, in the embodiment of the present application, the second confidence that the user is in a state of continuously waving to the vehicle can be determined based on the user's posture information, and the second confidence can be compared with the second threshold, and then the first confidence that the user is in a state facing the vehicle can be determined based on the user's posture information, and the first confidence can be compared with the first threshold; or the first confidence that the user is in a state of facing the vehicle and the second confidence that the user is in a state of continuously waving to the vehicle can be determined at the same time based on the user's posture information.

[0071] It should be noted that in the embodiment of the present application, there is no specific limitation on the numerical values ​​of the first threshold and the second threshold, and both can be set according to actual needs.

[0072] S202: Generate a parking path from the vehicle location to a target location based on the environmental information, the vehicle speed information, and the user location information.

[0073] The target location is the parking location corresponding to the user's location information. The environmental information may include, but is not limited to, obstacle information around the autonomous driving vehicle, other vehicle information, and roadside information.

[0074] In one possible implementation, a wheel speed sensor may be provided on at least one wheel of the autonomous driving vehicle, and the current vehicle speed information of the autonomous driving vehicle may be calculated based on the wheel speed information detected by the wheel sensor.

[0075] In the embodiment of the present application, S203 may be executed after a parking path from the location of the vehicle to the target location is generated based on the environmental information, the vehicle speed information, and the user's location information.

[0076] S203: According to the parking path, control the vehicle to travel to the target position and park.

[0077] In a possible implementation manner, it is determined whether the vehicle is in a parking lane according to the parking path and the environmental information.

[0078] When it is determined that the vehicle is in a parking lane, the vehicle may be controlled to travel along the parking path to the target position and park.

[0079] When it is determined that the vehicle is not in the parking lane, it can be determined whether there are other vehicles in the right lane of the vehicle. If it is determined that there are other vehicles in the right lane of the vehicle, the speed of the vehicle is adjusted according to the speed information of the vehicle. Exemplarily, when it is determined that there are other vehicles in the right lane of the vehicle, it means that there is danger in executing the lane change command at present. In this case, the current speed can be reduced to give way to other vehicles behind to avoid the rear vehicles.

[0080] When other vehicles in the right lane pass the vehicle, it can be determined again whether there are other vehicles in the right lane of the vehicle. When it is determined that there are no other vehicles in the right lane of the vehicle, it means that there is no danger in executing the lane change command at present, and the vehicle can be controlled to drive to the right lane of the vehicle and drive to the target position along the parking path and park.

[0081] It can be understood that when the vehicle needs to travel across multiple lanes to the target location, it can determine in sequence whether there are other vehicles in the right lane based on the above method, and change lanes if there are no other vehicles in the right lane.

[0082] In one possible implementation, when it is determined that the vehicle is not in a parking lane, by determining whether there are other vehicles in the right lane of the vehicle, it is determined that there are no other vehicles in the right lane of the vehicle, and the vehicle can be directly controlled to drive to the right lane of the vehicle and drive along the parking path to the target position and park.

[0083] In a possible implementation, whenever it is determined that there is no other vehicle in the right lane of the vehicle and the vehicle is controlled to travel to the right lane of the vehicle, it can be determined whether the vehicle is in a parking lane.

[0084] When it is determined that the vehicle is in a parking lane, the vehicle is controlled to travel along the parking path to the target position and park.

[0085] When it is determined that the vehicle is not in the parking lane, the vehicle is controlled to travel to the right lane while it is determined that there are no other vehicles in the right lane of the vehicle, until it is determined that the vehicle is in the parking lane, and the vehicle is controlled to travel along the parking path to the target position and park.

[0086] In a possible implementation, according to the parking path, the vehicle can be controlled to execute at least one of turning on the double flash, displaying a prompt message on the vehicle's exterior information display screen, and playing a prompt sound, and drive to the target location. This can improve the safety of the automatic driving process on the one hand, and prompt the user to get on the vehicle in time on the other hand. When the vehicle reaches the target location, the vehicle is controlled to stop and the door is opened.

[0087] In summary, the embodiments of the present application provide a parking method that can actively detect whether a user has the intention to take a ride, and when it is determined that the user has the intention to take a ride, the vehicle can flexibly reach the user's corresponding target location at any time and place to park and pick up passengers, which can effectively improve the convenience of the user's ride and thereby improve the user's experience.

[0088] For ease of understanding, the following Figure 3 A parking method provided in an embodiment of the present application is generally introduced as follows: Figure 3 As shown, this figure is a block diagram of a vehicle automatic driving system provided in an embodiment of the present application.

[0089] The vehicle autonomous driving system of the autonomous vehicle includes a perception module, a decision module and an execution module.

[0090] Among them, the perception module includes binocular cameras, Light Detection And Ranging (LIDAR), Ultra Sonic System (USS), and Millimeter Wave Radar (MMWR).

[0091] Among them, the binocular camera can capture images in the scene through two cameras. The two cameras can be set with a certain baseline distance and each takes images of the scene at different angles. Using the parallax principle and the triangulation principle, the depth information of the objects in the scene can be calculated based on the parallax.

[0092] LIDAR is an optical remote sensing technology that determines the distance between the object and the sensor by emitting laser pulses to the target and measuring the time difference between their returns, thereby obtaining the position and shape information of the target object.

[0093] USS can use ultrasonic transmitter to emit ultrasonic waves and receive ultrasonic signals reflected by obstacles. By calculating the time difference of ultrasonic signals going back and forth, combined with the speed of sound, the distance between the obstacle and USS can be calculated.

[0094] MMWR can generate millimeter waves (usually electromagnetic waves with a frequency range of 30 to 300 GHz and a wavelength of 110 mm) through a transmitter and transmit them. These electromagnetic waves propagate in space and are reflected back after encountering the target object. The receiver receives these reflected electromagnetic waves and converts them into electrical signals. Subsequently, the signal processor processes the received signals to extract information such as the position and speed of the target object.

[0095] The decision module may include an automated-driving control unit (ACU). The ACU is the core component of the vehicle's autonomous driving system. It undertakes the data processing and computing tasks required for autonomous driving, and integrates multiple sensors and controller information to realize the vehicle's perception and control functions, such as visual perception, sound perception, tactile perception, etc., as well as auxiliary driving functions such as autonomous driving, automatic avoidance, and automatic braking.

[0096] The execution modules may include a digital controller unit (DCU), an electric power steering system (EPS), an electronic hydraulic power braking system (Eletronic-Hydraulic Braking System, EHB), and a body control module (Body Control Module, BCM).

[0097] Among them, DCU can be used to receive input signals, process data and control output devices; EPS can detect the steering and torque of the steering wheel, send instructions to the motor controller, and make the motor output steering torque of corresponding size and direction. In autonomous driving vehicles, EPS can directly drive the vehicle to steer by receiving controller area network (CAN) signals; EHB is a kind of electronic components replacing some mechanical components. The driver's operation is collected by sensors as the control intention, and the braking operation is completely completed by hydraulic actuators; BCM can be used to monitor and control various functions of the car body, such as lights, door locks, windows, wipers, seat heating, etc.

[0098] In the embodiment of the present application, the posture information of the pedestrian in front of the autonomous driving vehicle can be obtained through the binocular camera and LIDAR, and the posture information of the pedestrian in front can be transmitted to the ACU via the CAN bus and the Ethernet cable respectively. The ACU can determine whether the pedestrian has the intention to take a ride based on the user's posture information. The posture information of the pedestrian in front can exist in the form of image data.

[0099] Based on USS and MMWR, the environmental information around the autonomous driving vehicle (such as obstacles, vehicles, curbs, etc.) can be detected and sent to the ACU through the CAN bus, so that the ACU can make corresponding decisions.

[0100] The Electronic Stability Controller (ESC) uses the wheel speed information transmitted by the four wheel speed sensors installed on the front and rear wheels of the autonomous vehicle to calculate the current vehicle speed information and feed it back to the ACU in real time.

[0101] In an embodiment of the present application, after the ACU receives the image data sent by the binocular camera and the LIDAR, it can use the image recognition neural network large model to determine in real time whether the current state of the pedestrian is "facing the vehicle" and whether he is "continuously waving to the vehicle."

[0102] For example, the first threshold and the second threshold are 80%. When the first confidence level of the image data recognition is greater than 80%, the state of the pedestrian in front is determined to be facing the vehicle; when the second confidence level of the image data recognition is greater than 80%, the state of the pedestrian in front is determined to be waving continuously to the vehicle.

[0103] When it is determined that both the first confidence level and the second confidence level are greater than 80%, it is determined that the current state of the pedestrian is facing the vehicle and waving to the vehicle continuously. In this state, the ACU can plan a parking path that avoids the rear vehicle and achieves side parking by receiving the environmental information sent by the USS and MMWR, the user's location information, and the vehicle speed information provided by the ESC. The starting position of the parking path is the current location of the autonomous driving vehicle, and the target position is the parking position corresponding to the user's location information.

[0104] According to the parking path, the ACU can control the vehicle to drive to the target position and park. During this process, the EPS can receive the steering command from the ACU through the CAN bus, control the vehicle to make the corresponding steering angle, and feedback the execution status. The EHB receives the braking command from the ACU through the CAN bus, completes the corresponding braking pressure build-up, and feedbacks the execution status. The BCM receives the double flash turn-on command and text display command from the ACU through the CAN bus, can turn on the double flash, display text on the external information display screen, and feedback the execution status. For example, "The vehicle is parked on the side, please pay attention" can be displayed on the external information display screen.

[0105] After the vehicle is parked alongside the side of the road, the ACU can send a door opening command to the DCU via the CAN bus, control the DCU to open the door, and provide feedback on the execution status.

[0106] To summarize, in the embodiment of the present application, the autonomous driving vehicle can actively detect whether the user has the intention to hitchhike, and when it is determined that the user has the intention to hitchhike, the vehicle can flexibly reach the user's corresponding target location at any time and place to park and pick up passengers, which can effectively improve the convenience of the user's ride and thereby improve the user's experience.

[0107] For example, users do not need to walk to a fixed station, but only need to face the self-driving vehicle on the roadside and wave. In this way, it can facilitate the majority of users to take the self-driving vehicle, and also provide help for users with inconvenient legs and feet or physical discomfort.

[0108] At the same time, users do not need to install applications or learn how to use them, they only need to understand the body movements to summon an autonomous vehicle. This greatly reduces the threshold for use and the cost of learning, allowing users who cannot use smart electronic devices to enjoy the travel experience brought by autonomous driving technology.

[0109] This application provides a parking system, see Figure 4 , this figure is a schematic diagram of the structure of a parking system provided in an embodiment of the present application, and its specific implementation method is consistent with the implementation method and the technical effect achieved in the embodiment of the above method, and some contents will not be repeated here.

[0110] The present application embodiment provides a parking system 4010, including:

[0111] Acquisition module 4011, generation module 4012 and control module 4013;

[0112] The acquisition module 4011 is used to acquire environmental information, vehicle speed information, and user location information when it is determined based on the user's posture information that the user has a ride intention;

[0113] The generating module 4012 is used to generate a parking path from the location of the vehicle to a target location based on the environmental information, the vehicle speed information, and the user's location information; the target location is a parking location corresponding to the user's location information;

[0114] The control module 4013 is used to control the vehicle to travel to the target position and park according to the parking path.

[0115] In a possible implementation, the control module is specifically configured to:

[0116] Determining whether the vehicle is in a parking lane according to the parking path and the environmental information;

[0117] When it is determined that the vehicle is not in a parking lane, determining whether there is another vehicle in a lane to the right of the vehicle;

[0118] When it is determined that there is no other vehicle in the right lane of the vehicle, the vehicle is controlled to travel to the right lane of the vehicle, and travels to the target position along the parking path and stops.

[0119] In a possible implementation, the control module is specifically configured to:

[0120] When it is determined that there is no other vehicle in the right lane of the vehicle, controlling the vehicle to travel to the right lane of the vehicle, and determining whether the vehicle is in a parking lane;

[0121] When it is determined that the vehicle is in a parking lane, the vehicle is controlled to travel along the parking path to the target position and park.

[0122] In a possible implementation, the control module is specifically configured to:

[0123] When it is determined that there is another vehicle in the right lane of the vehicle, adjusting the speed of the vehicle according to the speed information of the vehicle;

[0124] When other vehicles in the right lane pass the vehicle, determining whether there are other vehicles in the right lane of the vehicle;

[0125] When it is determined that there is no other vehicle in the right lane of the vehicle, the vehicle is controlled to travel to the right lane of the vehicle, and travels to the target position along the parking path and stops.

[0126] In a possible implementation, the control module is specifically configured to:

[0127] When it is determined that the vehicle is in a parking lane, the vehicle is controlled to travel along the parking path to the target position and park.

[0128] In a possible implementation, the system further includes a determination module;

[0129] The determination module is used to determine the state of the user based on the user's posture information; when the user is facing the vehicle and waving to the vehicle continuously, it is determined that the user has the intention to take a ride.

[0130] In a possible implementation, the determining module is specifically configured to:

[0131] Based on the posture information of the user, determining a first confidence level that the user is in a state facing the vehicle;

[0132] When the first confidence level is greater than a first threshold, determining, based on the user's posture information, a second confidence level that the user is in a state of continuously waving to the vehicle;

[0133] When the second confidence level is greater than a second threshold, it is determined that the user is facing the vehicle and waving continuously at the vehicle.

[0134] In a possible implementation, the control module is specifically configured to:

[0135] According to the parking path, the vehicle is controlled to execute at least one of turning on the double flashes, displaying a prompt message on an external information display screen, and playing a prompt sound, and driving to the target location;

[0136] When the vehicle reaches the target position, the vehicle is controlled to stop and the door is opened.

[0137] In summary, the system provided in the embodiment of the present application can actively detect whether the user has the intention to take a ride, and when it is determined that the user has the intention to take a ride, the vehicle can flexibly reach the user's corresponding target location at any time and place to park and pick up passengers, which can effectively improve the convenience of the user's ride and thereby improve the user's experience.

[0138] An embodiment of the present application provides an electronic device, the electronic device comprising: a processor and a memory;

[0139] The memory is used to store program code and transmit the program code to the processor;

[0140] The processor is used to execute the steps of the parking method described above according to the instructions in the program code.

[0141] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a parking method as described above are implemented.

[0142] An embodiment of the present application provides a vehicle, which includes the above-mentioned electronic device.

[0143] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A parking method, characterized in that: include: When it is determined based on the user's posture information that the user intends to take a ride, obtaining environmental information, vehicle speed information, and user location information; Based on the environmental information, the vehicle speed information, and the user's location information, generating a parking path from the vehicle location to a target location; The target location is the parking location corresponding to the user's location information; According to the parking path, the vehicle is controlled to travel to the target position and park.

2. The method according to claim 1, characterized in that: The step of controlling the vehicle to travel to the target position and park the vehicle according to the parking path includes: Determining whether the vehicle is in a parking lane according to the parking path and the environmental information; When it is determined that the vehicle is not in a parking lane, determining whether there is another vehicle in a lane to the right of the vehicle; When it is determined that there is no other vehicle in the right lane of the vehicle, the vehicle is controlled to travel to the right lane of the vehicle, and travels to the target position along the parking path and stops.

3. The method according to claim 2, characterized in that When it is determined that there is no other vehicle in the right lane of the vehicle, controlling the vehicle to drive to the right lane of the vehicle, and driving to the target position along the parking path and parking, comprises: When it is determined that there is no other vehicle in the right lane of the vehicle, controlling the vehicle to travel to the right lane of the vehicle, and determining whether the vehicle is in a parking lane; When it is determined that the vehicle is in a parking lane, the vehicle is controlled to travel along the parking path to the target position and park.

4. The method according to claim 2, characterized in that: When it is determined that the vehicle is not in a parking lane, after determining whether there is another vehicle in the right lane of the vehicle, the method further includes: When it is determined that there is another vehicle in the right lane of the vehicle, adjusting the speed of the vehicle according to the speed information of the vehicle; When other vehicles in the right lane pass the vehicle, determining whether there are other vehicles in the right lane of the vehicle; When it is determined that there is no other vehicle in the right lane of the vehicle, the vehicle is controlled to travel to the right lane of the vehicle, and travels to the target position along the parking path and stops.

5. The method according to claim 2, characterized in that: After determining whether the vehicle is in a parking lane according to the parking path and the environmental information, the method further includes: When it is determined that the vehicle is in a parking lane, the vehicle is controlled to travel along the parking path to the target position and park.

6. The method according to claim 1, characterized in that In the case where it is determined based on the user's posture information that the user has a ride intention, before obtaining the environment information, the vehicle speed information, and the user's location information, the method further includes: Determining a state of the user based on posture information of the user; When the user is facing the vehicle and waving to the vehicle continuously, it is determined that the user has the intention to take a ride.

7. The method according to claim 6, characterized in that The determining the state of the user based on the posture information of the user comprises: Based on the posture information of the user, determining a first confidence level that the user is in a state facing the vehicle; When the first confidence level is greater than a first threshold, determining, based on the user's posture information, a second confidence level that the user is in a state of continuously waving to the vehicle; When the second confidence level is greater than a second threshold, it is determined that the user is facing the vehicle and waving continuously at the vehicle.

8. The method according to any one of claims 1 to 7, characterized in that: The step of controlling the vehicle to travel to the target position and park the vehicle according to the parking path includes: According to the parking path, the vehicle is controlled to execute at least one of turning on the double flashes, displaying a prompt message on an external information display screen, and playing a prompt sound, and driving to the target location; When the vehicle reaches the target position, the vehicle is controlled to stop and the door is opened.

9. A parking system, characterized in that: include: Acquisition module, generation module and control module; The acquisition module is used to acquire environmental information, vehicle speed information, and user location information when it is determined based on the user's posture information that the user has a ride intention; The generating module is used to generate a parking path from the location of the vehicle to the target location based on the environmental information, the vehicle speed information, and the user's location information; The target location is the parking location corresponding to the user's location information; The control module is used to control the vehicle to travel to the target position and park according to the parking path.

10. An electronic device, characterized in that: The electronic device comprises: a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the steps of a parking method as described in any one of claims 1 to 8 according to the instructions in the program code.

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